INDRBT / Reading room
Pick place metrics
Digital engineering model. Payload and repeatability are design targets. All ordinary guide reading, figures and PDFs work here. Links marked Source file lead to the public engineering repository.
Retained digital evidence · results/trajectories/pick_place_metrics.json · SHA-256 29a3698a1cca9f906cc8d278413e1709b6b06a742f92801db2825f5058710412
This readable record comes from the engineering project. Its assumptions, sampling and rule scope remain part of the result.
{
"duration_s": 9.243979567042027,
"peak_velocity_rad_s": [
1.2907618789560489,
0.29127075872082603,
0.10083072450682226,
1.6189737234197258e-12,
1.9932225657286347,
3.705164929668832e-12
],
"peak_acceleration_rad_s2": [
3.1352196690983507,
0.9288644712850359,
0.21146758430873894,
1.2909671411571257e-10,
4.180292892131128,
3.510733465506763e-10
],
"max_velocity_limit_fraction": 0.9516936720540675,
"max_acceleration_limit_fraction": 0.9979714160318779,
"path_length_m": 1.323599790764895,
"samples": 1041,
"events": [
{
"time_s": 2.728160182406853,
"action": "close",
"opening_m": 0.028,
"tcp_m": [
0.3944071524804676,
-0.1839150756327483,
0.022309725966027386
]
},
{
"time_s": 6.515819384635601,
"action": "open",
"opening_m": 0.09,
"tcp_m": [
0.3944071524804676,
0.1839150756327483,
0.022309725966027386
]
}
],
"phases": [
{
"name": "MOVE J home to above object",
"start_s": 0.0,
"end_s": 1.468160182406853,
"duration_s": 1.468160182406853,
"peak_velocity_rad_s": [
0.5572437508359215,
0.08797578722613408,
0.10083072450682226,
1.6241440060471271e-15,
1.9932225657286347,
7.999156435464587e-16
],
"peak_acceleration_rad_s2": [
1.1686813760069739,
0.18450752281474908,
0.21146758430873894,
3.406241611455104e-15,
4.180292892131128,
1.6776258389385543e-15
],
"max_velocity_limit_fraction": 0.9516936720540675,
"max_acceleration_limit_fraction": 0.9979714160318764
},
{
"name": "MOVE L descend to object",
"start_s": 1.468160182406853,
"end_s": 2.478160182406853,
"duration_s": 1.01,
"peak_velocity_rad_s": [
2.9054866323655583e-12,
0.29127075872082603,
0.03230781804985993,
1.6189737234197258e-12,
0.3064015718684846,
3.041480632606732e-12
],
"peak_acceleration_rad_s2": [
2.4326737620254367e-10,
0.9288644712850359,
0.16546986873912944,
1.2909671411571257e-10,
0.968647828817905,
2.4519165746506914e-10
],
"max_velocity_limit_fraction": 0.2781430861712775,
"max_acceleration_limit_fraction": 0.4435001162023601
},
{
"name": "gripper close dwell",
"start_s": 2.478160182406853,
"end_s": 2.978160182406853,
"duration_s": 0.5,
"peak_velocity_rad_s": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"peak_acceleration_rad_s2": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"max_velocity_limit_fraction": 0.0,
"max_acceleration_limit_fraction": 0.0
},
{
"name": "MOVE L lift object",
"start_s": 2.978160182406853,
"end_s": 3.988160182406853,
"duration_s": 1.01,
"peak_velocity_rad_s": [
2.3884085028767725e-12,
0.29127075871425523,
0.0323078191817334,
9.09762207044069e-13,
0.3064015718712846,
2.69088755905365e-12
],
"peak_acceleration_rad_s2": [
2.107040266321244e-10,
0.9288644673175322,
0.16546986874330902,
7.089937150349992e-11,
0.9686478285114256,
2.6205888471665245e-10
],
"max_velocity_limit_fraction": 0.27814308616500283,
"max_acceleration_limit_fraction": 0.4435001143080166
},
{
"name": "MOVE J transfer above destination",
"start_s": 3.988160182406853,
"end_s": 5.255819384635601,
"duration_s": 1.2676592022287483,
"peak_velocity_rad_s": [
1.2907618789560489,
2.82036771215979e-12,
1.1616466489559449e-12,
4.521982327044937e-15,
1.4319421513847667e-12,
2.1601993765701768e-14
],
"peak_acceleration_rad_s2": [
3.1352196690983507,
6.850583728429416e-12,
2.8216028701548583e-12,
1.0983751663422933e-14,
3.478142073473334e-12,
5.247055777688819e-14
],
"max_velocity_limit_fraction": 0.8217245335617515,
"max_acceleration_limit_fraction": 0.9979714160318779
},
{
"name": "MOVE L lower object",
"start_s": 5.255819384635601,
"end_s": 6.265819384635601,
"duration_s": 1.01,
"peak_velocity_rad_s": [
3.0039777046491365e-12,
0.29127075872082603,
0.03230781804984586,
9.640020192163664e-13,
0.3064015718685057,
3.04223268656484e-12
],
"peak_acceleration_rad_s2": [
2.636412366289553e-10,
0.9288644710297532,
0.1654698687433087,
9.137907020551517e-11,
0.9686478289492032,
2.5451388972061157e-10
],
"max_velocity_limit_fraction": 0.2781430861712775,
"max_acceleration_limit_fraction": 0.4435001160804716
},
{
"name": "gripper open dwell",
"start_s": 6.265819384635601,
"end_s": 6.765819384635601,
"duration_s": 0.5,
"peak_velocity_rad_s": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"peak_acceleration_rad_s2": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"max_velocity_limit_fraction": 0.0,
"max_acceleration_limit_fraction": 0.0
},
{
"name": "MOVE L retreat",
"start_s": 6.765819384635601,
"end_s": 7.775819384635601,
"duration_s": 1.01,
"peak_velocity_rad_s": [
4.8014397738244395e-12,
0.2912707587142763,
0.03230781918664389,
9.84346910959495e-13,
0.3064015718712494,
3.705164929668832e-12
],
"peak_acceleration_rad_s2": [
3.696897921818182e-10,
0.9288644672026027,
0.16546986874052286,
9.863505028675637e-11,
0.9686478284759019,
3.510733465506763e-10
],
"max_velocity_limit_fraction": 0.278143086165023,
"max_acceleration_limit_fraction": 0.4435001142531418
},
{
"name": "MOVE J return home",
"start_s": 7.775819384635601,
"end_s": 9.243979567042027,
"duration_s": 1.4681601824064259,
"peak_velocity_rad_s": [
0.5572437508360604,
0.08797578722361601,
0.10083072450572411,
1.3195407035561219e-15,
1.9932225657280547,
1.7713877318485876e-14
],
"peak_acceleration_rad_s2": [
1.168681376007605,
0.1845075228095217,
0.21146758430649734,
2.7674112860239153e-15,
4.180292892131127,
3.715049022611367e-14
],
"max_velocity_limit_fraction": 0.9516936720537905,
"max_acceleration_limit_fraction": 0.9979714160318762
}
],
"gripper": {
"opening_m": 0.09,
"travel_per_jaw_m": 0.045,
"full_stroke_screw_revolutions": 11.25,
"target_total_normal_force_N": 200.0,
"required_motor_torque_Nm": 0.3637827270671894,
"ideal_force_at_assumed_motor_torque_N": 247.40042147019622,
"friction_limited_payload_kg_with_safety_factor": 5.0985810648896415,
"status": "CALCULATED from assumed screw efficiency and friction; no contact simulation"
},
"status": "SIMULATED ideal kinematics with scripted object attachment; no contact or collision physics"
}