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"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", @@ -4313,24 +4317,24 @@ "L", "L", "L", - "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", @@ -5137,9 +5141,9 @@ "global_span_px": 234.53599548339844, "state_counts": { "static": 41, - "grasped_l": 53, + "grasped_l": 71, "grasped_r": 0, - "grasped_both": 57, + "grasped_both": 39, "moving": 4 }, "wrist_used_per_frame": [ @@ -5572,24 +5576,24 @@ false, false, false, - 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, @@ -5906,10 +5910,10 @@ true, true, true, + false, true, true, - true, - true, + false, true, true, true, diff --git a/samples/--oo8_XIuOM_799.5_809.8/recording.viser b/samples/--oo8_XIuOM_799.5_809.8/recording.viser index 641047dd8750851146d3c208cadbbeede711ddb4..22a3d4431b7a7e25e568d33e04dd7a8ee18117af 100644 --- a/samples/--oo8_XIuOM_799.5_809.8/recording.viser +++ b/samples/--oo8_XIuOM_799.5_809.8/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4a690940e9c6dce15465f55ada43333980702763b25e89161222ce7ff0f6cec3 -size 3659738 +oid sha256:7f8e4cce2c46db741f282d8c2bfd17e2d757fd590776f08aaa11f8358e6a3f97 +size 3661020 diff --git a/samples/--oo8_XIuOM_799.5_809.8/scene.json b/samples/--oo8_XIuOM_799.5_809.8/scene.json index fef8a6332a5e128810dd1322b330d513fdb5e3b4..b3b9586ab1173e5fe4b8031b3e046d9034669b23 100644 --- a/samples/--oo8_XIuOM_799.5_809.8/scene.json +++ b/samples/--oo8_XIuOM_799.5_809.8/scene.json @@ -126,9 +126,9 @@ "tracking_status": "ok", "state_counts": { "static": 41, - "grasped_l": 53, + "grasped_l": 71, "grasped_r": 0, - "grasped_both": 57, + "grasped_both": 39, "moving": 4 }, "state_fractions": { diff --git a/samples/--oo8_XIuOM_799.5_809.8/signals.json b/samples/--oo8_XIuOM_799.5_809.8/signals.json index 0f5cfa0e57be7b29cd72d545724e64546c246bc0..f02f6c23fb63d2d0d5ab004e837de8dff37843cd 100644 --- a/samples/--oo8_XIuOM_799.5_809.8/signals.json +++ b/samples/--oo8_XIuOM_799.5_809.8/signals.json @@ -1 +1 @@ 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94, + "n_frames_tracked": 17, "state_per_frame": [ "static", "static", @@ -5058,6 +5062,9 @@ "grasped_both", "grasped_both", "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", "grasped_r", "grasped_r", "grasped_r", @@ -5067,18 +5074,6 @@ "grasped_r", "grasped_r", "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", "static", "static", "static", @@ -5097,6 +5092,15 @@ "static", "static", "static", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", "static", "static", "static", @@ -5249,6 +5253,9 @@ "both", "both", "both", + "both", + "both", + "both", "R", "R", "R", @@ -5258,18 +5265,6 @@ "R", "R", "R", - "R", - "R", - "R", - null, - null, - null, - null, - null, - null, - null, - null, - null, null, null, null, @@ -5288,6 +5283,15 @@ null, null, null, + "R", + "R", + "R", + 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"static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "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", "static", "static", "static", @@ -19494,24 +19506,24 @@ "moving", "moving", "moving", - "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", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "static", + "static", + "static", + "static", + "static", "static", "static", "static", @@ -19574,6 +19586,14 @@ null, null, null, + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", null, null, null, @@ -19590,36 +19610,28 @@ 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, + "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, @@ -19685,24 +19697,24 @@ null, null, null, - "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, @@ -20700,11 +20712,11 @@ ], "global_span_px": 156.678955078125, "state_counts": { - "static": 121, + "static": 96, "grasped_l": 13, - "grasped_r": 21, + "grasped_r": 33, "grasped_both": 19, - "moving": 15 + "moving": 28 }, "wrist_used_per_frame": [ false, @@ -20723,6 +20735,14 @@ false, false, false, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -20739,36 +20759,28 @@ false, false, false, - false, - false, - false, - false, - false, - false, - 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -20834,24 +20846,24 @@ false, false, false, - 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, @@ -21105,6 +21117,14 @@ false, false, false, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -21121,36 +21141,28 @@ false, false, false, - false, - false, - false, - false, - false, - false, - 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -21216,24 +21228,24 @@ false, false, false, - 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, @@ -21407,19 +21419,19 @@ true, true, true, - 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, @@ -21533,7 +21545,7 @@ true, false, true, - true, + false, false, false, false, @@ -21598,14 +21610,9 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, + false, + false, + false, true, false, false, @@ -21614,8 +21621,13 @@ false, false, false, + 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true, + false, true, - true, - true, + false, true, true, true, diff --git a/samples/-0RheyDV3a0_474.8_487.3/recording.viser b/samples/-0RheyDV3a0_474.8_487.3/recording.viser index 7ffac71c08a26750b1ee267558e61851bbffa871..4bf17ed0ca09b39133aba9e2f7243b56a1558e4e 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:dabebda7be9bdf563758ada4025307810166bd29d22fdea2b63c6609e7241a6a -size 6415828 +oid sha256:7f1980aa5eb42dc29c1a94de38a1c661dbf70c2616770f6f4214d69be484b8ca +size 6419179 diff --git a/samples/-0RheyDV3a0_474.8_487.3/scene.json b/samples/-0RheyDV3a0_474.8_487.3/scene.json index 7b74dd44431f12b52178955cedd364381c6e3466..bad81216ff939791b87ec338306b609f550746a9 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": 122, + "static": 113, "grasped_l": 1, - "grasped_r": 12, - "grasped_both": 54, + "grasped_r": 18, + "grasped_both": 57, "moving": 0 }, "state_fractions": { - "static": 0.6455026455026455, + "static": 0.5978835978835979, "grasped": 0.0, "moving": 0.0 }, @@ -234,19 +234,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.07936507936507936, + "trust_rate": 0.14814814814814814, "tracking_status": "ok", "state_counts": { - "static": 121, + "static": 96, "grasped_l": 13, - "grasped_r": 21, + "grasped_r": 33, "grasped_both": 19, - "moving": 15 + "moving": 28 }, "state_fractions": { - "static": 0.6402116402116402, + "static": 0.5079365079365079, "grasped": 0.0, - "moving": 0.07936507936507936 + "moving": 0.14814814814814814 }, "is_static_global": false, "n_state_frames": 189 diff --git a/samples/-0RheyDV3a0_474.8_487.3/signals.json b/samples/-0RheyDV3a0_474.8_487.3/signals.json index 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"n_frames_wrist": 10, + "n_frames_static": 80, + "n_frames_tracked": 11, "state_per_frame": [ "static", "moving", @@ -23229,7 +23253,7 @@ false, false, false, - true, + false, true, true, true, diff --git a/samples/-10PEfWOYSE_521.8_528.5/recording.viser b/samples/-10PEfWOYSE_521.8_528.5/recording.viser index d2f1298245836ad325c053557cdb6407ce75af75..1c26688e2b4040b8f6da5628a7be723f1a77a218 100644 --- a/samples/-10PEfWOYSE_521.8_528.5/recording.viser +++ b/samples/-10PEfWOYSE_521.8_528.5/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f5ca32c87e01fb0e65bafb9b33b0e3c1ee60002bb0bf0c8244c4cc4f3701382e -size 5608253 +oid sha256:686d3adced70566ca19cf1fd16161e3796151136fb46359a70ae3ba70d1acd2d +size 5591465 diff --git a/samples/-10PEfWOYSE_521.8_528.5/signals.json b/samples/-10PEfWOYSE_521.8_528.5/signals.json index d11e32998146e4e3ea4c0521fc53532f73df3aec..a962cc6898f8becd6607968cb6c0225a2dc1b7cf 100644 --- 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b/samples/-1bQTExN1Ts_230.8_242.8/object_pose.bin index 57fa55dc8deb88d74e9c28c5e1f9255a8292fba0..bc755f8adb0c77d6fbd0cebfa996b707201959f8 100644 --- a/samples/-1bQTExN1Ts_230.8_242.8/object_pose.bin +++ b/samples/-1bQTExN1Ts_230.8_242.8/object_pose.bin @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:93256153351a4d6522f3a86d732266e534a3f6b71682ea96eee942d505d4096d +oid sha256:f85980e0a3876b3f866d252a02e8ed8a7c4cb05fa4176a5f303cc5ba213c3f7a size 11520 diff --git a/samples/-1bQTExN1Ts_230.8_242.8/pose_track.json b/samples/-1bQTExN1Ts_230.8_242.8/pose_track.json index 7be1bff5221b2aec4c56dbb2439a0a6128faf913..c7721e0fb4dde88da1efc57550a2e3fadc653700 100644 --- a/samples/-1bQTExN1Ts_230.8_242.8/pose_track.json +++ b/samples/-1bQTExN1Ts_230.8_242.8/pose_track.json @@ -1,30 +1,31 @@ { "0": { - "mode": "position_first", - "algo_version": "v1-position-first", + "mode": "phase_d", + "algo_version": "v1-phase-d", "anchor_t": 15, - "smooth_sigma": 2.0, + "smooth_win": 11, + 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a/samples/-1bQTExN1Ts_230.8_242.8/recording.viser +++ b/samples/-1bQTExN1Ts_230.8_242.8/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b7ab6acf43f5b2aa5e570b5e2771963f82eb189fbb171bf7ef35cdaa8dcaa99c -size 5028594 +oid sha256:b0b9933d1baa5f4b255de39a11c960370640e9bfa9f65675aa4b86ff6e2ed10b +size 5023637 diff --git a/samples/-1bQTExN1Ts_230.8_242.8/scene.json b/samples/-1bQTExN1Ts_230.8_242.8/scene.json index d556cca9b1500e6c9bb045986ae0c35d58a85224..166d967a9c43afd426f1b48a2de75d2c12da7a6a 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": 180, - "grasped_l": 0, + "static": 0, + "grasped_l": 21, "grasped_r": 0, - "grasped_both": 0, + "grasped_both": 159, "moving": 0 }, "state_fractions": { - "static": 1.0, + "static": 0.0, "grasped": 0.0, "moving": 0.0 }, diff --git 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"canonical_only (F@R^T) scale=0.238", + "note": "phase_d state-machine: wrist=115 static=5 tracked=0 mc_static=False scale=0.238", + "n_frames_wrist": 115, + "n_frames_static": 5, + "n_frames_tracked": 0, "state_per_frame": [ "grasped_l", "grasped_l", @@ -4580,17 +4584,17 @@ true, false, false, - true, + false, true, true, true, false, false, - true, + false, + false, false, true, - true, - true, + false, true, true, true, diff --git a/samples/-1r9yl-P-Ao_60.4_68.4/recording.viser b/samples/-1r9yl-P-Ao_60.4_68.4/recording.viser index 47e3b1409ba4f5dbb6fb2d01bb670b75687513b6..1cf52e585102d5ac4346f5237d9efe131a1f1819 100644 --- a/samples/-1r9yl-P-Ao_60.4_68.4/recording.viser +++ b/samples/-1r9yl-P-Ao_60.4_68.4/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:167e1ca23ac0c47e095577c5cbfe03080c7f44486f3f80482203e0bf2d6d3c36 -size 3078281 +oid sha256:5b8d90b2d414d1d12075779c25037daf5f5627b63bd9e3f319874972a49f25eb +size 3075135 diff --git 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"grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", + "static", + "moving", + "moving", + "moving", + "moving", "moving" ], "grasp_hand_per_frame": [ @@ -15240,6 +15252,18 @@ "R", "R", "R", + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, "R", "R", "R", @@ -15257,23 +15281,11 @@ "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 ], "is_static_global": false, @@ -16013,11 +16025,11 @@ ], "global_span_px": 253.23532104492188, "state_counts": { - "static": 20, + "static": 21, "grasped_l": 0, - "grasped_r": 125, + "grasped_r": 108, "grasped_both": 0, - "moving": 1 + "moving": 17 }, "wrist_used_per_frame": [ false, @@ -16131,6 +16143,18 @@ true, true, true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, true, true, true, @@ -16148,23 +16172,11 @@ 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 ], "wrist_l_per_frame": [ @@ -16427,6 +16439,18 @@ true, true, true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, true, true, true, @@ -16444,42 +16468,14 @@ true, true, true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - false - ], - "is_moving_per_frame": [ - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, false, false, false, false, false, + false + ], + "is_moving_per_frame": [ false, false, false, @@ -16591,6 +16587,18 @@ false, false, false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -16609,6 +16617,10 @@ false, false, false, + true, + true, + true, + true, true ], "close_per_frame": [ @@ -16637,18 +16649,18 @@ true, true, true, + false, + false, + false, + false, + false, + false, + false, true, true, true, true, - true, - true, - true, - true, - true, - true, - true, - true, + false, true, true, true, @@ -16679,19 +16691,10 @@ true, true, true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, false, true, true, @@ -16701,11 +16704,7 @@ true, true, true, - true, - true, - true, - true, - true, + false, true, true, true, @@ -16736,6 +16735,18 @@ false, false, true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, true, true, true, @@ -16749,14 +16760,15 @@ true, false, false, + false, true, true, true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, false ] } diff --git a/samples/-2cNMO9Mm3Q_192.4_209.2/recording.viser b/samples/-2cNMO9Mm3Q_192.4_209.2/recording.viser index 7917ae53c7ec9b82e3658c226a2cb5ed32662b8a..fdbb4c333dbd1b494e6f168488086077716c1138 100644 --- a/samples/-2cNMO9Mm3Q_192.4_209.2/recording.viser +++ b/samples/-2cNMO9Mm3Q_192.4_209.2/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:df6be0a796447e588468cf62398913bdee85880dbc9a7e1d64cd7795bf5698ad -size 4353598 +oid sha256:8090c337be8d9196082127c5a511d0904bf8eb62a278660dbb496331d97e8557 +size 4346664 diff --git a/samples/-2cNMO9Mm3Q_192.4_209.2/scene.json b/samples/-2cNMO9Mm3Q_192.4_209.2/scene.json index e44025c74e145b95fc117c6d3e7ddec3de6aa1e1..5aa5d6e43d2a13d5fa30a9c1cb13361c06673706 100644 --- a/samples/-2cNMO9Mm3Q_192.4_209.2/scene.json +++ b/samples/-2cNMO9Mm3Q_192.4_209.2/scene.json @@ -212,19 +212,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.00684931506849315, + "trust_rate": 0.11643835616438356, "tracking_status": "ok", "state_counts": { - "static": 20, + "static": 21, "grasped_l": 0, - "grasped_r": 125, + "grasped_r": 108, "grasped_both": 0, - "moving": 1 + "moving": 17 }, "state_fractions": { - "static": 0.136986301369863, + "static": 0.14383561643835616, "grasped": 0.0, - "moving": 0.00684931506849315 + "moving": 0.11643835616438356 }, "is_static_global": false, "n_state_frames": 146 diff --git a/samples/-2cNMO9Mm3Q_192.4_209.2/signals.json b/samples/-2cNMO9Mm3Q_192.4_209.2/signals.json index 5912ac78b444ecab3065dd86898356b8779e81de..2c82f0b00f18d904867b3dd0395d197adb04ac3e 100644 --- a/samples/-2cNMO9Mm3Q_192.4_209.2/signals.json +++ b/samples/-2cNMO9Mm3Q_192.4_209.2/signals.json @@ -1 +1 @@ -{"n_frames": 146, "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, 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- "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", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", + "grasped_both", + "grasped_both", + "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", @@ -4748,15 +4707,21 @@ "static", "static", "static", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", "static", "static", "static", - "moving", - "moving", "static", "static", "static", - "moving", "static", "static", "static", @@ -4764,6 +4729,45 @@ "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", @@ -4804,14 +4808,14 @@ "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", + "moving", + "moving", + "moving", "moving", "moving", "moving", @@ -4857,68 +4861,20 @@ "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, + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", null, null, null, @@ -4932,6 +4888,15 @@ null, null, null, + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", null, null, null, @@ -4945,6 +4910,45 @@ 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, @@ -4985,14 +4989,14 @@ "R", "R", "R", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", + "R", + "R", + "R", + "R", + "R", + null, + null, + null, null, null, null, @@ -5903,127 +5907,63 @@ 0.0, 0.5, 0.0, - 0.0, - 0.5, - 0.0, - 0.0, - 0.0, - 0.0, - 0.0, - 0.5, - 0.0, - 0.0, - 0.0, - 0.0, - 0.5, - 0.0, - 0.0, - 0.5, - 0.0, - 0.0, - 0.0, - 0.0, - 0.5, - 0.0 - ], - "global_span_px": 18.713109970092773, - "state_counts": { - "static": 113, - "grasped_l": 19, - "grasped_r": 24, - "grasped_both": 8, - "moving": 15 - }, - "wrist_used_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, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, + 0.0, + 0.5, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.5, + 0.0, + 0.0, + 0.0, + 0.0, + 0.5, + 0.0, + 0.0, + 0.5, + 0.0, + 0.0, + 0.0, + 0.0, + 0.5, + 0.0 + ], + "global_span_px": 18.713109970092773, + "state_counts": { + "static": 68, + "grasped_l": 19, + "grasped_r": 41, + "grasped_both": 36, + "moving": 15 + }, + "wrist_used_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, @@ -6037,6 +5977,15 @@ false, false, false, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -6082,6 +6031,13 @@ true, true, true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -6092,30 +6048,6 @@ false, 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, @@ -6141,6 +6073,16 @@ true, true, true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -6175,12 +6117,34 @@ 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, @@ -6219,42 +6183,34 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -6294,9 +6250,6 @@ false, false, false, - false - ], - 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372dd5d521799b7ffcf05c7a43c4d9486917f5ec..03eedc6bee9448586d5a88c2a67367596b43024f 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 sha256:63bea8c37d50f83993eaf22ac8a80488e44248bef1f75f0e5c168cacb7697ac8 -size 5564462 +oid sha256:c778d7003e3912b8dd43876e33d6f8f6ca1a659b57b26f0084b8f10cf550e37e +size 5561557 diff --git a/samples/-4eiU1SHpzY_111.9_123.8/scene.json b/samples/-4eiU1SHpzY_111.9_123.8/scene.json index d8c453b0b1769b3af8b82d43bc26cfa7f1bd6083..08ae5382a623ba55466f14abae69165f53f02979 100644 --- a/samples/-4eiU1SHpzY_111.9_123.8/scene.json +++ b/samples/-4eiU1SHpzY_111.9_123.8/scene.json @@ -147,14 +147,14 @@ "trust_rate": 0.08379888268156424, "tracking_status": "ok", "state_counts": { - "static": 113, + "static": 68, "grasped_l": 19, - "grasped_r": 24, - "grasped_both": 8, + "grasped_r": 41, + "grasped_both": 36, "moving": 15 }, "state_fractions": 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a/samples/-5a3oTSdP3U_168.6_173.4/recording.viser b/samples/-5a3oTSdP3U_168.6_173.4/recording.viser index 3b980b2c2ff35b7268c3ffb7cdacd6afe0a877e6..3687222973806a96d404227b3e9ffd764cb70a82 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 sha256:20b5664245a8035007a3ebbaf82d33d1b153044debc1b48c3f4242189d81b39b -size 2656830 +oid sha256:bfdd0d5a1c8f4021ace94a04250c962a64a1713e4171bca5174001b37920edfb +size 2660008 diff --git a/samples/-5a3oTSdP3U_168.6_173.4/scene.json b/samples/-5a3oTSdP3U_168.6_173.4/scene.json index 3728837aa3334781e91ea6110e5f87c772c4bf26..6d5a89cfe46939367553e66e8da7bbe73ee2b76d 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": 0.06756756756756757, + "trust_rate": 0.0, 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state-machine: wrist=82 static=0 tracked=2 mc_static=False scale=0.392", + "n_frames_wrist": 82, + "n_frames_static": 0, + "n_frames_tracked": 2, "state_per_frame": [ - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", + "static", + "moving", + "moving", + "moving", + "moving", + "moving", "grasped_l", "grasped_l", "grasped_l", @@ -8715,17 +8727,16 @@ "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_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", @@ -8740,15 +8751,16 @@ "moving", "moving", "moving", + "moving", "moving" ], "grasp_hand_per_frame": [ - "L", - "L", - "L", - "L", - "L", - "L", + null, + null, + null, + null, + null, + null, "L", "L", "L", @@ -8801,17 +8813,16 @@ "L", "L", "L", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", "L", "L", "L", @@ -8826,6 +8837,7 @@ null, null, null, + null, null ], "is_static_global": false, @@ -9255,13 +9267,19 @@ ], "global_span_px": 239.06593322753906, "state_counts": { - "static": 0, - "grasped_l": 54, + "static": 1, + "grasped_l": 58, "grasped_r": 0, - "grasped_both": 26, - "moving": 4 + "grasped_both": 15, + "moving": 10 }, "wrist_used_per_frame": [ + false, + false, + false, + false, + false, + false, true, true, true, @@ -9335,19 +9353,19 @@ true, true, true, - true, - true, - true, - true, - true, - true, - true, + false, false, false, false, false ], "wrist_l_per_frame": [ + false, + false, + false, + false, + false, + false, true, true, true, @@ -9421,13 +9439,7 @@ true, true, true, - true, - true, - true, - true, - true, - true, - true, + false, false, false, false, @@ -9492,17 +9504,6 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, false, false, @@ -9517,9 +9518,6 @@ false, false, false, - false - ], - "is_moving_per_frame": [ false, false, false, @@ -9531,6 +9529,19 @@ false, false, false, + false + ], + "is_moving_per_frame": [ + false, + true, + true, + true, + true, + true, + false, + false, + false, + false, false, false, false, @@ -9603,12 +9614,13 @@ true, true, true, + true, true ], "close_per_frame": [ - true, false, - true, + false, + false, false, false, false, @@ -9640,10 +9652,14 @@ true, true, true, + false, + false, true, true, true, + false, true, + false, true, true, true, @@ -9681,11 +9697,7 @@ true, true, true, - true, - true, - true, - true, - true, + false, false, false, false, diff --git a/samples/-6Z315Ts-Y4_78.3_83.8/recording.viser b/samples/-6Z315Ts-Y4_78.3_83.8/recording.viser index a3436aff02719a579741f4d12f389ae488053de6..a82f3e96df5d5cfc790ce64fcd1db188f7276551 100644 --- a/samples/-6Z315Ts-Y4_78.3_83.8/recording.viser +++ b/samples/-6Z315Ts-Y4_78.3_83.8/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e88981ec0072a60c6b7871e191cfd1be0f5df04b9f8637d1b99b5fa403f30fbb -size 2978792 +oid sha256:f61a8871c02770f742806b32fb3958c671f73206f26ea71390cdaa0c4ee00917 +size 2984009 diff --git a/samples/-6Z315Ts-Y4_78.3_83.8/scene.json b/samples/-6Z315Ts-Y4_78.3_83.8/scene.json index 93d5a06c52b90bfd5ce2b390dcd7ba5880a56931..8ff86f8c96df2a8bd539f4bde86c9358b3c7ecb3 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": 0.13095238095238096, + "trust_rate": 0.011904761904761904, "tracking_status": "ok", "state_counts": { - "static": 73, - "grasped_l": 0, + "static": 2, + "grasped_l": 2, "grasped_r": 0, - "grasped_both": 0, - "moving": 11 + "grasped_both": 79, + "moving": 1 }, "state_fractions": { - "static": 0.8690476190476191, + "static": 0.023809523809523808, "grasped": 0.0, - "moving": 0.13095238095238096 + "moving": 0.011904761904761904 }, "is_static_global": false, "n_state_frames": 84 @@ -212,19 +212,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.047619047619047616, + "trust_rate": 0.11904761904761904, "tracking_status": "ok", "state_counts": { - "static": 0, - "grasped_l": 54, + "static": 1, + "grasped_l": 58, "grasped_r": 0, - "grasped_both": 26, - "moving": 4 + "grasped_both": 15, + "moving": 10 }, "state_fractions": { - "static": 0.0, + "static": 0.011904761904761904, "grasped": 0.0, - "moving": 0.047619047619047616 + "moving": 0.11904761904761904 }, "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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- "grasped_r", - "grasped_r", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "static", + "moving", + "moving", + "moving", + "moving", "grasped_r", "grasped_r", "grasped_r", @@ -11715,10 +11731,6 @@ "grasped_both", "grasped_both", "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_r", "grasped_r", "grasped_r", "grasped_r", @@ -11790,14 +11802,18 @@ "R", "R", "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, "R", "R", "R", @@ -11830,10 +11846,6 @@ "both", "both", "both", - "both", - "both", - "both", - "R", "R", "R", "R", @@ -12413,11 +12425,11 @@ ], "global_span_px": 92.00602722167969, "state_counts": { - "static": 2, + "static": 3, "grasped_l": 0, - "grasped_r": 36, - "grasped_both": 70, - "moving": 5 + "grasped_r": 27, + "grasped_both": 67, + "moving": 16 }, "wrist_used_per_frame": [ false, @@ -12480,18 +12492,18 @@ 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, true, true, true, @@ -12607,6 +12619,10 @@ false, false, false, + false, + false, + false, + false, true, true, true, @@ -12635,10 +12651,6 @@ true, true, true, - true, - true, - true, - false, false, false, false, @@ -12710,18 +12722,18 @@ 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, true, true, true, @@ -12825,18 +12837,18 @@ false, false, false, + true, + true, + true, + true, + true, + true, + true, false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, + true, + true, + true, + true, false, false, false, @@ -12883,23 +12895,23 @@ false, false, true, - true, - true, - true, - true, - true, + false, true, true, false, - true, false, false, false, false, - true, - true, + false, + false, + false, + false, false, true, + false, + false, + false, true, true, true, @@ -12916,14 +12928,15 @@ false, true, true, - true, - true, + false, true, true, true, true, false, + false, true, + false, true, true, true, @@ -12937,26 +12950,24 @@ true, true, true, - true, - true, - true, + false, true, false, false, - true, false, false, false, false, false, - true, - true, - true, - true, + false, + false, false, false, false, true, + false, + false, + false, true, true, true, @@ -12966,21 +12977,22 @@ true, true, true, - true, + false, true, false, false, + false, true, true, true, true, true, + false, true, true, true, true, - true, - true, + false, true, true, true, diff --git a/samples/-7rFmF9Aka8_94.7_102.2/recording.viser b/samples/-7rFmF9Aka8_94.7_102.2/recording.viser index d88b04373aaa74c9c8867e9ad33c226912893896..a32d6c1dc2dc3da2356e21b215a972a3a39ec099 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:a2dd0ccc15df336ee9d683639bc6ea8931d4dca0084d9ea2184fe91a3e3d616c -size 4026843 +oid sha256:a81a4edd58d372c37e4deac4c01231c9408343a6d03d767aa53f3477a58203c5 +size 4028054 diff --git a/samples/-7rFmF9Aka8_94.7_102.2/scene.json b/samples/-7rFmF9Aka8_94.7_102.2/scene.json index 028cdade57f842e86daa57b8e43e7b98fb4009cb..5133b5598b011bfb60806703b007481d70d44314 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": 0.13274336283185842, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 98, - "grasped_l": 0, + "static": 1, + "grasped_l": 31, "grasped_r": 0, - "grasped_both": 0, - "moving": 15 + "grasped_both": 81, + "moving": 0 }, "state_fractions": { - "static": 0.8672566371681416, + "static": 0.008849557522123894, "grasped": 0.0, - "moving": 0.13274336283185842 + "moving": 0.0 }, "is_static_global": false, "n_state_frames": 113 @@ -212,19 +212,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.04424778761061947, + "trust_rate": 0.1415929203539823, "tracking_status": "ok", "state_counts": { - "static": 2, + "static": 3, "grasped_l": 0, - "grasped_r": 36, - "grasped_both": 70, - "moving": 5 + "grasped_r": 27, + "grasped_both": 67, + "moving": 16 }, "state_fractions": { - "static": 0.017699115044247787, + "static": 0.02654867256637168, "grasped": 0.0, - "moving": 0.04424778761061947 + "moving": 0.1415929203539823 }, "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 fe787bb3b7468b9a09f38e77a627ae2cee36e8b3..0641ba1ac6ea6f7e39bca17b60b2f055d4b17066 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, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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, 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index 645ccafbb8701aac09ba43b0909b149f7e538404..7b77f41b9315e8ccb658ba3a409138840878fd4e 100644 --- a/samples/-7uLbtVsmQs_427.8_441.2/recording.viser +++ b/samples/-7uLbtVsmQs_427.8_441.2/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c3da06843ade291106c29a1d4c8e56fd3c6933c851153cbcb39acf2baa322829 -size 4133433 +oid sha256:97ac034032b4a1c7a9b66ba6edde92c9afc4988e7f450dc7f59efe4ce6202a93 +size 4139146 diff --git a/samples/-7uLbtVsmQs_427.8_441.2/signals.json b/samples/-7uLbtVsmQs_427.8_441.2/signals.json index e26539554fb54f4d0842c1acf471de92ed2fee69..1700bd123414cb9767bda57caaee2c4637cff7f7 100644 --- a/samples/-7uLbtVsmQs_427.8_441.2/signals.json +++ b/samples/-7uLbtVsmQs_427.8_441.2/signals.json @@ -1 +1 @@ -{"n_frames": 202, "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, 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, 1.0, 1.0, 0.0, 0.0, 0.0, 1.0, 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a/samples/-7uLbtVsmQs_874.8_879.9/recording.viser +++ b/samples/-7uLbtVsmQs_874.8_879.9/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b7febee79d5f21cfadf98ff902b4f05f5cc32d8cfabd35f74c4770d600fbf7dd -size 2369632 +oid sha256:24165ae1f740a0cd6871de296a6f74b9d6621cfa144cf8eac05071ca7f8adc23 +size 2362527 diff --git a/samples/-7uLbtVsmQs_874.8_879.9/signals.json b/samples/-7uLbtVsmQs_874.8_879.9/signals.json index 97892114698c3aec8f8668540a620aef2d418784..ece8aadfe5b5647e13f684c901f379f6b66cc73b 100644 --- a/samples/-7uLbtVsmQs_874.8_879.9/signals.json +++ b/samples/-7uLbtVsmQs_874.8_879.9/signals.json @@ -1 +1 @@ -{"n_frames": 78, "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, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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"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_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_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", @@ -4107,31 +4115,31 @@ "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", + "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", @@ -4464,8 +4472,8 @@ "state_counts": { "static": 3, "grasped_l": 0, - "grasped_r": 47, - "grasped_both": 12, + "grasped_r": 22, + "grasped_both": 37, "moving": 0 }, "wrist_used_per_frame": [ @@ -4558,31 +4566,31 @@ false, false, false, - false, - 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + 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+ false, true, true, true, diff --git a/samples/-821U1ZYZOs_326.1_330.3/recording.viser b/samples/-821U1ZYZOs_326.1_330.3/recording.viser index f49a9133af85b070c9a8a093d759d8e6fd212590..e7c141f56355445b0211597284130b3ea370e3a2 100644 --- a/samples/-821U1ZYZOs_326.1_330.3/recording.viser +++ b/samples/-821U1ZYZOs_326.1_330.3/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d66da5f83c19dded7fddc0a396c8a77930d0fdda7d82508171b2dadef64bbe5c -size 1889335 +oid sha256:cab4d7d2ea8b46c5dc60c9fc3be30e4b8b7a4fb961324b580723c1f00d383886 +size 1889382 diff --git a/samples/-821U1ZYZOs_326.1_330.3/signals.json b/samples/-821U1ZYZOs_326.1_330.3/signals.json index d99fb24623c4591484cc099911fe423bd104ce81..765f1f9a0383b7bf90a1f476f51be23bb101e9fd 100644 --- a/samples/-821U1ZYZOs_326.1_330.3/signals.json +++ b/samples/-821U1ZYZOs_326.1_330.3/signals.json @@ -1 +1 @@ -{"n_frames": 64, "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, 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0.06121872365474701, - -0.997559130191803, - 0.03863604739308357 + 0.04528344050049782, + 0.08449903130531311, + -0.9953940510749817, + 0.09890269488096237 ], [ - 0.07208412885665894, - 0.9953743815422058, - 0.06351163238286972, - 1.298197865486145 + -0.05638739466667175, + 0.9950438141822815, + 0.08190406858921051, + 1.2905831336975098 ], [ 0.0, @@ -3233,7 +3234,10 @@ ] ], "tracking_status": "ok", - "note": "canonical_only (F@R^T) scale=0.210", + "note": "phase_d state-machine: wrist=121 static=0 tracked=3 mc_static=False scale=0.210", + "n_frames_wrist": 121, + "n_frames_static": 0, + "n_frames_tracked": 3, "state_per_frame": [ "grasped_both", "grasped_both", @@ -3314,47 +3318,47 @@ "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_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", + "moving", + "moving", + "moving", + "moving", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "static", + "static", + "static", + "static", + "static", "static", "static", "moving", @@ -3440,47 +3444,47 @@ "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", - "both", - "both", - "both", - "both", - "both", - "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, + null, null, null, null, @@ -4110,11 +4114,11 @@ ], "global_span_px": 141.69915771484375, "state_counts": { - "static": 3, - "grasped_l": 22, - "grasped_r": 13, - "grasped_both": 85, - "moving": 1 + "static": 28, + "grasped_l": 0, + "grasped_r": 0, + "grasped_both": 79, + "moving": 17 }, "wrist_used_per_frame": [ true, @@ -4196,47 +4200,47 @@ true, true, true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - 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, @@ -4322,34 +4326,34 @@ true, true, true, - true, - true, - true, - true, - 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, @@ -4448,7 +4452,6 @@ true, true, true, - true, false, false, false, @@ -4471,30 +4474,9 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, false, false, - false - ], - "is_moving_per_frame": [ false, false, false, @@ -4511,6 +4493,12 @@ false, false, false, + false, + false, + false, + false + ], + "is_moving_per_frame": [ false, false, false, @@ -4590,6 +4578,10 @@ false, false, false, + true, + true, + true, + true, false, false, false, @@ -4610,6 +4602,18 @@ false, false, false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -4661,16 +4665,15 @@ true, true, true, + false, true, true, true, true, true, + false, true, - true, - true, - true, - true, + false, true, true, true, @@ -4709,38 +4712,39 @@ false, false, false, - true, - true, false, false, - true, - true, false, false, - true, - true, false, false, false, false, - true, - true, false, false, - true, - true, false, - true, + false, + false, + false, + false, + false, + false, + false, false, true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, true, - true, - true, - true, - true, - true, - true, - true, + false, + false, false, false, false, diff --git a/samples/-821U1ZYZOs_913.3_921.5/recording.viser b/samples/-821U1ZYZOs_913.3_921.5/recording.viser index 4737829f6df0290c27895cbc39f1eac794684757..795632ca4527555c53a5db8774b4274568917fe0 100644 --- a/samples/-821U1ZYZOs_913.3_921.5/recording.viser +++ b/samples/-821U1ZYZOs_913.3_921.5/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7283bf9f07d5c42b6854fa285122025e056a86cccd026b3f6037080f19156e92 -size 2856354 +oid sha256:ba87cf5623b1a9b239c6c03c06ac5c20034463606d28bec8bf0ccd6f7edd8de4 +size 2857106 diff --git a/samples/-821U1ZYZOs_913.3_921.5/scene.json b/samples/-821U1ZYZOs_913.3_921.5/scene.json index be5c5fb2a4af741915b87383eae3a3b762b4e3b0..546c94cad3ec22f95fb8f2e2895626681807d166 100644 --- a/samples/-821U1ZYZOs_913.3_921.5/scene.json +++ b/samples/-821U1ZYZOs_913.3_921.5/scene.json @@ -122,19 +122,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.008064516129032258, + "trust_rate": 0.13709677419354838, "tracking_status": "ok", "state_counts": { - "static": 3, - "grasped_l": 22, - "grasped_r": 13, - "grasped_both": 85, - "moving": 1 + "static": 28, + "grasped_l": 0, + "grasped_r": 0, + "grasped_both": 79, + "moving": 17 }, "state_fractions": { - "static": 0.024193548387096774, + "static": 0.22580645161290322, "grasped": 0.0, - "moving": 0.008064516129032258 + 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- 1.5944987535476685 + 1.6573224067687988 ], [ 0.0, @@ -20991,12 +21008,15 @@ ] ], "tracking_status": "ok", - "note": "canonical_only (F@R^T) scale=0.180", + "note": "phase_d state-machine: wrist=97 static=0 tracked=20 mc_static=False scale=0.180", + "n_frames_wrist": 97, + "n_frames_static": 0, + "n_frames_tracked": 20, "state_per_frame": [ - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", "grasped_both", "grasped_both", "grasped_both", @@ -21112,10 +21132,10 @@ "moving" ], "grasp_hand_per_frame": [ - "both", - "both", - "both", - "both", + "R", + "R", + "R", + "R", "both", "both", "both", @@ -21824,8 +21844,8 @@ "state_counts": { "static": 4, "grasped_l": 16, - "grasped_r": 47, - "grasped_both": 32, + "grasped_r": 51, + "grasped_both": 28, "moving": 18 }, "wrist_used_per_frame": [ @@ -21948,10 +21968,10 @@ false ], "wrist_l_per_frame": [ - true, - true, - true, - true, + false, + false, + false, + false, true, true, true, @@ -22319,13 +22339,13 @@ true, true, true, + false, true, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, true, true, true, diff --git a/samples/-8WOMg810tk_122.7_130.7/recording.viser b/samples/-8WOMg810tk_122.7_130.7/recording.viser index 2ffcbcb821868a5c43b6bd7b5866ae37ae1e423a..3c9b943bdf788038e8f287c2057c3338bf31225c 100644 --- a/samples/-8WOMg810tk_122.7_130.7/recording.viser +++ b/samples/-8WOMg810tk_122.7_130.7/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b9a19066aa9d702e4257d02a30d3ea7f9e7d7cc555097ba927a2eaad42320d2d -size 4955076 +oid sha256:9e1069b951508f32ce231d99f2264c2b4b0d7544d5ccb02e4810b555edd57ef4 +size 4948126 diff --git a/samples/-8WOMg810tk_122.7_130.7/scene.json b/samples/-8WOMg810tk_122.7_130.7/scene.json index 995292add487d9f695f68c1a1a6be97b4f09bd62..5b789ad4129811c436fef4051863d09c28ad41c8 100644 --- a/samples/-8WOMg810tk_122.7_130.7/scene.json +++ b/samples/-8WOMg810tk_122.7_130.7/scene.json @@ -307,8 +307,8 @@ "state_counts": { "static": 4, "grasped_l": 16, - "grasped_r": 47, - "grasped_both": 32, + "grasped_r": 51, + "grasped_both": 28, "moving": 18 }, "state_fractions": { diff --git a/samples/-8WOMg810tk_122.7_130.7/signals.json b/samples/-8WOMg810tk_122.7_130.7/signals.json index 05a790eddac29525347e21533f231a39701f84cf..3ba69b3bb47b3a674977a907d3b3164c0250c631 100644 --- a/samples/-8WOMg810tk_122.7_130.7/signals.json +++ b/samples/-8WOMg810tk_122.7_130.7/signals.json @@ -1 +1 @@ -{"n_frames": 117, "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, 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, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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-0.25580355525016785, + -0.0534939244389534, + 0.2171962857246399 ], [ - -0.1740037351846695, - -0.5598181486129761, - -0.8101397156715393, - 0.02201220765709877 + -0.15178008377552032, + -0.3820970058441162, + -0.9115726351737976, + 0.029380206018686295 ], [ - 0.14318224787712097, - 0.7995641231536865, - -0.5832632780075073, - 1.6807953119277954 + 0.2127436399459839, + 0.8880126476287842, + -0.4076440930366516, + 1.6725815534591675 ], [ 0.0, @@ -8080,22 +8093,22 @@ ], [ [ - 0.9742799997329712, - -0.2174876183271408, - -0.05897112190723419, - 0.2319781482219696 + 0.965247631072998, + -0.25580355525016785, + -0.0534939244389534, + 0.24890367686748505 ], [ - -0.1740037351846695, - -0.5598181486129761, - -0.8101397156715393, - 0.017414312809705734 + -0.15178008377552032, + -0.3820970058441162, + -0.9115726351737976, + 0.01633795164525509 ], [ - 0.14318224787712097, - 0.7995641231536865, - -0.5832632780075073, - 1.6805979013442993 + 0.2127436399459839, + 0.8880126476287842, + -0.4076440930366516, + 1.6649233102798462 ], [ 0.0, @@ -8106,45 +8119,48 @@ ] ], "tracking_status": "ok", - "note": "canonical_only (F@R^T) scale=0.102", + "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, "state_per_frame": [ - "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", + "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", "moving", "static", @@ -8167,43 +8183,43 @@ "moving" ], "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, + "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, @@ -8517,50 +8533,50 @@ ], "global_span_px": 18.075422286987305, "state_counts": { - "static": 48, + "static": 13, "grasped_l": 0, - "grasped_r": 0, + "grasped_r": 37, "grasped_both": 0, - "moving": 9 + "moving": 7 }, "wrist_used_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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + 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, @@ -8642,43 +8658,43 @@ 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, - false, - false, - false, - false, - false, - 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -8705,8 +8721,8 @@ false, false, false, - true, - true, + false, + false, false, false, false, diff --git a/samples/-8WOMg810tk_56.3_60.3/recording.viser b/samples/-8WOMg810tk_56.3_60.3/recording.viser index 5b79d0838177f60c8e273f830aef69271ea48f26..6ff9776ca975b47b6f1734207e2ae02d08d9c420 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 sha256:7e442fd02baa76a29d165585e5a654ba5929a11710b4dd4d91786dbd44fd2c2b -size 3530236 +oid sha256:8c27230432679988cb0f6799ef15a15b81b59b783df7b8aed3d67b72522ed170 +size 3521717 diff --git a/samples/-8WOMg810tk_56.3_60.3/scene.json b/samples/-8WOMg810tk_56.3_60.3/scene.json index d44c7d61b30e2cebf6a749f7ff0137a4c9992dc0..67b7b1d14b0d7e203d8f12562bc3477a82942d04 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": 0.15789473684210525, + "trust_rate": 0.12280701754385964, "tracking_status": "ok", "state_counts": { - "static": 48, + "static": 13, "grasped_l": 0, - "grasped_r": 0, + "grasped_r": 37, "grasped_both": 0, - "moving": 9 + "moving": 7 }, "state_fractions": { - "static": 0.8421052631578947, + "static": 0.22807017543859648, "grasped": 0.0, - "moving": 0.15789473684210525 + "moving": 0.12280701754385964 }, "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 57afe18efeab21e26440365c05fc1fb3ac319637..802c0fae0ad7744b9a5448d054e9143eb854d992 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, 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scale=0.240", + "n_frames_wrist": 50, + "n_frames_static": 0, + "n_frames_tracked": 0, "state_per_frame": [ - "grasped_both", + "grasped_l", "grasped_both", "grasped_both", "grasped_both", @@ -1363,7 +1367,7 @@ "grasped_l" ], "grasp_hand_per_frame": [ - "both", + "L", "both", "both", "both", @@ -1672,9 +1676,9 @@ "global_span_px": 16.18739891052246, "state_counts": { "static": 0, - "grasped_l": 40, + "grasped_l": 41, "grasped_r": 0, - "grasped_both": 10, + "grasped_both": 9, "moving": 0 }, "wrist_used_per_frame": [ @@ -1782,7 +1786,7 @@ true ], "wrist_r_per_frame": [ - true, + false, true, true, true, diff --git a/samples/-9A2VyaIkX4_105.4_109.4/recording.viser b/samples/-9A2VyaIkX4_105.4_109.4/recording.viser index db4fdecc070fd2907b62b68fb761a0e427bafda3..e158705160b31d55eaf60e98f3fc4c49606ee172 100644 --- a/samples/-9A2VyaIkX4_105.4_109.4/recording.viser +++ b/samples/-9A2VyaIkX4_105.4_109.4/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a43ccb7159d125b8024b7252eed9320dc8834a74ed5025b01fc3fa1c2866aab7 -size 1848792 +oid sha256:e5074f5277b8917e1dfdfd0ea5db659d96585633a58ab10cd893f74db95d687c +size 1850699 diff --git a/samples/-9A2VyaIkX4_105.4_109.4/scene.json b/samples/-9A2VyaIkX4_105.4_109.4/scene.json index 25ccda32cf16be25904c290f016c928d4ba394cd..b4a16042ac10b90a7c302b4b7ef83c0dc01ac17c 100644 --- a/samples/-9A2VyaIkX4_105.4_109.4/scene.json +++ b/samples/-9A2VyaIkX4_105.4_109.4/scene.json @@ -126,9 +126,9 @@ "tracking_status": "ok", "state_counts": { "static": 0, - "grasped_l": 40, + "grasped_l": 41, "grasped_r": 0, - "grasped_both": 10, + "grasped_both": 9, "moving": 0 }, "state_fractions": { diff --git a/samples/-9A2VyaIkX4_105.4_109.4/signals.json b/samples/-9A2VyaIkX4_105.4_109.4/signals.json index 4858b312f11465b997dcebdf12194dc5a25a319b..6fd9c7ec7a38082f7c101fd44718117a966eeb46 100644 --- a/samples/-9A2VyaIkX4_105.4_109.4/signals.json +++ b/samples/-9A2VyaIkX4_105.4_109.4/signals.json @@ -1 +1 @@ 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a/samples/-A4uygdLv4A_149.3_156.4/recording.viser +++ b/samples/-A4uygdLv4A_149.3_156.4/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:651b27c88ae0d5b239a6b19e476cd4b8d031bd8bb4018a4e2945e17beb906303 -size 3992235 +oid sha256:da779497feb169386abb77f5b89dd80ec7a83dd9f37aa0d1a238552cb0953d5a +size 3977078 diff --git a/samples/-A4uygdLv4A_149.3_156.4/signals.json b/samples/-A4uygdLv4A_149.3_156.4/signals.json index 5931967e19f9413aa3883eaf891d22e2a172ed81..77685cd598d5b53b5e83775071ff42e5d585cd58 100644 --- a/samples/-A4uygdLv4A_149.3_156.4/signals.json +++ b/samples/-A4uygdLv4A_149.3_156.4/signals.json @@ -1 +1 @@ -{"n_frames": 108, "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, 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, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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+11340,8 @@ "state_counts": { "static": 1, "grasped_l": 0, - "grasped_r": 37, - "grasped_both": 45, + "grasped_r": 43, + "grasped_both": 39, "moving": 20 }, "wrist_used_per_frame": [ @@ -11463,12 +11475,12 @@ true, true, true, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, + false, false, false, false, @@ -11783,7 +11795,7 @@ true, false, false, - true, + false, false, false, false, diff --git a/samples/-AArifaAzPg_216.8_223.6/recording.viser b/samples/-AArifaAzPg_216.8_223.6/recording.viser index 038b624a7e1059b944a7cfbef8ecbd307115e9a0..35784d721d5088cbdb6ffc80d4a6e9bc0128c77f 100644 --- a/samples/-AArifaAzPg_216.8_223.6/recording.viser +++ b/samples/-AArifaAzPg_216.8_223.6/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6cc1c61ba444958798d3f9c48a65ca687f57157559d69faee7ebfcaa21ffd0d2 -size 3382448 +oid sha256:90f0b86638fd07c0f7d05685fe7d1544c450c391cfbdf121eb0dea86b452d0a7 +size 3391041 diff --git a/samples/-AArifaAzPg_216.8_223.6/scene.json b/samples/-AArifaAzPg_216.8_223.6/scene.json index 73fbdb17fe98e1bcab00c7ffe7b252a154996c0f..24e4390e21bfd319d659b847e8c0e7c5f62b767d 100644 --- a/samples/-AArifaAzPg_216.8_223.6/scene.json +++ b/samples/-AArifaAzPg_216.8_223.6/scene.json @@ -189,19 +189,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.22330097087378642, + "trust_rate": 0.21359223300970873, "tracking_status": "ok", "state_counts": { - "static": 64, - "grasped_l": 0, + "static": 29, + "grasped_l": 36, "grasped_r": 16, "grasped_both": 0, - "moving": 23 + "moving": 22 }, "state_fractions": { - "static": 0.6213592233009708, + "static": 0.2815533980582524, "grasped": 0.0, - "moving": 0.22330097087378642 + "moving": 0.21359223300970873 }, "is_static_global": false, "n_state_frames": 103 @@ -217,8 +217,8 @@ "state_counts": { "static": 1, "grasped_l": 0, - "grasped_r": 37, - "grasped_both": 45, + "grasped_r": 43, + "grasped_both": 39, "moving": 20 }, "state_fractions": { diff --git a/samples/-AArifaAzPg_216.8_223.6/signals.json b/samples/-AArifaAzPg_216.8_223.6/signals.json index cf994e82bb7bc6f4b00d50d05e73825f935bc1bc..fbb23a3388082af53b5b158d155103d08aa6b674 100644 --- a/samples/-AArifaAzPg_216.8_223.6/signals.json +++ b/samples/-AArifaAzPg_216.8_223.6/signals.json @@ -1 +1 @@ -{"n_frames": 103, "scene": {"contact_l": [1.0, 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, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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, 0.0, 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], "contact_r": [1.0, 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, 1.0, 1.0, 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newline at end of file diff --git a/samples/-AWGX2al-ow_159.6_163.8/object_pose.bin b/samples/-AWGX2al-ow_159.6_163.8/object_pose.bin index 69f3ff5ac5578d5ec5239be4e8bf6deb18870fa5..644608aa26d12189b1a90dcd3e404e8ae51b1e45 100644 --- a/samples/-AWGX2al-ow_159.6_163.8/object_pose.bin +++ b/samples/-AWGX2al-ow_159.6_163.8/object_pose.bin @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:199212436c67af9a32027fc7407b61e94e69d67d9f3359022f412f229975a262 +oid sha256:0ed3861306d73294103b20b5132492a0a8de5b7604e411f77e324ad345615def size 8192 diff --git a/samples/-AWGX2al-ow_159.6_163.8/pose_track.json b/samples/-AWGX2al-ow_159.6_163.8/pose_track.json index 8c441077a35a2e3dda688b9d583a00854afb6dad..259c0319c58eeb7f2cc87dbab6d8be296eec05d1 100644 --- a/samples/-AWGX2al-ow_159.6_163.8/pose_track.json +++ b/samples/-AWGX2al-ow_159.6_163.8/pose_track.json @@ -1,30 +1,31 @@ { "0": { - "mode": "position_first", - "algo_version": "v1-position-first", + "mode": "phase_d", + 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a/samples/-AWGX2al-ow_77.7_86.3/recording.viser +++ b/samples/-AWGX2al-ow_77.7_86.3/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c6ae7b650045ff7434c6ddd960984063b9dd4411ca341ee5c699a8860a7edc7c -size 4297163 +oid sha256:9284c63c084e03e9347f263241d64eab52bbe699dda519264a7d8036c1057f27 +size 4298864 diff --git a/samples/-AWGX2al-ow_77.7_86.3/scene.json b/samples/-AWGX2al-ow_77.7_86.3/scene.json index 54c7694b76bf91bb9974acb70a892d8765673b20..93ecbf01f49c58eb1ad3b7ffaf18f12209e61188 100644 --- a/samples/-AWGX2al-ow_77.7_86.3/scene.json +++ b/samples/-AWGX2al-ow_77.7_86.3/scene.json @@ -211,19 +211,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.10975609756097561, + "trust_rate": 0.17073170731707318, "tracking_status": "ok", "state_counts": { - "static": 30, + "static": 41, "grasped_l": 0, - "grasped_r": 43, + "grasped_r": 27, "grasped_both": 0, - "moving": 9 + "moving": 14 }, "state_fractions": { - "static": 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- "note": "canonical_only (F@R^T) scale=0.237", + "note": "phase_d state-machine: wrist=154 static=20 tracked=42 mc_static=True scale=0.237", + "n_frames_wrist": 154, + "n_frames_static": 20, + "n_frames_tracked": 42, "state_per_frame": [ "grasped_r", "grasped_r", @@ -13888,42 +13896,42 @@ "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", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_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", @@ -14106,42 +14114,42 @@ "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", + "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", @@ -15356,8 +15364,8 @@ "state_counts": { "static": 63, "grasped_l": 0, - "grasped_r": 99, - "grasped_both": 51, + "grasped_r": 63, + "grasped_both": 87, "moving": 3 }, "wrist_used_per_frame": [ @@ -15593,42 +15601,42 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - 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, + 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, @@ -16249,7 +16257,7 @@ true, true, true, - true, + false, true, true, true, diff --git a/samples/-CQgm6xT5RE_59.4_73.8/recording.viser b/samples/-CQgm6xT5RE_59.4_73.8/recording.viser index 195099f006ece88720624d3a1b44b8930f7b3467..1fc50398ac6fe8baad8033026ff65c39194be41f 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 sha256:4c81f74cc2d508e36a8dc8b261aba58b36cb7153ff153eba5272c1802f0b92fb -size 7858433 +oid sha256:c132771a463c7f08bb2a7536bf826fde167de6f477fd3c1ed46c6c0533dbfc7e +size 7858144 diff --git a/samples/-CQgm6xT5RE_59.4_73.8/scene.json b/samples/-CQgm6xT5RE_59.4_73.8/scene.json index 2f4b474703fd0189eb11c92e496787eab6f0691b..f51d75824ec85850ada7b30ed0a99da3007a336e 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": 99, - "grasped_both": 51, + "grasped_r": 63, + "grasped_both": 87, "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 3685d4db5c4af46e7a69c7157d65bf46bccd2d3e..0e4b6ad98461712a2210ea1ce7eb450a3419fdc7 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, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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, 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, 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- "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", @@ -6876,17 +6885,20 @@ "static", "static", "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static" + "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" ], "grasp_hand_per_frame": [ null, @@ -6894,6 +6906,28 @@ "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", @@ -6906,32 +6940,6 @@ "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, @@ -6945,16 +6953,20 @@ null, null, null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L" ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -7293,10 +7305,10 @@ ], "global_span_px": 45.311424255371094, "state_counts": { - "static": 29, - "grasped_l": 37, + "static": 15, + "grasped_l": 29, "grasped_r": 0, - "grasped_both": 0, + "grasped_both": 22, "moving": 0 }, "wrist_used_per_frame": [ @@ -7352,20 +7364,20 @@ 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, + true ], "wrist_l_per_frame": [ false, @@ -7420,20 +7432,20 @@ 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, + true ], "wrist_r_per_frame": [ false, @@ -7441,28 +7453,28 @@ false, 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, 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 7acdbe4a89df6b7b9c657657290a4edcbf47620d..3c91744effd3ee0eec33ea11f7e72f388e70e0d6 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 sha256:3f97a36ab4d1e9c37755264fa648dbaa807b0914af39cf400f544a6612efe028 -size 3217292 +oid sha256:4f120087d0773bd6f5c519058dfa85688482a4f781dcf96ca261f4733183aa20 +size 3216944 diff --git a/samples/-DCmm-dTi0o_352.3_356.6/scene.json b/samples/-DCmm-dTi0o_352.3_356.6/scene.json index 26ef4dd0fe45138fb192d7947ee655f3af826a7f..d7346c36d3705f35efb395d326a4599a7225f0af 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": 29, - "grasped_l": 37, + "static": 15, + "grasped_l": 29, "grasped_r": 0, - "grasped_both": 0, + "grasped_both": 22, "moving": 0 }, "state_fractions": { - "static": 0.4393939393939394, + "static": 0.22727272727272727, "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 70252417e4dae12429aa9d6b395a86594e8bf7b7..baffc9728d78a84a2404efec2cc7b46a24d7a78c 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, 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mc_static=False scale=0.315", + "n_frames_wrist": 137, + "n_frames_static": 0, + "n_frames_tracked": 0, "state_per_frame": [ + "static", "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", + 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"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", @@ -3712,9 +3716,66 @@ "grasped_l" ], "grasp_hand_per_frame": [ + null, "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", @@ -3778,63 +3839,6 @@ "L", "L", "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - 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22949db23ec658e4abee0d52463f61f33e953a91..ec14583e9bdbb7cf658f5c91ee66ee25e547d40e 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:e9db61b285dab34c4aeb15f757f7b57618a26fa4c72e052bc64582892997e17e -size 7621549 +oid sha256:d7d19f8472a1e6b582fa2950e16ce4be5997def65dfe2624a15c9874b2678d61 +size 7640641 diff --git a/samples/-DDDD1yrBC8_265.3_274.3/scene.json b/samples/-DDDD1yrBC8_265.3_274.3/scene.json index 38bb3ff0caba820a98c649a4e5728141ad64a6c9..65a22ca60f908eaf329f9d1b9e778f2d8d4b161b 100644 --- a/samples/-DDDD1yrBC8_265.3_274.3/scene.json +++ b/samples/-DDDD1yrBC8_265.3_274.3/scene.json @@ -147,14 +147,14 @@ "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 0, - "grasped_l": 123, + "static": 1, + "grasped_l": 67, "grasped_r": 0, - "grasped_both": 14, + "grasped_both": 69, "moving": 0 }, "state_fractions": { - "static": 0.0, 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"grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_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", @@ -2096,41 +2100,41 @@ "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", + "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", @@ -2564,8 +2568,8 @@ "state_counts": { "static": 20, "grasped_l": 0, - "grasped_r": 57, - "grasped_both": 0, + "grasped_r": 22, + "grasped_both": 35, "moving": 0 }, "wrist_used_per_frame": [ @@ -2652,41 +2656,41 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - 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, + 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, diff --git a/samples/-DOYgzdGGe0_143.8_148.7/recording.viser b/samples/-DOYgzdGGe0_143.8_148.7/recording.viser index 1f7f9d46d0859c8d48665088a500964103a0d99b..00017eb47960c4990360b1a2d033d51c261ca4db 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 sha256:58175eb450b52610d927513b64c4653ff01ee2f24ebaa84503cb21eed43ef245 -size 2045561 +oid sha256:f18f94fe31222527f62f1bf178d2532fe83a9d0ce4a0a4a6064a0cb34b02c6e8 +size 2045379 diff --git a/samples/-DOYgzdGGe0_143.8_148.7/scene.json b/samples/-DOYgzdGGe0_143.8_148.7/scene.json index 5270d79f4beef64b84c7e4bb00436911c8db1dc9..90c25913a3789a7b935d41dfcb9700b305ef1a7f 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": 57, - "grasped_both": 0, + "grasped_r": 22, + "grasped_both": 35, "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 24f41f67d4c654a351c28fc03060a9c9638dc9a4..f5b7bd3d2594aa13cc6fe15a40ad66dc36cb2fe3 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, 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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_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", "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, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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, 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sha256:e84f500002a91ee6115b1efbb96e93096cefc1eaa675555085eed2176d072a58 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 6c3fc3a830c56589812ea563b0bd9e507b87b4e0..c2e58eb1ff8733e76ef4c8f5268c6eaa3fe098fc 100644 --- a/samples/-DVV5l5eEQg_102.7_113.7/pose_track.json +++ b/samples/-DVV5l5eEQg_102.7_113.7/pose_track.json @@ -1,9 +1,10 @@ { "0": { - "mode": "position_first", - "algo_version": "v1-position-first", + "mode": "phase_d", + "algo_version": "v1-phase-d", "anchor_t": 0, - "smooth_sigma": 2.0, + "smooth_win": 11, + "smooth_poly": 3, "n_observed": 110, "scale_correction": 0.3580203056335449, "T_seq": [ @@ -12,19 +13,19 @@ 0.9368345141410828, -0.34906598925590515, -0.02222680114209652, - -0.057592060416936874 + -0.061344001442193985 ], [ -0.08103853464126587, -0.15479829907417297, -0.9846168160438538, - 0.3259739577770233 + 0.31200483441352844 ], [ 0.3402555584907532, 0.9242242574691772, 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"global_span_px": 99.94727325439453, "state_counts": { - "static": 1, - "grasped_l": 109, + "static": 7, + "grasped_l": 100, "grasped_r": 0, "grasped_both": 0, - "moving": 0 + "moving": 3 }, "wrist_used_per_frame": [ + false, + false, + false, + false, + false, + false, + false, + false, true, true, true, @@ -7977,18 +7993,18 @@ true, true, true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, false ], "wrist_l_per_frame": [ + false, + false, + false, + false, + false, + false, + false, + false, true, true, true, @@ -8089,15 +8105,7 @@ true, true, true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, false ], "wrist_r_per_frame": [ @@ -8218,9 +8226,9 @@ false, false, false, - false, - false, - false, + true, + true, + true, false, false, false, @@ -8325,7 +8333,7 @@ false ], "close_per_frame": [ - true, + false, false, false, false, @@ -8357,6 +8365,7 @@ true, true, true, + false, true, true, true, @@ -8402,20 +8411,19 @@ true, true, true, - true, - true, - true, - true, + false, + false, + false, true, true, true, true, false, false, - true, false, false, - true, + false, + false, false, true, true, @@ -8431,9 +8439,9 @@ true, true, true, + false, true, - true, - true, + false, false ] } diff --git a/samples/-DVV5l5eEQg_102.7_113.7/recording.viser b/samples/-DVV5l5eEQg_102.7_113.7/recording.viser index f52fe68e54304efe51c95ca8f391181548c8802a..9d07f0627c0aca58e6ae4e7888a484fced51769d 100644 --- a/samples/-DVV5l5eEQg_102.7_113.7/recording.viser +++ b/samples/-DVV5l5eEQg_102.7_113.7/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:31c9a7d3cf09addd83eb9c4f157abcf36079c469c60a457d218a5a3e0e62edb8 -size 3292161 +oid sha256:6d9224df98cb7dc1c88dfb54f7f3cabad24c3dbf03d76b6e27abff36dcf1fca4 +size 3288015 diff --git a/samples/-DVV5l5eEQg_102.7_113.7/scene.json b/samples/-DVV5l5eEQg_102.7_113.7/scene.json index c0455ea4d77f1ecaf5483322ee64d71e547b9ae3..ee8ec6c656b8dfa2d632287f885570fe3cf0297b 100644 --- a/samples/-DVV5l5eEQg_102.7_113.7/scene.json +++ b/samples/-DVV5l5eEQg_102.7_113.7/scene.json @@ -167,19 +167,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.0, + "trust_rate": 0.02727272727272727, "tracking_status": "ok", "state_counts": { - "static": 1, - "grasped_l": 109, + "static": 7, + "grasped_l": 100, "grasped_r": 0, "grasped_both": 0, - "moving": 0 + "moving": 3 }, "state_fractions": { - "static": 0.00909090909090909, + "static": 0.06363636363636363, "grasped": 0.0, - "moving": 0.0 + "moving": 0.02727272727272727 }, "is_static_global": false, "n_state_frames": 110 diff --git a/samples/-DVV5l5eEQg_102.7_113.7/signals.json b/samples/-DVV5l5eEQg_102.7_113.7/signals.json index 6d659dbf89b652db8c9565f18be3f288566c02e3..1ccd8343e90a0ecf1507a2da58eba74ce8958ec7 100644 --- a/samples/-DVV5l5eEQg_102.7_113.7/signals.json +++ 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diff --git a/samples/-EI-_9BR7j8_234.0_282.9/object_pose.bin b/samples/-EI-_9BR7j8_234.0_282.9/object_pose.bin index 57659fb7aa9173807e1659e090d035153cf057f7..56e0b9a5bc7c83f434599f570b6e7a06fe1399a7 100644 --- a/samples/-EI-_9BR7j8_234.0_282.9/object_pose.bin +++ b/samples/-EI-_9BR7j8_234.0_282.9/object_pose.bin @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c13f418032b5b69d9778c3a03b518cfc662ebcdb6f81a07a759586307ab8f90e +oid sha256:00fb882bbb2592164c26608825fbc68d9d6ea675e83625c27a8afc23f5fd1989 size 140928 diff --git a/samples/-EI-_9BR7j8_234.0_282.9/pose_track.json b/samples/-EI-_9BR7j8_234.0_282.9/pose_track.json index 537202d55b38175393cc8669cb4bdc05f9b4f916..c2fc559077d562ee1932750a5695fddd92b76b0f 100644 --- a/samples/-EI-_9BR7j8_234.0_282.9/pose_track.json +++ b/samples/-EI-_9BR7j8_234.0_282.9/pose_track.json @@ -1,30 +1,31 @@ { "6": { - "mode": "position_first", - "algo_version": "v1-position-first", + "mode": "phase_d", + "algo_version": 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"moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", "grasped_l", "grasped_l", "grasped_l", @@ -19494,38 +19519,17 @@ "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", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", "grasped_l", "grasped_l", "grasped_l", @@ -19789,20 +19793,20 @@ "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", + "moving", + "moving", + "moving", + "moving", + "moving", + "static", + "moving", + "moving", + "moving", + "moving", + "moving", + "static", + "moving", "grasped_l", "grasped_l", "grasped_l", @@ -20153,14 +20157,14 @@ "L", "L", "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", + null, + null, + null, + null, + null, + null, + null, + null, null, null, null, @@ -20217,6 +20221,27 @@ "L", "L", "L", + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, "L", "L", "L", @@ -20230,38 +20255,17 @@ "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, "L", "L", "L", @@ -20525,20 +20529,20 @@ "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, "L", "L", "L", @@ -24243,11 +24247,11 @@ ], "global_span_px": 121.47372436523438, "state_counts": { - "static": 7, - "grasped_l": 622, + "static": 10, + "grasped_l": 568, "grasped_r": 0, "grasped_both": 85, - "moving": 20 + "moving": 71 }, "wrist_used_per_frame": [ false, @@ -24572,14 +24576,14 @@ true, true, true, - true, - true, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, @@ -24636,6 +24640,27 @@ true, true, true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, true, true, true, @@ -24649,6 +24674,17 @@ true, true, true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, true, true, true, @@ -24912,52 +24948,20 @@ true, true, true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - 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, true, true, true, @@ -25308,14 +25312,14 @@ true, true, true, - true, - true, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, @@ -25372,6 +25376,27 @@ true, true, true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, true, true, true, @@ -25385,6 +25410,17 @@ true, true, true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, true, true, true, @@ -25648,52 +25684,20 @@ true, true, true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - 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, true, true, true, @@ -26780,26 +26784,25 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, true, true, - false, + true, + true, + true, true, true, true, true, true, false, + true, + true, + true, + true, + true, false, false, false, @@ -26845,6 +26848,27 @@ false, false, false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -26858,6 +26882,17 @@ false, false, false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -27122,50 +27157,19 @@ false, false, false, + true, + true, + true, + true, + true, false, + 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, + true, false, false, false, @@ -27199,8 +27203,7 @@ false, false, true, - true, - true, + false, true, true, true, @@ -27215,6 +27218,7 @@ true, true, false, + false, true, true, true, @@ -27330,7 +27334,7 @@ true, true, true, - true, + false, true, true, true, @@ -27362,12 +27366,12 @@ true, true, true, + false, + false, + false, true, - true, - true, - true, - true, - true, + false, + false, true, true, true, @@ -27382,7 +27386,7 @@ true, true, true, - true, + false, true, true, true, @@ -27523,7 +27527,7 @@ false, false, false, - true, + false, false, false, false, @@ -27556,12 +27560,12 @@ false, true, true, + false, true, true, true, true, true, - false, true, true, true, @@ -27572,41 +27576,41 @@ true, true, true, - true, + false, true, false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, true, true, false, - true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, true, true, + false, true, true, - true, - true, - true, - true, - true, + false, true, true, false, @@ -27616,8 +27620,6 @@ true, false, false, - true, - true, false, false, false, @@ -27625,9 +27627,8 @@ false, false, false, - true, - true, - true, + false, + false, true, true, true, @@ -27635,16 +27636,19 @@ true, true, false, - true, false, false, false, - true, + false, + false, + false, + false, true, true, false, false, - true, + false, + false, false, false, true, @@ -27662,7 +27666,7 @@ true, true, true, - true, + false, false, false, true, @@ -27698,32 +27702,32 @@ true, false, false, + false, true, true, true, true, - true, - true, - true, - true, - true, + false, true, true, false, false, + false, + false, + false, + false, + false, + 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"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", - "grasped_l", + "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_both", "grasped_l", "grasped_l", "grasped_l", @@ -5588,18 +5592,18 @@ "grasped_both", "grasped_both", "grasped_both", - "grasped_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_both", "grasped_both", "grasped_both", @@ -5751,29 +5755,29 @@ "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, - "L", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "both", "L", "L", "L", @@ -5798,18 +5802,18 @@ "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", "both", "both", "both", @@ -6885,10 +6889,10 @@ ], 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"n_frames_tracked": 0, "state_per_frame": [ "static", "static", diff --git a/samples/-F8ykWfiTZg_417.5_431.3/recording.viser b/samples/-F8ykWfiTZg_417.5_431.3/recording.viser index 7eb2bbc309b51341259ec374bf2c9f51ed2cf80c..dcde6aabd4ed15d23cf54ee739e573543c7fdffb 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 sha256:64d22dc962ef0f52d4002f6e0e76c5dee778e0f7a06c27fc129056dcc620fb8b -size 8243487 +oid sha256:e850468c227f07daafd5e753f82ada32d2ed6022a16b8162fa57e976729b0aeb +size 8243024 diff --git a/samples/-F8ykWfiTZg_417.5_431.3/scene.json b/samples/-F8ykWfiTZg_417.5_431.3/scene.json index 0f5e47a33202b4c9e5e916bb643e89d394840f6e..9cdd50e58839f5ff4969b75cddb241e7f7e143d3 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": 0.004807692307692308, "tracking_status": "ok", 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(F@R^T) scale=0.247", + "note": "phase_d state-machine: wrist=140 static=4 tracked=1 mc_static=False scale=0.247", + "n_frames_wrist": 140, + "n_frames_static": 4, + "n_frames_tracked": 1, "state_per_frame": [ "static", "moving", "moving", "moving", - "grasped_r", - "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", + "moving", + "moving", + "moving", + "static", + "moving", "grasped_l", "grasped_l", "grasped_l", @@ -3911,6 +3885,36 @@ "moving", "moving", "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "static", + "static", + "static", + "static", + "moving", + "static", + "static", + "moving", + "static", + "moving", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "moving", + "moving", + "moving", + "moving", "static", "static", "static", @@ -3932,41 +3936,11 @@ null, null, null, - "R", - "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", + null, + null, + null, + null, + null, "L", "L", "L", @@ -4072,6 +4046,36 @@ 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, @@ -4806,13 +4810,18 @@ ], "global_span_px": 65.95890808105469, "state_counts": { - "static": 14, - "grasped_l": 112, - "grasped_r": 1, - "grasped_both": 9, - "moving": 9 + "static": 29, + "grasped_l": 87, + "grasped_r": 0, + "grasped_both": 0, + "moving": 29 }, "wrist_used_per_frame": [ + false, + false, + false, + false, + false, false, false, false, @@ -4904,41 +4913,36 @@ true, true, true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - 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, 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true, + false, + true, + false, false, false, false, @@ -5384,6 +5358,36 @@ true, true, true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + false, + false, + false, + false, + true, + false, + false, + true, + false, + true, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, false, false, false, @@ -5405,29 +5409,29 @@ false, false, false, - true, - true, + false, + false, + false, + false, false, true, + false, true, + false, + false, + false, + false, + false, + false, + false, + false, + false, true, true, true, true, true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, false, false, false, @@ -5449,8 +5453,7 @@ true, true, true, - true, - true, + false, true, true, true, @@ -5474,14 +5477,15 @@ false, false, false, + false, + false, + false, true, true, true, + false, true, - true, - true, - true, - true, + false, false, false, false, @@ -5505,28 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"ok", - "note": "canonical_only (F@R^T) scale=0.212", + "note": "phase_d state-machine: wrist=50 static=37 tracked=58 mc_static=False scale=0.212", + "n_frames_wrist": 50, + "n_frames_static": 37, + "n_frames_tracked": 58, "state_per_frame": [ "static", "moving", @@ -16509,8 +16521,7 @@ true, true, true, - true, - true, + false, true, false, false, @@ -16562,6 +16573,7 @@ false, false, false, + false, true, false, false, @@ -16629,7 +16641,7 @@ true, true, false, - true, + false, true, true, false, diff --git a/samples/-FIE_5vWhv0_362.0_371.7/recording.viser b/samples/-FIE_5vWhv0_362.0_371.7/recording.viser index 3cbc80e39209119738478805faa9c216c0f5e9b9..7177d94a05a87b62838030b77f247e0d05b25099 100644 --- a/samples/-FIE_5vWhv0_362.0_371.7/recording.viser +++ b/samples/-FIE_5vWhv0_362.0_371.7/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:183027cb8827954fb274f615d050f52fd331e2ce331fcf5b89bd450e66145b96 -size 4189959 +oid sha256:bc0938d84b8dae2a12704282f2c1b1bfdce10b5f67bb5f568330e1247498a870 +size 4185937 diff --git a/samples/-FIE_5vWhv0_362.0_371.7/scene.json b/samples/-FIE_5vWhv0_362.0_371.7/scene.json index 5ef472f3f8e03829cfcfc91eb86cb884030944ed..fd8392c32796d20635c9e686d09f980068100c16 100644 --- a/samples/-FIE_5vWhv0_362.0_371.7/scene.json +++ b/samples/-FIE_5vWhv0_362.0_371.7/scene.json @@ -166,19 +166,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.06206896551724138, + "trust_rate": 0.2, "tracking_status": "ok", "state_counts": { - "static": 14, - "grasped_l": 112, - "grasped_r": 1, - "grasped_both": 9, - "moving": 9 + "static": 29, + "grasped_l": 87, + "grasped_r": 0, + "grasped_both": 0, + "moving": 29 }, "state_fractions": { - "static": 0.09655172413793103, + "static": 0.2, "grasped": 0.0, - "moving": 0.06206896551724138 + "moving": 0.2 }, "is_static_global": false, "n_state_frames": 145 diff --git a/samples/-FIE_5vWhv0_362.0_371.7/signals.json 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"moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", "moving", "moving", "moving", @@ -14401,6 +14409,25 @@ "L", "L", "L", + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, "L", "L", "L", @@ -14485,44 +14512,25 @@ "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", + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, null, null, null, @@ -15680,11 +15688,11 @@ ], "global_span_px": 391.1314392089844, "state_counts": { - "static": 38, - "grasped_l": 169, + "static": 69, + "grasped_l": 131, "grasped_r": 0, "grasped_both": 0, - "moving": 13 + "moving": 20 }, "wrist_used_per_frame": [ false, @@ -15736,6 +15744,25 @@ true, true, true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, true, true, true, @@ -15820,44 +15847,25 @@ true, true, true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - 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, @@ -15958,44 +15966,25 @@ true, true, true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - 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, true, true, true, @@ -16128,9 +16117,6 @@ false, false, false, - false - ], - "wrist_r_per_frame": [ false, false, false, @@ -16150,6 +16136,9 @@ false, false, false, + false + ], + "wrist_r_per_frame": [ false, false, false, @@ -16350,11 +16339,7 @@ false, false, false, - false - ], - "is_moving_per_frame": [ false, - true, false, false, false, @@ -16373,6 +16358,21 @@ false, false, false, + false + ], + "is_moving_per_frame": [ + false, + true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, @@ -16524,6 +16524,14 @@ false, false, false, + false, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -16624,11 +16632,8 @@ true, true, true, - true, false, - true, false, - true, false, false, false, @@ -16639,17 +16644,19 @@ false, false, false, - true, false, false, - true, - true, - true, - true, - true, + false, + false, + false, + false, false, true, true, + false, + false, + false, + false, true, true, true, @@ -16657,29 +16664,43 @@ true, true, true, + false, true, true, true, true, true, true, + false, + false, true, + false, true, true, true, + false, + false, true, + false, + false, true, true, true, true, true, true, + false, true, true, true, true, true, true, + false, + false, + false, + false, + false, true, true, true, @@ -16698,31 +16719,13 @@ true, true, true, + 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, true, true, true, @@ -16735,11 +16738,16 @@ false, false, false, - true, false, false, false, - true, + false, + false, + false, + false, + false, + false, + false, false, false, true, @@ -16798,31 +16806,32 @@ ] }, "2": { - "mode": "position_first", - "algo_version": "v1-position-first", + "mode": "phase_d", + "algo_version": "v1-phase-d", "anchor_t": 128, - "smooth_sigma": 2.0, + "smooth_win": 11, + "smooth_poly": 3, "n_observed": 220, "scale_correction": 0.15554194152355194, "T_seq": [ [ [ - 0.9529749155044556, - -0.29728591442108154, - -0.058820731937885284, - -0.5906842947006226 + 0.9491958618164062, + -0.2982737421989441, + -0.1002996414899826, + -0.5943102240562439 ], [ - -0.08478103578090668, - -0.0751880407333374, - -0.9935587048530579, - 0.22991859912872314 + -0.10881888121366501, + -0.012048445641994476, + -0.993988573551178, + 0.23000140488147736 ], [ - 0.29094842076301575, - 0.9518234133720398, - -0.09685652703046799, - 2.075026512145996 + 0.29527223110198975, + 0.9544042944908142, + -0.043894149363040924, + 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0.7884656190872192 ], [ 0.0, @@ -17526,7 +17535,10 @@ ] ], "tracking_status": "ok", - "note": "canonical_only (F@R^T) scale=0.192", + "note": "phase_d state-machine: wrist=133 static=38 tracked=0 mc_static=True scale=0.192", + "n_frames_wrist": 133, + "n_frames_static": 38, + "n_frames_tracked": 0, "state_per_frame": [ "grasped_l", "grasped_l", @@ -17554,17 +17566,17 @@ "grasped_both", "grasped_both", "grasped_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_both", "grasped_both", "grasped_both", @@ -17655,17 +17667,17 @@ "static", "static", "static", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", + "static", + "moving", + "moving", + "static", + "static", + "moving", + "moving", + "static", + "static", + "static", + "static", "grasped_l", "grasped_l", "grasped_l", @@ -17727,17 +17739,17 @@ "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", "both", "both", "both", @@ -17828,17 +17840,17 @@ null, null, null, - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, "L", "L", "L", @@ -18735,11 +18747,11 @@ ], "global_span_px": 95.4476318359375, "state_counts": { - "static": 36, + "static": 43, "grasped_l": 62, "grasped_r": 0, - "grasped_both": 71, - "moving": 2 + "grasped_both": 60, + "moving": 6 }, "wrist_used_per_frame": [ true, @@ -18869,17 +18881,17 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, true, true, true, @@ -19042,17 +19054,17 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, true, true, true, @@ -19114,17 +19126,17 @@ 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, true, true, true, @@ -19389,12 +19401,12 @@ false, false, false, + true, + true, false, false, - false, - false, - false, - false, + true, + true, false, false, false, @@ -19531,8 +19543,8 @@ true, false, false, - true, - true, + false, + false, true, true, true, @@ -19561,13 +19573,14 @@ false, false, false, - true, - true, - true, - true, false, false, - true, + false, + false, + false, + false, + false, + false, false, false, false, @@ -19575,12 +19588,11 @@ true, true, true, + false, + false, true, - true, - true, - true, - true, - true, + false, + false, true, true, false, diff --git a/samples/-HIF7MKD1_k_128.3_139.7/recording.viser b/samples/-HIF7MKD1_k_128.3_139.7/recording.viser index befdec3cc3b3a724dcd10c53d0072b9061305891..c54bcaf64548f3433f14d24d4fb6664b8935b23d 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 sha256:779a7cd8fd2307d9c43b3c3adb8d1e97190a0e67a0283f9ad2295e6e397862d1 -size 5996853 +oid sha256:f2c7e5b77f80775a14f0dd54639284ba947d8bf829d92f394517fbc6983be340 +size 5982922 diff --git a/samples/-HIF7MKD1_k_128.3_139.7/scene.json b/samples/-HIF7MKD1_k_128.3_139.7/scene.json index 5320958d530fb319e7c938a2a7b8b0154110da6a..ca5a79a54ed0f607e7c15a47721cd58a86e60eb2 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": 0.18128654970760233, + "trust_rate": 0.1695906432748538, "tracking_status": "ok", "state_counts": { - "static": 104, - "grasped_l": 0, - "grasped_r": 36, + "static": 93, + "grasped_l": 14, + "grasped_r": 35, "grasped_both": 0, - "moving": 31 + "moving": 29 }, "state_fractions": { - "static": 0.6081871345029239, + "static": 0.543859649122807, "grasped": 0.0, - "moving": 0.18128654970760233 + "moving": 0.1695906432748538 }, "is_static_global": false, "n_state_frames": 171 @@ -192,14 +192,14 @@ "trust_rate": 0.2046783625730994, "tracking_status": "ok", "state_counts": { - "static": 136, + "static": 121, "grasped_l": 0, - "grasped_r": 0, + "grasped_r": 15, "grasped_both": 0, "moving": 35 }, "state_fractions": { - "static": 0.7953216374269005, + "static": 0.7076023391812866, "grasped": 0.0, "moving": 0.2046783625730994 }, @@ -212,19 +212,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.011695906432748537, + "trust_rate": 0.03508771929824561, "tracking_status": "ok", "state_counts": { - "static": 36, + "static": 43, "grasped_l": 62, "grasped_r": 0, - "grasped_both": 71, - "moving": 2 + "grasped_both": 60, + "moving": 6 }, "state_fractions": { - "static": 0.21052631578947367, + "static": 0.25146198830409355, "grasped": 0.0, - "moving": 0.011695906432748537 + "moving": 0.03508771929824561 }, "is_static_global": false, "n_state_frames": 171 diff --git a/samples/-HIF7MKD1_k_128.3_139.7/signals.json b/samples/-HIF7MKD1_k_128.3_139.7/signals.json index 6d0d20142c8bc62ffbaeebfe6dc36547545686e2..ed3fb72375e5bd4e8c7ddecb973cc94986ed47b3 100644 --- a/samples/-HIF7MKD1_k_128.3_139.7/signals.json +++ b/samples/-HIF7MKD1_k_128.3_139.7/signals.json 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"canonical_only (F@R^T) scale=0.138", + "note": "phase_d state-machine: wrist=53 static=11 tracked=1 mc_static=True scale=0.138", + "n_frames_wrist": 53, + "n_frames_static": 11, + "n_frames_tracked": 1, "state_per_frame": [ "static", "static", @@ -4271,7 +4279,7 @@ "grasped_r", "grasped_r", "grasped_r", - "grasped_r", + "moving", "moving", "moving", "static" @@ -4338,7 +4346,7 @@ "R", "R", "R", - "R", + null, null, null, null @@ -4677,9 +4685,9 @@ "state_counts": { "static": 13, "grasped_l": 0, - "grasped_r": 50, + "grasped_r": 49, "grasped_both": 0, - "moving": 2 + "moving": 3 }, "wrist_used_per_frame": [ false, @@ -4743,7 +4751,7 @@ true, true, true, - true, + false, false, false, false @@ -4877,7 +4885,7 @@ true, true, true, - true, + false, false, false, false @@ -4944,7 +4952,7 @@ false, false, false, - false, + true, true, true, false @@ -4965,13 +4973,13 @@ true, true, true, - true, - true, + false, true, true, true, true, false, + false, true, true, true, @@ -5001,19 +5009,19 @@ true, true, true, - true, false, false, false, false, false, false, - false, - true, true, + false, + false, true, false, false, + false, false ] } diff --git a/samples/-ISqFoGju6U_656.6_660.9/recording.viser b/samples/-ISqFoGju6U_656.6_660.9/recording.viser index a280f8d7a0f2175b41df2625c53c48c3910ddf36..b25da2e42d329335d927e1fbc947b3b1b3675862 100644 --- a/samples/-ISqFoGju6U_656.6_660.9/recording.viser +++ b/samples/-ISqFoGju6U_656.6_660.9/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b88e52a17ce8991e3ce3d0ba6a67052e374d5ece7ad14714639cd4886dcf25ea -size 2026110 +oid sha256:7efc38a6795fa0bfc2ad1caf2311ca5c2a7ac45af1816c480e5875880285cabf +size 2025624 diff --git a/samples/-ISqFoGju6U_656.6_660.9/scene.json b/samples/-ISqFoGju6U_656.6_660.9/scene.json index e5cea736fef9cab207165eb1093e1730579f0f72..fe44712f0cdbf19226edd1a76566629cf69a200e 100644 --- a/samples/-ISqFoGju6U_656.6_660.9/scene.json +++ b/samples/-ISqFoGju6U_656.6_660.9/scene.json @@ -167,19 +167,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.03076923076923077, + "trust_rate": 0.046153846153846156, "tracking_status": "ok", "state_counts": { "static": 13, "grasped_l": 0, - "grasped_r": 50, + "grasped_r": 49, "grasped_both": 0, - "moving": 2 + "moving": 3 }, "state_fractions": { "static": 0.2, "grasped": 0.0, - "moving": 0.03076923076923077 + "moving": 0.046153846153846156 }, "is_static_global": false, "n_state_frames": 65 diff --git a/samples/-ISqFoGju6U_656.6_660.9/signals.json b/samples/-ISqFoGju6U_656.6_660.9/signals.json index be12b778a4949c7e18675a77ce94ccad21c66641..39a24cb8840559379b5b2c0d5592527cc942eb49 100644 --- a/samples/-ISqFoGju6U_656.6_660.9/signals.json +++ b/samples/-ISqFoGju6U_656.6_660.9/signals.json @@ -1 +1 @@ -{"n_frames": 65, "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, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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b/samples/-J3NfUD__8A_861.3_871.7/scene.json index abecffb601d7c7b67eab94a952347b7922a5e803..cc3c370058aa687050374356ba0ac530b388cd02 100644 --- a/samples/-J3NfUD__8A_861.3_871.7/scene.json +++ b/samples/-J3NfUD__8A_861.3_871.7/scene.json @@ -192,14 +192,14 @@ "trust_rate": 0.01282051282051282, "tracking_status": "ok", "state_counts": { - "static": 82, + "static": 35, "grasped_l": 0, - "grasped_r": 72, + "grasped_r": 119, "grasped_both": 0, "moving": 2 }, "state_fractions": { - "static": 0.5256410256410257, + "static": 0.22435897435897437, "grasped": 0.0, "moving": 0.01282051282051282 }, diff --git a/samples/-J3NfUD__8A_861.3_871.7/signals.json b/samples/-J3NfUD__8A_861.3_871.7/signals.json index 319b169af2830fd6d987287b6939ef7a2ffe70c9..f807d94c06d464bc0780ec30f708c585c1b6a4cd 100644 --- a/samples/-J3NfUD__8A_861.3_871.7/signals.json +++ b/samples/-J3NfUD__8A_861.3_871.7/signals.json @@ -1 +1 @@ -{"n_frames": 156, "scene": {"contact_l": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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68a971b737dfacdd823c96503d4c26c962f5a66f..1562abb6fce441e5878c61949be593ef440c8303 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:f1664cd0310601b4b79cffd675061244673a011ebd5e61fe4d01fd0c637f1bad -size 3300159 +oid sha256:733d66ae2fb504b3b5323bf002486e3d63d2658cdc25bbad760ca509554b84c1 +size 3299685 diff --git a/samples/-JsILDBSevo_34.9_48.9/scene.json b/samples/-JsILDBSevo_34.9_48.9/scene.json index ba21777543d8416570bcd78fadc20c90b11ef5d5..8f370a45ca7027813b261740adda9254410955dc 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": 0.0892018779342723, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 194, + "static": 0, "grasped_l": 0, - "grasped_r": 0, + "grasped_r": 213, 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-size 2840243 +oid sha256:90e17f786bb02d8596cca74eedf61a6ee825601e4b1720a7638cd83fb940b436 +size 2838955 diff --git a/samples/-LxWGDmwOMY_324.5_331.2/scene.json b/samples/-LxWGDmwOMY_324.5_331.2/scene.json index e54cace4ea5805f97f8b49a8486375bb09565c6a..511b7b3c59f8077d3251292f7ec5ec5c9445005f 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": 64, + "static": 52, "grasped_l": 0, - "grasped_r": 37, + "grasped_r": 49, "grasped_both": 0, "moving": 0 }, "state_fractions": { - "static": 0.6336633663366337, + "static": 0.5148514851485149, "grasped": 0.0, "moving": 0.0 }, diff --git a/samples/-LxWGDmwOMY_324.5_331.2/signals.json b/samples/-LxWGDmwOMY_324.5_331.2/signals.json index 37503c047835b1bbca54e049ce154c7d23578b40..5726ccab3716eac75fbf9cabb277fd2597889bf9 100644 --- a/samples/-LxWGDmwOMY_324.5_331.2/signals.json +++ 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a/samples/-Ng0Rx1ahi4_412.2_416.3/scene.json +++ b/samples/-Ng0Rx1ahi4_412.2_416.3/scene.json @@ -144,19 +144,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.07936507936507936, + "trust_rate": 0.2222222222222222, "tracking_status": "ok", "state_counts": { "static": 13, "grasped_l": 5, - "grasped_r": 13, + "grasped_r": 4, "grasped_both": 27, - "moving": 5 + "moving": 14 }, "state_fractions": { "static": 0.20634920634920634, "grasped": 0.0, - "moving": 0.07936507936507936 + "moving": 0.2222222222222222 }, "is_static_global": false, "n_state_frames": 63 diff --git a/samples/-Ng0Rx1ahi4_412.2_416.3/signals.json b/samples/-Ng0Rx1ahi4_412.2_416.3/signals.json index 62f56a6716ca2714baf390ba5e0b0bcf1f93f769..68c022cd546208c19467441a0730d6924b242e58 100644 --- a/samples/-Ng0Rx1ahi4_412.2_416.3/signals.json +++ b/samples/-Ng0Rx1ahi4_412.2_416.3/signals.json @@ -1 +1 @@ -{"n_frames": 63, "scene": {"contact_l": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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false, + false, false, false, false, @@ -9367,10 +9383,10 @@ true, true, true, - true, - true, - true, - true, + false, + false, + false, + false, false, false, false, @@ -9431,10 +9447,10 @@ false, false, false, + true, + true, false, - false, - false, - false, + true, true, true, true, @@ -9498,7 +9514,7 @@ false, false, false, - true, + false, false, false, false, @@ -9523,16 +9539,16 @@ true, true, true, - true, - true, + false, + false, true, true, true, false, - true, false, - true, - true, + false, + false, + false, true, true, true, diff --git a/samples/-O5z3lQwqO8_157.7_161.8/recording.viser b/samples/-O5z3lQwqO8_157.7_161.8/recording.viser index 560102b99d5006d1e49c1b4fd98150a84aafac18..3d9a0993d6c7962e67d3f026e2c6495ba302321e 100644 --- a/samples/-O5z3lQwqO8_157.7_161.8/recording.viser +++ b/samples/-O5z3lQwqO8_157.7_161.8/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0ff8c1ecef23a3b4a6b4c90f89b1e914aa13ce5bf7e26a71fd2031af0ddd2d9d -size 2511785 +oid sha256:c44b1e92ed6a96e578e51c2730afc36ed9c9de6879174edb2a589e0aa2da72ff +size 2510709 diff --git a/samples/-O5z3lQwqO8_157.7_161.8/scene.json b/samples/-O5z3lQwqO8_157.7_161.8/scene.json index 118f53f98013301ff8f07e66b456e5e1ecf50353..23c26aa1a23e981ce2b226a33df341912d3ca4e1 100644 --- a/samples/-O5z3lQwqO8_157.7_161.8/scene.json +++ b/samples/-O5z3lQwqO8_157.7_161.8/scene.json @@ -257,19 +257,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.06451612903225806, + "trust_rate": 0.11290322580645161, "tracking_status": "ok", "state_counts": { - "static": 14, + "static": 15, "grasped_l": 0, - "grasped_r": 44, + "grasped_r": 40, "grasped_both": 0, - "moving": 4 + "moving": 7 }, "state_fractions": { - "static": 0.22580645161290322, + "static": 0.24193548387096775, "grasped": 0.0, - "moving": 0.06451612903225806 + "moving": 0.11290322580645161 }, "is_static_global": false, "n_state_frames": 62 diff --git a/samples/-O5z3lQwqO8_157.7_161.8/signals.json b/samples/-O5z3lQwqO8_157.7_161.8/signals.json index 93407e1fb2937da9377be2df053c43b755c37eea..174287c8dd4f59a3d5d905598194b4781dd3a6fa 100644 --- a/samples/-O5z3lQwqO8_157.7_161.8/signals.json +++ b/samples/-O5z3lQwqO8_157.7_161.8/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, 0.0, 0.0, 1.0, 1.0, 1.0, 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, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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, 0.0, 0.0, 1.0, 1.0, 1.0, 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, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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, 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fc13957d955809064ad8cb6ec297b089e2576fb6..8a5d1f6790314a9a11842e7a5ea7a50f5ebf8d88 100644 --- a/samples/-ON6vOTrAHI_181.2_185.2/recording.viser +++ b/samples/-ON6vOTrAHI_181.2_185.2/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:feec97404890fc2edcf03ccf031de0817f364094ded76e360b2e6e208d0d3579 -size 3949217 +oid sha256:02d8f344d1b2adc1b7d95d4259a005f315f9c792142e1d7088c1cfd72b66b25e +size 3942816 diff --git a/samples/-ON6vOTrAHI_181.2_185.2/scene.json b/samples/-ON6vOTrAHI_181.2_185.2/scene.json index bf7b30ca2efd1c29279f1aef048c2dba2f72882e..982f1336ee8ba2d2032f6572c65a1cb49a4e6d50 100644 --- a/samples/-ON6vOTrAHI_181.2_185.2/scene.json +++ b/samples/-ON6vOTrAHI_181.2_185.2/scene.json @@ -216,9 +216,9 @@ "tracking_status": "ok", "state_counts": { "static": 0, - "grasped_l": 0, + "grasped_l": 1, "grasped_r": 0, - "grasped_both": 43, + "grasped_both": 42, "moving": 0 }, "state_fractions": { diff --git a/samples/-ON6vOTrAHI_181.2_185.2/signals.json 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], "tracking_status": "ok", - "note": "canonical_only (F@R^T) scale=0.292", + "note": "phase_d state-machine: wrist=0 static=6 tracked=85 mc_static=False scale=0.292", + "n_frames_wrist": 0, + "n_frames_static": 6, + "n_frames_tracked": 85, "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_r", "grasped_r", "grasped_r", @@ -5896,19 +5893,6 @@ "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_r", "grasped_r", "grasped_r", @@ -5946,10 +5930,34 @@ "grasped_r", "grasped_r", "grasped_r", - "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_both", "grasped_both", "grasped_both", @@ -5967,17 +5975,6 @@ "grasped_r" ], "grasp_hand_per_frame": [ - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", "R", "R", "R", @@ -5989,19 +5986,6 @@ "R", "R", "R", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", "R", "R", "R", @@ -6039,10 +6023,34 @@ "R", "R", "R", - "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", "both", "both", "both", @@ -6523,8 +6531,8 @@ "state_counts": { "static": 0, "grasped_l": 0, - "grasped_r": 49, - "grasped_both": 42, + "grasped_r": 77, + "grasped_both": 14, "moving": 0 }, "wrist_used_per_frame": [ @@ -6621,17 +6629,6 @@ true ], "wrist_l_per_frame": [ - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, false, false, @@ -6643,19 +6640,6 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, false, false, @@ -6693,10 +6677,34 @@ false, false, false, - 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, true, true, true, @@ -6920,11 +6928,16 @@ 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"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", + "moving", + "moving", "moving" ], "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, "R", "R", "R", @@ -9519,41 +9564,8 @@ "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", + null, + null, null ], "is_static_global": false, @@ -10018,13 +10030,46 @@ ], "global_span_px": 75.1664810180664, "state_counts": { - "static": 0, + "static": 4, "grasped_l": 0, - "grasped_r": 90, + "grasped_r": 55, "grasped_both": 0, - "moving": 1 + "moving": 32 }, "wrist_used_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, true, true, true, @@ -10080,41 +10125,8 @@ true, true, true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - 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 ], "wrist_l_per_frame": [ @@ -10211,6 +10223,39 @@ 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, + false, + false, + false, + false, + false, + false, + false, true, true, true, @@ -10266,6 +10311,12 @@ true, true, true, + false, + false, + false + ], + "is_moving_per_frame": [ + false, true, true, true, @@ -10275,11 +10326,14 @@ true, true, true, + false, true, true, true, true, true, + false, + false, true, true, true, @@ -10295,21 +10349,6 @@ true, true, true, - true, - true, - true, - true, - true, - true, - false - ], - "is_moving_per_frame": [ - false, - false, - false, - false, - false, - false, false, false, false, @@ -10365,12 +10404,19 @@ false, false, false, + true, + true, + true + ], + "close_per_frame": [ false, false, false, false, false, false, + true, + true, false, false, false, @@ -10394,51 +10440,12 @@ false, false, false, - true - ], - "close_per_frame": [ - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, false, true, - true, - false, false, 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, @@ -10467,10 +10474,15 @@ true, true, true, + false, + false, + false, true, true, true, true, + false, + false, true, true, true, @@ -10485,8 +10497,8 @@ true, true, true, - true, - true, + false, + false, false ] } diff --git a/samples/-Oflftjt0fs_57.2_63.2/recording.viser b/samples/-Oflftjt0fs_57.2_63.2/recording.viser index d3bdea805eae6496c35c05af65c744b46436face..51206cd64482c1acddd94b515c5f7e8e9f791ef2 100644 --- a/samples/-Oflftjt0fs_57.2_63.2/recording.viser +++ b/samples/-Oflftjt0fs_57.2_63.2/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b973e28d89ced807b99fe27952115b0c93dd681aa1c065d3dd338eef35582d2e -size 3480599 +oid sha256:1330df074f65b6982fb64379e5b49def27edd319e303d0a31069756bca9182e2 +size 3478168 diff --git a/samples/-Oflftjt0fs_57.2_63.2/scene.json b/samples/-Oflftjt0fs_57.2_63.2/scene.json index a6b41f6a282b8b6821cc5137712ec1f3ed123448..fc28d3c8e6daa7b4e9abc5a33863ec852809c467 100644 --- a/samples/-Oflftjt0fs_57.2_63.2/scene.json +++ b/samples/-Oflftjt0fs_57.2_63.2/scene.json @@ -169,14 +169,14 @@ "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 91, + "static": 0, "grasped_l": 0, "grasped_r": 0, - "grasped_both": 0, + "grasped_both": 91, "moving": 0 }, "state_fractions": { - "static": 1.0, + "static": 0.0, "grasped": 0.0, "moving": 0.0 }, @@ -194,8 +194,8 @@ "state_counts": { "static": 0, "grasped_l": 0, - "grasped_r": 49, - "grasped_both": 42, + "grasped_r": 77, + "grasped_both": 14, "moving": 0 }, "state_fractions": { @@ -212,19 +212,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.01098901098901099, + "trust_rate": 0.3516483516483517, "tracking_status": "ok", "state_counts": { - "static": 0, + "static": 4, "grasped_l": 0, - "grasped_r": 90, + "grasped_r": 55, "grasped_both": 0, - "moving": 1 + "moving": 32 }, "state_fractions": { - "static": 0.0, + "static": 0.04395604395604396, "grasped": 0.0, - "moving": 0.01098901098901099 + "moving": 0.3516483516483517 }, "is_static_global": false, "n_state_frames": 91 diff --git a/samples/-Oflftjt0fs_57.2_63.2/signals.json b/samples/-Oflftjt0fs_57.2_63.2/signals.json index 435d8d03c86c89ef271d9945956db06fbe813e98..ce5aabe699dfadcec711f69b7d06246f371439f2 100644 --- a/samples/-Oflftjt0fs_57.2_63.2/signals.json +++ b/samples/-Oflftjt0fs_57.2_63.2/signals.json @@ -1 +1 @@ -{"n_frames": 91, "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, 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"n_frames_static": 1, + "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_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", "grasped_l", "grasped_l", "grasped_l", @@ -4206,65 +4214,65 @@ "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", + "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", "L", "L", "L", @@ -4593,9 +4601,9 @@ "global_span_px": 15.035374641418457, "state_counts": { "static": 2, - "grasped_l": 3, + "grasped_l": 62, "grasped_r": 0, - "grasped_both": 59, + "grasped_both": 0, "moving": 0 }, "wrist_used_per_frame": [ @@ -4731,65 +4739,65 @@ 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, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + 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/-Oj2xzQbo4s_236.4_240.6/recording.viser b/samples/-Oj2xzQbo4s_236.4_240.6/recording.viser index 0fc00ad52a5630d034d285da7a1786721021b1b4..a69b99d24fe61fb1ea6b0e0f7ac7afe55a78b2f8 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 sha256:70c74c609d026034fd6d759fb2427c91915884c43d6d4c913ec9d3fb96080a6a -size 1982222 +oid sha256:ff54530b2f3ad1fb9999dff629a0c195d6ca8ad4b7258917fa160e63e4de3b5b +size 1982716 diff --git a/samples/-Oj2xzQbo4s_236.4_240.6/scene.json b/samples/-Oj2xzQbo4s_236.4_240.6/scene.json index c3cb4c57d66336fbbec57f3d89fee09f0ea71a7f..056ee8559b9854555a9784ca614be87569d42290 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", "state_counts": { - "static": 64, + "static": 2, "grasped_l": 0, "grasped_r": 0, - "grasped_both": 0, + "grasped_both": 62, "moving": 0 }, "state_fractions": { - "static": 1.0, + "static": 0.03125, "grasped": 0.0, "moving": 0.0 }, @@ -171,9 +171,9 @@ "tracking_status": "ok", "state_counts": { "static": 2, - "grasped_l": 3, + "grasped_l": 62, "grasped_r": 0, - "grasped_both": 59, + "grasped_both": 0, "moving": 0 }, "state_fractions": { diff --git a/samples/-Oj2xzQbo4s_236.4_240.6/signals.json b/samples/-Oj2xzQbo4s_236.4_240.6/signals.json index 656ec0057cdcb7b7926a83716e39ded9cce236ff..285d4fe3e89363f3a0d88cc054f7da74d922a767 100644 --- a/samples/-Oj2xzQbo4s_236.4_240.6/signals.json +++ b/samples/-Oj2xzQbo4s_236.4_240.6/signals.json @@ -1 +1 @@ -{"n_frames": 64, "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, 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, 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, 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"R", "both", "both", "both", @@ -3026,8 +3030,8 @@ "state_counts": { "static": 35, "grasped_l": 28, - "grasped_r": 16, - "grasped_both": 12, + "grasped_r": 18, + "grasped_both": 10, "moving": 0 }, "wrist_used_per_frame": [ @@ -3175,8 +3179,8 @@ false, false, false, - true, - true, + false, + false, true, true, true, diff --git a/samples/-PAqYhWSm2k_91.5_99.4/recording.viser b/samples/-PAqYhWSm2k_91.5_99.4/recording.viser index 7e5afb767b07a71b9293912fca15422cb1c0c4e1..71f4a1f19531d6c69320096c627380b603fee8ad 100644 --- a/samples/-PAqYhWSm2k_91.5_99.4/recording.viser +++ b/samples/-PAqYhWSm2k_91.5_99.4/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c57a542cd216de02e4d4551f23489b9db8370eb9085800cd087fc2cd4f272a2f -size 2616583 +oid sha256:c159850c640f6c5e2883117ff9346d8e1a1216eca65be6beca0dbac7a3a8b04a +size 2614370 diff --git a/samples/-PAqYhWSm2k_91.5_99.4/scene.json b/samples/-PAqYhWSm2k_91.5_99.4/scene.json index d80a5d9d9475efb84a106b69fb2260817f25c4d4..5e9ed313f362db2f9b89e45cc1a0324de7ca7141 100644 --- a/samples/-PAqYhWSm2k_91.5_99.4/scene.json +++ b/samples/-PAqYhWSm2k_91.5_99.4/scene.json @@ -127,8 +127,8 @@ "state_counts": { "static": 35, "grasped_l": 28, - "grasped_r": 16, - "grasped_both": 12, + "grasped_r": 18, + "grasped_both": 10, "moving": 0 }, "state_fractions": { diff --git a/samples/-PAqYhWSm2k_91.5_99.4/signals.json b/samples/-PAqYhWSm2k_91.5_99.4/signals.json index d0c539089d3071980cd6aabba271fb6326fbfb38..ff313026ce9ec5f2f2ac15280725984ffa35c395 100644 --- a/samples/-PAqYhWSm2k_91.5_99.4/signals.json +++ b/samples/-PAqYhWSm2k_91.5_99.4/signals.json @@ -1 +1 @@ -{"n_frames": 91, "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, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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, 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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tracked=44 mc_static=False scale=0.259", + "n_frames_wrist": 44, + "n_frames_static": 5, + "n_frames_tracked": 44, "state_per_frame": [ "static", "static", @@ -2511,10 +2515,10 @@ "grasped_r", "grasped_r", "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", + "moving", + "moving", + "moving", + "moving", "moving", "moving", "moving", @@ -2606,10 +2610,10 @@ "R", "R", "R", - "R", - "R", - "R", - "R", + null, + null, + null, + null, null, null, null, @@ -3086,9 +3090,9 @@ "state_counts": { "static": 28, "grasped_l": 0, - "grasped_r": 39, + "grasped_r": 35, "grasped_both": 0, - "moving": 26 + "moving": 30 }, "wrist_used_per_frame": [ false, @@ -3173,10 +3177,10 @@ true, true, true, - true, - true, - true, - true, + false, + false, + false, + false, false, false, false, @@ -3363,10 +3367,10 @@ true, true, true, - true, - true, - true, - true, + false, + false, + false, + false, false, false, false, @@ -3458,10 +3462,10 @@ false, false, false, - false, - false, - false, - false, + true, + true, + true, + true, true, true, true, @@ -3492,11 +3496,11 @@ true, true, true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, true, true, false, @@ -3546,17 +3550,17 @@ false, false, true, + false, true, true, true, true, true, true, - true, - true, - true, - true, - true, + false, + false, + false, + false, false, false, false, diff --git a/samples/-Phcfypd7tE_18.8_24.9/recording.viser b/samples/-Phcfypd7tE_18.8_24.9/recording.viser index 2cdee0bf1cd2e57595de7fe9815cb5fd66000e19..2a5b790fd40aa466e471af5097a27491772b24a9 100644 --- a/samples/-Phcfypd7tE_18.8_24.9/recording.viser +++ b/samples/-Phcfypd7tE_18.8_24.9/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6ba586a14b983afbf47b15b52a5ca203db0d6bee003412f47daf5a42ca26f796 -size 2235888 +oid sha256:cfd840f128af1f6d2d71471dac7b5101fd16dab1c6be715141279eee71f25558 +size 2238404 diff --git a/samples/-Phcfypd7tE_18.8_24.9/scene.json b/samples/-Phcfypd7tE_18.8_24.9/scene.json index e412b8d9df84108bfa172cd9e79864d23715359b..ee2e1e104bf8af6c5a0b1d6006820e2fdedd000d 100644 --- a/samples/-Phcfypd7tE_18.8_24.9/scene.json +++ b/samples/-Phcfypd7tE_18.8_24.9/scene.json @@ -122,19 +122,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.27956989247311825, + "trust_rate": 0.3225806451612903, "tracking_status": "ok", "state_counts": { "static": 28, "grasped_l": 0, - "grasped_r": 39, + "grasped_r": 35, "grasped_both": 0, - "moving": 26 + "moving": 30 }, "state_fractions": { "static": 0.3010752688172043, "grasped": 0.0, - "moving": 0.27956989247311825 + "moving": 0.3225806451612903 }, "is_static_global": false, "n_state_frames": 93 diff --git a/samples/-Phcfypd7tE_18.8_24.9/signals.json b/samples/-Phcfypd7tE_18.8_24.9/signals.json index 9fcbcedb5cfbbb5cb648b173312a076f89bd07ff..065ebfa129a26a1ac4ca9c916746a675420962fd 100644 --- a/samples/-Phcfypd7tE_18.8_24.9/signals.json +++ 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- 0.13266752660274506 + -0.06833679229021072, + 0.9762470126152039, + 0.20560124516487122, + 0.18145734071731567 ], [ - 0.9298228025436401, - -0.13793502748012543, - -0.3411795198917389, - 0.1966109424829483 + -0.9921291470527649, + -0.08817359060049057, + 0.08891133964061737, + 0.17066046595573425 ], [ - -0.3624190390110016, - -0.18226438760757446, - -0.914019763469696, - 1.1633893251419067 + 0.10492802411317825, + -0.19790707528591156, + 0.9745885729789734, + 1.1640695333480835 ], [ 0.0, @@ -8806,7 +8819,10 @@ ] ], "tracking_status": "ok", - "note": "canonical_only (F@R^T) scale=0.268", + "note": "phase_d state-machine: wrist=62 static=0 tracked=0 mc_static=True scale=0.268", + "n_frames_wrist": 62, + "n_frames_static": 0, + "n_frames_tracked": 0, "state_per_frame": [ "grasped_l", "grasped_l", @@ -8831,18 +8847,18 @@ "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_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", @@ -8895,18 +8911,18 @@ "L", "L", "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", "L", "L", "L", @@ -9253,9 +9269,9 @@ "global_span_px": 25.9658203125, "state_counts": { "static": 0, - "grasped_l": 62, + "grasped_l": 50, "grasped_r": 0, - "grasped_both": 0, + "grasped_both": 12, "moving": 0 }, "wrist_used_per_frame": [ @@ -9410,18 +9426,18 @@ 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, false, false, false, @@ -9574,7 +9590,7 @@ true, true, true, - true, + false, true, true ] diff --git a/samples/-QALmP1nHtM_216.9_220.9/recording.viser b/samples/-QALmP1nHtM_216.9_220.9/recording.viser index 469af31917625817eed903f19c3b2c3eceb2e488..a7a02ae399415d07ef9020cf94e81b2f13ea9782 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 sha256:3e2a6ec3124307ba5bc51807d4c1350b41aebb26d7540385c2ad3f871358b404 -size 3658081 +oid sha256:75e248610946747ea2884abbd7074a14adb6b1f54235a7bb597088ab70b340af +size 3652190 diff --git a/samples/-QALmP1nHtM_216.9_220.9/scene.json b/samples/-QALmP1nHtM_216.9_220.9/scene.json index 720cdfb4a4ccd8fdb54a54c0b34e281fe5a0b6bc..3b2287994f483c5955fdfeb3afab0677bb58942d 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": 57, - "grasped_l": 0, + "static": 49, + "grasped_l": 8, "grasped_r": 0, "grasped_both": 0, "moving": 5 }, "state_fractions": { - "static": 0.9193548387096774, + "static": 0.7903225806451613, "grasped": 0.0, "moving": 0.08064516129032258 }, @@ -261,9 +261,9 @@ "tracking_status": "ok", "state_counts": { "static": 0, - "grasped_l": 62, + "grasped_l": 50, "grasped_r": 0, - "grasped_both": 0, + "grasped_both": 12, "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 fa85185985e2abcb14157090bb1894208117924f..0fb7f7d05fe61bf74a21b930452ac2f353a90d1d 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, 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"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", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "static", + "static", + "static", + "static", + "moving", + "moving", + "moving", + "moving", + "moving", + "static", + "static", + "moving", + "static", + "static", + "static", + "moving", + "moving", + "static", + "moving", + "static", + "moving", + "moving", + "moving", + "static", + "static", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "static", "moving" ], "grasp_hand_per_frame": [ @@ -11455,59 +11475,59 @@ "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", - "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, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, null ], "is_static_global": false, @@ -11832,11 +11852,11 @@ ], "global_span_px": 68.36563110351562, "state_counts": { - "static": 0, + "static": 14, "grasped_l": 0, - "grasped_r": 62, + "grasped_r": 9, "grasped_both": 0, - "moving": 1 + "moving": 40 }, "wrist_used_per_frame": [ true, @@ -11848,59 +11868,59 @@ true, true, true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - 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 ], "wrist_l_per_frame": [ @@ -11978,62 +11998,6 @@ true, true, true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - 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 - ], - "is_moving_per_frame": [ false, false, false, @@ -12087,6 +12051,9 @@ false, false, false, + false + ], + "is_moving_per_frame": [ false, false, false, @@ -12096,11 +12063,6 @@ false, false, false, - true - ], - "close_per_frame": [ - true, - true, true, true, true, @@ -12110,29 +12072,34 @@ true, true, true, - false, - true, - true, - true, - true, - true, true, true, true, + false, + false, + false, + false, true, true, true, true, true, false, + false, true, + false, + false, + false, true, true, + false, true, + false, true, true, true, - true, + false, + false, true, true, true, @@ -12149,18 +12116,71 @@ true, true, false, + true + ], + "close_per_frame": [ true, true, + false, + false, true, + false, true, + false, true, + 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, true, true, + false, true, + false, true, true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, true, + false, + false, + false, false ] } diff --git a/samples/-QALmP1nHtM_678.2_682.2/recording.viser b/samples/-QALmP1nHtM_678.2_682.2/recording.viser index cec3614a5e875acfcc26f2af2787696d1c4c39c2..f33277fb48edf51c8234e6dd44fb6de9f000b89c 100644 --- 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:b1c9f15a0cdab84b414bea6bdc43ddb258e231cbaa8b325d9c934cd0ba2ada90 -size 3535247 +oid sha256:056a756149736cdf6dcdbc12435587565f88e1c2e7dbb68eeccd6cf68dd04638 +size 3524412 diff --git a/samples/-QALmP1nHtM_678.2_682.2/scene.json b/samples/-QALmP1nHtM_678.2_682.2/scene.json index 2466124e0f0b7687eaf0463b7769c367e74fe715..69e6a090dabd2bb37da83af4501261522be83bae 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": 0.015873015873015872, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 62, - "grasped_l": 0, + "static": 3, + "grasped_l": 60, "grasped_r": 0, "grasped_both": 0, - "moving": 1 + "moving": 0 }, "state_fractions": { - "static": 0.9841269841269841, + "static": 0.047619047619047616, "grasped": 0.0, - "moving": 0.015873015873015872 + "moving": 0.0 }, "is_static_global": false, "n_state_frames": 63 @@ -302,19 +302,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.015873015873015872, + "trust_rate": 0.6349206349206349, "tracking_status": "ok", "state_counts": { - "static": 0, + "static": 14, "grasped_l": 0, - "grasped_r": 62, + "grasped_r": 9, "grasped_both": 0, - "moving": 1 + "moving": 40 }, "state_fractions": { - "static": 0.0, + "static": 0.2222222222222222, "grasped": 0.0, - "moving": 0.015873015873015872 + "moving": 0.6349206349206349 }, "is_static_global": false, "n_state_frames": 63 diff --git a/samples/-QALmP1nHtM_678.2_682.2/signals.json b/samples/-QALmP1nHtM_678.2_682.2/signals.json index 72aa61a8bf5dbe10718bb42733178476ad075c56..aa0ed21357c00e4d4c785d9895c52ccf8920662f 100644 --- a/samples/-QALmP1nHtM_678.2_682.2/signals.json +++ b/samples/-QALmP1nHtM_678.2_682.2/signals.json @@ -1 +1 @@ -{"n_frames": 63, "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], "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], "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, 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+ "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", "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, + "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 @@ -6906,72 +6930,72 @@ ], "global_span_px": 17.768644332885742, "state_counts": { - "static": 30, - "grasped_l": 0, + "static": 3, + "grasped_l": 27, "grasped_r": 0, "grasped_both": 0, "moving": 0 }, "wrist_used_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, + true, + true, + true, + 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 ], "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, + true, + true, + true, + 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 diff --git a/samples/-QALmP1nHtM_715.0_719.0/recording.viser b/samples/-QALmP1nHtM_715.0_719.0/recording.viser index 5063f51bb7050c2c7c0de98c11fd13f98544e51b..1fa11dcd7267d30d1e4bc1692b0fd13dfc36fd00 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 sha256:727e4636773ec15cc0486f1f76438aaccf46b4e5bb3a006c58306d89ff7838d8 -size 3712583 +oid sha256:91de18d9708c5483e04b0397c013294fef6e53fb5819a27945c6a80c41237dca +size 3712377 diff --git a/samples/-QALmP1nHtM_715.0_719.0/scene.json b/samples/-QALmP1nHtM_715.0_719.0/scene.json index d139d7c4cf51a98cbbb25a5b96506e337f827de1..8c703b01d84603220a67fd1aec2adc56fdbb77e1 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": 30, - "grasped_l": 0, + "static": 0, + "grasped_l": 30, "grasped_r": 0, "grasped_both": 0, "moving": 0 }, "state_fractions": { - "static": 1.0, + "static": 0.0, "grasped": 0.0, "moving": 0.0 }, @@ -278,19 +278,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.0, + "trust_rate": 0.16666666666666666, "tracking_status": "ok", "state_counts": { - "static": 0, + "static": 2, "grasped_l": 0, - "grasped_r": 30, + "grasped_r": 23, "grasped_both": 0, - "moving": 0 + "moving": 5 }, "state_fractions": { - "static": 0.0, + "static": 0.06666666666666667, "grasped": 0.0, - "moving": 0.0 + "moving": 0.16666666666666666 }, "is_static_global": false, "n_state_frames": 30 @@ -324,19 +324,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.0, + "trust_rate": 0.13333333333333333, "tracking_status": "ok", "state_counts": { "static": 2, "grasped_l": 0, - "grasped_r": 28, + "grasped_r": 24, "grasped_both": 0, - "moving": 0 + "moving": 4 }, "state_fractions": { "static": 0.06666666666666667, "grasped": 0.0, - "moving": 0.0 + "moving": 0.13333333333333333 }, "is_static_global": false, "n_state_frames": 30 @@ -350,14 +350,14 @@ "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 30, - "grasped_l": 0, + "static": 3, + "grasped_l": 27, "grasped_r": 0, "grasped_both": 0, "moving": 0 }, "state_fractions": { - "static": 1.0, + "static": 0.1, "grasped": 0.0, "moving": 0.0 }, diff --git a/samples/-QALmP1nHtM_715.0_719.0/signals.json b/samples/-QALmP1nHtM_715.0_719.0/signals.json index 9e4f99f25534d7ed681a766c66ba525591f67b0b..064ba0e90fd0cd86e05b0a94014a164adaff8c3e 100644 --- a/samples/-QALmP1nHtM_715.0_719.0/signals.json +++ b/samples/-QALmP1nHtM_715.0_719.0/signals.json @@ -1 +1 @@ -{"n_frames": 30, "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], "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], "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, 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- "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", - "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, + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "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_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" + ], + "grasp_hand_per_frame": [ + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", null, null, null, @@ -20258,6 +20245,43 @@ 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, @@ -20732,13 +20756,29 @@ ], "global_span_px": 23.43401336669922, "state_counts": { - "static": 91, - "grasped_l": 0, - "grasped_r": 0, - "grasped_both": 0, - "moving": 1 + "static": 39, + "grasped_l": 16, + "grasped_r": 29, + "grasped_both": 8, + "moving": 0 }, "wrist_used_per_frame": [ + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -20772,59 +20812,43 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - 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, + 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, @@ -20833,6 +20857,22 @@ false ], "wrist_l_per_frame": [ + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -20883,30 +20923,14 @@ false, false, false, - 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, false, false, false, @@ -20976,43 +21000,43 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - 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, + 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, @@ -21082,7 +21106,7 @@ false, false, false, - true, + false, false, false, false, diff --git a/samples/-QALmP1nHtM_715.0_723.1/recording.viser b/samples/-QALmP1nHtM_715.0_723.1/recording.viser index 25c5d6cf95eff000752751c85575e69cf3c3325b..13bb7efddf4c666533746c8f66db339e8c4b5601 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 sha256:60a5bed39646c76bb892f7eb7bef5fb68544f7edb013dec125df1e02b5b5f04d -size 6271927 +oid sha256:8a78684a2032eec24a0e1645f03434643d3eadaa3853e454537040638c019dd2 +size 6285138 diff --git a/samples/-QALmP1nHtM_715.0_723.1/scene.json b/samples/-QALmP1nHtM_715.0_723.1/scene.json index 72a6661041836434586a6294da7961e138a1404f..e7cf9905c7de3fc05356f8184725ed16c4f152e0 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": 88, - "grasped_l": 0, + "static": 72, + "grasped_l": 16, "grasped_r": 0, "grasped_both": 0, "moving": 4 }, "state_fractions": { - "static": 0.9565217391304348, + "static": 0.782608695652174, "grasped": 0.0, "moving": 0.043478260869565216 }, @@ -255,19 +255,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.03260869565217391, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 89, - "grasped_l": 0, - "grasped_r": 0, - "grasped_both": 0, - "moving": 3 + "static": 27, + "grasped_l": 18, + "grasped_r": 35, + "grasped_both": 12, + "moving": 0 }, "state_fractions": { - "static": 0.967391304347826, + "static": 0.29347826086956524, "grasped": 0.0, - "moving": 0.03260869565217391 + "moving": 0.0 }, "is_static_global": false, "n_state_frames": 92 @@ -304,14 +304,14 @@ "trust_rate": 0.06521739130434782, "tracking_status": "ok", "state_counts": { - "static": 86, - "grasped_l": 0, + "static": 70, + "grasped_l": 16, "grasped_r": 0, "grasped_both": 0, "moving": 6 }, "state_fractions": { - "static": 0.9347826086956522, + "static": 0.7608695652173914, "grasped": 0.0, "moving": 0.06521739130434782 }, @@ -347,19 +347,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.010869565217391304, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 91, - "grasped_l": 0, - "grasped_r": 0, - "grasped_both": 0, - "moving": 1 + "static": 39, + "grasped_l": 16, + "grasped_r": 29, + "grasped_both": 8, + "moving": 0 }, "state_fractions": { - "static": 0.9891304347826086, + "static": 0.42391304347826086, "grasped": 0.0, - "moving": 0.010869565217391304 + "moving": 0.0 }, "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 a433b150a503bf01a0bf05c9c237bac168ef411a..859bf836d86c1c32153342eb6603f3331d672a9e 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, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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], "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, 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, 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@@ false, false, false, - true, - true, + false, + false, true, true, true, @@ -2453,8 +2457,8 @@ true, true, true, - false, - false, + true, + true, false, false, false, @@ -2522,7 +2526,7 @@ false, false, false, - true, + false, false, true, true, @@ -2554,6 +2558,7 @@ true, true, true, + false, true, true, true, @@ -2567,17 +2572,16 @@ true, true, true, + false, true, + false, + false, + false, + false, true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, + false, + false, true, true, true, diff --git a/samples/-QED0HrDVy4_440.5_444.9/recording.viser b/samples/-QED0HrDVy4_440.5_444.9/recording.viser index 52a9d070b9ede6f90af5f37f112b299c99187ae3..76a548a0affed9bb6061dd74892540906b2c8208 100644 --- a/samples/-QED0HrDVy4_440.5_444.9/recording.viser +++ b/samples/-QED0HrDVy4_440.5_444.9/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:492c92938c5e8f6478ffa5212743b2e41f51d20f415b54372e39bfa628de1457 -size 2355286 +oid sha256:774954528fa374d4f8488d05d5ddb8031c1f94036fc62b76ef466cdaa943a41a +size 2355257 diff --git a/samples/-QED0HrDVy4_440.5_444.9/scene.json b/samples/-QED0HrDVy4_440.5_444.9/scene.json index 1114203399642563be67ebba58e84bdb2b1f0e74..6115a859a1c4e17bbbd47b7cd170942743a36c57 100644 --- a/samples/-QED0HrDVy4_440.5_444.9/scene.json +++ b/samples/-QED0HrDVy4_440.5_444.9/scene.json @@ -122,19 +122,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.08955223880597014, + "trust_rate": 0.11940298507462686, "tracking_status": "ok", "state_counts": { "static": 1, "grasped_l": 0, - "grasped_r": 2, + "grasped_r": 0, "grasped_both": 58, - "moving": 6 + "moving": 8 }, "state_fractions": { "static": 0.014925373134328358, "grasped": 0.0, - "moving": 0.08955223880597014 + "moving": 0.11940298507462686 }, "is_static_global": false, "n_state_frames": 67 diff --git a/samples/-QED0HrDVy4_440.5_444.9/signals.json b/samples/-QED0HrDVy4_440.5_444.9/signals.json index 7eb60b9166af861452c4b58ad30111c19237e4b3..ee06f4287046ac75f6b30ee353e8c0b8341c3eee 100644 --- a/samples/-QED0HrDVy4_440.5_444.9/signals.json +++ b/samples/-QED0HrDVy4_440.5_444.9/signals.json @@ -1 +1 @@ -{"n_frames": 67, "scene": {"contact_l": [0.0, 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, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 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, 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, 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, 0.0, 0.0, 0.0, 1.0, 0.0, 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, 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, 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false, false, @@ -9824,19 +9845,6 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, false, false, @@ -9897,7 +9905,7 @@ false, false, false, - true + false ], "close_per_frame": [ true, @@ -9966,6 +9974,7 @@ false, false, false, + false, true, true, true, @@ -9994,11 +10003,10 @@ true, true, true, + false, true, - true, - true, - true, - true, + false, + false, true, true, true, diff --git a/samples/-QGsBuKzP4U_117.0_125.7/recording.viser b/samples/-QGsBuKzP4U_117.0_125.7/recording.viser index f729312e27d530452a51efe860df0ec56d6daa35..075d380e8012245495a64f9103227d2247ebe7bf 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:cbd86a93f59d851c71e6eb094c0d53486df896b34084c67bd008122871f09317 -size 5251016 +oid sha256:c64ef6014a10db5ed3b683bbe1214d0f22633276a37d1f2a0fa18c14e0fbba6b +size 5246444 diff --git a/samples/-QGsBuKzP4U_117.0_125.7/scene.json b/samples/-QGsBuKzP4U_117.0_125.7/scene.json index 96df8ad70f2b344e6c8681bc2eb54b9384773855..edd73fa712c983848f6b0898384d14030430bbfd 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": 131, - "grasped_l": 0, + "static": 0, + "grasped_l": 7, "grasped_r": 0, - "grasped_both": 0, + "grasped_both": 124, "moving": 0 }, "state_fractions": { - "static": 1.0, + "static": 0.0, "grasped": 0.0, "moving": 0.0 }, @@ -167,19 +167,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.1450381679389313, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 112, + "static": 0, "grasped_l": 0, - "grasped_r": 0, + "grasped_r": 131, "grasped_both": 0, - "moving": 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-0.9176608920097351, 0.3572176396846771, - 0.5050719380378723 + 0.04312024638056755 ], [ 0.5711923241615295, -0.20141269266605377, -0.7957212328910828, - 0.21734999120235443 + -0.06165562570095062 ], [ 0.8021503686904907, 0.3425367474555969, 0.48910462856292725, - 2.07970929145813 + 1.8306442499160767 ], [ 0.0, @@ -30991,19 +31000,19 @@ 0.17405186593532562, -0.9176608920097351, 0.3572176396846771, - 0.5050719380378723 + 0.04312024638056755 ], [ 0.5711923241615295, -0.20141269266605377, -0.7957212328910828, - 0.21734999120235443 + -0.06165562570095062 ], [ 0.8021503686904907, 0.3425367474555969, 0.48910462856292725, - 2.084304094314575 + 1.8306442499160767 ], [ 0.0, @@ -31014,42 +31023,11 @@ ] ], "tracking_status": "ok", - "note": "canonical_only (F@R^T) scale=0.245", + "note": "phase_d state-machine: wrist=287 static=19 tracked=6 mc_static=False scale=0.245", + "n_frames_wrist": 287, + "n_frames_static": 19, + "n_frames_tracked": 6, "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_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", @@ -31104,6 +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", @@ -31330,40 +31342,6 @@ "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", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "L", - "L", - "L", - "L", - "L", "L", "L", "L", @@ -31418,6 +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", @@ -33154,9 +33166,9 @@ "global_span_px": 60.62020492553711, "state_counts": { "static": 19, - "grasped_l": 158, + "grasped_l": 132, "grasped_r": 0, - "grasped_both": 128, + "grasped_both": 154, "moving": 7 }, "wrist_used_per_frame": [ @@ -33788,40 +33800,6 @@ 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, - true, - true, - true, - true, - true, - true, - true, - true, - false, - false, - false, - false, - false, false, false, false, @@ -33876,6 +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, @@ -34628,8 +34640,7 @@ true, true, true, - true, - true, + false, true, true, true, @@ -34690,14 +34701,15 @@ false, false, false, + false, + false, true, true, true, true, true, true, - true, - true, + 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 8510b7d8b313a4b8f2e6d3b9be3085f1b881d410..edc1b4de35de8ea1eaf052de7e1161b78fbc657b 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 sha256:0bac7b121bb74004fb68865d910010ff5293b1cb7144520ee8ae34a1b3956f51 -size 12485444 +oid sha256:f66fd4a1588d11ec3d22a45485e1185979a1c49aaf73bab81098e3ecc65e0a75 +size 12466509 diff --git a/samples/-QGsBuKzP4U_48.6_72.9/scene.json b/samples/-QGsBuKzP4U_48.6_72.9/scene.json index 3fd89300460e774784feaa83c497184217ea7f39..e4a246abc6c6eab83b84122d0ff4cc6edbe8c6df 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": 158, + "grasped_l": 132, "grasped_r": 0, - "grasped_both": 128, + "grasped_both": 154, "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 d8b8683c21e7150332fe63a42a54147251e09859..b906a705d195f8a7bc32568d18623059198b43a6 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, 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"wrist_used_per_frame": [ false, - true, + false, true, true, true, @@ -10582,7 +10590,7 @@ ], "wrist_l_per_frame": [ false, - true, + false, true, true, true, @@ -10878,7 +10886,7 @@ ], "is_moving_per_frame": [ false, - false, + true, false, false, false, @@ -11026,7 +11034,7 @@ ], "close_per_frame": [ false, - true, + false, true, true, false, diff --git a/samples/-R2qOLA1W0Q_284.9_294.6/recording.viser b/samples/-R2qOLA1W0Q_284.9_294.6/recording.viser index 1fb84498ba23dc0192eba4ac0d0e5e4446db9c2c..e9a18abeaa8b6534e292819db92a38d67dcf4789 100644 --- a/samples/-R2qOLA1W0Q_284.9_294.6/recording.viser +++ b/samples/-R2qOLA1W0Q_284.9_294.6/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:31c72bc6be2a7a9e54466a8f28115f047aeebccad95130b471fd5a20313e7207 -size 3869263 +oid sha256:87b0305b3475fdc05d6c61fc9f8b25bcee733d5b1f6210adddf89983dfb1a2e4 +size 3876617 diff --git a/samples/-R2qOLA1W0Q_284.9_294.6/scene.json 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"n_frames_tracked": 11, "state_per_frame": [ "static", "moving", @@ -7573,6 +7585,10 @@ "static", "static", "static", + "moving", + "moving", + "moving", + "moving", "grasped_l", "grasped_l", "grasped_l", @@ -7590,24 +7606,20 @@ "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" + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving" ], "grasp_hand_per_frame": [ null, @@ -7648,6 +7660,10 @@ null, null, null, + null, + null, + null, + null, "L", "L", "L", @@ -7665,24 +7681,20 @@ "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 ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -7958,10 +7970,10 @@ "global_span_px": 348.9444274902344, "state_counts": { "static": 34, - "grasped_l": 35, + "grasped_l": 17, "grasped_r": 0, "grasped_both": 0, - "moving": 4 + "moving": 22 }, "wrist_used_per_frame": [ false, @@ -8002,6 +8014,10 @@ false, false, false, + false, + false, + false, + false, true, true, true, @@ -8019,24 +8035,20 @@ 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 ], "wrist_l_per_frame": [ false, @@ -8077,6 +8089,10 @@ false, false, false, + false, + false, + false, + false, true, true, true, @@ -8094,28 +8110,6 @@ true, true, true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true - ], - "wrist_r_per_frame": [ - false, - false, false, false, false, @@ -8129,6 +8123,9 @@ false, false, false, + false + ], + "wrist_r_per_frame": [ false, false, false, @@ -8186,15 +8183,6 @@ false, false, false, - false - ], - "is_moving_per_frame": [ - false, - true, - true, - true, - true, - false, false, false, false, @@ -8210,7 +8198,14 @@ false, false, false, + false + ], + "is_moving_per_frame": [ false, + true, + true, + true, + true, false, false, false, @@ -8244,6 +8239,10 @@ false, false, false, + true, + true, + true, + true, false, false, false, @@ -8261,7 +8260,20 @@ false, false, false, - false + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true ], "close_per_frame": [ false, @@ -8302,10 +8314,10 @@ false, false, false, - true, false, false, - true, + false, + false, true, true, true, @@ -8332,7 +8344,7 @@ false, false, false, - true, + false, false, true, true, diff --git a/samples/-R2qOLA1W0Q_663.0_667.8/recording.viser b/samples/-R2qOLA1W0Q_663.0_667.8/recording.viser index 7876e924fa6cadeb5b6671da608b21dc9ffaf2c5..bef69414f7b681a682e7fbdc37e05d3fcf0a3991 100644 --- a/samples/-R2qOLA1W0Q_663.0_667.8/recording.viser +++ b/samples/-R2qOLA1W0Q_663.0_667.8/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b87a070c7128025841284c8cfbd7962983c6ff9a494a040bda110593a77ac42c -size 3045816 +oid sha256:938b4c5ddef1be0f6b1ec73b0575a8455ac8620eb98c90f435e6c41ac64fc048 +size 3043998 diff --git a/samples/-R2qOLA1W0Q_663.0_667.8/scene.json b/samples/-R2qOLA1W0Q_663.0_667.8/scene.json index 36d6944b804ef11e872fa7b78f17c4a1e8afcefa..f667e3d24d9be896a5674c500357693e7d039da7 100644 --- a/samples/-R2qOLA1W0Q_663.0_667.8/scene.json +++ b/samples/-R2qOLA1W0Q_663.0_667.8/scene.json @@ -212,19 +212,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.0547945205479452, + "trust_rate": 0.3013698630136986, "tracking_status": "ok", "state_counts": { "static": 34, - "grasped_l": 35, + "grasped_l": 17, "grasped_r": 0, "grasped_both": 0, - "moving": 4 + "moving": 22 }, "state_fractions": { "static": 0.4657534246575342, "grasped": 0.0, - "moving": 0.0547945205479452 + "moving": 0.3013698630136986 }, "is_static_global": false, "n_state_frames": 73 diff --git a/samples/-R2qOLA1W0Q_663.0_667.8/signals.json b/samples/-R2qOLA1W0Q_663.0_667.8/signals.json index 0616a95d74672a89b32c879d0311d3b0a84149d8..614c6a05b368504032d93c35917aef34a4e39f8a 100644 --- a/samples/-R2qOLA1W0Q_663.0_667.8/signals.json +++ b/samples/-R2qOLA1W0Q_663.0_667.8/signals.json @@ -1 +1 @@ -{"n_frames": 73, "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, 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, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 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a/samples/-SD9rDqpu8g_66.4_71.7/recording.viser +++ b/samples/-SD9rDqpu8g_66.4_71.7/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a513ac027ecb9659c20ba17ca54b1e7866985ced3051f9677cb0fa9a5898ee61 -size 2350861 +oid sha256:aec8f591f20e29b8e3c9809c7276495060aec805352a67ba4697eb2a2250969d +size 2347386 diff --git a/samples/-SD9rDqpu8g_66.4_71.7/scene.json b/samples/-SD9rDqpu8g_66.4_71.7/scene.json index e21c3a601f50f2d648b3ca266352c148b684e475..3ab8726133bdd48a94c086d160b51176dfc3d11b 100644 --- a/samples/-SD9rDqpu8g_66.4_71.7/scene.json +++ b/samples/-SD9rDqpu8g_66.4_71.7/scene.json @@ -144,19 +144,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.1375, + "trust_rate": 0.125, "tracking_status": "ok", "state_counts": { - "static": 48, + "static": 21, "grasped_l": 0, - "grasped_r": 21, + "grasped_r": 49, "grasped_both": 0, - "moving": 11 + "moving": 10 }, "state_fractions": { - "static": 0.6, + "static": 0.2625, 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"canonical_only (F@R^T) scale=0.236", + "note": "phase_d state-machine: wrist=335 static=0 tracked=18 mc_static=False scale=0.236", + "n_frames_wrist": 335, + "n_frames_static": 0, + "n_frames_tracked": 18, "state_per_frame": [ "static", "static", @@ -36142,19 +36154,17 @@ "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", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "static", + "static", "grasped_r", "grasped_r", "grasped_r", @@ -36193,26 +36203,28 @@ "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_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_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", @@ -36300,12 +36312,12 @@ "moving", "moving", "moving", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", "grasped_r", "grasped_r", "grasped_r", @@ -36497,19 +36509,17 @@ "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, "R", "R", "R", @@ -36548,26 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false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, true, true, true, @@ -38788,12 +38800,12 @@ false, false, false, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, + false, true, true, true, @@ -39029,8 +39041,8 @@ false, false, false, - false, - false, + true, + true, true, true, true, @@ -39340,6 +39352,26 @@ true, true, true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -39391,26 +39423,6 @@ 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, @@ -39498,12 +39510,12 @@ false, false, false, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, + false, true, true, true, @@ -39695,15 +39707,15 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, - false, - false, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -39853,12 +39865,12 @@ true, true, true, - false, - false, - false, - false, - false, - false, + true, + true, + true, + true, + true, + true, false, false, false, @@ -40035,7 +40047,7 @@ true, true, false, - true, + false, false, false, true, @@ -40050,34 +40062,34 @@ false, false, true, - true, false, - true, false, - true, false, false, false, false, false, false, - true, false, false, false, true, false, - true, - true, - true, false, false, - true, + false, false, true, + false, true, + false, + false, + false, + false, true, true, + false, + false, true, true, true, @@ -40088,12 +40100,12 @@ false, false, false, + false, + false, true, false, true, true, - false, - false, true, false, true, @@ -40106,14 +40118,14 @@ true, false, true, 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index 85fbd4bed85380e4f845eb7391d69e6a85cb98ae..0d43796efa2019d3ceb619cd34aa231befb0dca2 100644 --- a/samples/-SsQVS63Reo_223.6_250.6/scene.json +++ b/samples/-SsQVS63Reo_223.6_250.6/scene.json @@ -234,19 +234,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.1671388101983003, + "trust_rate": 0.2096317280453258, "tracking_status": "ok", "state_counts": { - "static": 6, - "grasped_l": 23, - "grasped_r": 260, - "grasped_both": 5, - "moving": 59 + "static": 8, + "grasped_l": 3, + "grasped_r": 241, + "grasped_both": 27, + "moving": 74 }, "state_fractions": { - "static": 0.0169971671388102, + "static": 0.0226628895184136, "grasped": 0.0, - "moving": 0.1671388101983003 + "moving": 0.2096317280453258 }, "is_static_global": false, "n_state_frames": 353 diff --git a/samples/-SsQVS63Reo_223.6_250.6/signals.json b/samples/-SsQVS63Reo_223.6_250.6/signals.json index fb50663c081972973568b940d669ff86d376379b..9c1af585da65f162adf2cca0a1d024ee8057d62c 100644 --- 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59, + "n_frames_static": 1, + "n_frames_tracked": 1, "state_per_frame": [ "static", "moving", @@ -8674,35 +8690,38 @@ "moving", "moving", "moving", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", "moving", "moving", "moving", "moving", "moving", "moving", - "static", "moving", - "static", - "static", - "static", - "static", "moving", - "static", - "static", + "moving", + "moving", + "moving", "moving", "moving", "moving", "moving", "static", + "moving", + "static", + "static", + "static", + "static", + "moving", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_both", + "grasped_both", "grasped_r", "grasped_r", "grasped_r", @@ -8724,10 +8743,7 @@ "grasped_r", "grasped_r", "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", + "moving", "moving" ], "grasp_hand_per_frame": [ @@ -8737,15 +8753,6 @@ null, null, null, - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", null, null, null, @@ -8766,6 +8773,18 @@ null, null, null, + null, + null, + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "both", + "both", "R", "R", "R", @@ -8787,10 +8806,7 @@ "R", "R", "R", - "R", - "R", - "R", - "R", + null, null ], "is_static_global": false, @@ -9102,11 +9118,11 @@ ], "global_span_px": 77.05329895019531, "state_counts": { - "static": 9, - "grasped_l": 9, - "grasped_r": 25, - "grasped_both": 0, - "moving": 18 + "static": 6, + "grasped_l": 8, + "grasped_r": 21, + "grasped_both": 2, + "moving": 24 }, "wrist_used_per_frame": [ false, @@ -9115,15 +9131,6 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, false, false, @@ -9144,6 +9151,14 @@ false, false, false, + false, + false, + true, + true, + true, + true, + true, + true, true, true, true, @@ -9169,6 +9184,7 @@ true, true, true, + false, false ], "wrist_l_per_frame": [ @@ -9178,16 +9194,6 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - false, false, false, false, @@ -9210,6 +9216,16 @@ false, false, false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -9270,6 +9286,7 @@ false, false, false, + false, true, true, true, @@ -9293,8 +9310,7 @@ true, true, true, - true, - true, + false, false ], "is_moving_per_frame": [ @@ -9304,15 +9320,15 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -9328,10 +9344,6 @@ true, false, false, - true, - true, - true, - true, false, false, false, @@ -9358,18 +9370,22 @@ false, false, false, + false, + false, + false, + true, true ], "close_per_frame": [ false, false, false, - true, - true, false, true, false, - true, + false, + false, + false, false, false, true, @@ -9396,31 +9412,31 @@ false, false, false, - true, false, true, true, - false, true, false, true, false, true, true, - false, - false, - false, - false, - false, - false, true, - false, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, false, false, true, + false, false ] } diff --git a/samples/-SsQVS63Reo_371.8_375.8/recording.viser b/samples/-SsQVS63Reo_371.8_375.8/recording.viser index 3b8cdc715c834b6ed1b7d74f16ed7a229ca9f7e7..1caeebb7dcf395fb8335393220554caa2c7139ae 100644 --- a/samples/-SsQVS63Reo_371.8_375.8/recording.viser +++ b/samples/-SsQVS63Reo_371.8_375.8/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d6e10aa6db8a5ada33c052483fe16b436a4e7c402731e55f56e3a5d18bccf6a2 -size 2759026 +oid sha256:d9781754a4adb67d82c2d211dc7483c4504a9e41be3d4de1053dd9c7c4896b2c +size 2757047 diff --git a/samples/-SsQVS63Reo_371.8_375.8/scene.json b/samples/-SsQVS63Reo_371.8_375.8/scene.json index d03222325eb7e7b0efc95886d200324f0f13126c..04735d7f8d6162f361a98cc4e8b3e7fcf797702b 100644 --- a/samples/-SsQVS63Reo_371.8_375.8/scene.json +++ b/samples/-SsQVS63Reo_371.8_375.8/scene.json @@ -214,14 +214,14 @@ "trust_rate": 0.09836065573770492, "tracking_status": "ok", "state_counts": { - "static": 10, + "static": 12, "grasped_l": 0, - "grasped_r": 45, + "grasped_r": 43, "grasped_both": 0, "moving": 6 }, "state_fractions": { - "static": 0.16393442622950818, + "static": 0.19672131147540983, "grasped": 0.0, "moving": 0.09836065573770492 }, @@ -257,19 +257,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.29508196721311475, + "trust_rate": 0.39344262295081966, "tracking_status": "ok", "state_counts": { - "static": 9, - "grasped_l": 9, - "grasped_r": 25, - "grasped_both": 0, - "moving": 18 + "static": 6, + "grasped_l": 8, + "grasped_r": 21, + "grasped_both": 2, + "moving": 24 }, "state_fractions": { - "static": 0.14754098360655737, + "static": 0.09836065573770492, "grasped": 0.0, - "moving": 0.29508196721311475 + "moving": 0.39344262295081966 }, "is_static_global": false, "n_state_frames": 61 diff --git a/samples/-SsQVS63Reo_371.8_375.8/signals.json b/samples/-SsQVS63Reo_371.8_375.8/signals.json index 5dc3037c4e9f6f227d6fad5f3ed9c69a8c389936..e4b7501c40ee8f825bc561f9f75befb023e352b5 100644 --- a/samples/-SsQVS63Reo_371.8_375.8/signals.json +++ b/samples/-SsQVS63Reo_371.8_375.8/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, 1.0, 1.0, 1.0, 0.0, 1.0, 0.0, 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, 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"n_frames_tracked": 50, "state_per_frame": [ "static", "static", @@ -22794,7 +22810,7 @@ false, false, false, - true + false ] } } \ No newline at end of file diff --git a/samples/-SvZIM1o-Z8_41.2_51.1/recording.viser b/samples/-SvZIM1o-Z8_41.2_51.1/recording.viser index 8fb07bb1921733d775955061365c04db13e90bf0..2c7656e5eaf911119e365152a9a11937582008df 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:daad892d9f93afad6d6f73cf93d976a6a262a6f0a8dc0ec292fd613ad436f9c6 -size 4801905 +oid sha256:970dca99d164c2c0090cb1ee8fbee767cdaa1bfcb96b221da497567d94bdbb0a +size 4802096 diff --git a/samples/-SvZIM1o-Z8_41.2_51.1/scene.json b/samples/-SvZIM1o-Z8_41.2_51.1/scene.json index e89686689b37cf1a7b7d125c1f8bd3e86332ee3e..2d431123fd131bf8e860a0155ca7bcd3eaab53d9 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": 107, + "static": 88, "grasped_l": 0, - "grasped_r": 28, + "grasped_r": 47, "grasped_both": 0, "moving": 14 }, "state_fractions": { - "static": 0.7181208053691275, + "static": 0.5906040268456376, "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 3c535764eb889325e319b40cdf79ea7dfb55df7f..f2d87b459e104d802f7d20c2377acfa9671e0c20 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, 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0.9206985831260681, + -0.3892533779144287, + -0.02821212448179722, + 2.1032204627990723 ], [ 0.0, @@ -1985,22 +1986,22 @@ ], [ [ - -0.18933238089084625, - 0.9048267602920532, - -0.3813682496547699, - -0.34459882974624634 + 0.2569110691547394, + 0.9643890857696533, + 0.0628519281744957, + -0.37624484300613403 ], [ - -0.007365643046796322, - -0.38969090580940247, - -0.9209162592887878, - 0.17098845541477203 + 0.027958564460277557, + -0.07242419570684433, + 0.9969819784164429, + 0.28772521018981934 ], [ - -0.9818854331970215, - -0.17155024409294128, - 0.08044573664665222, - 2.1842708587646484 + 0.9660305380821228, + -0.25437846779823303, + -0.045569512993097305, + 2.134646415710449 ], [ 0.0, @@ -2011,22 +2012,22 @@ ], [ [ - 0.8965734839439392, - 0.44229888916015625, - 0.022969987243413925, - -0.3444577753543854 + 0.9737332463264465, + 0.22661122679710388, + 0.022155407816171646, + -0.36558884382247925 ], [ - 0.007504217326641083, - 0.03668513894081116, - -0.9992986917495728, - 0.17106297612190247 + 0.03854839876294136, + -0.06817182153463364, + -0.9969285726547241, + 0.228862926363945 ], [ - -0.4428313672542572, - 0.896117091178894, - 0.029571816325187683, - 2.1840505599975586 + -0.22440484166145325, + 0.9715965986251831, + -0.07511667162179947, + 2.175736427307129 ], [ 0.0, @@ -2037,7 +2038,10 @@ ] ], "tracking_status": "ok", - "note": "canonical_only (F@R^T) scale=0.280", + "note": "phase_d state-machine: wrist=78 static=0 tracked=0 mc_static=True scale=0.280", + "n_frames_wrist": 78, + "n_frames_static": 0, + "n_frames_tracked": 0, "state_per_frame": [ "grasped_l", "grasped_l", @@ -2079,34 +2083,34 @@ "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_l", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "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", + "moving", "grasped_l", "grasped_l", "grasped_l", @@ -2159,34 +2163,34 @@ "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", - "L", + null, + null, + null, + null, + null, + null, + null, + null, + null, + null, + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + null, "L", "L", "L", @@ -2592,11 +2596,11 @@ ], "global_span_px": 28.05852699279785, "state_counts": { - "static": 1, - "grasped_l": 58, - "grasped_r": 0, - "grasped_both": 19, - "moving": 0 + "static": 11, + "grasped_l": 49, + "grasped_r": 17, + "grasped_both": 0, + "moving": 1 }, "wrist_used_per_frame": [ true, @@ -2639,6 +2643,16 @@ true, true, true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, true, true, true, @@ -2656,17 +2670,7 @@ true, true, true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, true, true, true, @@ -2719,34 +2723,34 @@ true, true, true, - true, - true, - true, - true, - 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, true, true, true, @@ -2807,8 +2811,8 @@ false, false, false, - true, - true, + false, + false, true, true, true, @@ -2906,7 +2910,7 @@ false, false, false, - false, + true, false, false, false, @@ -2953,7 +2957,22 @@ true, true, true, + false, + false, + false, + false, + false, true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, true, true, true, @@ -2971,22 +2990,7 @@ true, true, true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, true, false, false, diff --git a/samples/-WFScKY5jxA_119.5_124.7/recording.viser b/samples/-WFScKY5jxA_119.5_124.7/recording.viser index 265fb2632b1cbcab6a5845b44b8a7e87e5c0a7f9..d53ef84bc5013c120cabcf3cae38cae206e89e22 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 sha256:10ade95a0c3b38c7aa11ffce3f6c2389267fd1080c793fffb52013dd4219ddd1 -size 2034577 +oid sha256:32cf5188fb2ae7cbe77b1bd4bbc3251edf4df60cc5d2baa6e002f832becbafbf +size 2041033 diff --git a/samples/-WFScKY5jxA_119.5_124.7/scene.json b/samples/-WFScKY5jxA_119.5_124.7/scene.json index e84fe746ff1f755816815a9714d329349e1b1291..cd845f1ec3f8e7780a92818cd1cbb84675bb2b02 100644 --- a/samples/-WFScKY5jxA_119.5_124.7/scene.json +++ b/samples/-WFScKY5jxA_119.5_124.7/scene.json @@ -122,19 +122,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.0, + "trust_rate": 0.01282051282051282, "tracking_status": "ok", "state_counts": { - "static": 1, - "grasped_l": 58, - "grasped_r": 0, - "grasped_both": 19, - "moving": 0 + "static": 11, + "grasped_l": 49, + "grasped_r": 17, + "grasped_both": 0, + "moving": 1 }, "state_fractions": { - "static": 0.01282051282051282, + "static": 0.14102564102564102, "grasped": 0.0, - "moving": 0.0 + "moving": 0.01282051282051282 }, "is_static_global": false, "n_state_frames": 78 diff --git a/samples/-WFScKY5jxA_119.5_124.7/signals.json b/samples/-WFScKY5jxA_119.5_124.7/signals.json index 23d08130f8b79b2311e7c259999c24b449e13bc1..214fab8b635ee9bcc18bf10908dfc996b6e61890 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": {"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, 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true, true, true, true, true, true, true, true, true, 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_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_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", 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"grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", "grasped_both", "grasped_both", "grasped_both", @@ -2413,6 +2414,9 @@ "grasped_l", "grasped_l", "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", "grasped_l" ], "grasp_hand_per_frame": [ @@ -2436,6 +2440,42 @@ "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, "R", "R", "R", @@ -2456,45 +2496,6 @@ "R", "R", "R", - "R", - "R", - "R", - "R", - "R", - "R", - "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", @@ -2504,6 +2505,9 @@ "L", "L", "L", + "L", + "L", + "L", "L" ], "is_static_global": false, @@ -2958,11 +2962,11 @@ ], "global_span_px": 81.51380920410156, "state_counts": { - "static": 0, - "grasped_l": 5, - "grasped_r": 33, - "grasped_both": 51, - "moving": 0 + "static": 22, + "grasped_l": 8, + "grasped_r": 24, + "grasped_both": 21, + "moving": 14 }, "wrist_used_per_frame": [ true, @@ -2985,42 +2989,42 @@ true, true, true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - 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, true, true, true, @@ -3105,33 +3109,33 @@ 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, + false, + false, + false, + 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, @@ -3167,6 +3171,42 @@ 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, true, true, true, @@ -3192,59 +3232,6 @@ true, true, true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - 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": [ - false, - false, - false, - false, - false, - false, - false, false, false, false, @@ -3252,6 +3239,9 @@ false, false, false, + false + ], + "is_moving_per_frame": [ false, false, false, @@ -3288,6 +3278,20 @@ false, false, false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -3337,58 +3341,58 @@ true, true, true, + false, + false, + false, true, + false, true, true, true, true, true, + false, true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, true, + false, true, true, true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, true, + 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, - 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"n_frames_static": 68, + "n_frames_tracked": 21, "state_per_frame": [ "static", "static", diff --git a/samples/-_ow-vw258c_58.4_64.3/recording.viser b/samples/-_ow-vw258c_58.4_64.3/recording.viser index 0106fef29eb431ee1f470341c31594d6a79d4927..71730eb816920eaaefc01b082158da0f6164fd59 100644 --- a/samples/-_ow-vw258c_58.4_64.3/recording.viser +++ b/samples/-_ow-vw258c_58.4_64.3/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3868d7ae981c6e485da0b4747d28663ccbf6c07f579ff93d8810d9419f001a12 -size 3233599 +oid sha256:8df55e285d2511ae6e93b3c53bd62a4075fb27aa48b26346c0f02ed1bba7ec8e +size 3236427 diff --git a/samples/-_ow-vw258c_58.4_64.3/scene.json b/samples/-_ow-vw258c_58.4_64.3/scene.json index 098a1d2b7f47b20fa06e4015b683bc13d603bf82..ce44a67abaa86e7f5afa58ddebacd4fe5ed9160a 100644 --- a/samples/-_ow-vw258c_58.4_64.3/scene.json +++ b/samples/-_ow-vw258c_58.4_64.3/scene.json @@ -144,19 +144,19 @@ "median_chamfer_mm": null, "mean_iou": null, 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0.9408511519432068 + 0.9701416492462158 ], [ 0.0, @@ -6309,19 +6314,19 @@ 0.9999481439590454, -0.00933138933032751, 0.0040730503387749195, - -0.04238218814134598 + -0.08176400512456894 ], [ 0.007405660580843687, 0.3920564651489258, -0.9199113249778748, - 0.0013121799565851688 + 0.04947032406926155 ], [ 0.006987185217440128, 0.9198938012123108, 0.39210525155067444, - 0.9410068988800049 + 0.9696594476699829 ], [ 0.0, @@ -6335,19 +6340,19 @@ 0.9999481439590454, -0.00933138933032751, 0.0040730503387749195, - -0.042205486446619034 + -0.0814114436507225 ], [ 0.007405660580843687, 0.3920564651489258, -0.9199113249778748, - 0.0009913805406540632 + 0.04907740280032158 ], [ 0.006987185217440128, 0.9198938012123108, 0.39210525155067444, - 0.9411347508430481 + 0.969109296798706 ], [ 0.0, @@ -6361,19 +6366,19 @@ 0.9999481439590454, -0.00933138933032751, 0.0040730503387749195, - -0.0420013889670372 + -0.0806148424744606 ], [ 0.007405660580843687, 0.3920564651489258, -0.9199113249778748, - 0.0006996073061600327 + 0.04861999303102493 ], [ 0.006987185217440128, 0.9198938012123108, 0.39210525155067444, - 0.9412382245063782 + 0.9684973359107971 ], [ 0.0, @@ -6384,7 +6389,10 @@ ] ], "tracking_status": "ok", - "note": "canonical_only (F@R^T) scale=0.097", + "note": "phase_d state-machine: wrist=77 static=22 tracked=0 mc_static=False scale=0.097", + "n_frames_wrist": 77, + "n_frames_static": 22, + "n_frames_tracked": 0, "state_per_frame": [ "static", "moving", @@ -6417,27 +6425,27 @@ "grasped_both", "grasped_both", "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_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_both", "grasped_both", "grasped_both", @@ -6518,27 +6526,27 @@ "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", "both", "both", "both", @@ -7090,9 +7098,9 @@ "global_span_px": 138.01539611816406, "state_counts": { "static": 13, - "grasped_l": 0, + "grasped_l": 21, "grasped_r": 0, - "grasped_both": 77, + "grasped_both": 56, "moving": 9 }, "wrist_used_per_frame": [ @@ -7329,27 +7337,27 @@ 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, true, true, true, @@ -7523,14 +7531,23 @@ false, false, true, + false, + false, + false, + false, + false, true, true, true, true, + false, + false, true, + false, true, true, true, + false, true, true, true, @@ -7541,17 +7558,8 @@ true, true, true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, + false, true, true, true, diff --git a/samples/-_ow-vw258c_79.8_86.4/recording.viser b/samples/-_ow-vw258c_79.8_86.4/recording.viser index d16755d47854bbc33aec5c4b8807aaa22c40b35f..afdc4e5d7b93214e8e200c83df3e14e79c2897dd 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:b08c77b4faea8cc6e134afed0fe261e6acdd463ad850aa6615883187dbb6615c -size 4246943 +oid sha256:c3885ef275706d0a43573c1360d09fbf2a71702f3a9f4b269b47ea9813b4df8d +size 4253274 diff --git a/samples/-_ow-vw258c_79.8_86.4/scene.json b/samples/-_ow-vw258c_79.8_86.4/scene.json index a41f897492e2f7219c4a36de6a5b08ce625c1c02..2f349daec910940b6654a3126e3b12b8bc64d0a3 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": 0, + "grasped_l": 21, "grasped_r": 0, - "grasped_both": 77, + "grasped_both": 56, "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 0b8dc9f01abe6c407437abfaf1cc12f96da5001f..07607b4976d82827a833880194d31d61ac277415 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, "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, 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, 1.0, 1.0, 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291aa60b24c954f1525e2298065ba090ef54d240..e544b0ecd8f8ed034560bf181b929ad055bb71c7 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:f3df1b51be6fe7da7370798f77e2caa96e3c044fcf89a4ee250c8a49fcd5cb73 -size 2779127 +oid sha256:d36693200dd52fe5acfd76a78383cf79d3ef63cae657d01a40c7ce41999a38cf +size 2778437 diff --git a/samples/-veJClpdyMA_237.2_242.4/scene.json b/samples/-veJClpdyMA_237.2_242.4/scene.json index 379eaab6fa337c40be8f4a8f998dfe2370b113cb..4b0bb293bf01ebf41a1ecc80297f853e534c59aa 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": 0.12658227848101267, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 69, - "grasped_l": 0, + "static": 1, + "grasped_l": 78, 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"wrist_used_per_frame": [ true, @@ -10716,7 +10724,7 @@ true, true, true, - true, + false, false, false, false, @@ -11016,7 +11024,7 @@ true, true, true, - true, + false, false, false, false, @@ -11166,7 +11174,7 @@ false, false, false, - false, + true, true, true, true, @@ -11200,7 +11208,7 @@ true, true, true, - true, + false, true, false, false, @@ -11209,28 +11217,27 @@ false, false, false, - true, - true, - true, false, - true, + false, true, false, false, - true, - true, + false, + false, + false, false, true, true, - true, + false, + false, true, true, true, true, true, false, - true, - true, + false, + false, true, true, true, @@ -11239,11 +11246,12 @@ true, true, false, + false, true, true, true, true, - true, + false, true, true, true, @@ -11256,8 +11264,8 @@ true, true, true, - true, - true, + false, + false, true, true, true, @@ -11291,9 +11299,9 @@ true, true, true, - true, - true, - true, + false, + false, + false, true, true, true, @@ -11304,6 +11312,9 @@ true, false, true, + false, + false, + false, true, true, true, @@ -11313,10 +11324,7 @@ true, true, true, - true, - true, - true, - true, + false, false, false, false, diff --git a/samples/EKO4wj7EOnE_375.2_384.9/recording.viser b/samples/EKO4wj7EOnE_375.2_384.9/recording.viser index e5b7e1694eaf11f58ad6211c081309981bb84fa3..ed40705401d36a32c189fb0452d7c8e741ed0d93 100644 --- a/samples/EKO4wj7EOnE_375.2_384.9/recording.viser +++ b/samples/EKO4wj7EOnE_375.2_384.9/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:494a676f26b4516e8aab5daff205ebd39a0aea2b3ce20ed3e2050e096a5d3b65 -size 7847907 +oid sha256:8f9a49c08d08e98a03e223d6d80eef1f90c52d6b240bb7fb187cb3a919ad26a1 +size 7861610 diff --git a/samples/EKO4wj7EOnE_375.2_384.9/scene.json b/samples/EKO4wj7EOnE_375.2_384.9/scene.json index 47b47ac46ccf30947ce6f247466d0f3b5d038a0e..8a8a306753552e264e6fe82050a0e32b8de25fe7 100644 --- a/samples/EKO4wj7EOnE_375.2_384.9/scene.json +++ b/samples/EKO4wj7EOnE_375.2_384.9/scene.json @@ -167,19 +167,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.02702702702702703, + "trust_rate": 0.033783783783783786, "tracking_status": "ok", "state_counts": { "static": 2, "grasped_l": 0, - "grasped_r": 142, + "grasped_r": 141, "grasped_both": 0, - "moving": 4 + "moving": 5 }, "state_fractions": { "static": 0.013513513513513514, "grasped": 0.0, - "moving": 0.02702702702702703 + "moving": 0.033783783783783786 }, "is_static_global": false, "n_state_frames": 148 diff --git a/samples/EKO4wj7EOnE_375.2_384.9/signals.json b/samples/EKO4wj7EOnE_375.2_384.9/signals.json index d505e32a69e674a9c8f5b52bf211a0b344ca3297..a764f629e0083edcd6ea2b5b7a070cfc46ffd6b5 100644 --- a/samples/EKO4wj7EOnE_375.2_384.9/signals.json +++ b/samples/EKO4wj7EOnE_375.2_384.9/signals.json @@ -1 +1 @@ -{"n_frames": 148, "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, 0.0, 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"grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", "static", "static", "static", @@ -8786,34 +8820,19 @@ "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", + "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", "moving", "moving", "moving", @@ -8832,20 +8851,35 @@ "moving", "moving", "moving", + "static", "moving", "moving", "moving", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r" + "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", null, null, null, @@ -8873,6 +8907,19 @@ null, null, null, + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", null, null, null, @@ -8895,42 +8942,7 @@ 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, - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R" + null ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -9364,62 +9376,35 @@ ], "global_span_px": 140.4508514404297, "state_counts": { - "static": 55, + "static": 28, "grasped_l": 0, - "grasped_r": 9, + "grasped_r": 35, "grasped_both": 0, - "moving": 21 + "moving": 22 }, "wrist_used_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, + 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, @@ -9455,14 +9440,11 @@ true, true, true, - true - ], - "wrist_l_per_frame": [ - false, - false, - false, - false, - false, + true, + true, + true, + true, + true, false, false, false, @@ -9485,6 +9467,9 @@ false, false, false, + false + ], + "wrist_l_per_frame": [ false, false, false, @@ -9542,9 +9527,6 @@ false, false, false, - false - ], - "wrist_r_per_frame": [ false, false, 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"tracking_status": "ok", - "note": "canonical_only (F@R^T) scale=0.062", + "note": "phase_d state-machine: wrist=15 static=70 tracked=0 mc_static=True scale=0.062", + "n_frames_wrist": 15, + "n_frames_static": 70, + "n_frames_tracked": 0, "state_per_frame": [ "static", "static", diff --git a/samples/NJ0_jMbxv5I_754.0_759.6/recording.viser b/samples/NJ0_jMbxv5I_754.0_759.6/recording.viser index eca4bed0fa75cd014b49dc2b27ce066c83bfd9d9..137a8e31718e9315f3e2789aa1ae891de27ee907 100644 --- a/samples/NJ0_jMbxv5I_754.0_759.6/recording.viser +++ b/samples/NJ0_jMbxv5I_754.0_759.6/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1f9142f0e8916ddeac7e5ab522a509bf5939ff13ff3f0bac2bc902ed732a1c00 -size 5360896 +oid sha256:ea167c4c93da1d2e7df665883e3f0df248f81291dea4f0e598d26a7f8d84c4a5 +size 5350138 diff --git a/samples/NJ0_jMbxv5I_754.0_759.6/scene.json b/samples/NJ0_jMbxv5I_754.0_759.6/scene.json index 1a25ddc91e04e68539dd6519ae167669e70d3a2e..38cb2ed3b970a7e919590346f99358d1545d1cf1 100644 --- a/samples/NJ0_jMbxv5I_754.0_759.6/scene.json +++ b/samples/NJ0_jMbxv5I_754.0_759.6/scene.json @@ -300,19 +300,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.24705882352941178, + "trust_rate": 0.25882352941176473, "tracking_status": "ok", "state_counts": { - "static": 55, + "static": 28, "grasped_l": 0, - "grasped_r": 9, + "grasped_r": 35, "grasped_both": 0, - "moving": 21 + "moving": 22 }, "state_fractions": { - "static": 0.6470588235294118, + "static": 0.32941176470588235, "grasped": 0.0, - "moving": 0.24705882352941178 + "moving": 0.25882352941176473 }, "is_static_global": false, "n_state_frames": 85 diff --git a/samples/NJ0_jMbxv5I_754.0_759.6/signals.json b/samples/NJ0_jMbxv5I_754.0_759.6/signals.json index ce36e616a3eb30514cf06784e033a256df4529cf..42f947b883360b9f54c2a1f42fb5a78c808352a6 100644 --- a/samples/NJ0_jMbxv5I_754.0_759.6/signals.json +++ 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- -0.5452243685722351, - -0.7042257189750671, - 0.45474886894226074, - 0.6113563776016235 + -0.39915966987609863, + -0.9168387651443481, + 0.008847503922879696, + 0.5456658601760864 ], [ 0.0, @@ -1569,22 +1570,22 @@ ], [ [ - 0.5218796133995056, - -0.7096735239028931, - -0.47329181432724, - -0.017638882622122765 + 0.0047854711301624775, + 0.07080350816249847, + 0.9974787831306458, + -0.01183339674025774 ], [ - 0.6560274958610535, - -0.02072606235742569, - 0.7544523477554321, - 0.004753389395773411 + 0.9967128038406372, + -0.08100996166467667, + 0.0009684910182841122, + 0.035079363733530045 ], [ - -0.5452243685722351, - -0.7042257189750671, - 0.45474886894226074, - 0.6113328337669373 + 0.08087429404258728, + 0.994195282459259, + -0.07095843553543091, + 0.5728482604026794 ], [ 0.0, @@ -1595,7 +1596,10 @@ ] ], "tracking_status": "ok", - "note": "canonical_only (F@R^T) scale=0.597", + "note": "phase_d state-machine: wrist=61 static=0 tracked=0 mc_static=False scale=0.597", + "n_frames_wrist": 61, + "n_frames_static": 0, + "n_frames_tracked": 0, "state_per_frame": [ "grasped_r", "grasped_both", @@ -1621,8 +1625,8 @@ "grasped_both", "grasped_both", "grasped_both", - "grasped_both", - "grasped_both", + "grasped_r", + "grasped_r", "grasped_r", "grasped_r", "grasped_r", @@ -1657,7 +1661,7 @@ "grasped_both", "grasped_both", "grasped_both", - "grasped_r" + "moving" ], "grasp_hand_per_frame": [ "R", @@ -1684,8 +1688,8 @@ "both", "both", "both", - "both", - "both", + "R", + "R", "R", "R", "R", @@ -1720,7 +1724,7 @@ "both", "both", "both", - "R" + null ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -2036,9 +2040,9 @@ "state_counts": { "static": 0, "grasped_l": 0, - "grasped_r": 14, - "grasped_both": 47, - "moving": 0 + "grasped_r": 15, + "grasped_both": 45, + "moving": 1 }, "wrist_used_per_frame": [ true, @@ -2101,7 +2105,7 @@ true, true, true, - true + false ], "wrist_l_per_frame": [ false, @@ -2128,8 +2132,8 @@ true, true, true, - true, - true, + false, + false, false, false, false, @@ -2227,7 +2231,7 @@ true, true, true, - true + false ], "is_moving_per_frame": [ false, @@ -2290,7 +2294,7 @@ false, false, false, - false + true ], "close_per_frame": [ true, @@ -2315,17 +2319,17 @@ true, true, true, + false, true, + false, true, + false, + false, true, true, true, true, - false, - true, - true, true, - false, true, false, false, @@ -2353,7 +2357,7 @@ true, true, true, - true + false ] } } \ No newline at end of file diff --git a/samples/boJ9zV_qVEQ_886.4_890.4/recording.viser b/samples/boJ9zV_qVEQ_886.4_890.4/recording.viser index e63c5dd455cba6614c3f738978449de1e1621c36..9bbb93901acfe166bd50df67f6d952ebcd45e360 100644 --- a/samples/boJ9zV_qVEQ_886.4_890.4/recording.viser +++ b/samples/boJ9zV_qVEQ_886.4_890.4/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a536ada62fe7c65166725a8ad1662fdef3d11f86ec38e28f91721360cc25df61 -size 1564810 +oid sha256:06f2f00fb9b0047b6f78431477c62fa86ebfde78f12b286c68dda91ddcffebe8 +size 1565502 diff --git a/samples/boJ9zV_qVEQ_886.4_890.4/scene.json b/samples/boJ9zV_qVEQ_886.4_890.4/scene.json index 827d1c52ee4f85cadac85e5461df0f091b571734..40aa63e2f7d26f17fe1d4a219675001df9419851 100644 --- a/samples/boJ9zV_qVEQ_886.4_890.4/scene.json +++ b/samples/boJ9zV_qVEQ_886.4_890.4/scene.json @@ -122,19 +122,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.0, + "trust_rate": 0.01639344262295082, "tracking_status": "ok", "state_counts": { "static": 0, "grasped_l": 0, - "grasped_r": 14, - "grasped_both": 47, - "moving": 0 + "grasped_r": 15, + "grasped_both": 45, + "moving": 1 }, "state_fractions": { "static": 0.0, "grasped": 0.0, - "moving": 0.0 + "moving": 0.01639344262295082 }, "is_static_global": false, "n_state_frames": 61 diff --git a/samples/boJ9zV_qVEQ_886.4_890.4/signals.json b/samples/boJ9zV_qVEQ_886.4_890.4/signals.json index 96ffc90d1065ad6c97c381053455bffd8cc6024f..6aecf70deb125ffd228443eb9032af2dd00052c8 100644 --- a/samples/boJ9zV_qVEQ_886.4_890.4/signals.json +++ b/samples/boJ9zV_qVEQ_886.4_890.4/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, 0.0, 1.0, 1.0, 1.0, 0.0, 1.0, 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], "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, 0.0, 1.0, 1.0, 1.0, 0.0, 1.0, 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], "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, 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7.566372871398926, 7.071067810058594, 7.5, 9.51314926147461, 8.246211051940918, 10.0, 9.552486419677734, 10.012492179870605, 9.617691993713379, 9.823441505432129, 11.0, 12.257650375366211, 10.012492179870605, 12.747549057006836, 13.946325302124023, 75.66372680664062]}, "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, true, true, true, true], "state": ["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", 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4.031128883361816, 1.4142135381698608, 5.024937629699707, 21.005950927734375, 23.24327850341797, 51.97114562988281, 24.150569915771484, 42.05948257446289, 51.7034797668457, 27.004629135131836, 10.198039054870605, 66.15322875976562, 148.96728515625, 28.57008934020996, 57.010963439941406, 53.58404541015625, 7.82623815536499, 98.38699340820312, 23.632604598999023, 12.349088668823242, 5.522680282592773, 1.1180340051651, 5.0, 10.049875259399414, 7.566372871398926, 7.071067810058594, 7.5, 9.51314926147461, 8.246211051940918, 10.0, 9.552486419677734, 10.012492179870605, 9.617691993713379, 9.823441505432129, 11.0, 12.257650375366211, 10.012492179870605, 12.747549057006836, 13.946325302124023, 75.66372680664062]}, "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, 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"grasped_both", "grasped_both", "grasped_both", "moving"]}}} \ No newline at end of file diff --git a/samples/k3TqZpNhlSk_333.8_337.8/object_pose.bin b/samples/k3TqZpNhlSk_333.8_337.8/object_pose.bin index 39561a7a1b560b7b77b8970ad683c2cdc4e8f5f8..edf6ec8985278c670682cd16c04b9e9a16bb319d 100644 --- a/samples/k3TqZpNhlSk_333.8_337.8/object_pose.bin +++ b/samples/k3TqZpNhlSk_333.8_337.8/object_pose.bin @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:97724cbb00d79dc704adf9a2e35a7fd717119dfce039d1d4cc32c373ba539ec0 +oid sha256:4bf621607130ca08e0c1f5ef06c73cbde3ed4b99481dd270f211d5b449918fa6 size 3904 diff --git a/samples/k3TqZpNhlSk_333.8_337.8/pose_track.json b/samples/k3TqZpNhlSk_333.8_337.8/pose_track.json index 98f622003b89d4ea1fdacb8646932c609078b720..e6f0dbb98ca1155144d05a3eef9477ea93c4b9f5 100644 --- a/samples/k3TqZpNhlSk_333.8_337.8/pose_track.json +++ b/samples/k3TqZpNhlSk_333.8_337.8/pose_track.json @@ -1,30 +1,31 @@ { "0": { - "mode": "position_first", - 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[ 0.05005975812673569, 0.9026165008544922, -0.4275248050689697, - 0.041035186499357224 + 0.04128464683890343 ], [ -0.10010623931884766, 0.4304404556751251, 0.8970505595207214, - 0.5456427931785583 + 0.5569102764129639 ], [ 0.0, @@ -1595,59 +1596,62 @@ ] ], "tracking_status": "ok", - "note": "canonical_only (F@R^T) scale=0.080", + "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, + "n_frames_tracked": 0, "state_per_frame": [ - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "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", + "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", @@ -1660,56 +1664,56 @@ "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, + "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, @@ -2004,63 +2008,63 @@ ], "global_span_px": 9.708244323730469, "state_counts": { - "static": 56, - "grasped_l": 0, + "static": 10, + "grasped_l": 13, "grasped_r": 0, - "grasped_both": 0, - "moving": 5 + "grasped_both": 37, + "moving": 1 }, "wrist_used_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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + 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, @@ -2074,56 +2078,56 @@ false ], "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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + 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, @@ -2148,6 +2152,43 @@ 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, @@ -2160,6 +2201,9 @@ false, false, false, + false + ], + "is_moving_per_frame": [ false, false, false, @@ -2197,45 +2241,6 @@ 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, - true, - false, - false, - true, - true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, false, false, false, @@ -2250,7 +2255,6 @@ false, false, true, - true, false, false, false, diff --git a/samples/k3TqZpNhlSk_333.8_337.8/recording.viser b/samples/k3TqZpNhlSk_333.8_337.8/recording.viser index 5591d33fdabac83729d90e4ea4bf922db7cea024..1bd59d1730e78c7772393707b1ad2ad95922d035 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:d93ae573613ee662f8691f157b754623d89e2d8ceec90bd856fbd3fcaf51cd72 -size 1928723 +oid sha256:896b15dfa714edb97fcc90977ff5d765c08b16b1f4e2a8480df34912bd0a7690 +size 1926786 diff --git a/samples/k3TqZpNhlSk_333.8_337.8/scene.json b/samples/k3TqZpNhlSk_333.8_337.8/scene.json index b7a222ee09c9fd311ba5eb8a4523fe7f86352ec5..d2acded3fc4faa713937da895bc73894922bdb54 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": 0.08196721311475409, + "trust_rate": 0.01639344262295082, "tracking_status": "ok", "state_counts": { - "static": 56, - "grasped_l": 0, + "static": 10, + "grasped_l": 13, "grasped_r": 0, - "grasped_both": 0, - "moving": 5 + "grasped_both": 37, + "moving": 1 }, "state_fractions": { - "static": 0.9180327868852459, + "static": 0.16393442622950818, "grasped": 0.0, - "moving": 0.08196721311475409 + "moving": 0.01639344262295082 }, "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 903214a9362e80b542d6e9e7bbc90fffd5ac6af9..fcd45f68da674a6383d691265507c3d0b3f1e3e7 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, 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