INDRBT / Reading room
Cad assembly clearance
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/validation/cad_assembly_clearance.json · SHA-256 6eabb220cf6d676665bd772beecefb893d443c2c4684074b9e3d529f275fc006
This readable record comes from the engineering project. Its assumptions, sampling and rule scope remain part of the result.
{
"status": "PASS",
"source_sha256": {
"robot.yaml": "fde183861589ceaa492879da6e6114c80fdd659dcff6adcf46fc734b3a50934f",
"geometry.py": "efeddd26543a9a2545a3244b931579d474aa0775b80c48ab82dbaa48fd5cbb8a"
},
"component_count": 54,
"poses": {
"home": {
"status": "PASS",
"component_pairs": 1431,
"same_rigid_family_pairs_excluded": 188,
"aabb_disjoint_pairs": 1204,
"exact_brep_pair_checks": 39,
"moving_geometry_min_z_mm": 110.0,
"interferences": []
},
"extended": {
"status": "PASS",
"component_pairs": 1431,
"same_rigid_family_pairs_excluded": 188,
"aabb_disjoint_pairs": 1221,
"exact_brep_pair_checks": 22,
"moving_geometry_min_z_mm": 110.0,
"interferences": []
},
"folded": {
"status": "PASS",
"component_pairs": 1431,
"same_rigid_family_pairs_excluded": 188,
"aabb_disjoint_pairs": 1206,
"exact_brep_pair_checks": 37,
"moving_geometry_min_z_mm": 110.0,
"interferences": []
},
"vertical": {
"status": "PASS",
"component_pairs": 1431,
"same_rigid_family_pairs_excluded": 188,
"aabb_disjoint_pairs": 1221,
"exact_brep_pair_checks": 22,
"moving_geometry_min_z_mm": 110.0,
"interferences": []
},
"pick": {
"status": "PASS",
"component_pairs": 1431,
"same_rigid_family_pairs_excluded": 188,
"aabb_disjoint_pairs": 1156,
"exact_brep_pair_checks": 87,
"moving_geometry_min_z_mm": 22.309725966027337,
"interferences": []
},
"place": {
"status": "PASS",
"component_pairs": 1431,
"same_rigid_family_pairs_excluded": 188,
"aabb_disjoint_pairs": 1162,
"exact_brep_pair_checks": 81,
"moving_geometry_min_z_mm": 22.309725966027337,
"interferences": []
}
},
"gripper_openings": {
"0_mm": {
"status": "PASS",
"component_pairs": 91,
"same_rigid_family_pairs_excluded": 34,
"aabb_disjoint_pairs": 49,
"exact_brep_pair_checks": 8,
"moving_geometry_min_z_mm": 196.2282486499477,
"interferences": []
},
"45_mm": {
"status": "PASS",
"component_pairs": 91,
"same_rigid_family_pairs_excluded": 34,
"aabb_disjoint_pairs": 49,
"exact_brep_pair_checks": 8,
"moving_geometry_min_z_mm": 196.2282486499477,
"interferences": []
},
"90_mm": {
"status": "PASS",
"component_pairs": 91,
"same_rigid_family_pairs_excluded": 34,
"aabb_disjoint_pairs": 49,
"exact_brep_pair_checks": 8,
"moving_geometry_min_z_mm": 196.2282486499477,
"interferences": []
}
},
"all_component_pose_pair_classifications": 8586,
"exact_brep_pair_checks": 312,
"scope": "Every component pair at all six named poses, plus gripper closed/mid/open. Same rigid-motion families are excluded as assembled interfaces; no adjacent robot joint is excluded wholesale. All other pairs receive conservative AABB rejection or exact BRep common-volume testing. Finite pose screening does not certify all configurations, continuous motion, tolerance/preload, or physical safety.",
"penetration_threshold_mm3": 0.001
}