A precise handling task, made testable

One slide out.
The right slide precisely in.

A robot exchanges a chambered specimen on an inverted microscope: remove the retainer, return the finished slide, orient the next sample and restore the fixture.

The authored wet laboratory with the actual simulator robot — Authored laboratory and actual simulator robot. Presentation render from recorded simulation state.

75.5 × 25.5 mm chamber slide0.5 mm clearance per side4 movable assembliesIdeal depth + fixed-fixture calibration

Clear the stage

Lift the separate frame to its parking stand.

Return the finished slide

Move S03 into the return rest.

Orient and seat S07

Turn the next slide 90° and fit it into the imaging nest.

Restore the retainer

Replace the frame, release it and inspect the result.

Recorded demonstration

Exchange completed

The agent receives three camera views, ideal depth measurements and an explicit map of the fixed fixtures and nominal handling heights. Its task is to identify and exchange S03 for S07, orient the label toward the stage ruler’s zero end, restore the frame and leave S09 HOLD undisturbed.

Actual recorded simulation, rendered in Blender Cycles. Robot motion plays at 2× simulated speed; inference pauses are omitted. The stills below include the original final model camera views.

Slide alignment0.253 mm

Maximum final error along either horizontal axis

Slide yaw0.105°

Relative to the imaging nest

HOLD movement0.000 mm

Largest recorded displacement during the whole trial

Simulated time59.90 s

Physics paused during model inference

One accepted nominal run after iteration, using Astra, RGB + ideal depth, and supplied fixed-fixture calibration. The independent post-run review checks sequence, alignment, release and final stability; new runs use human evaluation. These measurements describe authored simulation geometry and do not establish reliability across layouts. Liquid behavior, assay results, magnetic preload and force-limited hardware handling are outside this demonstration.

Inspect the fit

The fixture has real openings and guides.

Initial slide and retaining frame at the microscope — Initial state · S03 under the retaining frame

Recorded final state of the microscope fixture — Recorded final state · inspect alongside the geometric review

Actual final left camera observation — Left · actual model observation

Actual final right camera observation — Right · actual model observation

Actual final wrist camera observation — Wrist · actual model observation

Run conditions and calibration Independent result JSON Task and camera setup

Make the next attempt yours

Use the complete wet-lab environment.

Get an editable copy with the microscope, sample slides, retaining frame and task setup. It opens in Evaluate with the robot and cameras configured. Change the instruction, inspect a preview or edit the scene in Build.

Creating a copy is free. Simulation previews, policy runs and environment edits use your account’s credits.

Download Blender scene · 14 MB Download 3D model · 6.6 MB Download the film