Independent assets · UR5 CB3
The table and robot pedestal are reconstructed as separate, movable assets and placed into the captured final layout. The latest flythrough adds detailed UR5 CB3 geometry and a synchronized wrist camera.
Latest: UR5 CB3 flythrough + wrist inset
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Measured results
| Independent asset silhouette IoU | Table 0.963 · pedestal 0.886 |
|---|---|
| Final-scene held-out appearance | 23.25 dB PSNR · 0.848 SSIM |
| UR5e baseline robustness | 19 / 19 trials passed |
| Separate CB3 physical pick | Passed · 195.0 mm minimum held surface clearance |
The CB3 flythrough retargets the earlier recorded tool path; a separate CB3 contact-driven simulation verifies picking feasibility. The 19-trial robustness sweep belongs to the UR5e baseline. Nominal CAD geometry and inferred materials are approximate; this is simulation evidence, not hardware validation.
Images and comparisons
Verification data
Selected numerical reports from this experiment.