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+ "n_frames_wrist": 44, "n_frames_static": 51, - "n_frames_tracked": 92, + "n_frames_tracked": 94, "state_per_frame": [ "static", "static", diff --git a/samples/-0RheyDV3a0_474.8_487.3/recording.viser b/samples/-0RheyDV3a0_474.8_487.3/recording.viser index 4bf17ed0ca09b39133aba9e2f7243b56a1558e4e..3f7b50abe03692277f175fc40f3244461f8aab75 100644 --- a/samples/-0RheyDV3a0_474.8_487.3/recording.viser +++ b/samples/-0RheyDV3a0_474.8_487.3/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7f1980aa5eb42dc29c1a94de38a1c661dbf70c2616770f6f4214d69be484b8ca -size 6419179 +oid sha256:d5ab3568e4514e5303c77e53ce7b05e20f4936df4641fb6d5a8aa26496695180 +size 6422545 diff --git a/samples/-0RheyDV3a0_474.8_487.3/scene.json b/samples/-0RheyDV3a0_474.8_487.3/scene.json index bad81216ff939791b87ec338306b609f550746a9..059897839cb812f98230804902ffd15eab951606 100644 --- a/samples/-0RheyDV3a0_474.8_487.3/scene.json +++ b/samples/-0RheyDV3a0_474.8_487.3/scene.json @@ -191,14 +191,14 @@ "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 113, + "static": 122, "grasped_l": 1, - "grasped_r": 18, + "grasped_r": 9, "grasped_both": 57, "moving": 0 }, "state_fractions": { - "static": 0.5978835978835979, + "static": 0.6455026455026455, "grasped": 0.0, "moving": 0.0 }, @@ -237,14 +237,14 @@ "trust_rate": 0.14814814814814814, "tracking_status": "ok", "state_counts": { - "static": 96, + "static": 126, "grasped_l": 13, - "grasped_r": 33, + "grasped_r": 3, "grasped_both": 19, "moving": 28 }, "state_fractions": { - "static": 0.5079365079365079, + "static": 0.6666666666666666, "grasped": 0.0, "moving": 0.14814814814814814 }, diff --git a/samples/-0RheyDV3a0_474.8_487.3/signals.json b/samples/-0RheyDV3a0_474.8_487.3/signals.json index e465702d758ed56c323fe71d59ddc9b0b49a9a46..964f91c0b0ef49da62b4a6d349d34a0474219be2 100644 --- a/samples/-0RheyDV3a0_474.8_487.3/signals.json +++ b/samples/-0RheyDV3a0_474.8_487.3/signals.json @@ -1 +1 @@ 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a/samples/-0RheyDV3a0_48.6_55.3/pose_track.json +++ b/samples/-0RheyDV3a0_48.6_55.3/pose_track.json @@ -2714,7 +2714,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=104 static=0 tracked=0 mc_static=False scale=0.346", + "note": "phase_d state-machine: wrist=104 static=0 tracked=0 mc_static=False scale=0.346 grasp_src=vetoed (pkl)", "n_frames_wrist": 104, "n_frames_static": 0, "n_frames_tracked": 0, diff --git a/samples/-0RheyDV3a0_48.6_55.3/recording.viser b/samples/-0RheyDV3a0_48.6_55.3/recording.viser index 711296e3dd002c02938a960c4ef3489dcaab0f83..54397bcc520addc4256d9484734dbb93c96675a1 100644 --- a/samples/-0RheyDV3a0_48.6_55.3/recording.viser +++ b/samples/-0RheyDV3a0_48.6_55.3/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c408f53a713af1ccb5b25d5cb1b452c2646f3e88cb21814641025292f899768a -size 2769222 +oid sha256:500e773fdd622368e74f5a82dab0451692fac209fc8da420086de0492acf1772 +size 2769223 diff --git a/samples/-10PEfWOYSE_521.8_528.5/object_pose.bin b/samples/-10PEfWOYSE_521.8_528.5/object_pose.bin index 8475ed20f6cfa6a494d91468ed7037ad97451772..25a162dc54be301b3c57fae8079b2559b5860575 100644 --- a/samples/-10PEfWOYSE_521.8_528.5/object_pose.bin +++ b/samples/-10PEfWOYSE_521.8_528.5/object_pose.bin @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1e82f9724348e7f1fd29c97b66977ddf285ff789c64d5367eb3699d5fd6cda6f +oid sha256:8585fea3e9c3cdf77c90c20e722b6a1e8fdf5e310e8792e77d24d68255766800 size 38784 diff --git a/samples/-10PEfWOYSE_521.8_528.5/pose_track.json b/samples/-10PEfWOYSE_521.8_528.5/pose_track.json index b6618b896556bc96366461ec6e61a34bbed4a3d5..1921398b7bf8441a1a41661b2a5a19ba17d0d811 100644 --- a/samples/-10PEfWOYSE_521.8_528.5/pose_track.json +++ b/samples/-10PEfWOYSE_521.8_528.5/pose_track.json @@ -13,19 +13,19 @@ 0.975835382938385, -0.21488776803016663, 0.03960476443171501, - 0.052726395428180695 + 0.049277693033218384 ], [ -0.1386626809835434, 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sha256:bc7737669f5aa41c506f58af9f87953889795c33576534747c6b32bb3b2a3d75 +size 5021668 diff --git a/samples/-1bQTExN1Ts_230.8_242.8/scene.json b/samples/-1bQTExN1Ts_230.8_242.8/scene.json index 166d967a9c43afd426f1b48a2de75d2c12da7a6a..d556cca9b1500e6c9bb045986ae0c35d58a85224 100644 --- a/samples/-1bQTExN1Ts_230.8_242.8/scene.json +++ b/samples/-1bQTExN1Ts_230.8_242.8/scene.json @@ -125,14 +125,14 @@ "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 0, - "grasped_l": 21, + "static": 180, + "grasped_l": 0, "grasped_r": 0, - "grasped_both": 159, + "grasped_both": 0, "moving": 0 }, "state_fractions": { - "static": 0.0, + "static": 1.0, "grasped": 0.0, "moving": 0.0 }, diff --git a/samples/-1bQTExN1Ts_230.8_242.8/signals.json b/samples/-1bQTExN1Ts_230.8_242.8/signals.json index 0d8438a4aabe73c261ce7099d96947766aa7626c..b964ccfc6c47e936054261ef5d6b3ba4c557748a 100644 --- a/samples/-1bQTExN1Ts_230.8_242.8/signals.json +++ b/samples/-1bQTExN1Ts_230.8_242.8/signals.json 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scale=0.488", - "n_frames_wrist": 103, - "n_frames_static": 40, - "n_frames_tracked": 36, + "note": "phase_d state-machine: wrist=20 static=101 tracked=58 mc_static=True scale=0.488 grasp_src=vetoed (pkl)", + "n_frames_wrist": 20, + "n_frames_static": 101, + "n_frames_tracked": 58, "state_per_frame": [ "static", "moving", @@ -4680,20 +4680,52 @@ "grasped_l", "grasped_l", "grasped_l", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", "static", "static", "static", @@ -4707,15 +4739,6 @@ "static", "static", "static", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", "static", "static", "static", @@ -4729,45 +4752,38 @@ "static", "static", "static", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", + "static", + "static", + "static", + "moving", + "moving", + "static", + "static", + "static", + "moving", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", "static", "static", "static", @@ -4784,35 +4800,19 @@ "static", "static", "static", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "moving", + "moving", "moving", "moving", "moving", @@ -4856,25 +4856,102 @@ null, null, null, - "L", - "L", - "L", - "L", - "L", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, null, null, null, @@ -4888,15 +4965,6 @@ null, null, null, - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", null, null, null, @@ -4910,45 +4978,6 @@ null, null, null, - "R", - "R", - "R", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", null, null, null, @@ -4965,35 +4994,6 @@ null, null, null, - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", null, null, null, @@ -5932,11 +5932,11 @@ ], "global_span_px": 18.713109970092773, "state_counts": { - "static": 68, + "static": 140, "grasped_l": 19, - "grasped_r": 41, - "grasped_both": 36, - "moving": 15 + "grasped_r": 0, + "grasped_both": 0, + "moving": 20 }, "wrist_used_per_frame": [ false, @@ -5945,25 +5945,228 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false + ], + "wrist_l_per_frame": [ + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, @@ -5977,15 +6180,6 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, false, false, @@ -5999,45 +6193,6 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, false, false, @@ -6054,35 +6209,6 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, false, false, @@ -6117,34 +6243,12 @@ false, false, false, - false - ], - "wrist_l_per_frame": [ false, false, false, false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, false, false, @@ -6183,44 +6287,20 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false + ], + "wrist_r_per_frame": [ false, false, false, @@ -6298,9 +6378,6 @@ false, false, false, - false - ], - "wrist_r_per_frame": [ false, false, false, @@ -6312,20 +6389,6 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, false, false, @@ -6339,15 +6402,6 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, false, false, @@ -6361,31 +6415,6 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, false, false, @@ -6416,35 +6445,6 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, false, false, @@ -6568,9 +6568,12 @@ false, false, false, + true, + true, false, false, false, + true, false, false, false, @@ -6621,11 +6624,8 @@ false, false, false, - false, - false, - false, - false, - false, + true, + true, true, true, true, @@ -11509,7 +11509,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=34 static=124 tracked=21 mc_static=False scale=0.113", + "note": "phase_d state-machine: wrist=34 static=124 tracked=21 mc_static=False scale=0.113 grasp_src=vetoed (pkl)", "n_frames_wrist": 34, "n_frames_static": 124, "n_frames_tracked": 21, diff --git a/samples/-4eiU1SHpzY_111.9_123.8/recording.viser b/samples/-4eiU1SHpzY_111.9_123.8/recording.viser index 03eedc6bee9448586d5a88c2a67367596b43024f..5b4ea29203418259205e34c6537fc164eef50301 100644 --- a/samples/-4eiU1SHpzY_111.9_123.8/recording.viser +++ b/samples/-4eiU1SHpzY_111.9_123.8/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c778d7003e3912b8dd43876e33d6f8f6ca1a659b57b26f0084b8f10cf550e37e -size 5561557 +oid sha256:1e7e068fddec0cf54e264b57883e78a5a48d95af936a5a447e0802afdf8eedf7 +size 5556809 diff --git a/samples/-4eiU1SHpzY_111.9_123.8/scene.json b/samples/-4eiU1SHpzY_111.9_123.8/scene.json index 08ae5382a623ba55466f14abae69165f53f02979..8f16cf1f5670688256da0fb9dfc178b5e315a9d2 100644 --- a/samples/-4eiU1SHpzY_111.9_123.8/scene.json +++ b/samples/-4eiU1SHpzY_111.9_123.8/scene.json @@ -144,19 +144,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.08379888268156424, + "trust_rate": 0.11173184357541899, "tracking_status": "ok", "state_counts": { - "static": 68, + "static": 140, "grasped_l": 19, - "grasped_r": 41, - "grasped_both": 36, - "moving": 15 + "grasped_r": 0, + "grasped_both": 0, + "moving": 20 }, "state_fractions": { - "static": 0.37988826815642457, + "static": 0.7821229050279329, "grasped": 0.0, - "moving": 0.08379888268156424 + "moving": 0.11173184357541899 }, "is_static_global": false, "n_state_frames": 179 diff --git a/samples/-4eiU1SHpzY_111.9_123.8/signals.json b/samples/-4eiU1SHpzY_111.9_123.8/signals.json index dcbef288a7cf8996dc18836652950d20151affcc..1bbef77c0ca8e173df088b2e8786a5b37a47a0cf 100644 --- a/samples/-4eiU1SHpzY_111.9_123.8/signals.json +++ b/samples/-4eiU1SHpzY_111.9_123.8/signals.json @@ -1 +1 @@ -{"n_frames": 179, "scene": {"contact_l": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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mc_static=False scale=0.213", + "note": "phase_d state-machine: wrist=31 static=31 tracked=0 mc_static=False scale=0.213 grasp_src=vetoed (pkl)", "n_frames_wrist": 31, "n_frames_static": 31, "n_frames_tracked": 0, @@ -6420,7 +6420,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=0 static=57 tracked=5 mc_static=True scale=0.270", + "note": "phase_d state-machine: wrist=0 static=57 tracked=5 mc_static=True scale=0.270 grasp_src=vetoed (pkl)", "n_frames_wrist": 0, "n_frames_static": 57, "n_frames_tracked": 5, @@ -8819,7 +8819,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=0 static=57 tracked=5 mc_static=True scale=0.116", + "note": "phase_d state-machine: wrist=0 static=57 tracked=5 mc_static=True scale=0.116 grasp_src=vetoed (pkl)", "n_frames_wrist": 0, "n_frames_static": 57, "n_frames_tracked": 5, diff --git a/samples/-4eiU1SHpzY_319.4_323.4/recording.viser b/samples/-4eiU1SHpzY_319.4_323.4/recording.viser index 7d304b7e298b4fbb2e2482d812239483d1556931..893344aeab5b634d8df866590c8718264aadd017 100644 --- a/samples/-4eiU1SHpzY_319.4_323.4/recording.viser +++ b/samples/-4eiU1SHpzY_319.4_323.4/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1f1accf5186c301598a3a80f653d1a91fba26b5ec5347b828618512df0058774 -size 3240331 +oid sha256:8b3eeccf82420262dd116b1b399483df79a082ad77cda5e6b30491358f450709 +size 3240328 diff --git a/samples/-5a3oTSdP3U_168.6_173.4/object_pose.bin b/samples/-5a3oTSdP3U_168.6_173.4/object_pose.bin index 2bb571ddf067624538c801e06cb9485fc5f86473..01e915f75f599093811dcd2f0cd07e3bbc06d0b9 100644 --- a/samples/-5a3oTSdP3U_168.6_173.4/object_pose.bin +++ b/samples/-5a3oTSdP3U_168.6_173.4/object_pose.bin @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6ebc76156495c6fcac248d373c41dc23388eb9bc018a244190ac8c2a93c248fe +oid sha256:d8c4d12af8c66f65ab1909a74d129a309647db1f2aa64df1c5eae7f50ab82580 size 9472 diff --git 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+ -0.1145719438791275, + 0.12126488983631134, + 0.9859858751296997, + 0.9966169595718384 ], [ 0.0, @@ -1934,161 +1934,161 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=74 static=0 tracked=0 mc_static=True scale=0.148", - "n_frames_wrist": 74, - "n_frames_static": 0, + "note": "phase_d state-machine: wrist=0 static=74 tracked=0 mc_static=True scale=0.148 grasp_src=vetoed (pkl)", + "n_frames_wrist": 0, + "n_frames_static": 74, "n_frames_tracked": 0, "state_per_frame": [ - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both" + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "moving", + "moving", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "moving", + "moving", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "moving", + "static", + "static", + "static", + "static", + "static", + "static" ], "grasp_hand_per_frame": [ - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both" + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -2467,241 +2467,178 @@ ], "global_span_px": 16.77714729309082, "state_counts": { - "static": 0, + "static": 69, "grasped_l": 0, "grasped_r": 0, - "grasped_both": 74, - "moving": 0 + "grasped_both": 0, + "moving": 5 }, "wrist_used_per_frame": [ - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true - ], - "wrist_l_per_frame": [ - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false ], - "wrist_r_per_frame": [ - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true + "wrist_l_per_frame": [ + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false ], - "is_moving_per_frame": [ + "wrist_r_per_frame": [ + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, @@ -2762,6 +2699,27 @@ false, false, false, + false + ], + "is_moving_per_frame": [ + false, + false, + false, + false, + false, + false, + false, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, @@ -2775,6 +2733,48 @@ false, false, false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + false, + false, + false, + false, + false, false ], "close_per_frame": [ @@ -4789,7 +4789,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=0 static=70 tracked=4 mc_static=True scale=0.168", + "note": "phase_d state-machine: wrist=0 static=70 tracked=4 mc_static=True scale=0.168 grasp_src=vetoed (pkl)", "n_frames_wrist": 0, "n_frames_static": 70, "n_frames_tracked": 4, diff --git a/samples/-5a3oTSdP3U_168.6_173.4/recording.viser b/samples/-5a3oTSdP3U_168.6_173.4/recording.viser index 3687222973806a96d404227b3e9ffd764cb70a82..0111a86ae06d679bd2bcbc7812376982f5a6e175 100644 --- a/samples/-5a3oTSdP3U_168.6_173.4/recording.viser +++ b/samples/-5a3oTSdP3U_168.6_173.4/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:bfdd0d5a1c8f4021ace94a04250c962a64a1713e4171bca5174001b37920edfb -size 2660008 +oid sha256:624a85c46c27b351bb99dec523db055506177313f7c0312d03e99cbc8c8e99ab +size 2650932 diff --git a/samples/-5a3oTSdP3U_168.6_173.4/scene.json b/samples/-5a3oTSdP3U_168.6_173.4/scene.json index 6d5a89cfe46939367553e66e8da7bbe73ee2b76d..3728837aa3334781e91ea6110e5f87c772c4bf26 100644 --- a/samples/-5a3oTSdP3U_168.6_173.4/scene.json +++ b/samples/-5a3oTSdP3U_168.6_173.4/scene.json @@ -144,19 +144,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.0, + "trust_rate": 0.06756756756756757, "tracking_status": "ok", "state_counts": { - "static": 0, + "static": 69, "grasped_l": 0, "grasped_r": 0, - "grasped_both": 74, - "moving": 0 + "grasped_both": 0, + "moving": 5 }, "state_fractions": { - "static": 0.0, + "static": 0.9324324324324325, "grasped": 0.0, - "moving": 0.0 + "moving": 0.06756756756756757 }, "is_static_global": false, "n_state_frames": 74 diff --git a/samples/-5a3oTSdP3U_168.6_173.4/signals.json b/samples/-5a3oTSdP3U_168.6_173.4/signals.json index b5e6af074e397776b5a88b5d1a11a4305a9cb23f..abb64756015e630e2747d532ee0b75a3bfb4800e 100644 --- a/samples/-5a3oTSdP3U_168.6_173.4/signals.json +++ b/samples/-5a3oTSdP3U_168.6_173.4/signals.json @@ -1 +1 @@ -{"n_frames": 74, "scene": {"contact_l": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "contact_r": 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a/samples/-6Z315Ts-Y4_78.3_83.8/scene.json b/samples/-6Z315Ts-Y4_78.3_83.8/scene.json index b03f2a6ffad2c5163ba7d5186c038ea0d9ffe9b0..30a6b37136d8ae6164652dce202fb88d741b1b7d 100644 --- a/samples/-6Z315Ts-Y4_78.3_83.8/scene.json +++ b/samples/-6Z315Ts-Y4_78.3_83.8/scene.json @@ -166,19 +166,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.011904761904761904, + "trust_rate": 0.13095238095238096, "tracking_status": "ok", "state_counts": { - "static": 2, - "grasped_l": 2, + "static": 73, + "grasped_l": 0, "grasped_r": 0, - "grasped_both": 79, - "moving": 1 + "grasped_both": 0, + "moving": 11 }, "state_fractions": { - "static": 0.023809523809523808, + "static": 0.8690476190476191, "grasped": 0.0, - "moving": 0.011904761904761904 + "moving": 0.13095238095238096 }, "is_static_global": false, "n_state_frames": 84 diff --git a/samples/-6Z315Ts-Y4_78.3_83.8/signals.json b/samples/-6Z315Ts-Y4_78.3_83.8/signals.json index 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a/samples/-7rFmF9Aka8_94.7_102.2/recording.viser b/samples/-7rFmF9Aka8_94.7_102.2/recording.viser index 620642f309ad4dabba229fbcfddb4c1dee097704..83ac26a16ef5c3a94c2ae9b3d9cc6543a4d19f8f 100644 --- a/samples/-7rFmF9Aka8_94.7_102.2/recording.viser +++ b/samples/-7rFmF9Aka8_94.7_102.2/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6c189c55170e245f377f40fa6bdc5c01dd4173aabbab3ca84a00e5776195b809 -size 4033270 +oid sha256:d761e7f2e96e50ea40c9062cb7d7b46a5644177e62f21152a32371552be602b5 +size 4029321 diff --git a/samples/-7rFmF9Aka8_94.7_102.2/scene.json b/samples/-7rFmF9Aka8_94.7_102.2/scene.json index e46ec91bde31be2582c6cf5114a9a6e5a25b05af..308a11ecdef998b36bdba7e67cffbfb7e3bd819b 100644 --- a/samples/-7rFmF9Aka8_94.7_102.2/scene.json +++ b/samples/-7rFmF9Aka8_94.7_102.2/scene.json @@ -189,19 +189,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.0, + "trust_rate": 0.13274336283185842, "tracking_status": "ok", "state_counts": { - "static": 1, - "grasped_l": 31, + "static": 98, + "grasped_l": 0, "grasped_r": 0, - "grasped_both": 81, - "moving": 0 + "grasped_both": 0, + "moving": 15 }, "state_fractions": { - "static": 0.008849557522123894, + "static": 0.8672566371681416, "grasped": 0.0, - "moving": 0.0 + "moving": 0.13274336283185842 }, "is_static_global": false, "n_state_frames": 113 diff --git a/samples/-7rFmF9Aka8_94.7_102.2/signals.json b/samples/-7rFmF9Aka8_94.7_102.2/signals.json index 0641ba1ac6ea6f7e39bca17b60b2f055d4b17066..98d394be41e4a217bd10306a57c36007fb16d5a8 100644 --- a/samples/-7rFmF9Aka8_94.7_102.2/signals.json +++ b/samples/-7rFmF9Aka8_94.7_102.2/signals.json @@ -1 +1 @@ -{"n_frames": 113, "scene": {"contact_l": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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0.21292823553085327 + 0.20648996531963348 ], [ -0.5097926259040833, -0.22846397757530212, -0.8294067978858948, - 0.09589153528213501 + 0.08928552269935608 ], [ 0.5899707674980164, 0.6088377237319946, -0.5303311347961426, - 1.4586223363876343 + 1.4075913429260254 ], [ 0.0, @@ -3946,19 +3946,19 @@ 0.6357116103172302, -0.7683166265487671, -0.07456740736961365, - 0.21515361964702606 + 0.20417338609695435 ], [ -0.45229825377464294, -0.2924633324146271, -0.8425505757331848, - 0.09270165115594864 + 0.0839410200715065 ], [ 0.6255373954772949, 0.5693458914756775, -0.5334306359291077, - 1.4509811401367188 + 1.3712271451950073 ], [ 0.0, @@ -3972,19 +3972,19 @@ 0.6380851864814758, -0.7696760892868042, 0.021120812743902206, - 0.21627502143383026 + 0.1995401531457901 ], [ -0.3908562958240509, -0.3474218547344208, -0.8523669242858887, - 0.08814500272274017 + 0.077909916639328 ], [ 0.6633842587471008, 0.5356274843215942, -0.5225174427032471, - 1.4402334690093994 + 1.3276976346969604 ], [ 0.0, @@ -3998,19 +3998,19 @@ 0.6344130635261536, -0.7670133709907532, 0.09597142785787582, - 0.2159959077835083 + 0.19220469892024994 ], [ -0.33439746499061584, -0.3842605650424957, -0.8605359792709351, - 0.0819554403424263 + 0.07127664238214493 ], [ 0.69692063331604, 0.5138426423072815, -0.5002672672271729, - 1.4258061647415161 + 1.2769945859909058 ], [ 0.0, @@ -4021,9 +4021,9 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=62 static=0 tracked=0 mc_static=False scale=0.096", - "n_frames_wrist": 62, - "n_frames_static": 0, + "note": "phase_d state-machine: wrist=60 static=2 tracked=0 mc_static=False scale=0.096 grasp_src=vetoed (pkl)", + "n_frames_wrist": 60, + "n_frames_static": 2, "n_frames_tracked": 0, "state_per_frame": [ "grasped_r", @@ -4051,31 +4051,31 @@ "grasped_r", "grasped_r", "grasped_r", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", "grasped_r", "grasped_r", "grasped_r", @@ -4115,31 +4115,31 @@ "R", "R", "R", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", "R", "R", "R", @@ -4472,8 +4472,8 @@ "state_counts": { "static": 3, "grasped_l": 0, - "grasped_r": 22, - "grasped_both": 37, + "grasped_r": 47, + "grasped_both": 12, "moving": 0 }, "wrist_used_per_frame": [ @@ -4566,31 +4566,31 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, @@ -6420,7 +6420,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=0 static=62 tracked=0 mc_static=True scale=0.116", + "note": "phase_d state-machine: wrist=0 static=62 tracked=0 mc_static=True scale=0.116 grasp_src=vetoed (pkl)", "n_frames_wrist": 0, "n_frames_static": 62, "n_frames_tracked": 0, diff --git a/samples/-821U1ZYZOs_245.0_249.0/recording.viser b/samples/-821U1ZYZOs_245.0_249.0/recording.viser index 84c16b929f5876b259ba9f8e74d2099ea9dc088e..d01d126b2a3e8b6d43959998b9fc37df78f3bd42 100644 --- a/samples/-821U1ZYZOs_245.0_249.0/recording.viser +++ b/samples/-821U1ZYZOs_245.0_249.0/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a7988df23be2c88b314586b829721905b0cefb50f28901c2a525a4940502d44d -size 3430037 +oid sha256:dab27830cd11ef928112450da979516a0f229e2864a60be478ddd3a4b54a57eb +size 3439968 diff --git a/samples/-821U1ZYZOs_245.0_249.0/scene.json b/samples/-821U1ZYZOs_245.0_249.0/scene.json index 528eb7b0c521a82d0c8a39edcebf4cbe6cd3bf27..a2b3127fa491b1062c82f3b044bec04cef1ab071 100644 --- a/samples/-821U1ZYZOs_245.0_249.0/scene.json +++ b/samples/-821U1ZYZOs_245.0_249.0/scene.json @@ -194,8 +194,8 @@ "state_counts": { "static": 3, "grasped_l": 0, - "grasped_r": 22, - "grasped_both": 37, + "grasped_r": 47, + "grasped_both": 12, "moving": 0 }, "state_fractions": { diff --git a/samples/-821U1ZYZOs_245.0_249.0/signals.json b/samples/-821U1ZYZOs_245.0_249.0/signals.json index 8c3583241f740ef08db1893d466b00961e96c5c4..4dbbff66f0345ca56b16f3dc2251edac1621de9a 100644 --- a/samples/-821U1ZYZOs_245.0_249.0/signals.json +++ b/samples/-821U1ZYZOs_245.0_249.0/signals.json @@ -1 +1 @@ -{"n_frames": 62, "scene": {"contact_l": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0, 0.0], "contact_r": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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mc_static=False scale=0.102", + "note": "phase_d state-machine: wrist=0 static=139 tracked=40 mc_static=False scale=0.102 grasp_src=vetoed (pkl)", "n_frames_wrist": 0, "n_frames_static": 139, "n_frames_tracked": 40, diff --git a/samples/-8WOMg810tk_48.4_60.3/recording.viser b/samples/-8WOMg810tk_48.4_60.3/recording.viser index 3f250a75e050a38a65fc0d416efca0b8562a45fb..775948ae80389af0e0a5a77f9a1f7ca4ca1603d1 100644 --- a/samples/-8WOMg810tk_48.4_60.3/recording.viser +++ b/samples/-8WOMg810tk_48.4_60.3/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:431df9b1f6e438bdba95f5aa7aefa3a924cdf14365edeaef09f8ca21853d8fe2 -size 8129173 +oid sha256:37b245bfdac24e6ab5776c7b6ae048290e9abe19200d79ed95fe4918ba469f0e +size 8129177 diff --git a/samples/-8WOMg810tk_56.3_60.3/object_pose.bin b/samples/-8WOMg810tk_56.3_60.3/object_pose.bin index e86341f5c06e2542e0a797d8cfa617f0ea071e68..7c79dca7bc4a698b151895a597a2b5be75c78ee6 100644 --- a/samples/-8WOMg810tk_56.3_60.3/object_pose.bin +++ b/samples/-8WOMg810tk_56.3_60.3/object_pose.bin @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ac97aca307e37f9af130e1586da5e4db139b806f6b38fbe5702c581ab88cbb75 +oid sha256:4378ead681d65a21fd8fb251aada970d3793f419fd9f3b6276b5bf6b83b55639 size 14592 diff --git a/samples/-8WOMg810tk_56.3_60.3/pose_track.json b/samples/-8WOMg810tk_56.3_60.3/pose_track.json index 0d4ef04afa3b09337c52e5821cca9183760c9404..45fdde420a0babcef17a4dde3a07112f331a8ad7 100644 --- a/samples/-8WOMg810tk_56.3_60.3/pose_track.json +++ b/samples/-8WOMg810tk_56.3_60.3/pose_track.json @@ -1492,7 +1492,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=0 static=57 tracked=0 mc_static=True scale=0.899", + "note": "phase_d state-machine: wrist=0 static=57 tracked=0 mc_static=True scale=0.899 grasp_src=vetoed (pkl)", "n_frames_wrist": 0, "n_frames_static": 57, "n_frames_tracked": 0, @@ -3701,7 +3701,7 @@ ] ], "tracking_status": 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-0.1695205420255661, + 0.9238889217376709, + -0.34306275844573975, 1.6725815534591675 ], [ @@ -8093,21 +8093,21 @@ ], [ [ - 0.965247631072998, - -0.25580355525016785, - -0.0534939244389534, + 0.9193405508995056, + 0.39204680919647217, + -0.033349670469760895, 0.24890367686748505 ], [ - -0.15178008377552032, - -0.3820970058441162, - -0.9115726351737976, + 0.059431977570056915, + -0.22215227782726288, + -0.9731989502906799, 0.01633795164525509 ], [ - 0.2127436399459839, - 0.8880126476287842, - -0.4076440930366516, + -0.3889482617378235, + 0.8927192687988281, + -0.2275337129831314, 1.6649233102798462 ], [ @@ -8119,48 +8119,48 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=40 static=8 tracked=9 mc_static=False scale=0.102", - "n_frames_wrist": 40, - "n_frames_static": 8, - "n_frames_tracked": 9, + "note": "phase_d state-machine: wrist=0 static=45 tracked=12 mc_static=False scale=0.102 grasp_src=vetoed (pkl)", + "n_frames_wrist": 0, + "n_frames_static": 45, + "n_frames_tracked": 12, "state_per_frame": [ - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", + "static", + "static", + "static", + "static", + "moving", + "moving", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", "static", "moving", "static", @@ -8183,43 +8183,43 @@ "moving" ], "grasp_hand_per_frame": [ - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, null, null, null, @@ -8533,50 +8533,50 @@ ], "global_span_px": 18.075422286987305, "state_counts": { - "static": 13, + "static": 48, "grasped_l": 0, - "grasped_r": 37, + "grasped_r": 0, "grasped_both": 0, - "moving": 7 + "moving": 9 }, "wrist_used_per_frame": [ - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, @@ -8658,43 +8658,43 @@ false ], "wrist_r_per_frame": [ - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, @@ -8721,8 +8721,8 @@ false, false, false, - false, - false, + true, + true, false, false, false, diff --git a/samples/-8WOMg810tk_56.3_60.3/recording.viser b/samples/-8WOMg810tk_56.3_60.3/recording.viser index 6ff9776ca975b47b6f1734207e2ae02d08d9c420..a29dfd00f9d1883d85a434715331601d2f1ba42d 100644 --- a/samples/-8WOMg810tk_56.3_60.3/recording.viser +++ b/samples/-8WOMg810tk_56.3_60.3/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8c27230432679988cb0f6799ef15a15b81b59b783df7b8aed3d67b72522ed170 -size 3521717 +oid sha256:9242585d72f287d0a74f7091c6c9e81c9c7e37113b59bec6a0b31d9ed1c30d6d +size 3548322 diff --git a/samples/-8WOMg810tk_56.3_60.3/scene.json b/samples/-8WOMg810tk_56.3_60.3/scene.json index 67b7b1d14b0d7e203d8f12562bc3477a82942d04..d44c7d61b30e2cebf6a749f7ff0137a4c9992dc0 100644 --- a/samples/-8WOMg810tk_56.3_60.3/scene.json +++ b/samples/-8WOMg810tk_56.3_60.3/scene.json @@ -257,19 +257,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.12280701754385964, + "trust_rate": 0.15789473684210525, "tracking_status": "ok", "state_counts": { - "static": 13, + "static": 48, "grasped_l": 0, - "grasped_r": 37, + "grasped_r": 0, "grasped_both": 0, - "moving": 7 + "moving": 9 }, "state_fractions": { - "static": 0.22807017543859648, + "static": 0.8421052631578947, "grasped": 0.0, - "moving": 0.12280701754385964 + "moving": 0.15789473684210525 }, "is_static_global": false, "n_state_frames": 57 diff --git a/samples/-8WOMg810tk_56.3_60.3/signals.json b/samples/-8WOMg810tk_56.3_60.3/signals.json index 802c0fae0ad7744b9a5448d054e9143eb854d992..57afe18efeab21e26440365c05fc1fb3ac319637 100644 --- a/samples/-8WOMg810tk_56.3_60.3/signals.json +++ b/samples/-8WOMg810tk_56.3_60.3/signals.json @@ -1 +1 @@ -{"n_frames": 57, "scene": {"contact_l": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "contact_r": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "grasp": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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259c0319c58eeb7f2cc87dbab6d8be296eec05d1..a823b5f69324586f96689756a4fa581195537259 100644 --- a/samples/-AWGX2al-ow_159.6_163.8/pose_track.json +++ b/samples/-AWGX2al-ow_159.6_163.8/pose_track.json @@ -1674,7 +1674,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=0 static=58 tracked=6 mc_static=True scale=0.172", + "note": "phase_d state-machine: wrist=0 static=58 tracked=6 mc_static=True scale=0.172 grasp_src=vetoed (pkl)", "n_frames_wrist": 0, "n_frames_static": 58, "n_frames_tracked": 6, @@ -4149,7 +4149,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=35 static=23 tracked=6 mc_static=True scale=0.176", + "note": "phase_d state-machine: wrist=35 static=23 tracked=6 mc_static=True scale=0.176 grasp_src=vetoed (pkl)", "n_frames_wrist": 35, "n_frames_static": 23, "n_frames_tracked": 6, diff --git a/samples/-AWGX2al-ow_159.6_163.8/recording.viser b/samples/-AWGX2al-ow_159.6_163.8/recording.viser index 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null, + null, + null ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -2599,11 +2599,11 @@ ], "global_span_px": 16.620769500732422, "state_counts": { - "static": 12, - "grasped_l": 5, - "grasped_r": 7, - "grasped_both": 54, - "moving": 0 + "static": 70, + "grasped_l": 0, + "grasped_r": 0, + "grasped_both": 0, + "moving": 8 }, "wrist_used_per_frame": [ false, @@ -2618,74 +2618,6 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true - ], - "wrist_l_per_frame": [ false, false, false, @@ 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false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, @@ -2778,74 +2759,13 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, false, false, false, false ], - "is_moving_per_frame": [ + "wrist_r_per_frame": [ false, false, false, @@ -2925,6 +2845,86 @@ false, false ], + "is_moving_per_frame": [ + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true + ], "close_per_frame": [ false, false, @@ -5045,7 +5045,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=0 static=38 tracked=40 mc_static=False scale=0.309", + "note": "phase_d state-machine: wrist=0 static=38 tracked=40 mc_static=False scale=0.309 grasp_src=vetoed (pkl)", "n_frames_wrist": 0, "n_frames_static": 38, "n_frames_tracked": 40, diff --git a/samples/-B1sQkAK-GA_567.2_572.4/recording.viser b/samples/-B1sQkAK-GA_567.2_572.4/recording.viser index 514ea725f840a829323095c64c9bcccb20f39be5..1154be46a59d664db55dcee8421a2cb660d3959d 100644 --- a/samples/-B1sQkAK-GA_567.2_572.4/recording.viser +++ b/samples/-B1sQkAK-GA_567.2_572.4/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7933688da19eb8e8a9a8e5dad5e19951a9b05e957835d6f153d8807d393c15e6 -size 3366363 +oid sha256:536084f6fbdf3be363ef06bd033902c7c9f9e3e3ed23f0a95017a7c459fc0037 +size 3365699 diff --git a/samples/-B1sQkAK-GA_567.2_572.4/scene.json b/samples/-B1sQkAK-GA_567.2_572.4/scene.json index 50ae9b54b0533cc9d8918c72faecbcc9c103b638..912b70fa94fabad15a5dc0a62ea0a5ecb92a195d 100644 --- a/samples/-B1sQkAK-GA_567.2_572.4/scene.json +++ b/samples/-B1sQkAK-GA_567.2_572.4/scene.json @@ -144,19 +144,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.0, + "trust_rate": 0.10256410256410256, "tracking_status": "ok", "state_counts": { - "static": 12, - "grasped_l": 5, - "grasped_r": 7, - "grasped_both": 54, - "moving": 0 + "static": 70, + "grasped_l": 0, + "grasped_r": 0, + "grasped_both": 0, + "moving": 8 }, "state_fractions": { - "static": 0.15384615384615385, + "static": 0.8974358974358975, "grasped": 0.0, - "moving": 0.0 + "moving": 0.10256410256410256 }, "is_static_global": false, "n_state_frames": 78 diff --git a/samples/-B1sQkAK-GA_567.2_572.4/signals.json b/samples/-B1sQkAK-GA_567.2_572.4/signals.json index fd83672701c786c22d0068db9e37eac6368eee9c..dcd65f0f0925c0f7b16ae5074dba5ce66f712246 100644 --- a/samples/-B1sQkAK-GA_567.2_572.4/signals.json +++ b/samples/-B1sQkAK-GA_567.2_572.4/signals.json @@ -1 +1 @@ -{"n_frames": 78, "scene": {"contact_l": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "contact_r": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "grasp": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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], [ -0.7882806658744812, 0.2622218430042267, -0.5566446781158447, - 1.0405075550079346 + 1.0016194581985474 ], [ 0.0, @@ -12815,19 +12815,19 @@ -0.5139721035957336, -0.7779769897460938, 0.3613646924495697, - -0.002274520695209503 + -0.01320141926407814 ], [ -0.338299036026001, 0.5709566473960876, 0.7480389475822449, - 0.17618736624717712 + 0.17922766506671906 ], [ -0.7882806658744812, 0.2622218430042267, -0.5566446781158447, - 1.0073668956756592 + 1.0289779901504517 ], [ 0.0, @@ -12841,19 +12841,19 @@ -0.5139721035957336, -0.7779769897460938, 0.3613646924495697, - -0.004441812634468079 + -0.013412274420261383 ], [ -0.338299036026001, 0.5709566473960876, 0.7480389475822449, - 0.17249701917171478 + 0.17353028059005737 ], [ -0.7882806658744812, 0.2622218430042267, -0.5566446781158447, - 0.9988009929656982 + 1.0248652696609497 ], [ 0.0, @@ -13878,10 +13878,10 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=154 static=20 tracked=42 mc_static=True scale=0.237", - "n_frames_wrist": 154, + "note": "phase_d state-machine: wrist=152 static=20 tracked=44 mc_static=True scale=0.237 grasp_src=vetoed (pkl)", + "n_frames_wrist": 152, "n_frames_static": 20, - "n_frames_tracked": 42, + "n_frames_tracked": 44, "state_per_frame": [ "grasped_r", "grasped_r", @@ -13897,42 +13897,42 @@ "grasped_r", "grasped_r", "grasped_r", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", "grasped_r", "grasped_r", "grasped_r", @@ -14115,42 +14115,42 @@ "R", "R", "R", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", "R", "R", "R", @@ -15365,8 +15365,8 @@ "state_counts": { "static": 63, "grasped_l": 0, - "grasped_r": 63, - "grasped_both": 87, + "grasped_r": 99, + "grasped_both": 51, "moving": 3 }, "wrist_used_per_frame": [ @@ -15602,42 +15602,42 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, diff --git a/samples/-CQgm6xT5RE_59.4_73.8/recording.viser b/samples/-CQgm6xT5RE_59.4_73.8/recording.viser index d0ccc5ad0165ce8d64c5088c586a120bc4378006..3cbed5b2a1c7ef01d863298e3550f36e5d2dd894 100644 --- a/samples/-CQgm6xT5RE_59.4_73.8/recording.viser +++ b/samples/-CQgm6xT5RE_59.4_73.8/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b562db56ce42d9532a5b20647ece2da6f42251ac97552e1c9e263caf976a52af -size 7857966 +oid sha256:f1c1f963e7901982876c1f7c224c99e7d45f291eb310ff48587832842504c0fb +size 7854405 diff --git a/samples/-CQgm6xT5RE_59.4_73.8/scene.json b/samples/-CQgm6xT5RE_59.4_73.8/scene.json index 70468f426635f94c2d6f66c558184de27bab1101..2bd1c7d3dde67419f6577944228b5d4967203edf 100644 --- a/samples/-CQgm6xT5RE_59.4_73.8/scene.json +++ b/samples/-CQgm6xT5RE_59.4_73.8/scene.json @@ -172,8 +172,8 @@ "state_counts": { "static": 63, "grasped_l": 0, - "grasped_r": 63, - "grasped_both": 87, + "grasped_r": 99, + "grasped_both": 51, "moving": 3 }, "state_fractions": { diff --git a/samples/-CQgm6xT5RE_59.4_73.8/signals.json b/samples/-CQgm6xT5RE_59.4_73.8/signals.json index 0e4b6ad98461712a2210ea1ce7eb450a3419fdc7..82f450564e756ac3257150a3330001903f20a63c 100644 --- a/samples/-CQgm6xT5RE_59.4_73.8/signals.json +++ b/samples/-CQgm6xT5RE_59.4_73.8/signals.json @@ -1 +1 @@ -{"n_frames": 216, "scene": {"contact_l": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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"note": "phase_d state-machine: wrist=9 static=79 tracked=5 mc_static=True scale=0.429", - "n_frames_wrist": 9, + "note": "phase_d state-machine: wrist=0 static=79 tracked=14 mc_static=True scale=0.429 grasp_src=vetoed (pkl)", + "n_frames_wrist": 0, "n_frames_static": 79, - "n_frames_tracked": 5, + "n_frames_tracked": 14, "state_per_frame": [ "static", "static", @@ -9582,7 +9582,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=0 static=93 tracked=0 mc_static=True scale=0.116", + "note": "phase_d state-machine: wrist=0 static=93 tracked=0 mc_static=True scale=0.116 grasp_src=vetoed (pkl)", "n_frames_wrist": 0, "n_frames_static": 93, "n_frames_tracked": 0, @@ -13159,7 +13159,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=0 static=93 tracked=0 mc_static=True scale=0.128", + "note": "phase_d state-machine: wrist=0 static=93 tracked=0 mc_static=True scale=0.128 grasp_src=vetoed (pkl)", "n_frames_wrist": 0, "n_frames_static": 93, "n_frames_tracked": 0, @@ -16736,7 +16736,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=0 static=93 tracked=0 mc_static=True scale=0.121", + "note": "phase_d state-machine: wrist=0 static=93 tracked=0 mc_static=True scale=0.121 grasp_src=vetoed (pkl)", "n_frames_wrist": 0, "n_frames_static": 93, "n_frames_tracked": 0, diff --git a/samples/-DCmm-dTi0o_188.7_194.8/recording.viser b/samples/-DCmm-dTi0o_188.7_194.8/recording.viser index 451530dd8c5db1c54ab764d45af446592c73e6a7..b7c5bc6c7f0eb6d166fe41e86ce468e02e23d3d4 100644 --- a/samples/-DCmm-dTi0o_188.7_194.8/recording.viser +++ b/samples/-DCmm-dTi0o_188.7_194.8/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4773e00efc5c64abdf2a5a2a8e1c792161014dbd4121ae38676d8f1b7fdf0510 -size 5185263 +oid sha256:7976c9598a2628c5880ac499d6f073d4d0c8b8a98dbde2c8b44ca7c40722f6b0 +size 5189310 diff --git a/samples/-DCmm-dTi0o_188.7_194.8/scene.json b/samples/-DCmm-dTi0o_188.7_194.8/scene.json index 5602a3a9500a31904670d739e62aec05c27aa844..243efe10825481b2d6b405f5734bb35628d0ea55 100644 --- a/samples/-DCmm-dTi0o_188.7_194.8/scene.json +++ b/samples/-DCmm-dTi0o_188.7_194.8/scene.json @@ -210,19 +210,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.0, + "trust_rate": 0.010752688172043012, "tracking_status": "ok", "state_counts": { - "static": 8, + "static": 92, "grasped_l": 0, - "grasped_r": 26, - "grasped_both": 59, - "moving": 0 + "grasped_r": 0, + "grasped_both": 0, + "moving": 1 }, "state_fractions": { - "static": 0.08602150537634409, + "static": 0.989247311827957, "grasped": 0.0, - "moving": 0.0 + "moving": 0.010752688172043012 }, "is_static_global": false, "n_state_frames": 93 diff --git a/samples/-DCmm-dTi0o_188.7_194.8/signals.json b/samples/-DCmm-dTi0o_188.7_194.8/signals.json index 4fc9b0a0e90a5bf83bdbe1f3988858e9ccc33ebe..9e8afd9f70dbbe1294ae66e1ba996687b7df58e6 100644 --- a/samples/-DCmm-dTi0o_188.7_194.8/signals.json +++ b/samples/-DCmm-dTi0o_188.7_194.8/signals.json @@ -1 +1 @@ -{"n_frames": 93, "scene": {"contact_l": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "contact_r": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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newline at end of file diff --git a/samples/-DCmm-dTi0o_352.3_356.6/object_pose.bin b/samples/-DCmm-dTi0o_352.3_356.6/object_pose.bin index e174c806f7f1e25c663311470f635680cfa3666e..e9b8d707d633c2f419941ce6733727061b6c94e0 100644 --- a/samples/-DCmm-dTi0o_352.3_356.6/object_pose.bin +++ b/samples/-DCmm-dTi0o_352.3_356.6/object_pose.bin @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:18512f59fed7f659c5f17ee4a2b46475beafb96b52e5684fc58d5ab67fe4c7e8 +oid sha256:b555b60229db1bb840a132cd821b9dc21d0f3ebbef2d868c61e3a8d8cd725434 size 12672 diff --git a/samples/-DCmm-dTi0o_352.3_356.6/pose_track.json b/samples/-DCmm-dTi0o_352.3_356.6/pose_track.json index 6eb099807b33b80a995518156600e300e387bc62..b8deb707ea189fe8ad5d6656c821332908557f61 100644 --- a/samples/-DCmm-dTi0o_352.3_356.6/pose_track.json +++ b/samples/-DCmm-dTi0o_352.3_356.6/pose_track.json @@ -1726,7 +1726,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=66 static=0 tracked=0 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0.0, @@ -6701,19 +6701,19 @@ 0.8872944116592407, -0.423997700214386, -0.18147870898246765, - -0.1534653753042221 + -0.18800264596939087 ], [ -0.16706007719039917, 0.07129394263029099, -0.9833657145500183, - 0.14540614187717438 + 0.1396559178829193 ], [ 0.42988312244415283, 0.9028527736663818, -0.00757437152788043, - 1.9202128648757935 + 1.8841050863265991 ], [ 0.0, @@ -6727,19 +6727,19 @@ 0.8872944116592407, -0.423997700214386, -0.18147870898246765, - -0.15609939396381378 + -0.18800264596939087 ], [ -0.16706007719039917, 0.07129394263029099, -0.9833657145500183, - 0.1468583047389984 + 0.1396559178829193 ], [ 0.42988312244415283, 0.9028527736663818, -0.00757437152788043, - 1.9210841655731201 + 1.8841050863265991 ], [ 0.0, @@ -6753,19 +6753,19 @@ 0.8872944116592407, -0.423997700214386, -0.18147870898246765, - -0.15954874455928802 + -0.18800264596939087 ], [ -0.16706007719039917, 0.07129394263029099, -0.9833657145500183, - 0.1483151912689209 + 0.1396559178829193 ], [ 0.42988312244415283, 0.9028527736663818, -0.00757437152788043, - 1.9212197065353394 + 1.8841050863265991 ], [ 0.0, @@ -6779,19 +6779,19 @@ 0.8872944116592407, -0.423997700214386, -0.18147870898246765, - -0.16360698640346527 + -0.18800264596939087 ], [ -0.16706007719039917, 0.07129394263029099, -0.9833657145500183, - 0.14966627955436707 + 0.1396559178829193 ], [ 0.42988312244415283, 0.9028527736663818, -0.00757437152788043, - 1.9207459688186646 + 1.8841050863265991 ], [ 0.0, @@ -6805,19 +6805,19 @@ 0.8872944116592407, -0.423997700214386, -0.18147870898246765, - -0.16806764900684357 + -0.18800264596939087 ], [ -0.16706007719039917, 0.07129394263029099, -0.9833657145500183, - 0.15080101788043976 + 0.1396559178829193 ], [ 0.42988312244415283, 0.9028527736663818, -0.00757437152788043, - 1.9197893142700195 + 1.8841050863265991 ], [ 0.0, @@ -6828,9 +6828,9 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=52 static=6 tracked=8 mc_static=False scale=0.160", - "n_frames_wrist": 52, - "n_frames_static": 6, + "note": "phase_d state-machine: wrist=38 static=20 tracked=8 mc_static=False scale=0.160 grasp_src=vetoed (pkl)", + "n_frames_wrist": 38, + "n_frames_static": 20, "n_frames_tracked": 8, "state_per_frame": [ "static", @@ -6838,28 +6838,6 @@ "grasped_l", "grasped_l", "grasped_l", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", "grasped_l", "grasped_l", "grasped_l", @@ -6872,19 +6850,6 @@ "grasped_l", "grasped_l", "grasped_l", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", "grasped_l", "grasped_l", "grasped_l", @@ -6898,7 +6863,42 @@ "grasped_l", "grasped_l", "grasped_l", - "grasped_l" + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static" ], "grasp_hand_per_frame": [ null, @@ -6906,28 +6906,6 @@ "L", "L", "L", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", "L", "L", "L", @@ -6940,19 +6918,6 @@ "L", "L", "L", - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, "L", "L", "L", @@ -6966,7 +6931,42 @@ "L", "L", "L", - "L" + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -7305,10 +7305,10 @@ ], "global_span_px": 45.311424255371094, "state_counts": { - "static": 15, - "grasped_l": 29, + "static": 29, + "grasped_l": 37, "grasped_r": 0, - "grasped_both": 22, + "grasped_both": 0, "moving": 0 }, "wrist_used_per_frame": [ @@ -7364,20 +7364,20 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false ], "wrist_l_per_frame": [ false, @@ -7432,20 +7432,20 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false ], "wrist_r_per_frame": [ false, @@ -7453,28 +7453,28 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, diff --git a/samples/-DCmm-dTi0o_352.3_356.6/recording.viser b/samples/-DCmm-dTi0o_352.3_356.6/recording.viser index 3c91744effd3ee0eec33ea11f7e72f388e70e0d6..178ea460cf1c7690f74262848599647c6cb5bb17 100644 --- a/samples/-DCmm-dTi0o_352.3_356.6/recording.viser +++ b/samples/-DCmm-dTi0o_352.3_356.6/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4f120087d0773bd6f5c519058dfa85688482a4f781dcf96ca261f4733183aa20 -size 3216944 +oid sha256:07e85b572a36d5ba57b3bab41a0976f8ec2bccb294622d3265ffc091e0c6cdcc +size 3216779 diff --git a/samples/-DCmm-dTi0o_352.3_356.6/scene.json b/samples/-DCmm-dTi0o_352.3_356.6/scene.json index d7346c36d3705f35efb395d326a4599a7225f0af..26ef4dd0fe45138fb192d7947ee655f3af826a7f 100644 --- a/samples/-DCmm-dTi0o_352.3_356.6/scene.json +++ b/samples/-DCmm-dTi0o_352.3_356.6/scene.json @@ -215,14 +215,14 @@ "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 15, - "grasped_l": 29, + "static": 29, + "grasped_l": 37, "grasped_r": 0, - "grasped_both": 22, + "grasped_both": 0, "moving": 0 }, "state_fractions": { - "static": 0.22727272727272727, + "static": 0.4393939393939394, "grasped": 0.0, "moving": 0.0 }, diff --git a/samples/-DCmm-dTi0o_352.3_356.6/signals.json b/samples/-DCmm-dTi0o_352.3_356.6/signals.json index baffc9728d78a84a2404efec2cc7b46a24d7a78c..70252417e4dae12429aa9d6b395a86594e8bf7b7 100644 --- a/samples/-DCmm-dTi0o_352.3_356.6/signals.json +++ b/samples/-DCmm-dTi0o_352.3_356.6/signals.json @@ -1 +1 @@ -{"n_frames": 66, "scene": {"contact_l": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "contact_r": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "grasp": [0.0, 0.0, 0.0, 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0.0, 0.0, 0.5, 1.0, 1.1180340051651, 0.5, 0.0, 0.5, 0.5, 0.5, 0.0, 1.4142135381698608]}, "per_object": {"0": {"trust": [false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false], "state": ["static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", 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0.25663357973098755 ], [ 0.49223101139068604, 0.10179302841424942, -0.8644922375679016, - -0.137713223695755 + -0.11087573319673538 ], [ -0.7620785236358643, 0.5303246974945068, -0.3714727759361267, - 1.8342759609222412 + 1.8694372177124023 ], [ 0.0, @@ -3572,7 +3572,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=137 static=0 tracked=0 mc_static=False scale=0.315", + "note": "phase_d state-machine: wrist=137 static=0 tracked=0 mc_static=False scale=0.315 grasp_src=vetoed (pkl)", "n_frames_wrist": 137, "n_frames_static": 0, "n_frames_tracked": 0, @@ -3581,62 +3581,62 @@ "grasped_l", "grasped_l", "grasped_l", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", "grasped_l", "grasped_l", "grasped_l", @@ -3720,62 +3720,62 @@ "L", "L", "L", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", "L", "L", "L", @@ -4547,9 +4547,9 @@ "global_span_px": 65.6043472290039, "state_counts": { "static": 1, - "grasped_l": 67, + "grasped_l": 123, "grasped_r": 0, - "grasped_both": 69, + "grasped_both": 13, "moving": 0 }, "wrist_used_per_frame": [ @@ -4835,62 +4835,62 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, @@ -8821,7 +8821,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=0 static=107 tracked=30 mc_static=True scale=1.181", + "note": "phase_d state-machine: wrist=0 static=107 tracked=30 mc_static=True scale=1.181 grasp_src=vetoed (pkl)", "n_frames_wrist": 0, "n_frames_static": 107, "n_frames_tracked": 30, diff --git a/samples/-DDDD1yrBC8_265.3_274.3/recording.viser b/samples/-DDDD1yrBC8_265.3_274.3/recording.viser index ec14583e9bdbb7cf658f5c91ee66ee25e547d40e..a9d89e8efdca44a3ac450d3cc4f3f0378e3fef3c 100644 --- a/samples/-DDDD1yrBC8_265.3_274.3/recording.viser +++ b/samples/-DDDD1yrBC8_265.3_274.3/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d7d19f8472a1e6b582fa2950e16ce4be5997def65dfe2624a15c9874b2678d61 -size 7640641 +oid sha256:2035b8ca56302246b2a1f929d3c7fd4f0a494138d64a79892fc590187d49163f +size 7641620 diff --git a/samples/-DDDD1yrBC8_265.3_274.3/scene.json b/samples/-DDDD1yrBC8_265.3_274.3/scene.json index 65a22ca60f908eaf329f9d1b9e778f2d8d4b161b..b721f86e4199bdaeefc9b596229c4a1f78e83aef 100644 --- a/samples/-DDDD1yrBC8_265.3_274.3/scene.json +++ b/samples/-DDDD1yrBC8_265.3_274.3/scene.json @@ -148,9 +148,9 @@ "tracking_status": "ok", "state_counts": { "static": 1, - "grasped_l": 67, + "grasped_l": 123, "grasped_r": 0, - "grasped_both": 69, + "grasped_both": 13, "moving": 0 }, "state_fractions": { diff --git a/samples/-DDDD1yrBC8_265.3_274.3/signals.json b/samples/-DDDD1yrBC8_265.3_274.3/signals.json index 26b9c09ad9c76b26a46f164d6d617453fe4e0899..2e7e831ada3b0807ea9524660c42ccbdae8a13c9 100644 --- a/samples/-DDDD1yrBC8_265.3_274.3/signals.json +++ b/samples/-DDDD1yrBC8_265.3_274.3/signals.json @@ -1 +1 @@ -{"n_frames": 137, "scene": {"contact_l": [0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 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"static", "static", "static", "static", "static", "static"]}}} \ No newline at end of file diff --git a/samples/-DOYgzdGGe0_143.8_148.7/pose_track.json b/samples/-DOYgzdGGe0_143.8_148.7/pose_track.json index e6e63e40537c3f340d14483108cff2870d8f1c9a..4f2b210b34024e02561ab80288f007dfa675ea6b 100644 --- a/samples/-DOYgzdGGe0_143.8_148.7/pose_track.json +++ b/samples/-DOYgzdGGe0_143.8_148.7/pose_track.json @@ -2012,7 +2012,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=58 static=10 tracked=9 mc_static=True scale=0.219", + "note": "phase_d state-machine: wrist=58 static=10 tracked=9 mc_static=True scale=0.219 grasp_src=vetoed (pkl)", "n_frames_wrist": 58, "n_frames_static": 10, "n_frames_tracked": 9, @@ -2021,41 +2021,41 @@ "grasped_r", "grasped_r", "grasped_r", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", "grasped_r", "grasped_r", "grasped_r", @@ -2100,41 +2100,41 @@ "R", "R", "R", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", "R", "R", "R", @@ -2568,8 +2568,8 @@ "state_counts": { "static": 20, "grasped_l": 0, - "grasped_r": 22, - "grasped_both": 35, + "grasped_r": 57, + "grasped_both": 0, "moving": 0 }, "wrist_used_per_frame": [ @@ -2656,41 +2656,41 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, diff --git a/samples/-DOYgzdGGe0_143.8_148.7/recording.viser b/samples/-DOYgzdGGe0_143.8_148.7/recording.viser index 00017eb47960c4990360b1a2d033d51c261ca4db..a3b448d0fd79cba4a398903ab728a813733426b9 100644 --- a/samples/-DOYgzdGGe0_143.8_148.7/recording.viser +++ b/samples/-DOYgzdGGe0_143.8_148.7/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f18f94fe31222527f62f1bf178d2532fe83a9d0ce4a0a4a6064a0cb34b02c6e8 -size 2045379 +oid sha256:3e9db9811fe4806c4421e597dc8bab6bc524ac8caa91d167a63f7d4b27c7fdcb +size 2045378 diff --git a/samples/-DOYgzdGGe0_143.8_148.7/scene.json b/samples/-DOYgzdGGe0_143.8_148.7/scene.json index 90c25913a3789a7b935d41dfcb9700b305ef1a7f..5270d79f4beef64b84c7e4bb00436911c8db1dc9 100644 --- a/samples/-DOYgzdGGe0_143.8_148.7/scene.json +++ b/samples/-DOYgzdGGe0_143.8_148.7/scene.json @@ -127,8 +127,8 @@ "state_counts": { "static": 20, "grasped_l": 0, - "grasped_r": 22, - "grasped_both": 35, + "grasped_r": 57, + "grasped_both": 0, "moving": 0 }, "state_fractions": { diff --git a/samples/-DOYgzdGGe0_143.8_148.7/signals.json b/samples/-DOYgzdGGe0_143.8_148.7/signals.json index f5b7bd3d2594aa13cc6fe15a40ad66dc36cb2fe3..24f41f67d4c654a351c28fc03060a9c9638dc9a4 100644 --- a/samples/-DOYgzdGGe0_143.8_148.7/signals.json +++ b/samples/-DOYgzdGGe0_143.8_148.7/signals.json @@ -1 +1 @@ -{"n_frames": 77, "scene": {"contact_l": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "contact_r": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "grasp": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "motion": [0.0, 4.609772205352783, 4.609772205352783, 1.0, 2.0615527629852295, 1.0, 1.1180340051651, 2.5495097637176514, 2.692582368850708, 0.5, 0.5, 1.1180340051651, 0.5, 1.5, 0.7071067690849304, 0.0, 2.0, 1.8027756214141846, 0.5, 1.1180340051651, 0.0, 0.7071067690849304, 0.0, 1.0, 0.0, 1.1180340051651, 1.5811388492584229, 0.0, 1.0, 2.2360680103302, 0.0, 1.8027756214141846, 1.5, 2.5, 4.924428939819336, 7.5, 3.3541018962860107, 15.264337539672852, 13.03840446472168, 7.433034420013428, 13.647343635559082, 10.29563045501709, 6.041522979736328, 8.246211051940918, 8.015609741210938, 3.5, 7.0, 6.020797252655029, 0.0, 0.0, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5, 1.0, 0.0, 0.5, 0.0, 0.5, 0.0, 0.0, 0.0, 0.5, 1.0, 0.5, 0.5, 0.0, 0.5, 0.5, 0.5, 0.5, 0.0, 0.0, 0.5]}, "per_object": {"0": {"trust": [true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false], "state": ["grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static"]}}} \ No newline at end of file +{"n_frames": 77, "scene": {"contact_l": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "contact_r": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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1.1180340051651, 1.5811388492584229, 0.0, 1.0, 2.2360680103302, 0.0, 1.8027756214141846, 1.5, 2.5, 4.924428939819336, 7.5, 3.3541018962860107, 15.264337539672852, 13.03840446472168, 7.433034420013428, 13.647343635559082, 10.29563045501709, 6.041522979736328, 8.246211051940918, 8.015609741210938, 3.5, 7.0, 6.020797252655029, 0.0, 0.0, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5, 1.0, 0.0, 0.5, 0.0, 0.5, 0.0, 0.0, 0.0, 0.5, 1.0, 0.5, 0.5, 0.0, 0.5, 0.5, 0.5, 0.5, 0.0, 0.0, 0.5]}, "per_object": {"0": {"trust": [true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false], "state": 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a/samples/-DVV5l5eEQg_102.7_113.7/object_pose.bin b/samples/-DVV5l5eEQg_102.7_113.7/object_pose.bin index afb28a0f53ee9aa07f2ac65931d97e775cfbceaa..2c2700996c03f4631d27c330a88a33df81e56cbf 100644 --- a/samples/-DVV5l5eEQg_102.7_113.7/object_pose.bin +++ b/samples/-DVV5l5eEQg_102.7_113.7/object_pose.bin @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e84f500002a91ee6115b1efbb96e93096cefc1eaa675555085eed2176d072a58 +oid sha256:16e9a84fc500d409266e735702a4c21ba059f25e3730bf1302b75e18b2e98f3d size 14080 diff --git a/samples/-DVV5l5eEQg_102.7_113.7/pose_track.json b/samples/-DVV5l5eEQg_102.7_113.7/pose_track.json index c2e58eb1ff8733e76ef4c8f5268c6eaa3fe098fc..8be1abb2e3f28c6c0233458526218ea49334a46a 100644 --- a/samples/-DVV5l5eEQg_102.7_113.7/pose_track.json +++ b/samples/-DVV5l5eEQg_102.7_113.7/pose_track.json @@ -2870,7 +2870,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=0 static=78 tracked=32 mc_static=False scale=0.358", + "note": 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grasp_src=vetoed (pkl)", "n_frames_wrist": 0, "n_frames_static": 208, "n_frames_tracked": 0, diff --git a/samples/-F8ykWfiTZg_417.5_431.3/recording.viser b/samples/-F8ykWfiTZg_417.5_431.3/recording.viser index ad3c506cfed540086bc62b7e1ad8e8723737179e..5757290384a2ed65fe2be29212530826b847c132 100644 --- a/samples/-F8ykWfiTZg_417.5_431.3/recording.viser +++ b/samples/-F8ykWfiTZg_417.5_431.3/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b8d5c686694d583f497f7a152a4c5c8ab66b819f483d58e9b66bf43a940afae7 -size 8250097 +oid sha256:1a92b000141384808f8ad9877890dad4b064a55dbf17e8080703e570e50e083e +size 8257505 diff --git a/samples/-F8ykWfiTZg_417.5_431.3/scene.json b/samples/-F8ykWfiTZg_417.5_431.3/scene.json index d769a4eae5e1c77b9331f33a5e97a97a618961cd..c563eaf2c17b6afcac9112c5826a7f5a873877de 100644 --- a/samples/-F8ykWfiTZg_417.5_431.3/scene.json +++ b/samples/-F8ykWfiTZg_417.5_431.3/scene.json @@ -169,14 +169,14 @@ "trust_rate": 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- true, false, false, false, @@ -16136,9 +16052,6 @@ false, false, false, - false - ], - "wrist_r_per_frame": [ false, false, false, @@ -16204,6 +16117,28 @@ false, false, false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false + ], + "wrist_r_per_frame": [ false, false, false, @@ -16358,11 +16293,7 @@ false, false, false, - false - ], - "is_moving_per_frame": [ false, - true, false, false, false, @@ -16427,6 +16358,41 @@ false, false, false, + false + ], + "is_moving_per_frame": [ + false, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, @@ -16466,6 +16432,40 @@ false, false, false, + true, + true, + true, + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, @@ -22536,7 +22536,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=0 static=183 tracked=37 mc_static=True scale=0.156", + "note": "phase_d state-machine: wrist=0 static=183 tracked=37 mc_static=True scale=0.156 grasp_src=vetoed (pkl)", "n_frames_wrist": 0, "n_frames_static": 183, "n_frames_tracked": 37, @@ -30939,7 +30939,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=0 static=188 tracked=32 mc_static=True scale=0.068", + "note": "phase_d state-machine: wrist=0 static=188 tracked=32 mc_static=True scale=0.068 grasp_src=vetoed (pkl)", "n_frames_wrist": 0, "n_frames_static": 188, "n_frames_tracked": 32, @@ -39342,7 +39342,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=0 static=189 tracked=31 mc_static=True scale=0.092", + "note": "phase_d state-machine: wrist=0 static=189 tracked=31 mc_static=True scale=0.092 grasp_src=vetoed (pkl)", "n_frames_wrist": 0, "n_frames_static": 189, "n_frames_tracked": 31, @@ -47745,7 +47745,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=0 static=181 tracked=39 mc_static=True scale=0.091", + "note": "phase_d state-machine: wrist=0 static=181 tracked=39 mc_static=True scale=0.091 grasp_src=vetoed (pkl)", "n_frames_wrist": 0, "n_frames_static": 181, "n_frames_tracked": 39, @@ -56148,7 +56148,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=0 static=89 tracked=131 mc_static=True scale=0.215", + "note": "phase_d state-machine: wrist=0 static=89 tracked=131 mc_static=True scale=0.215 grasp_src=vetoed (pkl)", "n_frames_wrist": 0, "n_frames_static": 89, "n_frames_tracked": 131, diff --git a/samples/-HBN0sPqvk0_240.9_256.9/recording.viser b/samples/-HBN0sPqvk0_240.9_256.9/recording.viser index a00896fade694df56997ecd914ca6241ea613eb2..70f1e58371404fc2adafb68ef6544c7c5d18dce3 100644 --- a/samples/-HBN0sPqvk0_240.9_256.9/recording.viser +++ b/samples/-HBN0sPqvk0_240.9_256.9/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6a0516b7721856416a9174b33c1d6385c6aaf0b02b3207c89b9f752f15b8d107 -size 8007499 +oid sha256:de9e7b920cb8bc74316120a25c302ffc00cff2734a05b083412282294ef2bf90 +size 8012773 diff --git a/samples/-HBN0sPqvk0_240.9_256.9/scene.json b/samples/-HBN0sPqvk0_240.9_256.9/scene.json index f9411457568c22112e16dd4d996b2c66e082eec3..9ee33c0d130a2f9cb8a87443fbdfd2d2b580aa81 100644 --- a/samples/-HBN0sPqvk0_240.9_256.9/scene.json +++ b/samples/-HBN0sPqvk0_240.9_256.9/scene.json @@ -277,19 +277,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.09090909090909091, + "trust_rate": 0.12727272727272726, "tracking_status": "ok", "state_counts": { - "static": 69, - "grasped_l": 131, + "static": 145, + "grasped_l": 47, "grasped_r": 0, "grasped_both": 0, - "moving": 20 + "moving": 28 }, "state_fractions": { - "static": 0.31363636363636366, + "static": 0.6590909090909091, "grasped": 0.0, - "moving": 0.09090909090909091 + "moving": 0.12727272727272726 }, "is_static_global": false, "n_state_frames": 220 diff --git a/samples/-HBN0sPqvk0_240.9_256.9/signals.json b/samples/-HBN0sPqvk0_240.9_256.9/signals.json index 5296c8a7a9019fe1d9ca630253b4e9836e6adbb0..fa90517eab77cd5243bdd2aa634a6b8547f6cd84 100644 --- a/samples/-HBN0sPqvk0_240.9_256.9/signals.json +++ b/samples/-HBN0sPqvk0_240.9_256.9/signals.json @@ -1 +1 @@ -{"n_frames": 220, "scene": {"contact_l": [0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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38, + "note": "phase_d state-machine: wrist=124 static=47 tracked=0 mc_static=True scale=0.192 grasp_src=vetoed (pkl)", + "n_frames_wrist": 124, + "n_frames_static": 47, "n_frames_tracked": 0, "state_per_frame": [ "grasped_l", diff --git a/samples/-HIF7MKD1_k_128.3_139.7/recording.viser b/samples/-HIF7MKD1_k_128.3_139.7/recording.viser index 9ddca3af8e26e1ec7b3a91260135a54c97d3f01a..1a003186d35edd5c50da414ef5e142fe43348f86 100644 --- a/samples/-HIF7MKD1_k_128.3_139.7/recording.viser +++ b/samples/-HIF7MKD1_k_128.3_139.7/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:96eb6d6f6cc09d45295144342bcd8916f5677971dbc52e4f2f204432c7c4a6ef -size 5982193 +oid sha256:f1b6cc7ca921efb0094b7ad9ef3dae8e99246026a86bbe3e10dd90f018cfda55 +size 5978453 diff --git a/samples/-HIF7MKD1_k_128.3_139.7/scene.json b/samples/-HIF7MKD1_k_128.3_139.7/scene.json index 9e5da8aee00ce6b4cfd9600553d537c3f756c8d8..058d36d8232b09f62ea45670b06704cecf13bb80 100644 --- a/samples/-HIF7MKD1_k_128.3_139.7/scene.json +++ b/samples/-HIF7MKD1_k_128.3_139.7/scene.json @@ -166,19 +166,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.1695906432748538, + "trust_rate": 0.18128654970760233, "tracking_status": "ok", "state_counts": { - "static": 93, - "grasped_l": 14, + "static": 105, + "grasped_l": 0, "grasped_r": 35, "grasped_both": 0, - "moving": 29 + "moving": 31 }, "state_fractions": { - "static": 0.543859649122807, + "static": 0.6140350877192983, "grasped": 0.0, - "moving": 0.1695906432748538 + "moving": 0.18128654970760233 }, "is_static_global": false, "n_state_frames": 171 @@ -192,14 +192,14 @@ "trust_rate": 0.2046783625730994, "tracking_status": "ok", "state_counts": { - "static": 121, + "static": 136, "grasped_l": 0, - "grasped_r": 15, + "grasped_r": 0, "grasped_both": 0, "moving": 35 }, "state_fractions": { - "static": 0.7076023391812866, + "static": 0.7953216374269005, "grasped": 0.0, "moving": 0.2046783625730994 }, diff --git a/samples/-HIF7MKD1_k_128.3_139.7/signals.json b/samples/-HIF7MKD1_k_128.3_139.7/signals.json index ed3fb72375e5bd4e8c7ddecb973cc94986ed47b3..df7de56db15b84cef2070ff17c4c29eceacec657 100644 --- a/samples/-HIF7MKD1_k_128.3_139.7/signals.json +++ b/samples/-HIF7MKD1_k_128.3_139.7/signals.json @@ -1 +1 @@ -{"n_frames": 171, "scene": {"contact_l": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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a/samples/-JsILDBSevo_34.9_48.9/recording.viser b/samples/-JsILDBSevo_34.9_48.9/recording.viser index 1562abb6fce441e5878c61949be593ef440c8303..482fc820b03645ccbb298fe7cd161920ab4a456a 100644 --- a/samples/-JsILDBSevo_34.9_48.9/recording.viser +++ b/samples/-JsILDBSevo_34.9_48.9/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:733d66ae2fb504b3b5323bf002486e3d63d2658cdc25bbad760ca509554b84c1 -size 3299685 +oid sha256:da5c21b8859cd407c0365998c80f06b32e7ae1c1eee6fdcd4d2fd7395370c16f +size 3294928 diff --git a/samples/-JsILDBSevo_34.9_48.9/scene.json b/samples/-JsILDBSevo_34.9_48.9/scene.json index 8f370a45ca7027813b261740adda9254410955dc..ba21777543d8416570bcd78fadc20c90b11ef5d5 100644 --- a/samples/-JsILDBSevo_34.9_48.9/scene.json +++ b/samples/-JsILDBSevo_34.9_48.9/scene.json @@ -122,19 +122,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.0, + "trust_rate": 0.0892018779342723, "tracking_status": "ok", 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--- a/samples/-LxWGDmwOMY_324.5_331.2/recording.viser +++ b/samples/-LxWGDmwOMY_324.5_331.2/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:90e17f786bb02d8596cca74eedf61a6ee825601e4b1720a7638cd83fb940b436 -size 2838955 +oid sha256:7af2576446e8eeff7653cbd71a286ee6745b0d1c97550e93f5d7dac94d682546 +size 2841070 diff --git a/samples/-LxWGDmwOMY_324.5_331.2/scene.json b/samples/-LxWGDmwOMY_324.5_331.2/scene.json index 511b7b3c59f8077d3251292f7ec5ec5c9445005f..e54cace4ea5805f97f8b49a8486375bb09565c6a 100644 --- a/samples/-LxWGDmwOMY_324.5_331.2/scene.json +++ b/samples/-LxWGDmwOMY_324.5_331.2/scene.json @@ -147,14 +147,14 @@ "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 52, + "static": 64, "grasped_l": 0, - "grasped_r": 49, + "grasped_r": 37, "grasped_both": 0, "moving": 0 }, "state_fractions": { - "static": 0.5148514851485149, + "static": 0.6336633663366337, "grasped": 0.0, "moving": 0.0 }, diff --git 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(pkl)", "n_frames_wrist": 63, "n_frames_static": 1, "n_frames_tracked": 0, diff --git a/samples/-Oj2xzQbo4s_236.4_240.6/recording.viser b/samples/-Oj2xzQbo4s_236.4_240.6/recording.viser index a69b99d24fe61fb1ea6b0e0f7ac7afe55a78b2f8..b605f06e349d86823eb274e7d747738c815b5af9 100644 --- a/samples/-Oj2xzQbo4s_236.4_240.6/recording.viser +++ b/samples/-Oj2xzQbo4s_236.4_240.6/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ff54530b2f3ad1fb9999dff629a0c195d6ca8ad4b7258917fa160e63e4de3b5b -size 1982716 +oid sha256:5aed608b9eab98c7c5826d014dca35c06f827e336f0a07cbdc037c1a6c29db4e +size 1977068 diff --git a/samples/-Oj2xzQbo4s_236.4_240.6/scene.json b/samples/-Oj2xzQbo4s_236.4_240.6/scene.json index 056ee8559b9854555a9784ca614be87569d42290..f157124c17b0908095ff73d3603962297e8cd3b6 100644 --- a/samples/-Oj2xzQbo4s_236.4_240.6/scene.json +++ b/samples/-Oj2xzQbo4s_236.4_240.6/scene.json @@ -147,14 +147,14 @@ "trust_rate": 0.0, "tracking_status": "ok", 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"n_frames_wrist": 10, - "n_frames_static": 34, - "n_frames_tracked": 18, + "note": "phase_d state-machine: wrist=0 static=42 tracked=20 mc_static=True scale=0.230 grasp_src=vetoed (pkl)", + "n_frames_wrist": 0, + "n_frames_static": 42, + "n_frames_tracked": 20, "state_per_frame": [ "static", "static", @@ -6452,14 +6452,14 @@ "static", "static", "static", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", "static", "static", "static", @@ -6516,14 +6516,14 @@ null, null, null, - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", + null, + null, + null, + null, + null, + null, + null, + null, null, null, null, @@ -6869,8 +6869,8 @@ ], "global_span_px": 24.443071365356445, "state_counts": { - "static": 49, - "grasped_l": 8, + "static": 57, + "grasped_l": 0, "grasped_r": 0, "grasped_both": 0, "moving": 5 @@ -6903,14 +6903,14 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, @@ -6967,14 +6967,14 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, @@ -8819,7 +8819,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=62 static=0 tracked=0 mc_static=True scale=0.268", + "note": "phase_d state-machine: wrist=62 static=0 tracked=0 mc_static=True scale=0.268 grasp_src=vetoed (pkl)", "n_frames_wrist": 62, "n_frames_static": 0, "n_frames_tracked": 0, @@ -8847,18 +8847,18 @@ "grasped_l", "grasped_l", "grasped_l", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", "grasped_l", "grasped_l", "grasped_l", @@ -8911,18 +8911,18 @@ "L", "L", "L", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", "L", "L", "L", @@ -9269,9 +9269,9 @@ "global_span_px": 25.9658203125, "state_counts": { "static": 0, - "grasped_l": 50, + "grasped_l": 62, "grasped_r": 0, - "grasped_both": 12, + "grasped_both": 0, "moving": 0 }, "wrist_used_per_frame": [ @@ -9426,18 +9426,18 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, diff --git a/samples/-QALmP1nHtM_216.9_220.9/recording.viser b/samples/-QALmP1nHtM_216.9_220.9/recording.viser index a7a02ae399415d07ef9020cf94e81b2f13ea9782..a9b1ad93cf313d14ce9bd6fa579872695dcfd8e3 100644 --- a/samples/-QALmP1nHtM_216.9_220.9/recording.viser +++ b/samples/-QALmP1nHtM_216.9_220.9/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:75e248610946747ea2884abbd7074a14adb6b1f54235a7bb597088ab70b340af -size 3652190 +oid sha256:4a7099d032f04c92291fcecd5f9eb054b2d455360c9657c80b9c25cac873ae04 +size 3648776 diff --git a/samples/-QALmP1nHtM_216.9_220.9/scene.json b/samples/-QALmP1nHtM_216.9_220.9/scene.json index 3b2287994f483c5955fdfeb3afab0677bb58942d..720cdfb4a4ccd8fdb54a54c0b34e281fe5a0b6bc 100644 --- a/samples/-QALmP1nHtM_216.9_220.9/scene.json +++ b/samples/-QALmP1nHtM_216.9_220.9/scene.json @@ -237,14 +237,14 @@ "trust_rate": 0.08064516129032258, "tracking_status": "ok", "state_counts": { - "static": 49, - "grasped_l": 8, + "static": 57, + "grasped_l": 0, "grasped_r": 0, "grasped_both": 0, "moving": 5 }, "state_fractions": { - "static": 0.7903225806451613, + "static": 0.9193548387096774, "grasped": 0.0, "moving": 0.08064516129032258 }, @@ -261,9 +261,9 @@ "tracking_status": "ok", "state_counts": { "static": 0, - "grasped_l": 50, + "grasped_l": 62, "grasped_r": 0, - "grasped_both": 12, + "grasped_both": 0, "moving": 0 }, "state_fractions": { diff --git a/samples/-QALmP1nHtM_216.9_220.9/signals.json b/samples/-QALmP1nHtM_216.9_220.9/signals.json index 0fb7f7d05fe61bf74a21b930452ac2f353a90d1d..fa85185985e2abcb14157090bb1894208117924f 100644 --- a/samples/-QALmP1nHtM_216.9_220.9/signals.json +++ b/samples/-QALmP1nHtM_216.9_220.9/signals.json @@ -1 +1 @@ -{"n_frames": 62, "scene": {"contact_l": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "contact_r": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "grasp": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "motion": [0.0, 1.8027756214141846, 12.619429588317871, 17.734148025512695, 10.547511100769043, 1.8027756214141846, 13.462911605834961, 9.617691993713379, 16.007810592651367, 20.615528106689453, 14.840822219848633, 14.21267032623291, 16.324827194213867, 9.433980941772461, 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false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false], "state": ["static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static"]}, "2": {"trust": [true, true, true, true, true, true, 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a/samples/-QALmP1nHtM_678.2_682.2/recording.viser +++ b/samples/-QALmP1nHtM_678.2_682.2/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:056a756149736cdf6dcdbc12435587565f88e1c2e7dbb68eeccd6cf68dd04638 -size 3524412 +oid sha256:21ffaba01f1dba121c041e26407f43fb69d77f27222a3c7f17d94dc9b29c9875 +size 3529077 diff --git a/samples/-QALmP1nHtM_678.2_682.2/scene.json b/samples/-QALmP1nHtM_678.2_682.2/scene.json index 69e6a090dabd2bb37da83af4501261522be83bae..ef304431fe54ed11ec0683bbed6aad659b292d06 100644 --- a/samples/-QALmP1nHtM_678.2_682.2/scene.json +++ b/samples/-QALmP1nHtM_678.2_682.2/scene.json @@ -233,19 +233,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.0, + "trust_rate": 0.015873015873015872, "tracking_status": "ok", "state_counts": { - "static": 3, - "grasped_l": 60, + "static": 62, + "grasped_l": 0, "grasped_r": 0, "grasped_both": 0, - "moving": 0 + "moving": 1 }, "state_fractions": { - "static": 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grasp_src=vetoed (pkl)", + "n_frames_wrist": 0, + "n_frames_static": 29, "n_frames_tracked": 1, "state_per_frame": [ - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", "static", "static", "static" ], "grasp_hand_per_frame": [ - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - 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false, + false, false, false, false ], "wrist_l_per_frame": [ - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false diff --git a/samples/-QALmP1nHtM_715.0_719.0/recording.viser b/samples/-QALmP1nHtM_715.0_719.0/recording.viser index 1fa11dcd7267d30d1e4bc1692b0fd13dfc36fd00..0b2d7cbc569fc52aef20b182e02a66d7ecef47d1 100644 --- a/samples/-QALmP1nHtM_715.0_719.0/recording.viser +++ b/samples/-QALmP1nHtM_715.0_719.0/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:91de18d9708c5483e04b0397c013294fef6e53fb5819a27945c6a80c41237dca -size 3712377 +oid sha256:0427e0133d8429c9ecdd37c8518f891e302738bfe6310f9e833536fe2f1294f4 +size 3718744 diff --git a/samples/-QALmP1nHtM_715.0_719.0/scene.json b/samples/-QALmP1nHtM_715.0_719.0/scene.json index 8c703b01d84603220a67fd1aec2adc56fdbb77e1..bea4a93bda1a78a09bec54a3cfa18fdab6387d0e 100644 --- a/samples/-QALmP1nHtM_715.0_719.0/scene.json +++ b/samples/-QALmP1nHtM_715.0_719.0/scene.json @@ -258,14 +258,14 @@ "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 0, - "grasped_l": 30, + "static": 30, + "grasped_l": 0, "grasped_r": 0, "grasped_both": 0, "moving": 0 }, "state_fractions": { - "static": 0.0, + "static": 1.0, "grasped": 0.0, "moving": 0.0 }, @@ -278,19 +278,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.16666666666666666, + "trust_rate": 0.2, "tracking_status": "ok", "state_counts": { - "static": 2, + "static": 24, "grasped_l": 0, - "grasped_r": 23, + "grasped_r": 0, "grasped_both": 0, - "moving": 5 + "moving": 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"grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "moving", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", "static", "static", "static", @@ -20196,22 +20196,6 @@ "static" ], "grasp_hand_per_frame": [ - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", null, null, null, @@ -20245,43 +20229,59 @@ null, null, null, - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, null, null, null, @@ -20756,29 +20756,13 @@ ], "global_span_px": 23.43401336669922, "state_counts": { - "static": 39, - "grasped_l": 16, - "grasped_r": 29, - "grasped_both": 8, - "moving": 0 + "static": 91, + "grasped_l": 0, + "grasped_r": 0, + "grasped_both": 0, + "moving": 1 }, "wrist_used_per_frame": [ - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, false, false, @@ -20812,43 +20796,59 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + 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true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, @@ -21106,7 +21106,7 @@ false, false, false, - false, + true, false, false, false, diff --git a/samples/-QALmP1nHtM_715.0_723.1/recording.viser b/samples/-QALmP1nHtM_715.0_723.1/recording.viser index 13bb7efddf4c666533746c8f66db339e8c4b5601..6cecb349bc51a545a3f99fa7b007ddc1fdff216d 100644 --- a/samples/-QALmP1nHtM_715.0_723.1/recording.viser +++ b/samples/-QALmP1nHtM_715.0_723.1/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8a78684a2032eec24a0e1645f03434643d3eadaa3853e454537040638c019dd2 -size 6285138 +oid sha256:27794e6dcbc63ec8ab706bed9b8b7de55c3075def1d0755b43b53b99c4e14d83 +size 6277422 diff --git a/samples/-QALmP1nHtM_715.0_723.1/scene.json b/samples/-QALmP1nHtM_715.0_723.1/scene.json index e7cf9905c7de3fc05356f8184725ed16c4f152e0..72a6661041836434586a6294da7961e138a1404f 100644 --- a/samples/-QALmP1nHtM_715.0_723.1/scene.json +++ b/samples/-QALmP1nHtM_715.0_723.1/scene.json @@ -235,14 +235,14 @@ "trust_rate": 0.043478260869565216, "tracking_status": "ok", "state_counts": { - "static": 72, - "grasped_l": 16, + "static": 88, + "grasped_l": 0, "grasped_r": 0, "grasped_both": 0, "moving": 4 }, "state_fractions": { - "static": 0.782608695652174, + "static": 0.9565217391304348, "grasped": 0.0, "moving": 0.043478260869565216 }, @@ -255,19 +255,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.0, + "trust_rate": 0.03260869565217391, "tracking_status": "ok", "state_counts": { - "static": 27, - "grasped_l": 18, - "grasped_r": 35, - "grasped_both": 12, - "moving": 0 + "static": 89, + "grasped_l": 0, + "grasped_r": 0, + "grasped_both": 0, + "moving": 3 }, "state_fractions": { - "static": 0.29347826086956524, + "static": 0.967391304347826, "grasped": 0.0, - "moving": 0.0 + "moving": 0.03260869565217391 }, "is_static_global": false, "n_state_frames": 92 @@ -304,14 +304,14 @@ "trust_rate": 0.06521739130434782, "tracking_status": "ok", "state_counts": { - "static": 70, - "grasped_l": 16, + "static": 86, + "grasped_l": 0, "grasped_r": 0, "grasped_both": 0, "moving": 6 }, "state_fractions": { - "static": 0.7608695652173914, + "static": 0.9347826086956522, "grasped": 0.0, "moving": 0.06521739130434782 }, @@ -347,19 +347,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.0, + "trust_rate": 0.010869565217391304, "tracking_status": "ok", "state_counts": { - "static": 39, - "grasped_l": 16, - "grasped_r": 29, - "grasped_both": 8, - "moving": 0 + "static": 91, + "grasped_l": 0, + "grasped_r": 0, + "grasped_both": 0, + "moving": 1 }, "state_fractions": { - "static": 0.42391304347826086, + "static": 0.9891304347826086, "grasped": 0.0, - "moving": 0.0 + "moving": 0.010869565217391304 }, "is_static_global": false, "n_state_frames": 92 diff --git a/samples/-QALmP1nHtM_715.0_723.1/signals.json b/samples/-QALmP1nHtM_715.0_723.1/signals.json index 859bf836d86c1c32153342eb6603f3331d672a9e..a433b150a503bf01a0bf05c9c237bac168ef411a 100644 --- a/samples/-QALmP1nHtM_715.0_723.1/signals.json +++ b/samples/-QALmP1nHtM_715.0_723.1/signals.json @@ -1 +1 @@ -{"n_frames": 92, "scene": {"contact_l": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true - ], - "is_moving_per_frame": [ + false + ], + "wrist_r_per_frame": [ + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, @@ -9877,19 +9767,34 @@ false, false, false, + false, + false, + false, + false, + false, + false + ], + "is_moving_per_frame": [ false, false, false, false, false, false, + true, + true, + true, + false, false, false, false, false, + true, + false, false, false, false, + true, false, false, false, @@ -9905,7 +9810,102 @@ false, false, false, - false + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true ], "close_per_frame": [ true, diff --git a/samples/-QGsBuKzP4U_117.0_125.7/recording.viser b/samples/-QGsBuKzP4U_117.0_125.7/recording.viser index 075d380e8012245495a64f9103227d2247ebe7bf..1e73caad05a6da00efff76a77d75c6523aaa60a3 100644 --- a/samples/-QGsBuKzP4U_117.0_125.7/recording.viser +++ b/samples/-QGsBuKzP4U_117.0_125.7/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c64ef6014a10db5ed3b683bbe1214d0f22633276a37d1f2a0fa18c14e0fbba6b -size 5246444 +oid sha256:215b34c4cb5700a85fc169310df83eaab416b947196ddf02ee9bffbda8abf37e +size 5239968 diff --git a/samples/-QGsBuKzP4U_117.0_125.7/scene.json b/samples/-QGsBuKzP4U_117.0_125.7/scene.json index edd73fa712c983848f6b0898384d14030430bbfd..96df8ad70f2b344e6c8681bc2eb54b9384773855 100644 --- a/samples/-QGsBuKzP4U_117.0_125.7/scene.json +++ b/samples/-QGsBuKzP4U_117.0_125.7/scene.json @@ -147,14 +147,14 @@ "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 0, - "grasped_l": 7, + "static": 131, + "grasped_l": 0, "grasped_r": 0, - "grasped_both": 124, + "grasped_both": 0, "moving": 0 }, "state_fractions": { - "static": 0.0, + "static": 1.0, "grasped": 0.0, "moving": 0.0 }, @@ -167,19 +167,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.0, + "trust_rate": 0.1450381679389313, "tracking_status": "ok", "state_counts": { - "static": 0, + "static": 112, "grasped_l": 0, - "grasped_r": 131, + "grasped_r": 0, "grasped_both": 0, - "moving": 0 + "moving": 19 }, "state_fractions": { - "static": 0.0, + "static": 0.8549618320610687, "grasped": 0.0, - "moving": 0.0 + "moving": 0.1450381679389313 }, "is_static_global": false, "n_state_frames": 131 diff --git a/samples/-QGsBuKzP4U_117.0_125.7/signals.json b/samples/-QGsBuKzP4U_117.0_125.7/signals.json index 1b3597f346b12539ab02863ae52c3e330c0e441e..171f2ebb4526ff197092c56239db5fcb876c91e4 100644 --- a/samples/-QGsBuKzP4U_117.0_125.7/signals.json +++ 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@@ 0.88798588514328, -0.4594593644142151, 0.019445309415459633, - -0.06084394082427025 + -0.05725889652967453 ], [ 0.014538856223225594, -0.014214510098099709, -0.999793291091919, - 0.07905858755111694 + 0.08029817789793015 ], [ 0.4596408009529114, 0.8880850076675415, -0.005942270625382662, - 1.8885979652404785 + 1.9010539054870605 ], [ 0.0, @@ -8021,19 +8021,19 @@ 0.885059118270874, -0.46490395069122314, 0.023123228922486305, - -0.0495699904859066 + -0.046970922499895096 ], [ 0.012942301109433174, -0.02507898211479187, -0.9996016621589661, - 0.09061337262392044 + 0.0906175747513771 ], [ 0.46529868245124817, 0.8850058317184448, -0.016179455444216728, - 1.8881502151489258 + 1.9012559652328491 ], [ 0.0, @@ -8047,19 +8047,19 @@ 0.8831249475479126, -0.46862372756004333, 0.021957872435450554, - -0.03928214684128761 + -0.03759516030550003 ], [ 0.007884567603468895, -0.031972143799066544, -0.9994576573371887, - 0.11037547141313553 + 0.10968238115310669 ], [ 0.469071626663208, 0.8828191161155701, -0.024540502578020096, - 1.880829930305481 + 1.8942261934280396 ], [ 0.0, @@ -8073,19 +8073,19 @@ 0.8827497959136963, -0.46983879804611206, 0.00208588526584208, - -0.03128701448440552 + -0.030401743948459625 ], [ -0.014936721883714199, -0.03250037878751755, -0.9993600845336914, - 0.13945862650871277 + 0.13881856203079224 ], [ 0.4696059226989746, 0.8821537494659424, -0.03570755198597908, - 1.8649675846099854 + 1.8782237768173218 ], [ 0.0, @@ -8099,19 +8099,19 @@ 0.8826212286949158, -0.4674198031425476, -0.04998503997921944, - -0.026891199871897697 + -0.026660803705453873 ], [ -0.06939741224050522, -0.024393511936068535, -0.9972907900810242, - 0.17897659540176392 + 0.1793520599603653 ], [ 0.46493417024612427, 0.8836988806724548, -0.05396795645356178, - 1.8388934135437012 + 1.8515084981918335 ], [ 0.0, @@ -8122,9 +8122,9 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=141 static=171 tracked=0 mc_static=True scale=0.684", - "n_frames_wrist": 141, - "n_frames_static": 171, + "note": "phase_d state-machine: wrist=183 static=129 tracked=0 mc_static=True scale=0.684 grasp_src=vetoed (pkl)", + "n_frames_wrist": 183, + "n_frames_static": 129, "n_frames_tracked": 0, "state_per_frame": [ "static", @@ -20021,7 +20021,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=0 static=295 tracked=17 mc_static=True scale=0.709", + "note": "phase_d state-machine: wrist=0 static=295 tracked=17 mc_static=True scale=0.709 grasp_src=vetoed (pkl)", "n_frames_wrist": 0, "n_frames_static": 295, "n_frames_tracked": 17, @@ -31023,7 +31023,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=287 static=19 tracked=6 mc_static=False scale=0.245", + "note": "phase_d state-machine: wrist=287 static=19 tracked=6 mc_static=False scale=0.245 grasp_src=vetoed (pkl)", "n_frames_wrist": 287, "n_frames_static": 19, "n_frames_tracked": 6, @@ -31082,40 +31082,40 @@ "grasped_l", "grasped_l", "grasped_l", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", "grasped_l", "grasped_l", "grasped_l", @@ -31396,40 +31396,40 @@ "L", "L", "L", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", "L", "L", "L", @@ -33166,9 +33166,9 @@ "global_span_px": 60.62020492553711, "state_counts": { "static": 19, - "grasped_l": 132, + "grasped_l": 166, "grasped_r": 0, - "grasped_both": 154, + "grasped_both": 120, "moving": 7 }, "wrist_used_per_frame": [ @@ -33854,40 +33854,40 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, diff --git a/samples/-QGsBuKzP4U_48.6_72.9/recording.viser b/samples/-QGsBuKzP4U_48.6_72.9/recording.viser index edc1b4de35de8ea1eaf052de7e1161b78fbc657b..fc94703b2e8b1d6fb4eadc093f30549618bd6a27 100644 --- a/samples/-QGsBuKzP4U_48.6_72.9/recording.viser +++ b/samples/-QGsBuKzP4U_48.6_72.9/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f66fd4a1588d11ec3d22a45485e1185979a1c49aaf73bab81098e3ecc65e0a75 -size 12466509 +oid sha256:697e4493fe8222d46d8c506fad660561c693c743db60e8ee085fa5f67e48ff10 +size 12465787 diff --git a/samples/-QGsBuKzP4U_48.6_72.9/scene.json b/samples/-QGsBuKzP4U_48.6_72.9/scene.json index e4a246abc6c6eab83b84122d0ff4cc6edbe8c6df..b50bee963878875f80f11b51e91199cc059bbae4 100644 --- a/samples/-QGsBuKzP4U_48.6_72.9/scene.json +++ b/samples/-QGsBuKzP4U_48.6_72.9/scene.json @@ -216,9 +216,9 @@ "tracking_status": "ok", "state_counts": { "static": 19, - "grasped_l": 132, + "grasped_l": 166, "grasped_r": 0, - "grasped_both": 154, + "grasped_both": 120, "moving": 7 }, "state_fractions": { diff --git a/samples/-QGsBuKzP4U_48.6_72.9/signals.json b/samples/-QGsBuKzP4U_48.6_72.9/signals.json index b906a705d195f8a7bc32568d18623059198b43a6..b1eefe31a0c60d16ed21993e4a8eae8b25e81333 100644 --- a/samples/-QGsBuKzP4U_48.6_72.9/signals.json +++ b/samples/-QGsBuKzP4U_48.6_72.9/signals.json @@ -1 +1 @@ -{"n_frames": 312, "scene": {"contact_l": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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a/samples/-QhzvVVDYg8_205.7_209.7/pose_track.json +++ b/samples/-QhzvVVDYg8_205.7_209.7/pose_track.json @@ -1362,7 +1362,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=52 static=0 tracked=0 mc_static=False scale=0.251", + "note": "phase_d state-machine: wrist=52 static=0 tracked=0 mc_static=False scale=0.251 grasp_src=vetoed (pkl)", "n_frames_wrist": 52, "n_frames_static": 0, "n_frames_tracked": 0, diff --git a/samples/-QhzvVVDYg8_205.7_209.7/recording.viser b/samples/-QhzvVVDYg8_205.7_209.7/recording.viser index c7fdc9d7f5119b6bf101ad7aef422241416f1844..dd99731e1272c25c771c653310d685f7c7b073d5 100644 --- a/samples/-QhzvVVDYg8_205.7_209.7/recording.viser +++ b/samples/-QhzvVVDYg8_205.7_209.7/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8c8ae36758dd0269d76c78734e653891cfe9138443e87f8f11681f5daec88388 -size 1794656 +oid sha256:022054ac058032524464306d40de683e40916dfa0cbdfb99ff72c4d9a62e6390 +size 1794654 diff --git 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0.35092151165008545 ], [ -0.997060239315033, -0.038368187844753265, -0.06632286310195923, - 2.161954879760742 + 2.1670095920562744 ], [ 0.0, @@ -14803,19 +14803,19 @@ -0.0405452586710453, 0.9986716508865356, 0.03179667517542839, - -0.07411752641201019 + -0.0741240382194519 ], [ 0.0650147795677185, 0.034392278641462326, -0.9972914457321167, - 0.3506649434566498 + 0.3506900370121002 ], [ -0.997060239315033, -0.038368187844753265, -0.06632286310195923, - 2.1647729873657227 + 2.1649909019470215 ], [ 0.0, @@ -14829,19 +14829,19 @@ -0.0405452586710453, 0.9986716508865356, 0.03179667517542839, - -0.07425827533006668 + -0.07424794137477875 ], [ 0.0650147795677185, 0.034392278641462326, -0.9972914457321167, - 0.3517763912677765 + 0.35173651576042175 ], [ -0.997060239315033, -0.038368187844753265, -0.06632286310195923, - 2.1713976860046387 + 2.171051502227783 ], [ 0.0, @@ -14855,19 +14855,19 @@ -0.0405452586710453, 0.9986716508865356, 0.03179667517542839, - -0.07444629073143005 + -0.07443250715732574 ], [ 0.0650147795677185, 0.034392278641462326, -0.9972914457321167, - 0.35315415263175964 + 0.3531009554862976 ], [ -0.997060239315033, -0.038368187844753265, -0.06632286310195923, - 2.179669141769409 + 2.1792075634002686 ], [ 0.0, @@ -15294,10 +15294,10 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=52 static=42 tracked=55 mc_static=False scale=0.197", - "n_frames_wrist": 52, - "n_frames_static": 42, - "n_frames_tracked": 55, + "note": "phase_d state-machine: wrist=30 static=56 tracked=63 mc_static=False scale=0.197 grasp_src=vetoed (pkl)", + "n_frames_wrist": 30, + "n_frames_static": 56, + "n_frames_tracked": 63, "state_per_frame": [ "static", "static", @@ -15305,25 +15305,25 @@ "static", "static", "static", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", "static", "static", "static", @@ -15456,25 +15456,25 @@ null, null, null, - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, null, null, null, @@ -16352,9 +16352,9 @@ ], "global_span_px": 50.00370788574219, "state_counts": { - "static": 88, + "static": 107, "grasped_l": 0, - "grasped_r": 47, + "grasped_r": 28, "grasped_both": 0, "moving": 14 }, @@ -16365,25 +16365,25 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, @@ -16667,25 +16667,25 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, @@ -20999,7 +20999,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=35 static=64 tracked=50 mc_static=False scale=0.176", + "note": "phase_d state-machine: wrist=35 static=64 tracked=50 mc_static=False scale=0.176 grasp_src=vetoed (pkl)", "n_frames_wrist": 35, "n_frames_static": 64, "n_frames_tracked": 50, diff --git a/samples/-SvZIM1o-Z8_41.2_51.1/recording.viser b/samples/-SvZIM1o-Z8_41.2_51.1/recording.viser index 2c7656e5eaf911119e365152a9a11937582008df..b2e5a0ed5dff9b23b89c928a6ffe962ccf8c3677 100644 --- a/samples/-SvZIM1o-Z8_41.2_51.1/recording.viser +++ b/samples/-SvZIM1o-Z8_41.2_51.1/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:970dca99d164c2c0090cb1ee8fbee767cdaa1bfcb96b221da497567d94bdbb0a -size 4802096 +oid sha256:2b0ddfe2c1c75a3b6e8e5bc13d1a17dbc746a2c03ee06c3bcfcbdbcbbf6ccb8f +size 4801420 diff --git a/samples/-SvZIM1o-Z8_41.2_51.1/scene.json b/samples/-SvZIM1o-Z8_41.2_51.1/scene.json index 2d431123fd131bf8e860a0155ca7bcd3eaab53d9..e89686689b37cf1a7b7d125c1f8bd3e86332ee3e 100644 --- a/samples/-SvZIM1o-Z8_41.2_51.1/scene.json +++ b/samples/-SvZIM1o-Z8_41.2_51.1/scene.json @@ -237,14 +237,14 @@ "trust_rate": 0.09395973154362416, "tracking_status": "ok", "state_counts": { - "static": 88, + "static": 107, "grasped_l": 0, - "grasped_r": 47, + "grasped_r": 28, "grasped_both": 0, "moving": 14 }, "state_fractions": { - "static": 0.5906040268456376, + "static": 0.7181208053691275, "grasped": 0.0, "moving": 0.09395973154362416 }, diff --git a/samples/-SvZIM1o-Z8_41.2_51.1/signals.json b/samples/-SvZIM1o-Z8_41.2_51.1/signals.json index f2d87b459e104d802f7d20c2377acfa9671e0c20..3c535764eb889325e319b40cdf79ea7dfb55df7f 100644 --- a/samples/-SvZIM1o-Z8_41.2_51.1/signals.json +++ b/samples/-SvZIM1o-Z8_41.2_51.1/signals.json @@ -1 +1 @@ -{"n_frames": 149, "scene": {"contact_l": [0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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+ "static", + "static", + "static", + "static", "static", "static", "static", @@ -2123,46 +2123,46 @@ "static" ], "grasp_hand_per_frame": [ - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, null, null, null, @@ -2596,53 +2596,53 @@ ], "global_span_px": 28.05852699279785, "state_counts": { - "static": 11, - "grasped_l": 49, + "static": 51, + "grasped_l": 9, "grasped_r": 17, "grasped_both": 0, "moving": 1 }, "wrist_used_per_frame": [ - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, @@ -2683,46 +2683,46 @@ false ], "wrist_l_per_frame": [ - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, diff --git a/samples/-WFScKY5jxA_119.5_124.7/recording.viser b/samples/-WFScKY5jxA_119.5_124.7/recording.viser index d53ef84bc5013c120cabcf3cae38cae206e89e22..141d1499b4acf4a7d3d8334c9134c5456c9c2829 100644 --- a/samples/-WFScKY5jxA_119.5_124.7/recording.viser +++ b/samples/-WFScKY5jxA_119.5_124.7/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:32cf5188fb2ae7cbe77b1bd4bbc3251edf4df60cc5d2baa6e002f832becbafbf -size 2041033 +oid sha256:28d0a5206196e51fcc771814d3870c9c9533fe48abe9cbdd9a06e5d73cd4ed4c +size 2028740 diff --git a/samples/-WFScKY5jxA_119.5_124.7/scene.json b/samples/-WFScKY5jxA_119.5_124.7/scene.json index cd845f1ec3f8e7780a92818cd1cbb84675bb2b02..484e3d554b5b66efc3e31ac06eceb8672fc28d76 100644 --- a/samples/-WFScKY5jxA_119.5_124.7/scene.json +++ b/samples/-WFScKY5jxA_119.5_124.7/scene.json @@ -125,14 +125,14 @@ "trust_rate": 0.01282051282051282, "tracking_status": "ok", "state_counts": { - "static": 11, - "grasped_l": 49, + "static": 51, + "grasped_l": 9, "grasped_r": 17, "grasped_both": 0, "moving": 1 }, "state_fractions": { - "static": 0.14102564102564102, + "static": 0.6538461538461539, "grasped": 0.0, "moving": 0.01282051282051282 }, diff --git a/samples/-WFScKY5jxA_119.5_124.7/signals.json b/samples/-WFScKY5jxA_119.5_124.7/signals.json index 214fab8b635ee9bcc18bf10908dfc996b6e61890..21640d9621cf85591ff95e3edc6ba2f5b0e893c2 100644 --- a/samples/-WFScKY5jxA_119.5_124.7/signals.json +++ b/samples/-WFScKY5jxA_119.5_124.7/signals.json @@ -1 +1 @@ -{"n_frames": 78, "scene": 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"both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", "L", "L", "L", @@ -7098,9 +7098,9 @@ "global_span_px": 138.01539611816406, "state_counts": { "static": 13, - "grasped_l": 21, + "grasped_l": 30, "grasped_r": 0, - "grasped_both": 56, + "grasped_both": 47, "moving": 9 }, "wrist_used_per_frame": [ @@ -7328,15 +7328,15 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, diff --git a/samples/-_ow-vw258c_79.8_86.4/recording.viser b/samples/-_ow-vw258c_79.8_86.4/recording.viser index afdc4e5d7b93214e8e200c83df3e14e79c2897dd..8c1a434035ba33b7a05f645ae67a69256e597ff8 100644 --- a/samples/-_ow-vw258c_79.8_86.4/recording.viser +++ b/samples/-_ow-vw258c_79.8_86.4/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c3885ef275706d0a43573c1360d09fbf2a71702f3a9f4b269b47ea9813b4df8d -size 4253274 +oid sha256:9710b2282253d66d412e023e32e1999b7a222edaae228050bd67fed74800c396 +size 4252457 diff --git a/samples/-_ow-vw258c_79.8_86.4/scene.json b/samples/-_ow-vw258c_79.8_86.4/scene.json index 2f349daec910940b6654a3126e3b12b8bc64d0a3..e74f511e6e627ad11a5d549f6b2c69e5eb17e69a 100644 --- a/samples/-_ow-vw258c_79.8_86.4/scene.json +++ b/samples/-_ow-vw258c_79.8_86.4/scene.json @@ -171,9 +171,9 @@ "tracking_status": "ok", "state_counts": { "static": 13, - "grasped_l": 21, + "grasped_l": 30, "grasped_r": 0, - "grasped_both": 56, + "grasped_both": 47, "moving": 9 }, "state_fractions": { diff --git a/samples/-_ow-vw258c_79.8_86.4/signals.json b/samples/-_ow-vw258c_79.8_86.4/signals.json index 07607b4976d82827a833880194d31d61ac277415..1e0919fba86ea08c257b97b279bae3b8a1ef79fc 100644 --- a/samples/-_ow-vw258c_79.8_86.4/signals.json +++ b/samples/-_ow-vw258c_79.8_86.4/signals.json @@ -1 +1 @@ -{"n_frames": 99, 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null, + null, + null, + null, + null, null ], "is_static_global": false, @@ -5677,175 +5677,94 @@ ], "global_span_px": 22.100004196166992, "state_counts": { - "static": 1, - "grasped_l": 78, + "static": 69, + "grasped_l": 0, "grasped_r": 0, "grasped_both": 0, - "moving": 0 + "moving": 10 }, "wrist_used_per_frame": [ - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, + false, + 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true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - false - ], - "wrist_r_per_frame": [ false, false, false, @@ -5926,7 +5845,28 @@ false, false ], - "is_moving_per_frame": [ + "wrist_r_per_frame": [ + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, @@ -5984,6 +5924,66 @@ false, false, false, + false + ], + "is_moving_per_frame": [ + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, + false, false, false, false, @@ -8154,7 +8154,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=78 static=0 tracked=1 mc_static=False scale=0.202", + "note": "phase_d state-machine: wrist=78 static=0 tracked=1 mc_static=False scale=0.202 grasp_src=vetoed (pkl)", "n_frames_wrist": 78, "n_frames_static": 0, "n_frames_tracked": 1, diff --git a/samples/-veJClpdyMA_237.2_242.4/recording.viser b/samples/-veJClpdyMA_237.2_242.4/recording.viser index e544b0ecd8f8ed034560bf181b929ad055bb71c7..e533aba70f00d50e4791dcf01f20be443532a60f 100644 --- a/samples/-veJClpdyMA_237.2_242.4/recording.viser +++ b/samples/-veJClpdyMA_237.2_242.4/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d36693200dd52fe5acfd76a78383cf79d3ef63cae657d01a40c7ce41999a38cf -size 2778437 +oid sha256:0e207c27d5727af47845cc630a2801b61f7473637e6381f9e202490814e7a489 +size 2775789 diff --git a/samples/-veJClpdyMA_237.2_242.4/scene.json b/samples/-veJClpdyMA_237.2_242.4/scene.json index 4b0bb293bf01ebf41a1ecc80297f853e534c59aa..379eaab6fa337c40be8f4a8f998dfe2370b113cb 100644 --- a/samples/-veJClpdyMA_237.2_242.4/scene.json +++ b/samples/-veJClpdyMA_237.2_242.4/scene.json @@ -189,19 +189,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.0, + "trust_rate": 0.12658227848101267, "tracking_status": "ok", "state_counts": { - "static": 1, - "grasped_l": 78, + "static": 69, + "grasped_l": 0, "grasped_r": 0, "grasped_both": 0, - "moving": 0 + "moving": 10 }, "state_fractions": { - "static": 0.012658227848101266, + "static": 0.8734177215189873, "grasped": 0.0, - "moving": 0.0 + "moving": 0.12658227848101267 }, "is_static_global": false, "n_state_frames": 79 diff --git a/samples/-veJClpdyMA_237.2_242.4/signals.json b/samples/-veJClpdyMA_237.2_242.4/signals.json index 4d441895b3a710e2837ebd37d701b8eba21b773e..b9d25837f1f7baa49da25d1a4afcab9facabd2d6 100644 --- a/samples/-veJClpdyMA_237.2_242.4/signals.json +++ b/samples/-veJClpdyMA_237.2_242.4/signals.json @@ -1 +1 @@ -{"n_frames": 79, "scene": {"contact_l": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "contact_r": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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end of file diff --git a/samples/-wU6h7BA8Os_131.9_140.4/pose_track.json b/samples/-wU6h7BA8Os_131.9_140.4/pose_track.json index 91bc661c15d16c2fdbd2dfa6f77b9042f5062cef..1fd9c1a97aaed4a5ef69af3e90a5cd0a2002abd9 100644 --- a/samples/-wU6h7BA8Os_131.9_140.4/pose_track.json +++ b/samples/-wU6h7BA8Os_131.9_140.4/pose_track.json @@ -1544,7 +1544,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=48 static=8 tracked=3 mc_static=False scale=0.225", + "note": "phase_d state-machine: wrist=48 static=8 tracked=3 mc_static=False scale=0.225 grasp_src=vetoed (pkl)", "n_frames_wrist": 48, "n_frames_static": 8, "n_frames_tracked": 3, diff --git a/samples/-wU6h7BA8Os_131.9_140.4/recording.viser b/samples/-wU6h7BA8Os_131.9_140.4/recording.viser index 4f71619deca000dd82fefa8bff8374d602bae45c..a87e00bc47435da384fb88b7912aba6e068e01e6 100644 --- a/samples/-wU6h7BA8Os_131.9_140.4/recording.viser +++ b/samples/-wU6h7BA8Os_131.9_140.4/recording.viser @@ -1,3 +1,3 @@ version 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sha256:1757b72695dba51e4047fa60c26d493a2182c48b0b0fda1ca02d341570eb9bb5 +size 5345857 diff --git a/samples/NJ0_jMbxv5I_754.0_759.6/scene.json b/samples/NJ0_jMbxv5I_754.0_759.6/scene.json index 38cb2ed3b970a7e919590346f99358d1545d1cf1..10d5d734b7b6b464b3b99af9328e234e1982c77e 100644 --- a/samples/NJ0_jMbxv5I_754.0_759.6/scene.json +++ b/samples/NJ0_jMbxv5I_754.0_759.6/scene.json @@ -303,14 +303,14 @@ "trust_rate": 0.25882352941176473, "tracking_status": "ok", "state_counts": { - "static": 28, + "static": 50, "grasped_l": 0, - "grasped_r": 35, + "grasped_r": 13, "grasped_both": 0, "moving": 22 }, "state_fractions": { - "static": 0.32941176470588235, + "static": 0.5882352941176471, "grasped": 0.0, "moving": 0.25882352941176473 }, diff --git a/samples/NJ0_jMbxv5I_754.0_759.6/signals.json b/samples/NJ0_jMbxv5I_754.0_759.6/signals.json index 42f947b883360b9f54c2a1f42fb5a78c808352a6..f26aa891be1da76b1a6d4732be7344086e58dd2b 100644 --- a/samples/NJ0_jMbxv5I_754.0_759.6/signals.json +++ 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-0.0021082337480038404, 0.1119052916765213, - 0.18519903719425201 + 0.14323750138282776 ], [ 0.05005975812673569, 0.9026165008544922, -0.4275248050689697, - 0.04157276079058647 + 0.015865573659539223 ], [ -0.10010623931884766, 0.4304404556751251, 0.8970505595207214, - 0.5568298101425171 + 0.5414102673530579 ], [ 0.0, @@ -1573,19 +1573,19 @@ 0.9937166571617126, -0.0021082337480038404, 0.1119052916765213, - 0.18519903719425201 + 0.14323750138282776 ], [ 0.05005975812673569, 0.9026165008544922, -0.4275248050689697, - 0.04157276079058647 + 0.015865573659539223 ], [ -0.10010623931884766, 0.4304404556751251, 0.8970505595207214, - 0.5568298101425171 + 0.5414102673530579 ], [ 0.0, @@ -1596,62 +1596,11 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=51 static=10 tracked=0 mc_static=False scale=0.080", - "n_frames_wrist": 51, - "n_frames_static": 10, + "note": "phase_d state-machine: wrist=0 static=61 tracked=0 mc_static=False scale=0.080 grasp_src=vetoed (pkl)", + "n_frames_wrist": 0, + "n_frames_static": 61, "n_frames_tracked": 0, "state_per_frame": [ - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_l", - "grasped_l", - "moving", "static", "static", "static", @@ -1661,70 +1610,121 @@ "static", "static", "static", - "static" - ], - "grasp_hand_per_frame": [ - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "L", - "L", - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "moving", + "static", + "static", + "moving", + "moving", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "moving", + "moving", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static" + ], + "grasp_hand_per_frame": [ + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -2008,63 +2008,63 @@ ], "global_span_px": 9.708244323730469, "state_counts": { - "static": 10, - "grasped_l": 13, + "static": 56, + "grasped_l": 0, "grasped_r": 0, - "grasped_both": 37, - "moving": 1 + "grasped_both": 0, + "moving": 5 }, "wrist_used_per_frame": [ - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, @@ -2078,56 +2078,56 @@ false ], "wrist_l_per_frame": [ - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, @@ -2152,43 +2152,6 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, false, false, @@ -2201,9 +2164,6 @@ false, false, false, - false - ], - "is_moving_per_frame": [ false, false, false, @@ -2240,6 +2200,10 @@ false, false, false, + false, + false + ], + "is_moving_per_frame": [ false, false, false, @@ -2254,6 +2218,42 @@ false, false, false, + false, + false, + false, + false, + false, + false, + false, + true, + false, + false, + true, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, true, false, false, diff --git a/samples/k3TqZpNhlSk_333.8_337.8/recording.viser b/samples/k3TqZpNhlSk_333.8_337.8/recording.viser index dae1239d15bbb829a01866a971a5d7fb3d7865db..6d5b6410413ba8b6f50bd9f445847b728fe74940 100644 --- a/samples/k3TqZpNhlSk_333.8_337.8/recording.viser +++ b/samples/k3TqZpNhlSk_333.8_337.8/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:bd02d9057165ee496bd23a1eb2c574bc865330e98f37227ac4ede78db4ce3992 -size 1929082 +oid sha256:9be0dbd470bd9436f99a772ee403962a674d47a086655e367014f177508e725d +size 1929413 diff --git a/samples/k3TqZpNhlSk_333.8_337.8/scene.json b/samples/k3TqZpNhlSk_333.8_337.8/scene.json index cc3277e4ae5fb3a0d796f7586550ce1a78aaadf9..8f9a3a11688d3b35a67e7e4e1c28d43f68974b0e 100644 --- a/samples/k3TqZpNhlSk_333.8_337.8/scene.json +++ b/samples/k3TqZpNhlSk_333.8_337.8/scene.json @@ -122,19 +122,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.01639344262295082, + "trust_rate": 0.08196721311475409, "tracking_status": "ok", "state_counts": { - "static": 10, - "grasped_l": 13, + "static": 56, + "grasped_l": 0, "grasped_r": 0, - "grasped_both": 37, - "moving": 1 + "grasped_both": 0, + "moving": 5 }, "state_fractions": { - "static": 0.16393442622950818, + "static": 0.9180327868852459, "grasped": 0.0, - "moving": 0.01639344262295082 + "moving": 0.08196721311475409 }, "is_static_global": false, "n_state_frames": 61 diff --git a/samples/k3TqZpNhlSk_333.8_337.8/signals.json b/samples/k3TqZpNhlSk_333.8_337.8/signals.json index fcd45f68da674a6383d691265507c3d0b3f1e3e7..903214a9362e80b542d6e9e7bbc90fffd5ac6af9 100644 --- a/samples/k3TqZpNhlSk_333.8_337.8/signals.json +++ b/samples/k3TqZpNhlSk_333.8_337.8/signals.json @@ -1 +1 @@ -{"n_frames": 61, "scene": {"contact_l": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "contact_r": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "grasp": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "motion": [0.0, 2.8284270763397217, 1.4142135381698608, 2.0, 0.0, 1.0, 0.5, 0.5, 0.0, 0.5, 0.0, 0.5, 0.0, 0.5, 0.5, 0.7071067690849304, 1.0, 0.0, 1.1180340051651, 1.0, 0.0, 4.123105525970459, 1.5811388492584229, 0.0, 5.656854152679443, 3.041381359100342, 1.0, 1.1180340051651, 0.5, 0.5, 0.5, 1.1180340051651, 1.1180340051651, 0.5, 1.1180340051651, 2.1213202476501465, 1.1180340051651, 0.5, 0.5, 0.0, 0.0, 1.5811388492584229, 0.5, 3.1622776985168457, 1.5811388492584229, 1.5811388492584229, 0.5, 1.0, 3.535533905029297, 6.51920223236084, 50.62114334106445, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}, "per_object": {"0": {"trust": [true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, false, false, false, false, false, false, false, false, false, false], "state": ["grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_l", "grasped_l", "moving", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static"]}}} \ No newline at end of file +{"n_frames": 61, "scene": {"contact_l": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "contact_r": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "grasp": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "motion": [0.0, 2.8284270763397217, 1.4142135381698608, 2.0, 0.0, 1.0, 0.5, 0.5, 0.0, 0.5, 0.0, 0.5, 0.0, 0.5, 0.5, 0.7071067690849304, 1.0, 0.0, 1.1180340051651, 1.0, 0.0, 4.123105525970459, 1.5811388492584229, 0.0, 5.656854152679443, 3.041381359100342, 1.0, 1.1180340051651, 0.5, 0.5, 0.5, 1.1180340051651, 1.1180340051651, 0.5, 1.1180340051651, 2.1213202476501465, 1.1180340051651, 0.5, 0.5, 0.0, 0.0, 1.5811388492584229, 0.5, 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"static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "moving", "moving", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static"]}}} \ No newline at end of file diff --git a/samples/rh2O_qLDRqc_192.9_196.9/pose_track.json b/samples/rh2O_qLDRqc_192.9_196.9/pose_track.json index 6406a42154a711bf49d39633b277c1404a327f84..d1d8a06e62f0525b7d198be263fd652a099655d2 100644 --- a/samples/rh2O_qLDRqc_192.9_196.9/pose_track.json +++ b/samples/rh2O_qLDRqc_192.9_196.9/pose_track.json @@ -1596,7 +1596,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=0 static=61 tracked=0 mc_static=True scale=1.275", + "note": "phase_d state-machine: wrist=0 static=61 tracked=0 mc_static=True scale=1.275 grasp_src=vetoed (pkl)", "n_frames_wrist": 0, "n_frames_static": 61, "n_frames_tracked": 0, diff --git a/samples/rh2O_qLDRqc_192.9_196.9/recording.viser 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state-machine: wrist=16 static=19 tracked=87 mc_static=True scale=0.151 grasp_src=vetoed (pkl)", + "n_frames_wrist": 16, + "n_frames_static": 19, + "n_frames_tracked": 87, "state_per_frame": [ "static", "static", @@ -7861,7 +7861,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=0 static=100 tracked=22 mc_static=True scale=0.366", + "note": "phase_d state-machine: wrist=0 static=100 tracked=22 mc_static=True scale=0.366 grasp_src=vetoed (pkl)", "n_frames_wrist": 0, "n_frames_static": 100, "n_frames_tracked": 22, @@ -12540,7 +12540,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=0 static=122 tracked=0 mc_static=True scale=0.130", + "note": "phase_d state-machine: wrist=0 static=122 tracked=0 mc_static=True scale=0.130 grasp_src=vetoed (pkl)", "n_frames_wrist": 0, "n_frames_static": 122, "n_frames_tracked": 0, @@ -17219,7 +17219,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=0 static=87 tracked=35 mc_static=True scale=0.339", + "note": "phase_d state-machine: wrist=0 static=87 tracked=35 mc_static=True scale=0.339 grasp_src=vetoed (pkl)", "n_frames_wrist": 0, "n_frames_static": 87, "n_frames_tracked": 35, @@ -21898,7 +21898,7 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=0 static=122 tracked=0 mc_static=True scale=0.074", + "note": "phase_d state-machine: wrist=0 static=122 tracked=0 mc_static=True scale=0.074 grasp_src=vetoed (pkl)", "n_frames_wrist": 0, "n_frames_static": 122, "n_frames_tracked": 0, diff --git a/samples/xWBZ-yu6_CE_690.4_694.4/recording.viser b/samples/xWBZ-yu6_CE_690.4_694.4/recording.viser index d3418a1f6c181b717b9ce98e36bef13fa9a38aa0..7573e04174e2377ea2de36b16a124f4b312c6fc4 100644 --- a/samples/xWBZ-yu6_CE_690.4_694.4/recording.viser +++ b/samples/xWBZ-yu6_CE_690.4_694.4/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e78a0cc9eb52c5700de3f46f33a8744190b5de911df1cdf6d4efe31ad3f48bc1 -size 3582885 +oid sha256:fbdd40f478645c88c1cc3969992e606fe9661f66c73bf2afe4e4ebb433a7b7cc +size 3582873