Orbital Bayonet Repair

[EthanBrooksAUS]

🤖 Orbital Bayonet Repair

Registration UUID: d4dc8416-cc0e-4ebb-a255-2372847c3853

Project summary

Orbital Bayonet Repair is a self-contained MuJoCo dexterous-manipulation task for satellite servicing in microgravity. A 16-channel, five-finger service hand restores a keyed power connector through sensor self-check, approach, contact-balanced grasping, visual-servo fault recovery, compliant insertion, bayonet locking, an external proof-load test, and guarded power verification.

Key contributions

• Closed-loop fault recovery: frame-sensor feedback rejects an injected camera-calibration bias with bounded residual corrections.
• Five-finger manipulation: ten independently actuated finger joints and five touch sensors support contact-balanced grasping.
• Safety-gated repair: power verification occurs only after keyed insertion, collar locking, and an 8 N proof-load test.
• Auditable evaluation: the runner exports a video, trajectory, contact timeline, runtime report, policy card, captions, and a 32-rollout fixed-seed controller ablation.
• Self-contained MuJoCo model: 18 actuators, 13 sensors, frictional contacts, equality constraints, external wrench injection, and no external meshes or checkpoints.

Results

• Completed all 9/9 task stages and passed all 6/6 terminal conditions.
• Reduced median servo error from 8.615 mm to 1.551 mm (82.0%).
• Reached a minimum insertion error of 4.042 mm.
• Sustained a measured peak proof load of 8.9987 N.
• Achieved 32/32 successful closed-loop rollouts; the stage-prior-only ablation achieved 0/32.

Run and validate

From the repository root:

python3 -m venv .venv
.venv/bin/python -m pip install -r submissions/orbital_bayonet_repair/requirements.txt
.venv/bin/python submissions/orbital_bayonet_repair/run_orbital_repair.py
.venv/bin/python submissions/orbital_bayonet_repair/validate_submission.py

Use --quick with the runner for a faster smoke test. The default run generates a 60-second demonstration and structured evidence under submissions/orbital_bayonet_repair/artifacts/.

Main files

• run_orbital_repair.py — controller, simulation, rendering, and evidence generation
• orbital_bayonet_scene.xml — procedural five-finger robot and satellite connector scene
• validate_submission.py — structural, metadata, artifact, and MuJoCo checks
• evaluation_report.json — rubric-aligned evaluation summary
• artifacts/report.json — measured runtime results and terminal conditions
• artifacts/evaluation.json — fixed-seed residual-controller ablation
• artifacts/demo.mp4 — generated task demonstration