ASTM F3713-25

1.1 This practice describes accepted procedures for recording the configuration of workpieces used to conduct mobile manipulator performance evaluation. The information contained in this practice provides instructions and a test report to record workpiece configuration characteristics, such as physical properties, user-adjustable properties, coordinate system descriptions, location of registration fiducials, and pose-constrained targets (PCTs). A completed example test report is also provided using an optional test apparatus, the Configurable Mobile Manipulator Apparatus (CMMA), as an example workpiece used for mobile manipulator performance measurement.

1.2 Units—The values stated in SI units are to be regarded as the standard. No other units of measurement are included in this standard.

1.3 This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the responsibility of the user of this standard to establish appropriate safety, health, and environmental practices and determine the applicability of regulatory limitations prior to use.

1.4 This international standard was developed in accordance with internationally recognized principles on standardization established in the Decision on Principles for the Development of International Standards, Guides and Recommendations issued by the World Trade Organization Technical Barriers to Trade (TBT) Committee.

4.1 This practice is intended for use by mobile manipulator manufacturers, suppliers, integrators, and end-users in either a laboratory or manufacturing environments to document the configuration characteristics of the workpiece used to conduct mobile manipulator performance evaluation. Such characteristics: (1) contextualize the mobile manipulator performance with respect to the workpiece configuration during measurement or test, (2) identify the main adjustable configuration parameters, (3) provide the proper context for mobile manipulator performance measurement or test results, or both, with respect to the workpiece configuration, (4) provide basis of comparison for mobile manipulator performance measurement and/or test circumstances across different workpieces and/or performance measurements/tests, and (5) allow a mobile manipulator performance measurement or test, or both, to be replicated. Note that this practice is intended for use with other related and forthcoming standard practices and test methods for measuring mobile manipulator performance. This practice does not currently consider scenarios in which the workpiece is moved while a test repetition is in progress, though the workpiece may be moved in between test repetitions. A future standard or revision to this standard will consider scenarios in which the workpiece is moved or disturbed during test repetitions.