UR5 CB3 · OnRobot RG2 + D455
The reflective UR5 CB3 now carries the legacy OnRobot RG2, its single bracket, and a RealSense D455 on the blue v4 mount. The latest video replays a fresh contact-driven bottle pick with a synchronized calibrated D455 RGB inset.
Latest: RG2 bottle pick + D455 inset
More videos
Measured results
| New RG2 contact-driven pick | Passed · 169.3 mm minimum held surface clearance |
|---|---|
| Open-gripper control | Bottle stays on the table |
| New video | Two 8-second replays · synchronized calibrated D455 RGB |
| 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 latest RG2 video replays the new RG2 physics trajectory. The D455 inset uses the source camera pose and calibrated pinhole intrinsics. Mount collisions with external objects remain disabled as in the source. Geometry, inertias and materials are approximate. Earlier Robotiq CB3 and UR5e results below belong to their respective configurations; the 19-trial sweep is the UR5e baseline.
Images and comparisons
Verification data
Selected numerical reports from this experiment.
- rg2 d455 verification (JSON)
- cb3 rg2 d455 pick (JSON)
- cb3 rg2 d455 open control pick (JSON)
- rg2 d455 video (JSON)
- verification (JSON)
- cb3 verification (JSON)
- cb3 nominal pick (JSON)
- robot cb3 video (JSON)
- composed appearance (JSON)
- silhouettes (JSON)
- robustness (JSON)
Robot model
Download updated URDF and meshes · UR5 CB3, legacy RG2, blue D455 mount and optical frames.