Grasp candidates
Distance to the nearest handle point and the functional score it gives, for both sources.
| # | true part | gate r·a·c | d, geometric | f, geometric | d, SAM3 | f, SAM3 | recorded rollout |
|---|
The functional term scores a grasp by its distance d to the nearest handle point:
1 within 3 cm, falling to 0 at 8 cm. The handle points come from one of two sources. Pick an
object, switch the source on the same scene, and compare how the grasps on the other part score.
How depth is rendered
No camera is added to the model. A MuJoCo free camera is placed in Python and one offscreen renderer draws the same simulator state twice, a colour pass and then a depth pass in metres along the optical axis. The depth is noiseless and has no dropouts.
From pixel to point
Pixel (u, v) with depth z is scaled by the intrinsics and moved into the world by the camera pose, as in
affordx.rendering.camera.lift. The scene shows every third pixel within 1 m of the object.