2026-05-15: state machine v2 — STATIC / GRASPED_L/R/BOTH / MOVING + L/R-aware grasp (17/105)

samples/-6Z315Ts-Y4_78.3_83.8/hand_joints.bin

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e831719ebeac3c4e7409c10a52a9465ab72a5083338705a59431e81de74fe454
+oid sha256:84858d974b0368216caabf1278893aa79a76c2921b3c09e1ec60aa203b906a53
 size 42336

samples/-6Z315Ts-Y4_78.3_83.8/hand_joints_2d.bin

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:530da9f3af3918452eb0e7930e92a265fce41f45bbaebe588f1a28047f70054c
+oid sha256:5168052cea272b8f86cefcde28eafaa1bb0db410c96a35943201144161a10b53
 size 28224

samples/-6Z315Ts-Y4_78.3_83.8/hand_verts.bin

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7ccc348bfffc1fd44564c2e196c0a7cfb3a6098dd16dbeb597f8063fcbaa5efd
+oid sha256:36e9e437f573ff294de646af6b8074b11c718cdbcb0ee381c6f7f5a881dadea6
 size 1568448

samples/-6Z315Ts-Y4_78.3_83.8/object_pose.bin

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:61ecc2378948fac736e0bc9e25d36b56829916dec0103967683c428271f7f179
+oid sha256:e40c56b37a4911a2e7c1096f7407aa63454e10d59e1f298229b747d91b662b13
 size 16128

samples/-6Z315Ts-Y4_78.3_83.8/recording.viser

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:bb19237f3d0bf74c9e88537d8da999c600ebae472766c07389cbb8393ce67ffa
-size 4328390
+oid sha256:011bca8650f45e20781dcf2abf83fe0462f00a55e34e96b65a8824bc0c1a1afa
+size 4335365

samples/-6Z315Ts-Y4_78.3_83.8/scene.json

@@ -165,27 +165,69 @@
       "anchor_fitness": null,
       "median_chamfer_mm": null,
       "mean_iou": null,
-      "grasp_rate": null,
-      "trust_rate": null,
-      "tracking_status": "ok"
+      "grasp_rate": 0.0,
+      "trust_rate": 0.011904761904761904,
+      "tracking_status": "ok",
+      "state_counts": {
+        "static": 2,
+        "grasped_l": 3,
+        "grasped_r": 0,
+        "grasped_both": 78,
+        "moving": 1
+      },
+      "state_fractions": {
+        "static": 0.023809523809523808,
+        "grasped": 0.0,
+        "moving": 0.011904761904761904
+      },
+      "is_static_global": false,
+      "n_state_frames": 84
     },
     "1": {
       "path": null,
       "anchor_fitness": null,
       "median_chamfer_mm": null,
       "mean_iou": null,
-      "grasp_rate": null,
-      "trust_rate": null,
-      "tracking_status": "ok"
+      "grasp_rate": 0.0,
+      "trust_rate": 0.13095238095238096,
+      "tracking_status": "ok",
+      "state_counts": {
+        "static": 0,
+        "grasped_l": 9,
+        "grasped_r": 51,
+        "grasped_both": 13,
+        "moving": 11
+      },
+      "state_fractions": {
+        "static": 0.0,
+        "grasped": 0.0,
+        "moving": 0.13095238095238096
+      },
+      "is_static_global": false,
+      "n_state_frames": 84
     },
     "2": {
       "path": null,
       "anchor_fitness": null,
       "median_chamfer_mm": null,
       "mean_iou": null,
-      "grasp_rate": null,
-      "trust_rate": null,
-      "tracking_status": "ok"
+      "grasp_rate": 0.0,
+      "trust_rate": 0.047619047619047616,
+      "tracking_status": "ok",
+      "state_counts": {
+        "static": 0,
+        "grasped_l": 42,
+        "grasped_r": 0,
+        "grasped_both": 38,
+        "moving": 4
+      },
+      "state_fractions": {
+        "static": 0.0,
+        "grasped": 0.0,
+        "moving": 0.047619047619047616
+      },
+      "is_static_global": false,
+      "n_state_frames": 84
     }
   },
   "_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms."

samples/-6Z315Ts-Y4_78.3_83.8/signals.json

@@ -1 +1 @@
-{"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, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "grasp": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "motion": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "trust": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}
+{"n_frames": 84, "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, 0.0, 0.0, 0.0], "contact_r": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0], "grasp": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "motion": [0.0, 26.305892944335938, 9.708244323730469, 16.68832015991211, 18.172780990600586, 9.05538558959961, 20.71834945678711, 10.1118745803833, 21.644861221313477, 18.668153762817383, 9.617691993713379, 32.280025482177734, 29.504236221313477, 71.9183578491211, 74.03546142578125, 35.174564361572266, 51.65510559082031, 90.73312377929688, 51.32494354248047, 20.796634674072266, 6.184658527374268, 16.620769500732422, 9.05538558959961, 15.700318336486816, 15.074813842773438, 16.620769500732422, 14.71393871307373, 7.071067810058594, 13.583077430725098, 38.8104362487793, 17.029386520385742, 61.88093566894531, 42.52646255493164, 74.0016860961914, 48.041648864746094, 12.658988952636719, 10.630146026611328, 4.4721360206604, 10.511898040771484, 9.552486419677734, 5.590169906616211, 10.1118745803833, 5.024937629699707, 11.101801872253418, 11.101801872253418, 5.5, 12.658988952636719, 5.024937629699707, 11.67261791229248, 11.67261791229248, 5.522680282592773, 11.597413063049316, 5.656854152679443, 51.538822174072266, 67.67938995361328, 35.0, 78.76864624023438, 14.422204971313477, 103.46497344970703, 47.523677825927734, 3.041381359100342, 8.514693260192871, 5.024937629699707, 10.198039054870605, 10.547511100769043, 5.024937629699707, 11.67261791229248, 6.576473236083984, 11.597413063049316, 169.32586669921875, 116.50965881347656, 15.628499984741211, 7.071067810058594, 13.647343635559082, 11.180339813232422, 6.082762718200684, 10.60660171508789, 6.51920223236084, 17.58550453186035, 29.1290225982666, 25.961509704589844, 71.39502716064453, 33.5, 78.12969970703125]}, "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, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, false, false, true], "state": ["grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_both", "grasped_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", "static", "static", "moving"]}, "1": {"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, 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_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_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_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "moving", "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"]}, "2": {"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, 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_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_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_both", "grasped_both", "grasped_both", "grasped_both", "grasped_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", "moving", "moving", "moving", "moving"]}}}