graph-robots verifying-placement
Use once, after executing-feature-mating has released the object. Take a
fresh observation and call verify_placement with the aperture the fixture
perception measured (aperture_center, rim_z).
The script segments object_description in camera_name. Below
score_min the object is taken to have disappeared into the container,
which is verified. Otherwise its mask is back-projected and the median
must lie more than depth_margin_m below rim_z and within
xy_tolerance_m of the aperture centre in XY; anything else, including a
mask with fewer than min_points valid depth points, routes not_placed
with the evidence spelled out. The script never raises on a verdict.
Boundaries
- Only meaningful for an opaque container after a completed release; an object still in the gripper would also "disappear" from an overhead view.
- No simulator query or object pose is read.