CMRDF
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Anchor-conditioned orientation reachability

Explore the same precomputed visualization in a dedicated workspace. The slider shows the first N anchors cumulatively; it does not select a single anchor.

Anchor-conditioned orientation reachabilityDrag to rotate · Scroll to zoom

Explore the position anchors

Drag to rotate and scroll or pinch to zoom. The slider cumulatively shows the first N anchors, ordered from the position interior toward the boundary. Start with a few anchors to inspect their individual projections.

Read the orientation support

The sphere shows tool z-axis directions. Color indicates reachable rotation support about each direction, from dark blue (little or none) to yellow (larger support).

Position samplesAnchorsLow → high support

The colored sphere is a two-dimensional projection of orientation support, not the complete SO(3) boundary. This is a qualitative illustration, not online model inference or a quantitative evaluation.