Demonstrate by hand

Hold your phone as though it were the gripper and move it. The pose comes from the device’s own tracking — the same visual-inertial system that places furniture in a room, corrected against what the camera sees rather than integrated from acceleration, which is why this can be a measurement and a motion sensor could not.

A hand metre becomes 42 cm of bench, because the station’s solver places the wrist at most 408 mm from the base and a person demonstrating at arm’s length moves through about a metre. Tap to close the jaws, tap again to let go. What comes out is a trajectory in the same format as every other run.

Checking this device…

It is not vision. Nothing here sees a real object: the payload, the bench and the datum are the simulated ones, and the phone supplies a hand pose rather than a scene. And it has not yet been tried on a phone — the mapping, the clamping at the arm’s reach and the recorded format are tested, but how it feels in the hand is not yet known.