Dual-arm UR3 + Allegro, right arm, 10 objects × 10 trials. Perception: FoundationPose; synthesis: BODex (600 seeds/trial) with the approach, post-grasp and torso collision guards enabled.
Counted trials only; no-grasp aborts (synthesis rejected before any motion) are excluded, as in the live menu.
Where each object actually sat, by outcome. Marker shape encodes the outcome as well as colour. Dotted box = the documented reliable reach rectangle; solid box = the recommended placement zone.
Worst-contact grasp error for every counted trial. The red bar is that object's grasp_err_max; synthesis retries until it lands under it, so the spread shows how much headroom each object had.
Median grasp candidates (of 600) that the arm could actually reach. Low values mean the planner had little choice — the tall side-grasp containers are the most constrained.
Cumulative success rate across the whole session in chronological order; crosses mark the individual failures.
Wall-clock per trial: synthesis, approach, grasp dwell, transit, place and return home.