The numbers
Every number here is counted from the recordings. Hover anything on the other tabs for the detail.
The real robot, session by session
Each session is a booked slot on the CSI cell. Later sessions ran newer code.
Objects moved to the right place
Counted by watching every recording. A grab that dropped or missed doesn't count.
Attempts, and how many ended in a safety fault
stopped by a safety fault
ended normally (finished, or the operator stopped it)
table
Why it faulted
A safety fault means the gripper pressed into something and the controller stopped the arm. Each square is one fault.
during a straight-down grab: tool pointing down, stopped a few cm above the table
somewhere else in the move
Straight-down grabs need the object's height to be right. Sliding in along the table doesn't.
Simulation: the newest version on the digital twin
✓ finished correctly
✗ didn't
bar length = how long it took
"Correctly" is decided by the simulator, which knows where every object really is, not by the robot's own opinion.
The hard part: measuring height
One real blue cube on Oct 28. The robot looked at it 15 times and logged its height estimate after each look.
A straight-down grab aims the fingertips from this number. A few millimetres too high and they land on top of the cube.
Eight versions in 19 days
What each version tried, and what happened. The real-robot numbers are objects moved to the right place.
The app: one menu, many tasks
Every task is plain English. Nothing is reprogrammed between them.
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