2026-05-15: state machine v2 — STATIC / GRASPED_L/R/BOTH / MOVING + L/R-aware grasp (101/105)
Browse files
samples/XgOQwJUVqkU_473.3_477.3/pose_track.json
CHANGED
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@@ -1596,6 +1596,450 @@
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| 1596 |
],
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| 1597 |
"tracking_status": "ok",
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| 1598 |
"note": "canonical_only (F@R^T) scale=0.805",
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| 1599 |
"wrist_used_per_frame": [
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| 1600 |
true,
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| 1601 |
true,
|
|
@@ -1659,7 +2103,7 @@
|
|
| 1659 |
true,
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| 1660 |
true
|
| 1661 |
],
|
| 1662 |
-
"
|
| 1663 |
false,
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| 1664 |
false,
|
| 1665 |
false,
|
|
@@ -1676,6 +2120,38 @@
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| 1676 |
false,
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| 1677 |
false,
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| 1678 |
false,
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| 1679 |
true,
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| 1680 |
true,
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| 1681 |
true,
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|
@@ -1688,6 +2164,100 @@
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| 1688 |
true,
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| 1689 |
true,
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| 1690 |
true,
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| 1691 |
true,
|
| 1692 |
true,
|
| 1693 |
true,
|
|
@@ -1784,132 +2354,6 @@
|
|
| 1784 |
true,
|
| 1785 |
true,
|
| 1786 |
true
|
| 1787 |
-
],
|
| 1788 |
-
"pc_motion_xy_per_frame": [
|
| 1789 |
-
0.0,
|
| 1790 |
-
0.009555313736200333,
|
| 1791 |
-
0.007613684516400099,
|
| 1792 |
-
0.0010991147719323635,
|
| 1793 |
-
0.006877430249005556,
|
| 1794 |
-
0.005938561167567968,
|
| 1795 |
-
0.0105367386713624,
|
| 1796 |
-
0.0065252273343503475,
|
| 1797 |
-
0.0013340790756046772,
|
| 1798 |
-
0.006875757593661547,
|
| 1799 |
-
0.000580793886911124,
|
| 1800 |
-
0.0009104207274504006,
|
| 1801 |
-
0.010668925009667873,
|
| 1802 |
-
0.016552431508898735,
|
| 1803 |
-
0.0110169043764472,
|
| 1804 |
-
0.007028150372207165,
|
| 1805 |
-
0.02093449793756008,
|
| 1806 |
-
0.007961561903357506,
|
| 1807 |
-
0.006076941266655922,
|
| 1808 |
-
0.017570609226822853,
|
| 1809 |
-
0.003387652337551117,
|
| 1810 |
-
0.012997948564589024,
|
| 1811 |
-
0.013572141528129578,
|
| 1812 |
-
0.005285382270812988,
|
| 1813 |
-
0.00958141591399908,
|
| 1814 |
-
0.004678721074014902,
|
| 1815 |
-
0.015772517770528793,
|
| 1816 |
-
0.005992838181555271,
|
| 1817 |
-
0.0071221645921468735,
|
| 1818 |
-
0.01522274874150753,
|
| 1819 |
-
0.008599944412708282,
|
| 1820 |
-
0.007206536363810301,
|
| 1821 |
-
0.006583389360457659,
|
| 1822 |
-
0.004278326407074928,
|
| 1823 |
-
0.004177798051387072,
|
| 1824 |
-
0.004526824690401554,
|
| 1825 |
-
0.0067433747462928295,
|
| 1826 |
-
0.008381623774766922,
|
| 1827 |
-
0.0008882484398782253,
|
| 1828 |
-
0.01124214194715023,
|
| 1829 |
-
0.01012817770242691,
|
| 1830 |
-
0.0069427490234375,
|
| 1831 |
-
0.011170567944645882,
|
| 1832 |
-
0.009745839983224869,
|
| 1833 |
-
0.007101443130522966,
|
| 1834 |
-
0.019583893939852715,
|
| 1835 |
-
0.011011225171387196,
|
| 1836 |
-
0.02063976414501667,
|
| 1837 |
-
0.004350949078798294,
|
| 1838 |
-
0.012784350663423538,
|
| 1839 |
-
0.020976852625608444,
|
| 1840 |
-
0.03072299063205719,
|
| 1841 |
-
0.012521865777671337,
|
| 1842 |
-
0.006515995133668184,
|
| 1843 |
-
0.017938263714313507,
|
| 1844 |
-
0.009610051289200783,
|
| 1845 |
-
0.003245348809286952,
|
| 1846 |
-
0.007278917357325554,
|
| 1847 |
-
0.01159503124654293,
|
| 1848 |
-
0.014618657529354095,
|
| 1849 |
-
0.010679952800273895
|
| 1850 |
-
],
|
| 1851 |
-
"pc_motion_z_per_frame": [
|
| 1852 |
-
0.0,
|
| 1853 |
-
0.0065000057220458984,
|
| 1854 |
-
0.004999995231628418,
|
| 1855 |
-
0.02400001883506775,
|
| 1856 |
-
0.018000006675720215,
|
| 1857 |
-
0.0015000104904174805,
|
| 1858 |
-
0.007499992847442627,
|
| 1859 |
-
0.005499988794326782,
|
| 1860 |
-
0.001999974250793457,
|
| 1861 |
-
0.022000014781951904,
|
| 1862 |
-
0.0065000057220458984,
|
| 1863 |
-
0.010999977588653564,
|
| 1864 |
-
0.007999986410140991,
|
| 1865 |
-
0.0004999935626983643,
|
| 1866 |
-
0.009000003337860107,
|
| 1867 |
-
0.003500014543533325,
|
| 1868 |
-
0.02050003409385681,
|
| 1869 |
-
0.003000020980834961,
|
| 1870 |
-
0.0020000040531158447,
|
| 1871 |
-
0.004500001668930054,
|
| 1872 |
-
0.004500001668930054,
|
| 1873 |
-
0.006000012159347534,
|
| 1874 |
-
0.022000014781951904,
|
| 1875 |
-
0.0020000040531158447,
|
| 1876 |
-
0.009000003337860107,
|
| 1877 |
-
0.027000010013580322,
|
| 1878 |
-
0.003500014543533325,
|
| 1879 |
-
0.012000024318695068,
|
| 1880 |
-
0.0020000040531158447,
|
| 1881 |
-
0.0059999823570251465,
|
| 1882 |
-
0.0034999847412109375,
|
| 1883 |
-
0.010500013828277588,
|
| 1884 |
-
0.013000011444091797,
|
| 1885 |
-
0.024500012397766113,
|
| 1886 |
-
0.0059999823570251465,
|
| 1887 |
-
0.02150002121925354,
|
| 1888 |
-
0.010000020265579224,
|
| 1889 |
-
0.012499988079071045,
|
| 1890 |
-
0.03349998593330383,
|
| 1891 |
-
0.025000005960464478,
|
| 1892 |
-
0.01299998164176941,
|
| 1893 |
-
0.0015000104904174805,
|
| 1894 |
-
0.013999998569488525,
|
| 1895 |
-
0.03599998354911804,
|
| 1896 |
-
0.029999971389770508,
|
| 1897 |
-
0.03449997305870056,
|
| 1898 |
-
0.011499971151351929,
|
| 1899 |
-
0.023999959230422974,
|
| 1900 |
-
0.01849997043609619,
|
| 1901 |
-
0.05399999022483826,
|
| 1902 |
-
0.01600000262260437,
|
| 1903 |
-
0.020999997854232788,
|
| 1904 |
-
0.035500019788742065,
|
| 1905 |
-
0.010999977588653564,
|
| 1906 |
-
0.008000016212463379,
|
| 1907 |
-
0.0040000081062316895,
|
| 1908 |
-
0.01449999213218689,
|
| 1909 |
-
0.008499979972839355,
|
| 1910 |
-
0.0059999823570251465,
|
| 1911 |
-
0.02000001072883606,
|
| 1912 |
-
0.003999978303909302
|
| 1913 |
]
|
| 1914 |
},
|
| 1915 |
"1": {
|
|
@@ -3509,6 +3953,450 @@
|
|
| 3509 |
],
|
| 3510 |
"tracking_status": "ok",
|
| 3511 |
"note": "canonical_only (F@R^T) scale=0.400",
|
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|
|
| 3512 |
"wrist_used_per_frame": [
|
| 3513 |
false,
|
| 3514 |
false,
|
|
@@ -3542,22 +4430,148 @@
|
|
| 3542 |
false,
|
| 3543 |
false,
|
| 3544 |
false,
|
| 3545 |
-
true,
|
| 3546 |
-
true,
|
| 3547 |
-
true,
|
| 3548 |
-
true,
|
| 3549 |
-
true,
|
| 3550 |
-
true,
|
| 3551 |
-
true,
|
| 3552 |
-
true,
|
| 3553 |
-
true,
|
| 3554 |
-
true,
|
| 3555 |
-
true,
|
| 3556 |
-
true,
|
| 3557 |
-
true,
|
| 3558 |
-
true,
|
| 3559 |
-
true,
|
| 3560 |
-
true,
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 3561 |
false,
|
| 3562 |
false,
|
| 3563 |
false,
|
|
@@ -3579,6 +4593,8 @@
|
|
| 3579 |
true,
|
| 3580 |
true,
|
| 3581 |
true,
|
|
|
|
|
|
|
| 3582 |
true,
|
| 3583 |
true,
|
| 3584 |
true,
|
|
@@ -3586,26 +4602,24 @@
|
|
| 3586 |
true,
|
| 3587 |
true,
|
| 3588 |
true,
|
| 3589 |
-
false,
|
| 3590 |
-
true,
|
| 3591 |
-
true,
|
| 3592 |
true,
|
| 3593 |
true,
|
| 3594 |
true,
|
|
|
|
|
|
|
|
|
|
|
|
|
| 3595 |
true,
|
| 3596 |
true,
|
| 3597 |
true,
|
|
|
|
| 3598 |
true,
|
| 3599 |
true,
|
| 3600 |
false,
|
| 3601 |
-
false,
|
| 3602 |
true,
|
| 3603 |
false,
|
| 3604 |
false,
|
| 3605 |
false,
|
| 3606 |
-
true,
|
| 3607 |
-
true,
|
| 3608 |
-
false,
|
| 3609 |
false,
|
| 3610 |
false,
|
| 3611 |
false,
|
|
@@ -3623,7 +4637,6 @@
|
|
| 3623 |
false,
|
| 3624 |
false,
|
| 3625 |
true,
|
| 3626 |
-
false,
|
| 3627 |
true,
|
| 3628 |
true,
|
| 3629 |
true,
|
|
@@ -3632,7 +4645,8 @@
|
|
| 3632 |
true,
|
| 3633 |
true,
|
| 3634 |
true,
|
| 3635 |
-
|
|
|
|
| 3636 |
true
|
| 3637 |
],
|
| 3638 |
"close_per_frame": [
|
|
@@ -3697,132 +4711,6 @@
|
|
| 3697 |
false,
|
| 3698 |
false,
|
| 3699 |
false
|
| 3700 |
-
],
|
| 3701 |
-
"pc_motion_xy_per_frame": [
|
| 3702 |
-
0.0,
|
| 3703 |
-
0.01922076940536499,
|
| 3704 |
-
0.007610976230353117,
|
| 3705 |
-
0.0013943584635853767,
|
| 3706 |
-
0.02203945256769657,
|
| 3707 |
-
0.0066717276349663734,
|
| 3708 |
-
0.00605855043977499,
|
| 3709 |
-
0.005386926233768463,
|
| 3710 |
-
0.008495205081999302,
|
| 3711 |
-
0.020135579630732536,
|
| 3712 |
-
0.010841213166713715,
|
| 3713 |
-
0.01227864995598793,
|
| 3714 |
-
0.004212735686451197,
|
| 3715 |
-
0.0005307262763381004,
|
| 3716 |
-
0.005464677233248949,
|
| 3717 |
-
0.00931067205965519,
|
| 3718 |
-
0.008595298044383526,
|
| 3719 |
-
0.014555991627275944,
|
| 3720 |
-
0.0042786127887666225,
|
| 3721 |
-
0.007368842605501413,
|
| 3722 |
-
0.009473654441535473,
|
| 3723 |
-
0.005956636741757393,
|
| 3724 |
-
0.00812432449311018,
|
| 3725 |
-
0.004531387705355883,
|
| 3726 |
-
0.00026621134020388126,
|
| 3727 |
-
0.003747993614524603,
|
| 3728 |
-
0.010454230941832066,
|
| 3729 |
-
0.002241516252979636,
|
| 3730 |
-
0.004693101160228252,
|
| 3731 |
-
0.001100035384297371,
|
| 3732 |
-
0.009538764134049416,
|
| 3733 |
-
0.007119322661310434,
|
| 3734 |
-
0.008046423085033894,
|
| 3735 |
-
0.0016383703332394361,
|
| 3736 |
-
0.0071265664882957935,
|
| 3737 |
-
0.007998926565051079,
|
| 3738 |
-
0.004963344428688288,
|
| 3739 |
-
0.009686164557933807,
|
| 3740 |
-
0.005271141417324543,
|
| 3741 |
-
0.012319325469434261,
|
| 3742 |
-
0.00535366078838706,
|
| 3743 |
-
0.006749906111508608,
|
| 3744 |
-
0.009148648008704185,
|
| 3745 |
-
0.0053273714147508144,
|
| 3746 |
-
0.010707125999033451,
|
| 3747 |
-
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| 5425 |
"wrist_used_per_frame": [
|
| 5426 |
true,
|
| 5427 |
true,
|
|
@@ -5436,6 +6750,119 @@
|
|
| 5436 |
true,
|
| 5437 |
true,
|
| 5438 |
true,
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|
|
| 5439 |
true,
|
| 5440 |
true,
|
| 5441 |
true,
|
|
@@ -5474,6 +6901,19 @@
|
|
| 5474 |
true,
|
| 5475 |
true,
|
| 5476 |
true,
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|
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|
|
| 5477 |
true,
|
| 5478 |
true,
|
| 5479 |
true,
|
|
@@ -5610,132 +7050,6 @@
|
|
| 5610 |
true,
|
| 5611 |
true,
|
| 5612 |
true
|
| 5613 |
-
],
|
| 5614 |
-
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| 5615 |
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| 5676 |
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| 5740 |
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| 5741 |
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|
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|
| 1596 |
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| 1597 |
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| 1598 |
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| 1599 |
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| 7053 |
]
|
| 7054 |
}
|
| 7055 |
}
|
samples/XgOQwJUVqkU_473.3_477.3/recording.viser
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f4573b050872bca1dc082bba97e85ca3a7a312136485233c847895ec90e07e07
|
| 3 |
+
size 4593400
|
samples/XgOQwJUVqkU_473.3_477.3/scene.json
CHANGED
|
@@ -165,27 +165,69 @@
|
|
| 165 |
"anchor_fitness": null,
|
| 166 |
"median_chamfer_mm": null,
|
| 167 |
"mean_iou": null,
|
| 168 |
-
"grasp_rate":
|
| 169 |
-
"trust_rate":
|
| 170 |
-
"tracking_status": "ok"
|
|
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|
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|
|
|
|
| 171 |
},
|
| 172 |
"1": {
|
| 173 |
"path": null,
|
| 174 |
"anchor_fitness": null,
|
| 175 |
"median_chamfer_mm": null,
|
| 176 |
"mean_iou": null,
|
| 177 |
-
"grasp_rate":
|
| 178 |
-
"trust_rate":
|
| 179 |
-
"tracking_status": "ok"
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
|
| 180 |
},
|
| 181 |
"2": {
|
| 182 |
"path": null,
|
| 183 |
"anchor_fitness": null,
|
| 184 |
"median_chamfer_mm": null,
|
| 185 |
"mean_iou": null,
|
| 186 |
-
"grasp_rate":
|
| 187 |
-
"trust_rate":
|
| 188 |
-
"tracking_status": "ok"
|
|
|
|
|
|
|
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|
|
| 189 |
}
|
| 190 |
},
|
| 191 |
"_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms."
|
|
|
|
| 165 |
"anchor_fitness": null,
|
| 166 |
"median_chamfer_mm": null,
|
| 167 |
"mean_iou": null,
|
| 168 |
+
"grasp_rate": 0.0,
|
| 169 |
+
"trust_rate": 0.2459016393442623,
|
| 170 |
+
"tracking_status": "ok",
|
| 171 |
+
"state_counts": {
|
| 172 |
+
"static": 1,
|
| 173 |
+
"grasped_l": 29,
|
| 174 |
+
"grasped_r": 16,
|
| 175 |
+
"grasped_both": 0,
|
| 176 |
+
"moving": 15
|
| 177 |
+
},
|
| 178 |
+
"state_fractions": {
|
| 179 |
+
"static": 0.01639344262295082,
|
| 180 |
+
"grasped": 0.0,
|
| 181 |
+
"moving": 0.2459016393442623
|
| 182 |
+
},
|
| 183 |
+
"is_static_global": false,
|
| 184 |
+
"n_state_frames": 61
|
| 185 |
},
|
| 186 |
"1": {
|
| 187 |
"path": null,
|
| 188 |
"anchor_fitness": null,
|
| 189 |
"median_chamfer_mm": null,
|
| 190 |
"mean_iou": null,
|
| 191 |
+
"grasp_rate": 0.0,
|
| 192 |
+
"trust_rate": 0.5409836065573771,
|
| 193 |
+
"tracking_status": "ok",
|
| 194 |
+
"state_counts": {
|
| 195 |
+
"static": 12,
|
| 196 |
+
"grasped_l": 16,
|
| 197 |
+
"grasped_r": 0,
|
| 198 |
+
"grasped_both": 0,
|
| 199 |
+
"moving": 33
|
| 200 |
+
},
|
| 201 |
+
"state_fractions": {
|
| 202 |
+
"static": 0.19672131147540983,
|
| 203 |
+
"grasped": 0.0,
|
| 204 |
+
"moving": 0.5409836065573771
|
| 205 |
+
},
|
| 206 |
+
"is_static_global": false,
|
| 207 |
+
"n_state_frames": 61
|
| 208 |
},
|
| 209 |
"2": {
|
| 210 |
"path": null,
|
| 211 |
"anchor_fitness": null,
|
| 212 |
"median_chamfer_mm": null,
|
| 213 |
"mean_iou": null,
|
| 214 |
+
"grasp_rate": 0.0,
|
| 215 |
+
"trust_rate": 0.0,
|
| 216 |
+
"tracking_status": "ok",
|
| 217 |
+
"state_counts": {
|
| 218 |
+
"static": 6,
|
| 219 |
+
"grasped_l": 6,
|
| 220 |
+
"grasped_r": 42,
|
| 221 |
+
"grasped_both": 7,
|
| 222 |
+
"moving": 0
|
| 223 |
+
},
|
| 224 |
+
"state_fractions": {
|
| 225 |
+
"static": 0.09836065573770492,
|
| 226 |
+
"grasped": 0.0,
|
| 227 |
+
"moving": 0.0
|
| 228 |
+
},
|
| 229 |
+
"is_static_global": false,
|
| 230 |
+
"n_state_frames": 61
|
| 231 |
}
|
| 232 |
},
|
| 233 |
"_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms."
|
samples/XgOQwJUVqkU_473.3_477.3/signals.json
CHANGED
|
@@ -1 +1 @@
|
|
| 1 |
-
{"contact_l": [
|
|
|
|
| 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, 0.0, 1.0, 0.0, 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, 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], "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, 0.0, 1.0, 0.0, 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, 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], "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, 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