INDRBT / Reading room
Cad validation
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_validation.json · SHA-256 7f1f08b5ed86a88ce64c72ce559b34dc87bace006278ef234f138481d49c3252
This readable record comes from the engineering project. Its assumptions, sampling and rule scope remain part of the result.
{
"status": "VERIFIED DIGITALLY",
"cad_kernel": "build123d 0.13 / OpenCascade",
"length_unit": "mm; source config m converted by x1000",
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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"result": "PASS"
},
{
"pose": "home",
"parts": [
"fixed_base_riser",
"forearm_hollow_link"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "home",
"parts": [
"upper_arm_hollow_link",
"forearm_hollow_link"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "home",
"parts": [
"shoulder_fork_+1",
"forearm_hollow_link"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "home",
"parts": [
"upper_arm_hollow_link",
"gripper_pocketed_body"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "extended",
"parts": [
"base_mounting_plate",
"upper_arm_hollow_link"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "extended",
"parts": [
"base_mounting_plate",
"forearm_hollow_link"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "extended",
"parts": [
"fixed_base_riser",
"forearm_hollow_link"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "extended",
"parts": [
"upper_arm_hollow_link",
"forearm_hollow_link"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "extended",
"parts": [
"shoulder_fork_+1",
"forearm_hollow_link"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "extended",
"parts": [
"upper_arm_hollow_link",
"gripper_pocketed_body"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "folded",
"parts": [
"base_mounting_plate",
"upper_arm_hollow_link"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "folded",
"parts": [
"base_mounting_plate",
"forearm_hollow_link"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "folded",
"parts": [
"fixed_base_riser",
"forearm_hollow_link"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "folded",
"parts": [
"upper_arm_hollow_link",
"forearm_hollow_link"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "folded",
"parts": [
"shoulder_fork_+1",
"forearm_hollow_link"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "folded",
"parts": [
"upper_arm_hollow_link",
"gripper_pocketed_body"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "vertical",
"parts": [
"base_mounting_plate",
"upper_arm_hollow_link"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "vertical",
"parts": [
"base_mounting_plate",
"forearm_hollow_link"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "vertical",
"parts": [
"fixed_base_riser",
"forearm_hollow_link"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "vertical",
"parts": [
"upper_arm_hollow_link",
"forearm_hollow_link"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "vertical",
"parts": [
"shoulder_fork_+1",
"forearm_hollow_link"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "vertical",
"parts": [
"upper_arm_hollow_link",
"gripper_pocketed_body"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "pick",
"parts": [
"base_mounting_plate",
"upper_arm_hollow_link"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "pick",
"parts": [
"base_mounting_plate",
"forearm_hollow_link"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "pick",
"parts": [
"fixed_base_riser",
"forearm_hollow_link"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "pick",
"parts": [
"upper_arm_hollow_link",
"forearm_hollow_link"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "pick",
"parts": [
"shoulder_fork_+1",
"forearm_hollow_link"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "pick",
"parts": [
"upper_arm_hollow_link",
"gripper_pocketed_body"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "place",
"parts": [
"base_mounting_plate",
"upper_arm_hollow_link"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "place",
"parts": [
"base_mounting_plate",
"forearm_hollow_link"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "place",
"parts": [
"fixed_base_riser",
"forearm_hollow_link"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "place",
"parts": [
"upper_arm_hollow_link",
"forearm_hollow_link"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "place",
"parts": [
"shoulder_fork_+1",
"forearm_hollow_link"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "place",
"parts": [
"upper_arm_hollow_link",
"gripper_pocketed_body"
],
"overlap_mm3": 0.0,
"result": "PASS"
},
{
"pose": "all_named_poses_and_gripper_travel",
"parts": [
"all distinct motion families"
],
"overlap_mm3": 0.0,
"result": "PASS"
}
],
"full_pair_screening": {
"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
},
"source_sha256": {
"robot.yaml": "fde183861589ceaa492879da6e6114c80fdd659dcff6adcf46fc734b3a50934f",
"geometry.py": "efeddd26543a9a2545a3244b931579d474aa0775b80c48ab82dbaa48fd5cbb8a"
},
"interference_scope": "36 legacy selected structure checks plus acceptance of all component pairs at six named poses and gripper closed/mid/open. Adjacent joints are included. Same rigid-motion families are assembled interfaces. See full_pair_screening counts and exclusions; finite screening is not an exhaustive swept proof or physical certification.",
"gripper": {
"opening_mm": 90.0,
"jaw_travel_each_mm": 45.0,
"finger_length_mm": 60.0,
"tool_length_mm": 110.0
},
"identity_migration_validation": {
"source_components_rebuilt_and_compared": 54,
"all_component_solids_valid": true,
"maximum_relative_volume_difference": 0.0,
"maximum_bbox_difference_mm": 0.0,
"six_pose_group_transforms_match_retained_mesh_manifest": true,
"step_stl_and_native_brep_identity": "Byte-for-byte comparison with verified pre-migration backup recorded in cad_identity_migration.json"
}
}