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"tracking_status": "ok", - "note": "phase_d state-machine: wrist=111 static=40 tracked=4 mc_static=False scale=0.301 grasp_src=vetoed (pkl)", - "n_frames_wrist": 111, - "n_frames_static": 40, - "n_frames_tracked": 4, + "note": "phase_d state-machine: wrist=113 static=41 tracked=1 mc_static=False scale=0.301 grasp_src=vetoed (pkl)", + "n_frames_wrist": 113, + "n_frames_static": 41, + "n_frames_tracked": 1, "state_per_frame": [ "static", "static", @@ -4087,8 +4087,8 @@ "static", "static", "moving", - "moving", - "moving", + "grasped_l", + "grasped_l", "grasped_l", "grasped_l", "grasped_l", @@ -4137,47 +4137,47 @@ "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_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_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", @@ -4244,8 +4244,8 @@ null, null, null, - null, - null, + "L", + "L", "L", "L", "L", @@ -4294,47 +4294,47 @@ "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", + "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", @@ -5141,10 +5141,10 @@ "global_span_px": 234.53599548339844, "state_counts": { "static": 41, - "grasped_l": 71, + "grasped_l": 32, "grasped_r": 0, - "grasped_both": 39, - "moving": 4 + "grasped_both": 80, + "moving": 2 }, "wrist_used_per_frame": [ false, @@ -5189,8 +5189,8 @@ false, false, false, - false, - false, + true, + true, true, true, true, @@ -5346,8 +5346,8 @@ false, false, false, - false, - false, + true, + true, true, true, true, @@ -5553,47 +5553,47 @@ 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + 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, @@ -5660,8 +5660,8 @@ false, false, true, - true, - true, + false, + false, false, false, false, @@ -5817,13 +5817,13 @@ false, false, false, - false, - false, true, true, true, true, - false, + true, + true, + true, false, true, true, @@ -5910,10 +5910,10 @@ true, true, true, - false, true, true, - false, + true, + true, 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 ef62211adcd18618624b406fe5bea74844a80303..45cfacb901f2e1ec713a7bd52100665bc495816f 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 sha256:23aa234a79122687acb05d59b9900885d4dcbdd2880f35adba4399a400738c1a -size 3661167 +oid sha256:98c1ad320848f4aeac71311cda09afbeae710b2e145724be5af81e808fb883b8 +size 3658895 diff --git a/samples/--oo8_XIuOM_799.5_809.8/scene.json b/samples/--oo8_XIuOM_799.5_809.8/scene.json index b3b9586ab1173e5fe4b8031b3e046d9034669b23..f995aa550379023b63e6deec7aba355e9a91a675 100644 --- a/samples/--oo8_XIuOM_799.5_809.8/scene.json +++ b/samples/--oo8_XIuOM_799.5_809.8/scene.json @@ -122,19 +122,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.025806451612903226, + "trust_rate": 0.012903225806451613, "tracking_status": "ok", "state_counts": { "static": 41, - "grasped_l": 71, + "grasped_l": 32, "grasped_r": 0, - "grasped_both": 39, - "moving": 4 + "grasped_both": 80, + "moving": 2 }, "state_fractions": { "static": 0.2645161290322581, "grasped": 0.0, - "moving": 0.025806451612903226 + "moving": 0.012903225806451613 }, "is_static_global": false, "n_state_frames": 155 diff --git a/samples/--oo8_XIuOM_799.5_809.8/signals.json b/samples/--oo8_XIuOM_799.5_809.8/signals.json index f02f6c23fb63d2d0d5ab004e837de8dff37843cd..9cc3fd0bf8d1e5318e24db4aea7d5d517c1e2e69 100644 --- a/samples/--oo8_XIuOM_799.5_809.8/signals.json +++ b/samples/--oo8_XIuOM_799.5_809.8/signals.json @@ -1 +1 @@ -{"n_frames": 155, "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, 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, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.0, 1.0, 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- "static", - "moving", - "moving", - "static", - "static", - "static", - "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_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "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", "static", "static", @@ -6976,84 +6976,6 @@ "L", "L", "L", - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - 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"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", + "L", + "L", + "L", + "L", + "L", null, null, null, @@ -8464,11 +8464,11 @@ ], "global_span_px": 50.40485763549805, "state_counts": { - "static": 138, - "grasped_l": 100, + "static": 50, + "grasped_l": 170, "grasped_r": 0, - "grasped_both": 0, - "moving": 19 + "grasped_both": 35, + "moving": 2 }, "wrist_used_per_frame": [ true, @@ -8491,84 +8491,6 @@ 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, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - 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, @@ -8649,33 +8571,111 @@ 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, + true, + true, + true, + true, + true, + true, + true, + 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true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -9092,6 +9092,41 @@ false, false, false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -9210,6 +9245,9 @@ false, false, false, + false + ], + "is_moving_per_frame": [ false, false, false, @@ -9227,27 +9265,6 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false - ], - "is_moving_per_frame": [ false, false, false, @@ -9268,18 +9285,10 @@ false, false, false, - true, - true, - true, false, false, false, - true, false, - true, - true, - true, - true, false, false, false, @@ -9294,12 +9303,7 @@ false, false, false, - true, - true, - true, false, - true, - true, false, false, false, @@ -9433,7 +9437,6 @@ false, false, false, - true, false, false, false, @@ -9442,13 +9445,10 @@ false, false, false, - true, false, false, false, false, - true, - true, false, false, false, @@ -9527,54 +9527,7 @@ 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, + true, false, false, false, @@ -9632,7 +9585,54 @@ true, true, 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -9777,22 +9777,22 @@ "T_seq": [ [ [ - 0.8413671255111694, - -0.42460954189300537, - 0.3343771696090698, - -0.07580285519361496 + 0.8293918371200562, + -0.45341062545776367, + 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b/samples/--oo8_XIuOM_900.3_917.4/recording.viser index 2a8d6a680681f7c2e5580fdc617e75b94cb44417..0430a2cf2eb14a52628f77a0bc5d2b555526f5bf 100644 --- a/samples/--oo8_XIuOM_900.3_917.4/recording.viser +++ b/samples/--oo8_XIuOM_900.3_917.4/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:57bbe65bfbea6b4b8f9379a8d9c752a093fdbd4f1c31dea8de001125081595ec -size 8157232 +oid sha256:d34a183f6f0bd09169d750081da5f529494b77f89542b6f784cc4fd05b4c97eb +size 8150375 diff --git a/samples/--oo8_XIuOM_900.3_917.4/scene.json b/samples/--oo8_XIuOM_900.3_917.4/scene.json index 35a3cd395de29b57d70292f6d61adb2aaf7db06f..eb53a0191f6c6799ee0f2601b66a71cfd5d06e7a 100644 --- a/samples/--oo8_XIuOM_900.3_917.4/scene.json +++ b/samples/--oo8_XIuOM_900.3_917.4/scene.json @@ -166,19 +166,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.07392996108949416, + "trust_rate": 0.007782101167315175, "tracking_status": "ok", "state_counts": { - 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+ true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -21101,86 +21101,156 @@ 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, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - 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, 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+ true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -21216,6 +21286,12 @@ false, false, false, + false, + false, + false, + false + ], + "is_moving_per_frame": [ false, false, false, @@ -21289,9 +21365,6 @@ false, false, false, - false - ], - "is_moving_per_frame": [ false, false, false, @@ -21369,9 +21442,6 @@ false, false, false, - true, - true, - true, false, false, false, @@ -21407,6 +21477,104 @@ false, false, false, + false, + false, + false, + false + ], + "close_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, + 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+ ] + ], + [ + [ + -0.8835183382034302, + -0.4677659273147583, + -0.024296943098306656, + -0.3233305811882019 + ], + [ + -0.028367558494210243, + 0.10521397739648819, + -0.9940448999404907, + 0.19689792394638062 + ], + [ + 0.46753671765327454, + -0.877567708492279, + -0.10622785985469818, + 1.7874788045883179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + ], + "tracking_status": "ok", + "note": "phase_d state-machine: wrist=144 static=45 tracked=0 mc_static=False scale=0.093 grasp_src=vetoed (pkl)", + "n_frames_wrist": 144, + "n_frames_static": 45, + "n_frames_tracked": 0, + "state_per_frame": [ + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", "grasped_l", "grasped_l", "grasped_l", @@ -26747,6 +26666,87 @@ "grasped_l", "grasped_l", "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_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_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", "moving", "static", "static", @@ -26784,117 +26784,70 @@ "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, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - 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" + ], + "grasp_hand_per_frame": [ + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", "L", "L", "L", @@ -26938,6 +26891,53 @@ "L", "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", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", null, null, null, @@ -27883,113 +27883,113 @@ ], "global_span_px": 116.0010757446289, "state_counts": { - "static": 138, - "grasped_l": 43, + "static": 45, + "grasped_l": 113, "grasped_r": 0, - "grasped_both": 0, - "moving": 8 + "grasped_both": 30, + "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, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -28081,106 +28081,106 @@ 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, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -28377,6 +28377,36 @@ 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, false, false, false, @@ -28430,6 +28460,9 @@ false, false, false, + false + ], + "is_moving_per_frame": [ false, false, false, @@ -28437,32 +28470,6 @@ 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, - false, - false - ], - "is_moving_per_frame": [ false, false, false, @@ -28537,11 +28544,7 @@ false, false, false, - true, - true, false, - true, - true, false, false, false, @@ -28560,9 +28563,6 @@ false, false, false, - true, - true, - true, false, false, false, @@ -28654,86 +28654,85 @@ false ], "close_per_frame": [ - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - 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, + true, + true, + true, + true, + true, + 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, @@ -28755,12 +28754,7 @@ false, false, true, - false, - false, - false, true, - false, - false, true, true, true, @@ -28773,10 +28767,6 @@ true, true, true, - false, - false, - false, - false, true, true, true, @@ -28785,14 +28775,24 @@ true, true, true, - false, - false, - false, - false, true, - false, true, - false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, diff --git a/samples/-0RheyDV3a0_474.8_487.3/recording.viser b/samples/-0RheyDV3a0_474.8_487.3/recording.viser index 5141755cf9f4251f0ea0312b508291fc66f47794..0fd6e0bed60ce81ada8874157ba6c0c11c9af2ab 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 sha256:1a14aa072e2e6dc356df8421a6a62097d09b87fb3a58b8876434ef5e478fa5f6 -size 6422505 +oid sha256:3ede048a2c3afd659198f920a9c353061ecf84d8f5d3e6d3820eb020d5c7c5f1 +size 6412760 diff --git a/samples/-0RheyDV3a0_474.8_487.3/scene.json b/samples/-0RheyDV3a0_474.8_487.3/scene.json index 059897839cb812f98230804902ffd15eab951606..384cce7b36edb5741bc29eed3f3697f7df38f4a1 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, - "grasped_l": 1, - "grasped_r": 9, + "static": 93, + "grasped_l": 3, + "grasped_r": 36, "grasped_both": 57, "moving": 0 }, "state_fractions": { - "static": 0.6455026455026455, + "static": 0.49206349206349204, "grasped": 0.0, "moving": 0.0 }, @@ -234,19 +234,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.14814814814814814, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 126, - "grasped_l": 13, - "grasped_r": 3, - "grasped_both": 19, - "moving": 28 + "static": 17, + "grasped_l": 0, + "grasped_r": 106, + "grasped_both": 66, + "moving": 0 }, "state_fractions": { - "static": 0.6666666666666666, + "static": 0.08994708994708994, "grasped": 0.0, - "moving": 0.14814814814814814 + "moving": 0.0 }, "is_static_global": false, "n_state_frames": 189 @@ -257,19 +257,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.042328042328042326, + "trust_rate": 0.005291005291005291, "tracking_status": "ok", "state_counts": { - "static": 138, - "grasped_l": 43, + "static": 45, + "grasped_l": 113, "grasped_r": 0, - "grasped_both": 0, - "moving": 8 + "grasped_both": 30, + "moving": 1 }, "state_fractions": { - "static": 0.7301587301587301, + "static": 0.23809523809523808, "grasped": 0.0, - "moving": 0.042328042328042326 + "moving": 0.005291005291005291 }, "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 964f91c0b0ef49da62b4a6d349d34a0474219be2..aa56f72dab1231e076b8395d521eb637b59669ac 100644 --- a/samples/-0RheyDV3a0_474.8_487.3/signals.json +++ b/samples/-0RheyDV3a0_474.8_487.3/signals.json @@ -1 +1 @@ -{"n_frames": 189, "scene": {"contact_l": [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, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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0, - "n_frames_static": 101, - "n_frames_tracked": 0, + "note": "phase_d state-machine: wrist=60 static=40 tracked=1 mc_static=True scale=0.745 grasp_src=vetoed (pkl)", + "n_frames_wrist": 60, + "n_frames_static": 40, + "n_frames_tracked": 1, "state_per_frame": [ "static", "static", @@ -2647,65 +2647,65 @@ "static", "static", "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "moving", - "static", - "moving", - "moving", - "static", - "moving", - "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", - "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", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "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", @@ -2750,65 +2750,65 @@ null, null, null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - 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", + "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, @@ -3358,11 +3358,11 @@ ], "global_span_px": 36.58551788330078, "state_counts": { - "static": 86, + "static": 41, "grasped_l": 0, - "grasped_r": 0, + "grasped_r": 59, "grasped_both": 0, - "moving": 15 + "moving": 1 }, "wrist_used_per_frame": [ false, @@ -3371,6 +3371,65 @@ false, false, false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -3406,6 +3465,9 @@ false, false, false, + false + ], + "wrist_l_per_frame": [ false, false, false, @@ -3447,27 +3509,6 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - 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-22980,94 +22980,6 @@ 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, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - 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, @@ -23077,76 +22989,15 @@ true, true, true, - false, - false, - false, - false - ], - "is_moving_per_frame": [ - 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, true, - false, - false, - 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, true, true, true, @@ -23164,13 +23015,76 @@ true, true, true, - false, - false, - false, true, true, true, true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + false, + false, + false, + false + ], + "is_moving_per_frame": [ + false, + false, false, false, false, @@ -23183,9 +23097,6 @@ false, false, false, - false - ], - "close_per_frame": [ false, false, false, @@ -23258,9 +23169,6 @@ false, false, false, - true, - true, - true, false, false, false, @@ -23274,6 +23182,98 @@ false, false, false, + false, + false + ], + "close_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, + false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + false, + true, + true, + true, + true, + true, + true, + true, + true, + 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 2e36e95a9847d1189ebf4a1e5c28d905782f9fbc..a5dfad272c9a6890f0cb4dcdb4938f5cd35b1477 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 sha256:19b016b5080d3da93ee31cf16b3ceb0e76dcd579879980314f17999a95343607 -size 5598136 +oid sha256:2a2b3adce9c2cc2a498f08b294855f0e2a5fcb784cb63bab60efdb91d03907d6 +size 5607792 diff --git a/samples/-10PEfWOYSE_521.8_528.5/scene.json b/samples/-10PEfWOYSE_521.8_528.5/scene.json index d6f060e78b2c09e455cc3f00955ebbe506469490..c2f6dbc87211893956e7aa4044c1e4df7a82935b 100644 --- a/samples/-10PEfWOYSE_521.8_528.5/scene.json +++ b/samples/-10PEfWOYSE_521.8_528.5/scene.json @@ -232,19 +232,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.1485148514851485, + "trust_rate": 0.009900990099009901, "tracking_status": "ok", "state_counts": { - "static": 86, + "static": 41, "grasped_l": 0, - "grasped_r": 0, + "grasped_r": 59, "grasped_both": 0, - "moving": 15 + "moving": 1 }, "state_fractions": { - "static": 0.8514851485148515, + "static": 0.40594059405940597, "grasped": 0.0, - "moving": 0.1485148514851485 + "moving": 0.009900990099009901 }, "is_static_global": false, "n_state_frames": 101 @@ -347,19 +347,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.297029702970297, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 62, + "static": 4, "grasped_l": 0, - "grasped_r": 9, + "grasped_r": 97, "grasped_both": 0, - "moving": 30 + "moving": 0 }, "state_fractions": { - "static": 0.6138613861386139, + "static": 0.039603960396039604, "grasped": 0.0, - "moving": 0.297029702970297 + "moving": 0.0 }, "is_static_global": false, "n_state_frames": 101 diff --git a/samples/-10PEfWOYSE_521.8_528.5/signals.json b/samples/-10PEfWOYSE_521.8_528.5/signals.json index a962cc6898f8becd6607968cb6c0225a2dc1b7cf..10e656de38de6b788ac663c713f7fa343172f9be 100644 --- a/samples/-10PEfWOYSE_521.8_528.5/signals.json +++ b/samples/-10PEfWOYSE_521.8_528.5/signals.json @@ -1 +1 @@ -{"n_frames": 101, "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, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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-0.7836365699768066, 0.409060001373291, - 0.342112272977829 + 0.26624518632888794 ], [ 0.16689984500408173, -0.3761742413043976, -0.9113931059837341, - 1.4312412738800049 + 1.4951510429382324 ], [ 0.0, @@ -3003,19 +3003,19 @@ 0.8680787682533264, 0.4943750500679016, -0.045083675533533096, - -0.23872597515583038 + -0.306729257106781 ], [ 0.4675293266773224, -0.7836365699768066, 0.409060001373291, - 0.34489911794662476 + 0.2703932821750641 ], [ 0.16689984500408173, -0.3761742413043976, -0.9113931059837341, - 1.4338691234588623 + 1.4846545457839966 ], [ 0.0, @@ -3029,19 +3029,19 @@ 0.8680787682533264, 0.4943750500679016, -0.045083675533533096, - -0.23092228174209595 + -0.30681461095809937 ], [ 0.4675293266773224, -0.7836365699768066, 0.409060001373291, - 0.347125768661499 + 0.2740934193134308 ], [ 0.16689984500408173, -0.3761742413043976, -0.9113931059837341, - 1.4372766017913818 + 1.474602460861206 ], [ 0.0, @@ -3055,19 +3055,19 @@ 0.8680787682533264, 0.4943750500679016, -0.045083675533533096, - -0.2252461314201355 + -0.30740654468536377 ], [ 0.4675293266773224, -0.7836365699768066, 0.409060001373291, - 0.3490363657474518 + 0.2775607705116272 ], [ 0.16689984500408173, -0.3761742413043976, -0.9113931059837341, - 1.4395850896835327 + 1.4668190479278564 ], [ 0.0, @@ -3081,19 +3081,19 @@ 0.8680787682533264, 0.4943750500679016, -0.045083675533533096, - -0.22273406386375427 + -0.3086528778076172 ], [ 0.4675293266773224, -0.7836365699768066, 0.409060001373291, - 0.3508750796318054 + 0.2810104787349701 ], [ 0.16689984500408173, -0.3761742413043976, -0.9113931059837341, - 1.4433655738830566 + 1.463010311126709 ], [ 0.0, @@ -3107,19 +3107,19 @@ 0.8680787682533264, 0.4943750500679016, -0.045083675533533096, - -0.2244226038455963 + -0.3107014298439026 ], [ 0.4675293266773224, -0.7836365699768066, 0.409060001373291, - 0.3528861105442047 + 0.28465762734413147 ], [ 0.16689984500408173, -0.3761742413043976, -0.9113931059837341, - 1.449880838394165 + 1.464895486831665 ], [ 0.0, @@ -3135,35 +3135,6 @@ "n_frames_static": 0, "n_frames_tracked": 0, "state_per_frame": [ - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_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", @@ -3203,33 +3174,62 @@ "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_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", "grasped_both", "grasped_both", "grasped_both", @@ -3257,35 +3257,6 @@ "grasped_r" ], "grasp_hand_per_frame": [ - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", "both", "both", "both", @@ -3325,33 +3296,62 @@ "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", + "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", @@ -3986,9 +3986,9 @@ "global_span_px": 391.59881591796875, "state_counts": { "static": 0, - "grasped_l": 56, + "grasped_l": 0, "grasped_r": 18, - "grasped_both": 46, + "grasped_both": 102, "moving": 0 }, "wrist_used_per_frame": [ @@ -4236,35 +4236,6 @@ 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, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -4304,33 +4275,62 @@ 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -4548,7 +4548,6 @@ true, true, true, - false, true, true, true, @@ -4582,19 +4581,20 @@ true, true, true, - false, - false, + true, false, true, true, true, - false, - false, - false, - false, - false, true, - false, + true, + true, + true, + true, + true, + true, + true, + true, 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 cb0ab3b138aa70a2052bb755c874974fb39f5289..a5aef770687fb53c45dde944d23808e2484d4611 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:d3f6c53f2cad13d990cab3f83bf4c68d8d596770dc09e7e91019fb65ea02ef67 -size 3075616 +oid sha256:4f4029aebe42233c3e908c13415677ffd299686f84e9eb7c548388fb7928e113 +size 3075728 diff --git a/samples/-1r9yl-P-Ao_60.4_68.4/scene.json b/samples/-1r9yl-P-Ao_60.4_68.4/scene.json index 300b4a89562fd2cb9a7f9d895d564e0788d221cc..c1b6cca227006661233956f71519fec6d8c2b7d5 100644 --- a/samples/-1r9yl-P-Ao_60.4_68.4/scene.json +++ b/samples/-1r9yl-P-Ao_60.4_68.4/scene.json @@ -126,9 +126,9 @@ "tracking_status": "ok", "state_counts": { "static": 0, - "grasped_l": 56, + "grasped_l": 0, "grasped_r": 18, - "grasped_both": 46, + "grasped_both": 102, "moving": 0 }, "state_fractions": { diff --git a/samples/-1r9yl-P-Ao_60.4_68.4/signals.json b/samples/-1r9yl-P-Ao_60.4_68.4/signals.json index b40e7bf4ab9bde2709cae36cae2eb6bb952db3ab..08e42cfe5e06c9591944a0923c6258cfe5ab4129 100644 --- a/samples/-1r9yl-P-Ao_60.4_68.4/signals.json +++ b/samples/-1r9yl-P-Ao_60.4_68.4/signals.json @@ -1 +1 @@ -{"n_frames": 120, "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, 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, 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, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0], "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, 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https://git-lfs.github.com/spec/v1 -oid sha256:490a177ccef0eeefbe53008a58c69d9c6a225c0585b94005e478b94a97eab67b -size 3723011 +oid sha256:691a36d2ac12cd29da0833bdcfb46ce61baf308354f92bfe75cc9c827bc07f72 +size 3723927 diff --git a/samples/-20k07PjLTA_48.0_52.4/scene.json b/samples/-20k07PjLTA_48.0_52.4/scene.json index ba3710d63440e539c0ba2fe604226d45f988ca94..1faaedd9461283fc17042ba18766dd5e54c8021a 100644 --- a/samples/-20k07PjLTA_48.0_52.4/scene.json +++ b/samples/-20k07PjLTA_48.0_52.4/scene.json @@ -279,19 +279,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.16417910447761194, + "trust_rate": 0.014925373134328358, "tracking_status": "ok", "state_counts": { "static": 0, "grasped_l": 0, - "grasped_r": 56, + "grasped_r": 66, "grasped_both": 0, - "moving": 11 + "moving": 1 }, "state_fractions": { "static": 0.0, "grasped": 0.0, - "moving": 0.16417910447761194 + "moving": 0.014925373134328358 }, "is_static_global": false, "n_state_frames": 67 diff 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"moving", - "moving", - "moving", "grasped_r", "grasped_r", "grasped_r", @@ -15133,12 +15121,24 @@ "grasped_r", "grasped_r", "grasped_r", - "static", - "moving", - "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" ], "grasp_hand_per_frame": [ null, @@ -15252,18 +15252,6 @@ "R", "R", "R", - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, "R", "R", "R", @@ -15281,12 +15269,24 @@ "R", "R", "R", - null, - null, - null, - null, - null, - null + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R" ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -16025,11 +16025,11 @@ ], "global_span_px": 253.23532104492188, "state_counts": { - "static": 21, + "static": 20, "grasped_l": 0, - "grasped_r": 108, + "grasped_r": 126, "grasped_both": 0, - "moving": 17 + "moving": 0 }, "wrist_used_per_frame": [ false, @@ -16143,18 +16143,6 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -16172,12 +16160,24 @@ true, true, true, - false, - false, - false, - false, - false, - false + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true ], "wrist_l_per_frame": [ false, @@ -16439,18 +16439,6 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -16468,14 +16456,31 @@ true, true, true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true + ], + "is_moving_per_frame": [ false, false, false, false, false, - false - ], - "is_moving_per_frame": [ false, false, false, @@ -16587,18 +16592,6 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, false, false, @@ -16617,13 +16610,6 @@ false, false, false, - true, - true, - true, - true, - true - ], - "close_per_frame": [ false, false, false, @@ -16631,6 +16617,13 @@ false, false, false, + false, + false, + false, + false, + false + ], + "close_per_frame": [ false, false, false, @@ -16644,11 +16637,6 @@ false, false, false, - true, - true, - true, - true, - true, false, false, false, @@ -16660,7 +16648,19 @@ true, true, true, - false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -16678,11 +16678,6 @@ true, true, true, - false, - false, - false, - false, - false, true, true, true, @@ -16691,11 +16686,6 @@ true, true, true, - false, - false, - false, - false, - false, true, true, true, @@ -16704,7 +16694,6 @@ true, true, true, - false, true, true, true, @@ -16732,21 +16721,7 @@ true, true, true, - false, - false, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -16758,18 +16733,43 @@ true, true, true, - false, - false, - false, true, true, true, - 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 ] } } \ No newline at end of file diff --git a/samples/-2cNMO9Mm3Q_192.4_209.2/recording.viser b/samples/-2cNMO9Mm3Q_192.4_209.2/recording.viser index e95a69d68907b47b3d19f0df51f431de766555f6..f885e5bfaf8bc30f1bafe5cd5a2d77c212b4d637 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 sha256:4412fd45c988d58f4ae63e17f21d7d709c763046707642cc339c6efe73b5aa2b -size 4343178 +oid sha256:0ac838c898fcfd73568d025f72e73ff4f29248d17a7dac087579d270dd3b47e7 +size 4346273 diff --git a/samples/-2cNMO9Mm3Q_192.4_209.2/scene.json b/samples/-2cNMO9Mm3Q_192.4_209.2/scene.json index 5aa5d6e43d2a13d5fa30a9c1cb13361c06673706..b896a4fd492d594178951e06689e1d20e2400313 100644 --- a/samples/-2cNMO9Mm3Q_192.4_209.2/scene.json +++ b/samples/-2cNMO9Mm3Q_192.4_209.2/scene.json @@ -189,19 +189,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.06164383561643835, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { "static": 19, - "grasped_l": 97, - "grasped_r": 21, - "grasped_both": 0, - "moving": 9 + "grasped_l": 99, + "grasped_r": 23, + "grasped_both": 5, + "moving": 0 }, 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b/samples/-4L5vp6eces_332.8_353.9/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2132349877851c322e4dce92f4ebedebc58a0e60c1755691bf1889ad10b20c19 -size 3945995 +oid sha256:d77ce5234ad6a980483b3e5851456925efaf805c5ad578f47fc2381ff8e2481b +size 3948099 diff --git a/samples/-4L5vp6eces_332.8_353.9/signals.json b/samples/-4L5vp6eces_332.8_353.9/signals.json index cf8636ce91895b4b6290cf4ece472d9ae854ba48..4148e0d99c05a3a2302648c279c26ef3865d99f3 100644 --- a/samples/-4L5vp6eces_332.8_353.9/signals.json +++ b/samples/-4L5vp6eces_332.8_353.9/signals.json @@ -1 +1 @@ -{"n_frames": 317, "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, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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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wrist=44 static=122 tracked=13 mc_static=True scale=0.488 grasp_src=vetoed (pkl)", + "n_frames_wrist": 44, + "n_frames_static": 122, + "n_frames_tracked": 13, "state_per_frame": [ "static", "moving", @@ -4675,38 +4675,11 @@ "moving", "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_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", + "moving", + "moving", + "moving", + "moving", + "moving", "static", "static", "static", @@ -4755,12 +4728,9 @@ "static", "static", "static", - "moving", - "moving", "static", "static", "static", - "moving", "static", "static", "static", @@ -4785,9 +4755,12 @@ "static", "static", "static", + "moving", + "moving", "static", "static", "static", + "moving", "static", "static", "static", @@ -4811,19 +4784,6 @@ "static", "static", "static", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "static", "static", "static", "static", @@ -4844,10 +4804,50 @@ "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", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "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, @@ -4856,29 +4856,6 @@ null, null, null, - "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, @@ -5008,27 +4985,50 @@ 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", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L" ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -5932,43 +5932,13 @@ ], "global_span_px": 18.713109970092773, "state_counts": { - "static": 140, - "grasped_l": 19, + "static": 122, + "grasped_l": 44, "grasped_r": 0, "grasped_both": 0, - "moving": 20 + "moving": 13 }, "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, @@ -6098,28 +6068,6 @@ 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, @@ -6145,6 +6093,33 @@ true, true, true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true + ], + "wrist_l_per_frame": [ false, false, false, @@ -6280,25 +6255,50 @@ 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 ], "wrist_r_per_frame": [ false, @@ -6488,6 +6488,11 @@ true, true, true, + true, + true, + true, + true, + true, false, false, false, @@ -6563,17 +6568,24 @@ false, false, false, + true, + true, + false, + false, + false, + true, + false, + false, + false, + false, false, false, false, false, false, - true, - true, false, false, false, - true, false, false, false, @@ -6624,18 +6636,6 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, false, false, @@ -6668,9 +6668,7 @@ false, false, false, - false, true, - false, true, true, true, @@ -6688,19 +6686,6 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -6708,21 +6693,7 @@ true, true, true, - false, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -6732,7 +6703,36 @@ true, true, 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, @@ -6789,7 +6789,6 @@ true, true, true, - false, true, true, true, @@ -6808,14 +6807,15 @@ true, true, true, - false, - false, - false, - 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-0.7623656392097473, - -0.06102563813328743, - -0.21858614683151245 + 0.5095159411430359, + -0.8239725232124329, + 0.2479167878627777, + -0.27391278743743896 ], [ - -0.11344578117132187, - -0.016350997611880302, - -0.9934096336364746, - -0.15289585292339325 + 0.8582254648208618, + 0.46588537096977234, + -0.21540629863739014, + -0.209111750125885 ], [ - 0.7563435435295105, - 0.6469399333000183, - -0.09702150523662567, - 1.1895289421081543 + 0.06198808178305626, + 0.322521448135376, + 0.9445302486419678, + 1.1967450380325317 ], [ 0.0, @@ -11431,22 +11431,22 @@ ], [ [ - 0.6472327709197998, - -0.7491487264633179, - -0.14094652235507965, - -0.2390260547399521 + 0.396995484828949, + -0.8894208669662476, + 0.2265504151582718, + -0.28106895089149475 ], [ - -0.049493130296468735, - 0.14320997893810272, - -0.9884539842605591, - -0.15742526948451996 + 0.9139488935470581, + 0.36044031381607056, + -0.1864945888519287, + -0.18215815722942352 ], [ - 0.7606840133666992, - 0.6467357277870178, - 0.0556124784052372, - 1.1866419315338135 + 0.08421427756547928, + 0.2810930013656616, + 0.9559783935546875, + 1.1933941841125488 ], [ 0.0, @@ -11457,22 +11457,22 @@ ], [ [ - 0.65721195936203, - -0.7263067960739136, - -0.20137245953083038, - -0.24949240684509277 + 0.17726929485797882, + -0.9678826928138733, + 0.17826583981513977, + -0.26586517691612244 ], [ - -0.046737175434827805, - 0.22739018499851227, - -0.9726815223693848, - -0.15620622038841248 + 0.9779994487762451, + 0.15300597250461578, + -0.14179635047912598, + -0.1566048413515091 ], [ - 0.7522553205490112, - 0.6486695408821106, - 0.11549802869558334, - 1.1827235221862793 + 0.10996649414300919, + 0.19948004186153412, + 0.9737120270729065, + 1.1869491338729858 ], [ 0.0, @@ -11483,22 +11483,22 @@ ], [ [ - 0.6732825636863708, - -0.6980305910110474, - -0.24381108582019806, - -0.24750688672065735 + -0.14987191557884216, + -0.9843190312385559, + 0.09302935749292374, + -0.22485575079917908 ], [ - -0.13019722700119019, - 0.21266958117485046, - -0.9684112668037415, - -0.14905373752117157 + 0.9822955131530762, + -0.1589365303516388, + -0.09917013347148895, + -0.13782010972499847 ], [ - 0.7278319001197815, - 0.6837579607963562, - 0.05230506882071495, - 1.1781604290008545 + 0.11240081489086151, + 0.07651950418949127, + 0.9907122850418091, + 1.177426815032959 ], [ 0.0, @@ -11509,10 +11509,10 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=34 static=124 tracked=21 mc_static=False scale=0.113 grasp_src=vetoed (pkl)", - "n_frames_wrist": 34, - "n_frames_static": 124, - "n_frames_tracked": 21, + "note": "phase_d state-machine: wrist=69 static=110 tracked=0 mc_static=False scale=0.113 grasp_src=vetoed (pkl)", + "n_frames_wrist": 69, + "n_frames_static": 110, + "n_frames_tracked": 0, "state_per_frame": [ "static", "static", @@ -11643,42 +11643,6 @@ "grasped_l", "grasped_l", "grasped_l", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "moving", - "moving", - "moving", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "moving", - "moving", "grasped_l", "grasped_l", "grasped_l", @@ -11692,6 +11656,42 @@ "grasped_l", "grasped_l", "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "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_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", "grasped_l" ], "grasp_hand_per_frame": [ @@ -11824,42 +11824,6 @@ "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, "L", "L", "L", @@ -11873,6 +11837,42 @@ "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", + "both", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", "L" ], "is_static_global": false, @@ -12777,11 +12777,11 @@ ], "global_span_px": 119.73078155517578, "state_counts": { - "static": 141, - "grasped_l": 33, + "static": 110, + "grasped_l": 60, "grasped_r": 0, - "grasped_both": 0, - "moving": 5 + "grasped_both": 9, + "moving": 0 }, "wrist_used_per_frame": [ false, @@ -12913,42 +12913,42 @@ 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -13094,42 +13094,42 @@ 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -13306,6 +13306,15 @@ false, false, false, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -13315,18 +13324,14 @@ false, false, false, + false + ], + "is_moving_per_frame": [ false, false, false, false, false, - false, - false, - false, - false, - false - ], - "is_moving_per_frame": [ false, false, false, @@ -13480,9 +13485,6 @@ false, false, false, - true, - true, - true, false, false, false, @@ -13490,8 +13492,6 @@ false, false, false, - true, - true, false, false, false, @@ -13637,15 +13637,7 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, + true, false, false, false, @@ -13677,11 +13669,19 @@ true, true, true, - false, true, true, true, - false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, diff --git a/samples/-4eiU1SHpzY_111.9_123.8/recording.viser b/samples/-4eiU1SHpzY_111.9_123.8/recording.viser index 0007b3371ebdc8400f947d48c25ac743ea658584..61f069bc99c252652886089c8fb201578da3e6a8 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:b205827b201beb854d7de8f561c7fbddb199ee54e33f402f27d849ab23dc52fd -size 5557319 +oid sha256:10366221710622a91df19b316c0ffcd76a1a620bfed7aaa93c288324e38db818 +size 5559445 diff --git a/samples/-4eiU1SHpzY_111.9_123.8/scene.json b/samples/-4eiU1SHpzY_111.9_123.8/scene.json index 8f16cf1f5670688256da0fb9dfc178b5e315a9d2..cbc0faf2ffb2797a369fd47eb88f6955015f3352 100644 --- a/samples/-4eiU1SHpzY_111.9_123.8/scene.json +++ b/samples/-4eiU1SHpzY_111.9_123.8/scene.json @@ -144,19 +144,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.11173184357541899, + "trust_rate": 0.07262569832402235, "tracking_status": "ok", "state_counts": { - "static": 140, - "grasped_l": 19, + "static": 122, + "grasped_l": 44, "grasped_r": 0, "grasped_both": 0, - "moving": 20 + "moving": 13 }, "state_fractions": { - "static": 0.7821229050279329, + "static": 0.6815642458100558, "grasped": 0.0, - "moving": 0.11173184357541899 + "moving": 0.07262569832402235 }, "is_static_global": false, "n_state_frames": 179 @@ -167,19 +167,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.027932960893854747, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 141, - "grasped_l": 33, + "static": 110, + "grasped_l": 60, "grasped_r": 0, - "grasped_both": 0, - "moving": 5 + "grasped_both": 9, + "moving": 0 }, "state_fractions": { - "static": 0.7877094972067039, + "static": 0.6145251396648045, "grasped": 0.0, - "moving": 0.027932960893854747 + "moving": 0.0 }, "is_static_global": false, "n_state_frames": 179 diff --git a/samples/-4eiU1SHpzY_111.9_123.8/signals.json b/samples/-4eiU1SHpzY_111.9_123.8/signals.json index 1bbef77c0ca8e173df088b2e8786a5b37a47a0cf..995401709bc73632852e7740877f58069f880dbf 100644 --- a/samples/-4eiU1SHpzY_111.9_123.8/signals.json +++ b/samples/-4eiU1SHpzY_111.9_123.8/signals.json @@ -1 +1 @@ -{"n_frames": 179, "scene": {"contact_l": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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sha256:7b4cb9fe51dc146c2fb6b6eac5eb30dce3fef0bdc4906e74468b0cb9d909b6a4 -size 3238844 +oid sha256:d62a2560439665c8caf94abab4e4a707a10953f4e7057430822f22f8bf0d8949 +size 3239376 diff --git a/samples/-4eiU1SHpzY_319.4_323.4/scene.json b/samples/-4eiU1SHpzY_319.4_323.4/scene.json index afa1b4cc4555db659e851245d99cdb1735be5382..6dd8b8be18f219cf15bed8b337cd4d3687a35297 100644 --- a/samples/-4eiU1SHpzY_319.4_323.4/scene.json +++ b/samples/-4eiU1SHpzY_319.4_323.4/scene.json @@ -188,19 +188,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.06451612903225806, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 1, - "grasped_l": 45, - "grasped_r": 0, - "grasped_both": 12, - "moving": 4 + "static": 0, + "grasped_l": 32, + "grasped_r": 5, + "grasped_both": 25, + "moving": 0 }, "state_fractions": { - "static": 0.016129032258064516, + "static": 0.0, "grasped": 0.0, - "moving": 0.06451612903225806 + "moving": 0.0 }, "is_static_global": false, "n_state_frames": 62 @@ -214,14 +214,14 @@ "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 32, + "static": 21, "grasped_l": 0, - "grasped_r": 30, + "grasped_r": 41, "grasped_both": 0, "moving": 0 }, "state_fractions": { - "static": 0.5161290322580645, + "static": 0.3387096774193548, "grasped": 0.0, "moving": 0.0 }, diff --git a/samples/-4eiU1SHpzY_319.4_323.4/signals.json b/samples/-4eiU1SHpzY_319.4_323.4/signals.json index e599af43d92f920cccc0b6cdf84eae9dab1da78a..994c0ee01786d897195b16a465e3108149b31cac 100644 --- a/samples/-4eiU1SHpzY_319.4_323.4/signals.json +++ b/samples/-4eiU1SHpzY_319.4_323.4/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, 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, 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, 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grasp_src=vetoed (pkl)", - "n_frames_wrist": 55, - "n_frames_static": 8, - "n_frames_tracked": 21, + "note": "phase_d state-machine: wrist=82 static=0 tracked=2 mc_static=False scale=0.756 grasp_src=vetoed (pkl)", + "n_frames_wrist": 82, + "n_frames_static": 0, + "n_frames_tracked": 2, "state_per_frame": [ - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", "grasped_r", "grasped_r", "grasped_r", @@ -5476,66 +5461,66 @@ "grasped_both", "grasped_both", "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_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", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", "moving", "moving", "moving" ], "grasp_hand_per_frame": [ - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", "R", "R", "R", @@ -5562,46 +5547,61 @@ "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", - null, - null, - null, - 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false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -6180,38 +6118,138 @@ 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 - ], - "wrist_r_per_frame": [ + 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + 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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@@ true, true, true, + false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -6381,9 +6427,6 @@ true, true, true, - true - ], - "close_per_frame": [ true, true, true, @@ -6397,25 +6440,8 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, - false, - false, - false, - false, - false, - false, - false, true, - false, true, true, true, @@ -6438,33 +6464,7 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, false, false, false @@ -6482,22 +6482,22 @@ "T_seq": [ [ [ - 0.495925635099411, - 0.8680997490882874, - 0.02146276645362377, - -0.10029949992895126 + 0.21224550902843475, + 0.9766074419021606, + 0.03449239581823349, + 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wrist=74 static=1 tracked=9 mc_static=False scale=0.392 grasp_src=vetoed (pkl)", - "n_frames_wrist": 74, - "n_frames_static": 1, - "n_frames_tracked": 9, + "note": "phase_d state-machine: wrist=82 static=0 tracked=2 mc_static=False scale=0.392 grasp_src=vetoed (pkl)", + "n_frames_wrist": 82, + "n_frames_static": 0, + "n_frames_tracked": 2, "state_per_frame": [ - "static", - "moving", - "moving", - "moving", - "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_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", "grasped_l", "grasped_l", "grasped_l", @@ -8718,6 +8696,51 @@ "grasped_both", "grasped_both", "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_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", @@ -8729,56 +8752,11 @@ "grasped_l", "grasped_l", "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "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" ], "grasp_hand_per_frame": [ - 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", @@ -8804,6 +8782,51 @@ "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", @@ -8815,29 +8838,6 @@ "L", "L", "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - null, - null, null, null, null @@ -9269,19 +9269,13 @@ ], "global_span_px": 239.06593322753906, "state_counts": { - "static": 1, - "grasped_l": 58, + "static": 0, + "grasped_l": 21, "grasped_r": 0, - "grasped_both": 15, - "moving": 10 + "grasped_both": 60, + "moving": 3 }, "wrist_used_per_frame": [ - false, - false, - false, - false, - false, - false, true, true, true, @@ -9355,19 +9349,19 @@ true, true, true, - false, - false, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false ], "wrist_l_per_frame": [ - false, - false, - false, - false, - false, - false, true, true, true, @@ -9441,35 +9435,19 @@ true, true, true, - false, - false, + true, + true, + true, + true, + true, + true, + true, + true, false, false, 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, @@ -9495,6 +9473,51 @@ true, true, true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + 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, @@ -9508,6 +9531,9 @@ false, false, false, + false + ], + "is_moving_per_frame": [ false, false, false, @@ -9531,30 +9557,6 @@ false, false, false, - false - ], - "is_moving_per_frame": [ - false, - true, - true, - true, - true, - true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, false, false, false, @@ -9615,17 +9617,9 @@ false, true, true, - true, - true, true ], "close_per_frame": [ - false, - false, - false, - false, - false, - false, true, true, true, @@ -9654,14 +9648,10 @@ true, true, true, - false, - false, true, true, true, - false, true, - false, true, true, true, @@ -9699,8 +9689,18 @@ true, true, true, - false, - false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, 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 8d7574511d3a1ad0b0cb46cfcf7e066540383898..eef57ec8e0d0dd2c193013b87f44e93eb7e6c9f9 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:e4d2e2b9ad541eddaa09fdcd642516d3f01c0c5cc38102de29b1d41d6f76bf0e -size 2977732 +oid sha256:6891ae4ff7bfeb7eab8e8ecc80228d5d930864c14560d04aaa2329f548f02a5f +size 2974611 diff --git a/samples/-6Z315Ts-Y4_78.3_83.8/scene.json b/samples/-6Z315Ts-Y4_78.3_83.8/scene.json index 30a6b37136d8ae6164652dce202fb88d741b1b7d..5a9375037871087ae730b253e61d9c21d0d8c9c6 100644 --- a/samples/-6Z315Ts-Y4_78.3_83.8/scene.json +++ b/samples/-6Z315Ts-Y4_78.3_83.8/scene.json @@ -189,19 +189,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.35714285714285715, + "trust_rate": 0.03571428571428571, "tracking_status": "ok", "state_counts": { "static": 0, - "grasped_l": 13, - "grasped_r": 30, - "grasped_both": 11, - "moving": 30 + "grasped_l": 2, + "grasped_r": 15, + "grasped_both": 64, + "moving": 3 }, "state_fractions": { "static": 0.0, "grasped": 0.0, - "moving": 0.35714285714285715 + "moving": 0.03571428571428571 }, "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": 0.11904761904761904, + "trust_rate": 0.03571428571428571, "tracking_status": "ok", "state_counts": { - "static": 1, - "grasped_l": 58, + "static": 0, + "grasped_l": 21, "grasped_r": 0, - "grasped_both": 15, - "moving": 10 + "grasped_both": 60, + "moving": 3 }, 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-0.04288473725318909 + -0.04290338605642319 ], [ 0.4686759412288666, 0.4060044586658478, -0.7845401167869568, - 1.331831932067871 + 1.331912875175476 ], [ 0.0, @@ -36274,19 +36274,19 @@ -0.34057775139808655, -0.7729582190513611, -0.5352964997291565, - -0.01528096478432417 + -0.015274274162948132 ], [ -0.8882752060890198, 0.45113611221313477, -0.08627478778362274, - -0.043008603155612946 + -0.042993683367967606 ], [ 0.3081783950328827, 0.4461073577404022, -0.8402465581893921, - 1.3296289443969727 + 1.3295643329620361 ], [ 0.0, @@ -36297,10 +36297,10 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=31 static=71 tracked=65 mc_static=False scale=0.134 grasp_src=vetoed (pkl)", - "n_frames_wrist": 31, - "n_frames_static": 71, - "n_frames_tracked": 65, + "note": "phase_d state-machine: wrist=100 static=48 tracked=19 mc_static=False scale=0.134 grasp_src=vetoed (pkl)", + "n_frames_wrist": 100, + "n_frames_static": 48, + "n_frames_tracked": 19, "state_per_frame": [ "static", "static", @@ -36363,77 +36363,77 @@ "grasped_r", "grasped_r", "grasped_r", - "grasped_r", - "grasped_r", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "static", - "static", - "moving", - "moving", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "moving", - "moving", - "static", - "moving", - "static", - "static", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "static", - "static", - "static", - "moving", - "static", - "static", - "moving", - "moving", - "moving", - "moving", + "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_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", "moving", "moving", "moving", @@ -36532,77 +36532,77 @@ "R", "R", "R", - "R", - "R", - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, + "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", + "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", null, null, null, @@ -37481,11 +37481,11 @@ ], "global_span_px": 250.96487426757812, "state_counts": { - "static": 67, - "grasped_l": 0, - "grasped_r": 30, - "grasped_both": 0, - "moving": 70 + "static": 48, + "grasped_l": 58, + "grasped_r": 28, + "grasped_both": 13, + "moving": 20 }, "wrist_used_per_frame": [ false, @@ -37551,6 +37551,75 @@ true, true, true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + 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, @@ -37585,6 +37654,9 @@ false, false, false, + false + ], + "wrist_l_per_frame": [ false, false, false, @@ -37646,38 +37718,77 @@ false, false, false, - false, - false, - false, - false, - false, - false, - 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + 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, @@ -37712,6 +37823,9 @@ false, false, false, + false + ], + "wrist_r_per_frame": [ false, false, false, @@ -37745,6 +37859,36 @@ 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, false, false, false, @@ -37788,6 +37932,17 @@ false, false, false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -37823,9 +37978,6 @@ false, false, false, - false - ], - "wrist_r_per_frame": [ false, false, false, @@ -37840,6 +37992,9 @@ false, false, false, + false + ], + "is_moving_per_frame": [ false, false, false, @@ -37859,37 +38014,6 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - false, false, false, false, @@ -37902,6 +38026,8 @@ false, false, false, + true, + true, false, false, false, @@ -37989,12 +38115,6 @@ false, false, false, - false, - false, - false, - false - ], - "is_moving_per_frame": [ false, false, false, @@ -38007,6 +38127,17 @@ false, false, false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -38022,12 +38153,20 @@ false, false, false, + true, + true, + true, + true, + true, + true, + true, false, + false + ], + "close_per_frame": [ false, false, false, - true, - true, false, false, false, @@ -38065,48 +38204,12 @@ true, true, true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - 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static=0 tracked=17 mc_static=False scale=0.270 grasp_src=vetoed (pkl)", - "n_frames_wrist": 96, + "note": "phase_d state-machine: wrist=113 static=0 tracked=0 mc_static=False scale=0.270 grasp_src=vetoed (pkl)", + "n_frames_wrist": 113, "n_frames_static": 0, - "n_frames_tracked": 17, + "n_frames_tracked": 0, "state_per_frame": [ - "static", "static", "grasped_r", "grasped_r", @@ -11645,6 +11644,35 @@ "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", @@ -11684,27 +11712,6 @@ "grasped_both", "grasped_both", "grasped_both", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "static", - "moving", - "moving", - "moving", - "moving", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", "grasped_both", "grasped_both", "grasped_both", @@ -11734,17 +11741,9 @@ "grasped_both", "grasped_both", "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "moving", - "moving", - "moving", - "moving", - "moving" + "grasped_r" ], "grasp_hand_per_frame": [ - null, null, "R", "R", @@ -11760,6 +11759,35 @@ "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", @@ -11799,27 +11827,6 @@ "both", "both", "both", - "R", - "R", - "R", - "R", - "R", - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - "R", - "R", - "R", - "R", "both", "both", "both", @@ -11849,14 +11856,7 @@ "both", "both", "R", - "R", - "R", - "R", - null, - null, - null, - null, - null + "R" ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -12427,14 +12427,13 @@ ], "global_span_px": 92.00602722167969, "state_counts": { - "static": 3, + "static": 1, "grasped_l": 0, - "grasped_r": 27, - "grasped_both": 67, - "moving": 16 + "grasped_r": 17, + "grasped_both": 95, + "moving": 0 }, "wrist_used_per_frame": [ - false, false, true, true, @@ -12494,18 +12493,6 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -12542,11 +12529,24 @@ true, 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 ], "wrist_l_per_frame": [ false, @@ -12604,27 +12604,6 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -12653,18 +12632,38 @@ true, true, true, - 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, false, false ], "wrist_r_per_frame": [ - false, false, true, true, @@ -12724,18 +12723,6 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -12772,11 +12759,24 @@ true, 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 ], "is_moving_per_frame": [ false, @@ -12839,18 +12839,7 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, false, - true, - true, - true, - true, false, false, false, @@ -12887,19 +12876,9 @@ false, false, false, - true, - true, - true, - true, - true - ], - "close_per_frame": [ false, false, - true, false, - true, - true, false, false, false, @@ -12910,9 +12889,11 @@ false, false, false, - true, false, false, + false + ], + "close_per_frame": [ false, true, true, @@ -12923,22 +12904,18 @@ true, true, true, + false, true, true, true, true, - false, true, true, - false, true, true, true, true, - false, - false, true, - false, true, true, true, @@ -12952,24 +12929,8 @@ true, true, true, - false, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, - false, - false, - false, true, true, true, @@ -12979,22 +12940,16 @@ true, true, true, - false, true, - false, - false, - false, true, true, true, true, true, - false, true, true, true, true, - false, true, true, true, @@ -13002,11 +12957,56 @@ true, 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true ], "scale_correction_orig_sam3d": 0.2697640061378479 } diff --git a/samples/-7rFmF9Aka8_94.7_102.2/recording.viser b/samples/-7rFmF9Aka8_94.7_102.2/recording.viser index 265514ea00526ebfa7e7928d8dbd0d0dde517ac4..0188dc75c2738c908f162d32b20a111b8b530a68 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:e75365b337343476cc3f8d940910fde39b5749634eedd94d7395f1e898cabca3 -size 4031368 +oid sha256:872f580462fd1c3316fb33465f3906f38dad0b1dea9d99621695d9b37e03ec89 +size 4022915 diff --git a/samples/-7rFmF9Aka8_94.7_102.2/scene.json b/samples/-7rFmF9Aka8_94.7_102.2/scene.json index 308a11ecdef998b36bdba7e67cffbfb7e3bd819b..7baa46661ba716e1fdda9ad699c1200909765211 100644 --- a/samples/-7rFmF9Aka8_94.7_102.2/scene.json +++ b/samples/-7rFmF9Aka8_94.7_102.2/scene.json @@ -212,19 +212,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.1415929203539823, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 3, + "static": 1, "grasped_l": 0, - "grasped_r": 27, - "grasped_both": 67, - "moving": 16 + "grasped_r": 17, + "grasped_both": 95, + "moving": 0 }, "state_fractions": { - "static": 0.02654867256637168, + "static": 0.008849557522123894, "grasped": 0.0, - "moving": 0.1415929203539823 + "moving": 0.0 }, "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 98d394be41e4a217bd10306a57c36007fb16d5a8..89d88ff2dc9723107c5bd82bc418c3e82ddd6f9f 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, 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"grasped_r", "grasped_r", "grasped_r", - "moving", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", "moving", "static", "moving", @@ -5491,10 +5491,6 @@ null, null, null, - null, - null, - null, - null, "R", "R", "R", @@ -5604,7 +5600,11 @@ "R", "R", "R", - null, + "R", + "R", + "R", + "R", + "R", null, null, null, @@ -6612,9 +6612,9 @@ "state_counts": { "static": 75, "grasped_l": 0, - "grasped_r": 109, + "grasped_r": 114, "grasped_both": 0, - "moving": 18 + "moving": 13 }, "wrist_used_per_frame": [ false, @@ -6637,10 +6637,6 @@ false, false, false, - false, - false, - false, - false, true, true, true, @@ -6750,7 +6746,11 @@ true, true, true, - false, + true, + true, + true, + true, + true, false, false, false, @@ -7045,10 +7045,6 @@ false, false, false, - false, - false, - false, - false, true, true, true, @@ -7158,7 +7154,11 @@ true, true, true, - false, + true, + true, + true, + true, + true, false, false, false, @@ -7249,10 +7249,6 @@ false, false, true, - true, - true, - true, - true, false, false, false, @@ -7362,7 +7358,11 @@ false, false, false, - true, + false, + false, + false, + false, + false, true, false, true, @@ -7453,10 +7453,6 @@ false, false, false, - false, - false, - false, - false, true, true, true, @@ -7468,9 +7464,6 @@ true, true, true, - false, - false, - false, true, true, true, @@ -7490,10 +7483,8 @@ true, true, true, - false, true, true, - false, true, true, true, @@ -7505,7 +7496,16 @@ true, true, true, - false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, false, @@ -7557,16 +7557,16 @@ false, false, false, - false, true, true, true, true, - false, - false, true, true, - false, + true, + true, + true, + true, false, false, false, diff --git a/samples/-7uLbtVsmQs_427.8_441.2/recording.viser b/samples/-7uLbtVsmQs_427.8_441.2/recording.viser index 3abc2011cbe3df88c2eb372c2aefbbe166eeb1c2..6cfffd2a1f93f089c9f2c8eecc4ca0ae186349a8 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:bef70b4a19474c3ec0a0d70bcb0b5c8bc9c01c2bc3a67331932261393118edd6 -size 4131582 +oid sha256:c207286899e4d69c876264738b89df7a4ae8ea73dc03f0ae6091744cccbade1b +size 4132353 diff --git a/samples/-7uLbtVsmQs_427.8_441.2/scene.json b/samples/-7uLbtVsmQs_427.8_441.2/scene.json index 7bf64c3c83ca4c0f754dddd7d0f2e62dd79c9aa0..6ea7ac4001bf82c597feacaa30fed905c9d8c243 100644 --- a/samples/-7uLbtVsmQs_427.8_441.2/scene.json +++ b/samples/-7uLbtVsmQs_427.8_441.2/scene.json @@ -122,19 +122,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.0891089108910891, + "trust_rate": 0.06435643564356436, "tracking_status": "ok", "state_counts": { "static": 75, "grasped_l": 0, - "grasped_r": 109, + "grasped_r": 114, "grasped_both": 0, - "moving": 18 + "moving": 13 }, "state_fractions": { "static": 0.3712871287128713, "grasped": 0.0, - "moving": 0.0891089108910891 + "moving": 0.06435643564356436 }, "is_static_global": false, "n_state_frames": 202 diff --git a/samples/-7uLbtVsmQs_427.8_441.2/signals.json b/samples/-7uLbtVsmQs_427.8_441.2/signals.json index 1700bd123414cb9767bda57caaee2c4637cff7f7..3ef37e757e1006f55bd1cd9da4f9ea63142f0ff7 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, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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", - "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", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both" ], "grasp_hand_per_frame": [ - "R", "both", "both", "both", @@ -4103,55 +4102,56 @@ "both", "both", "both", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - null, - null, - null + "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" ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -4470,10 +4470,10 @@ ], "global_span_px": 42.627479553222656, "state_counts": { - "static": 3, + "static": 0, "grasped_l": 0, - "grasped_r": 47, - "grasped_both": 12, + "grasped_r": 0, + "grasped_both": 62, "moving": 0 }, "wrist_used_per_frame": [ @@ -4536,12 +4536,11 @@ true, true, true, - false, - false, - false + true, + true, + true ], "wrist_l_per_frame": [ - false, true, true, true, @@ -4554,55 +4553,56 @@ 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 + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true ], "wrist_r_per_frame": [ true, @@ -4664,9 +4664,9 @@ true, true, true, - false, - false, - false + true, + true, + true ], "is_moving_per_frame": [ false, @@ -4783,18 +4783,18 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, true, true, - false, - false, - false + true, + true, + true, + true, + true, + true, + true, + true, + true, + true ] }, "2": { diff --git a/samples/-821U1ZYZOs_245.0_249.0/recording.viser b/samples/-821U1ZYZOs_245.0_249.0/recording.viser index 2dd973d1e132f44fb9b7535182eb9f0a016d3848..6e338b64122748f3822224a3b202fe5fe6b52f56 100644 --- a/samples/-821U1ZYZOs_245.0_249.0/recording.viser +++ b/samples/-821U1ZYZOs_245.0_249.0/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b8ec133ae3a89874dc9d37db6fe3ddcc3e3e4638d7a74e0e83189ad6b5ac04d5 -size 3435122 +oid sha256:23387b55c9639dad303bc69a0aadb73baf550a66cbfd637c4b3731fabc8e9507 +size 3436631 diff --git a/samples/-821U1ZYZOs_245.0_249.0/scene.json b/samples/-821U1ZYZOs_245.0_249.0/scene.json index a2b3127fa491b1062c82f3b044bec04cef1ab071..1a8f184b9d20790f30e1af48ba23c4573dddade9 100644 --- a/samples/-821U1ZYZOs_245.0_249.0/scene.json +++ b/samples/-821U1ZYZOs_245.0_249.0/scene.json @@ -192,14 +192,14 @@ "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 3, + "static": 0, "grasped_l": 0, - "grasped_r": 47, - "grasped_both": 12, + "grasped_r": 0, + "grasped_both": 62, "moving": 0 }, "state_fractions": { - "static": 0.04838709677419355, + "static": 0.0, "grasped": 0.0, "moving": 0.0 }, diff --git a/samples/-821U1ZYZOs_245.0_249.0/signals.json b/samples/-821U1ZYZOs_245.0_249.0/signals.json index 4dbbff66f0345ca56b16f3dc2251edac1621de9a..77870ef8260ad9b38fc2f700c6204f4de56e1a86 100644 --- a/samples/-821U1ZYZOs_245.0_249.0/signals.json +++ b/samples/-821U1ZYZOs_245.0_249.0/signals.json @@ -1 +1 @@ -{"n_frames": 62, "scene": {"contact_l": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0, 0.0], "contact_r": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", "moving", "static" ], @@ -3444,49 +3444,49 @@ "both", "both", "both", - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", null, null ], @@ -4114,11 +4114,11 @@ ], "global_span_px": 141.69915771484375, "state_counts": { - "static": 28, + "static": 1, "grasped_l": 0, - "grasped_r": 0, - "grasped_both": 79, - "moving": 17 + "grasped_r": 15, + "grasped_both": 107, + "moving": 1 }, "wrist_used_per_frame": [ true, @@ -4200,49 +4200,49 @@ 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + 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 ], @@ -4326,34 +4326,34 @@ 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, + true, + 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, @@ -4452,7 +4452,53 @@ true, true, true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + 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 + ], + "is_moving_per_frame": [ false, false, false, @@ -4496,9 +4542,6 @@ false, false, false, - false - ], - "is_moving_per_frame": [ false, false, false, @@ -4579,29 +4622,40 @@ false, false, true, + false + ], + "close_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, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -4614,17 +4668,7 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, true, - false - ], - "close_per_frame": [ true, true, true, @@ -4665,15 +4709,12 @@ true, true, true, - false, true, true, true, true, true, - false, true, - false, true, true, true, @@ -4704,49 +4745,8 @@ 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, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, - false, - 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 8e32f62995c410b05bb60f63615fdb08460654f8..0e2629f5ffbf1816f6d2603ce69537c512103b00 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 sha256:44d799b34d05b7dea6a2dd7e947a3002aecf5ec43c5e81289fc52a04f3046af9 -size 2856927 +oid sha256:97bd7d18cc57bc20471ebd86323b8d7a39dc339378b17b1f4788750ba2ad6104 +size 2856087 diff --git a/samples/-821U1ZYZOs_913.3_921.5/scene.json b/samples/-821U1ZYZOs_913.3_921.5/scene.json index 546c94cad3ec22f95fb8f2e2895626681807d166..42eb5b1593a7f5252929af43ee46ca36fe87fe62 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": 0.13709677419354838, + "trust_rate": 0.008064516129032258, "tracking_status": "ok", "state_counts": { - "static": 28, + "static": 1, "grasped_l": 0, - "grasped_r": 0, - "grasped_both": 79, - "moving": 17 + "grasped_r": 15, + "grasped_both": 107, + "moving": 1 }, "state_fractions": { - "static": 0.22580645161290322, + "static": 0.008064516129032258, "grasped": 0.0, - "moving": 0.13709677419354838 + "moving": 0.008064516129032258 }, "is_static_global": false, "n_state_frames": 124 diff --git a/samples/-821U1ZYZOs_913.3_921.5/signals.json b/samples/-821U1ZYZOs_913.3_921.5/signals.json index 8b3b735aaba3f1df3bf62ca8584f6d9ed1cfcd4f..16f67188bb061967872dbcb5a1ed0f50f1f6317a 100644 --- a/samples/-821U1ZYZOs_913.3_921.5/signals.json +++ b/samples/-821U1ZYZOs_913.3_921.5/signals.json @@ -1 +1 @@ -{"n_frames": 124, "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, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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"wrist_used_per_frame": [ @@ -3519,8 +3519,8 @@ true, true, true, - false, - false, + true, + true, false, false, false, @@ -3714,7 +3714,7 @@ true, true, true, - false, + true, false, true, true, diff --git a/samples/-88rTFaynAQ_448.4_456.4/recording.viser b/samples/-88rTFaynAQ_448.4_456.4/recording.viser index 4dadfd47bd376459938bc4aaa0aa80ac5b7dddc3..3ada5e7adf3634bb02cf9a283a6cf2e307d75ade 100644 --- a/samples/-88rTFaynAQ_448.4_456.4/recording.viser +++ b/samples/-88rTFaynAQ_448.4_456.4/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b0b0ea5034f1a5f00888bfc88435e0006f3f18647f7baa19bebab386a0e97acd -size 4457051 +oid sha256:23d2805bebf2c3bfdc42a1fde6d69b5ae0a9dfa68b9690dbf4589a429ea3a332 +size 4459857 diff --git a/samples/-88rTFaynAQ_448.4_456.4/scene.json b/samples/-88rTFaynAQ_448.4_456.4/scene.json index 81e91f6167476a888c854f29341495a592062705..50d95d3138ebb99e4079533899f15c41a862133a 100644 --- a/samples/-88rTFaynAQ_448.4_456.4/scene.json +++ b/samples/-88rTFaynAQ_448.4_456.4/scene.json @@ -126,9 +126,9 @@ "tracking_status": "ok", "state_counts": { "static": 0, - "grasped_l": 7, + "grasped_l": 5, "grasped_r": 0, - "grasped_both": 88, + "grasped_both": 90, "moving": 2 }, "state_fractions": { diff --git a/samples/-88rTFaynAQ_448.4_456.4/signals.json b/samples/-88rTFaynAQ_448.4_456.4/signals.json index 1dbbcb36e449872c73f4e8867dd26f4dfa7dc440..253973b6d1c2163c5f4fd0ef6c0182d0e1c5925c 100644 --- a/samples/-88rTFaynAQ_448.4_456.4/signals.json +++ b/samples/-88rTFaynAQ_448.4_456.4/signals.json @@ -1 +1 @@ -{"n_frames": 97, "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, 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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", @@ -21063,29 +21047,37 @@ "grasped_both", "grasped_both", "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", "grasped_r", "grasped_r", "grasped_r", - "moving", - "moving", - "moving", - "moving", - "static", - "moving", - "moving", - "moving", - "moving", - "static", - "static", - "moving", - "moving", - "moving", - "moving", - "static", - "moving", - "moving", - "moving", - "moving", "grasped_r", "grasped_r", "grasped_r", @@ -21130,8 +21122,16 @@ "grasped_r", "grasped_r", "grasped_r", - "moving", - "moving" + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r" ], "grasp_hand_per_frame": [ "R", @@ -21157,22 +21157,22 @@ "both", "both", "both", - "L", - "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", + "both", + "both", + "both", + "both", "both", "both", "both", @@ -21185,26 +21185,6 @@ "R", "R", "R", - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, "R", "R", "R", @@ -21249,8 +21229,28 @@ "R", "R", "R", - null, - null + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R" ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -21844,11 +21844,11 @@ ], "global_span_px": 219.20713806152344, "state_counts": { - "static": 4, - "grasped_l": 16, - "grasped_r": 51, - "grasped_both": 28, - "moving": 18 + "static": 0, + "grasped_l": 0, + "grasped_r": 73, + "grasped_both": 44, + "moving": 0 }, "wrist_used_per_frame": [ true, @@ -21902,26 +21902,6 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -21966,8 +21946,28 @@ 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 ], "wrist_l_per_frame": [ false, @@ -22112,22 +22112,6 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -22140,26 +22124,6 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -22204,8 +22168,44 @@ 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true ], "is_moving_per_frame": [ false, @@ -22259,26 +22259,10 @@ false, false, false, - true, - true, - true, - true, false, - true, - true, - true, - true, false, false, - true, - true, - true, - true, false, - true, - true, - true, - true, false, false, false, @@ -22323,8 +22307,24 @@ false, false, false, - true, - true + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false ], "close_per_frame": [ true, @@ -22341,13 +22341,7 @@ true, true, true, - false, true, - false, - false, - false, - false, - false, true, true, true, @@ -22375,23 +22369,15 @@ true, true, true, - false, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -22400,7 +22386,11 @@ false, true, true, - false, + true, + true, + true, + true, + true, true, true, false, @@ -22412,7 +22402,6 @@ true, true, true, - false, true, true, true, @@ -22420,30 +22409,41 @@ true, true, true, - false, true, true, - false, - false, true, - false, - false, true, - false, true, true, - false, true, - false, true, - false, - false, - false, - false, - false, 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, + true ] } } \ No newline at end of file diff --git a/samples/-8WOMg810tk_122.7_130.7/recording.viser b/samples/-8WOMg810tk_122.7_130.7/recording.viser index a4860ca5d410c94dccd453fd38ea15667197c69f..c1a6c57d032c7c725fbb216514a8735f784cf8ce 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:d17c3b7851d064eae9c2ee98cc5954ba5f040cb2b5eecf1973e08f8a0f26d971 -size 4960667 +oid sha256:46b142ea33bc18174f8845ebea5524184751f72241ce74d4a193b780ec71465c +size 4939029 diff --git a/samples/-8WOMg810tk_122.7_130.7/scene.json b/samples/-8WOMg810tk_122.7_130.7/scene.json index 75c39b4bb07adac7db3ccd951037a8a134fa0808..78f909af314284c47da9b5c38ca0b57e059727c8 100644 --- a/samples/-8WOMg810tk_122.7_130.7/scene.json +++ b/samples/-8WOMg810tk_122.7_130.7/scene.json @@ -302,19 +302,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.15384615384615385, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 4, - "grasped_l": 16, - "grasped_r": 51, - "grasped_both": 28, - "moving": 18 + "static": 0, + "grasped_l": 0, + "grasped_r": 73, + "grasped_both": 44, + "moving": 0 }, "state_fractions": { - "static": 0.03418803418803419, + "static": 0.0, "grasped": 0.0, - "moving": 0.15384615384615385 + "moving": 0.0 }, "is_static_global": false, "n_state_frames": 117 diff --git a/samples/-8WOMg810tk_122.7_130.7/signals.json b/samples/-8WOMg810tk_122.7_130.7/signals.json index 3ba69b3bb47b3a674977a907d3b3164c0250c631..a9d4af93b4263ca025d4c9938ecf21ac741c7376 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, 0.0, 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, 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, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.0, 0.0, 1.0, 0.0, 0.0, 1.0, 0.0, 1.0, 1.0, 0.0, 1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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, 0.0, 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, 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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"static", - "static", - "moving", - "moving", + "grasped_r", + "grasped_r", + "grasped_r", "grasped_r", "grasped_r", "grasped_r", @@ -8760,9 +8760,9 @@ null, null, null, - null, - null, - null, + "R", + "R", + "R", "R", "R", "R", @@ -9252,11 +9252,11 @@ ], "global_span_px": 124.30917358398438, "state_counts": { - "static": 45, + "static": 44, "grasped_l": 18, - "grasped_r": 14, + "grasped_r": 17, "grasped_both": 0, - "moving": 7 + "moving": 5 }, "wrist_used_per_frame": [ false, @@ -9264,9 +9264,9 @@ false, false, false, - false, - false, - false, + true, + true, + true, true, true, true, @@ -9436,9 +9436,9 @@ false, false, false, - false, - false, - false, + true, + true, + true, true, true, true, @@ -9523,8 +9523,8 @@ false, false, false, - true, - true, + false, + false, false, false, false, @@ -9608,8 +9608,8 @@ false, false, false, - false, - false, + true, + true, false, true, false, diff --git a/samples/-8WOMg810tk_333.9_339.5/recording.viser b/samples/-8WOMg810tk_333.9_339.5/recording.viser index 643192f1fc86ac5b72d145facdbc5fff9b1f8890..86049ecd1ec1f79221bf0ae3f399ea783337a2d0 100644 --- a/samples/-8WOMg810tk_333.9_339.5/recording.viser +++ b/samples/-8WOMg810tk_333.9_339.5/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d88cffb06ba226c4264c56a9e5781100c610b22d8d7776ad65abbef6884267e4 -size 4860547 +oid sha256:c425dc33e44a1f6be6547342c0f647bb1ca9a9ad481e0916a6c1854788b74fdc +size 4852915 diff --git a/samples/-8WOMg810tk_333.9_339.5/scene.json b/samples/-8WOMg810tk_333.9_339.5/scene.json index 67c80fdf3df4c1335d79c3a3d1a88bd73a66c3f6..5699f9fcc474e669269e84cbecaefa9373364d1f 100644 --- a/samples/-8WOMg810tk_333.9_339.5/scene.json +++ b/samples/-8WOMg810tk_333.9_339.5/scene.json @@ -192,14 +192,14 @@ "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 15, - "grasped_l": 69, + "static": 14, + "grasped_l": 70, "grasped_r": 0, "grasped_both": 0, "moving": 0 }, "state_fractions": { - "static": 0.17857142857142858, + "static": 0.16666666666666666, "grasped": 0.0, "moving": 0.0 }, @@ -212,19 +212,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.08333333333333333, + "trust_rate": 0.05952380952380952, "tracking_status": "ok", "state_counts": { - "static": 45, + "static": 44, "grasped_l": 18, - "grasped_r": 14, + "grasped_r": 17, "grasped_both": 0, - "moving": 7 + "moving": 5 }, "state_fractions": { - "static": 0.5357142857142857, + "static": 0.5238095238095238, "grasped": 0.0, - "moving": 0.08333333333333333 + "moving": 0.05952380952380952 }, "is_static_global": false, "n_state_frames": 84 diff --git a/samples/-8WOMg810tk_333.9_339.5/signals.json b/samples/-8WOMg810tk_333.9_339.5/signals.json index 139c5e0fd081fd04537317af956918e3ed497940..eb5d6196d1f12f53c9a704178aa8ebb1b936ceb1 100644 --- a/samples/-8WOMg810tk_333.9_339.5/signals.json +++ b/samples/-8WOMg810tk_333.9_339.5/signals.json @@ -1 +1 @@ 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"n_frames_tracked": 3, "state_per_frame": [ "static", "static", @@ -18389,81 +18389,63 @@ "grasped_both", "grasped_both", "grasped_both", - "grasped_r", - "grasped_r", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "static", - "static", - "moving", - "static", - "static", - "moving", - "static", - "moving", - "moving", - "static", - "static", - "moving", - "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", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", + "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", "static", "static", "static", @@ -18509,9 +18491,6 @@ "static", "static", "static", - "moving", - "moving", - "moving", "static", "static", "static", @@ -18519,12 +18498,7 @@ "static", "static", "static", - "moving", "static", - "moving", - "moving", - "moving", - "moving", "static", "static", "static", @@ -18535,9 +18509,35 @@ "static", "static", "static", - "moving", - "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_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "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, @@ -18570,91 +18570,63 @@ "both", "both", "both", - "R", - "R", - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - 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"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" ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -19595,11 +19595,11 @@ ], "global_span_px": 148.44236755371094, "state_counts": { - "static": 134, - "grasped_l": 0, - "grasped_r": 2, - "grasped_both": 16, - "moving": 27 + "static": 74, + "grasped_l": 84, + "grasped_r": 0, + "grasped_both": 18, + "moving": 3 }, "wrist_used_per_frame": [ false, @@ -19634,6 +19634,61 @@ true, true, true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + 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, @@ -19697,90 +19752,35 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - 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 ], "wrist_l_per_frame": [ false, @@ -19813,6 +19813,63 @@ true, true, true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + 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, @@ -19876,92 +19933,35 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - 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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false, false, @@ -20295,9 +20282,6 @@ false, false, false, - true, - true, - true, false, false, false, @@ -20305,12 +20289,7 @@ false, false, false, - true, false, - true, - true, - true, - true, false, false, false, @@ -20321,9 +20300,30 @@ false, false, false, - 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 ], "close_per_frame": [ false, @@ -20369,16 +20369,14 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, true, false, + true, + true, + true, + true, false, + true, false, false, false, @@ -20409,6 +20407,12 @@ false, false, false, + true, + true, + true, + true, + true, + true, false, false, false, @@ -20472,6 +20476,7 @@ false, false, false, + true, false, false, false, @@ -20481,6 +20486,8 @@ false, false, false, + true, + true, false, false, false, @@ 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- "static", - "moving", - "moving", - "moving", - "moving", - "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_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, @@ -25515,28 +25515,28 @@ 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 + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L" ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -26437,11 +26437,11 @@ ], "global_span_px": 148.14285278320312, "state_counts": { - "static": 139, - "grasped_l": 0, + "static": 134, + "grasped_l": 22, "grasped_r": 0, "grasped_both": 0, - "moving": 40 + "moving": 23 }, "wrist_used_per_frame": [ false, @@ -26601,28 +26601,28 @@ 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 ], "wrist_l_per_frame": [ false, @@ -26782,28 +26782,28 @@ 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 ], "wrist_r_per_frame": [ false, @@ -27144,28 +27144,28 @@ false, false, true, - true, - true, - true, false, - true, - true, - true, - true, - true, - true, - true, false, false, - true, false, false, - true, - true, - true, - true, - true, - true + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false ], "close_per_frame": [ false, diff --git a/samples/-8WOMg810tk_48.4_60.3/recording.viser b/samples/-8WOMg810tk_48.4_60.3/recording.viser index 9f3ca0593b95d74956824c384b660fd64bdeaa12..3a7ad43ea186cc333ebc2992a5e8bc2ed6ff5dd9 100644 --- a/samples/-8WOMg810tk_48.4_60.3/recording.viser +++ b/samples/-8WOMg810tk_48.4_60.3/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0c0f39f3c79628e8705450817335d9fbab6ccc63a6e69d9b2775c308b3794cc4 -size 8129169 +oid sha256:a4f76e69e8800d2524f65617a14b22c3b6e2a688772bb222a751da37d49dc277 +size 8124174 diff --git a/samples/-8WOMg810tk_48.4_60.3/scene.json b/samples/-8WOMg810tk_48.4_60.3/scene.json index 0f5ca5473bbc268598c954c825bbe6b8c180fb64..9ed9999e28b763ced5fea23504573bf9b87e3ac8 100644 --- a/samples/-8WOMg810tk_48.4_60.3/scene.json +++ b/samples/-8WOMg810tk_48.4_60.3/scene.json @@ -234,19 +234,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.15083798882681565, + "trust_rate": 0.01675977653631285, "tracking_status": "ok", "state_counts": { - "static": 134, - "grasped_l": 0, - "grasped_r": 2, - "grasped_both": 16, - "moving": 27 + "static": 74, + "grasped_l": 84, + "grasped_r": 0, + "grasped_both": 18, + "moving": 3 }, "state_fractions": { - "static": 0.7486033519553073, + "static": 0.4134078212290503, "grasped": 0.0, - "moving": 0.15083798882681565 + "moving": 0.01675977653631285 }, "is_static_global": false, "n_state_frames": 179 @@ -257,19 +257,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.22346368715083798, + "trust_rate": 0.12849162011173185, "tracking_status": "ok", "state_counts": { - "static": 139, - "grasped_l": 0, + "static": 134, + "grasped_l": 22, "grasped_r": 0, "grasped_both": 0, - "moving": 40 + "moving": 23 }, "state_fractions": { - "static": 0.776536312849162, + "static": 0.7486033519553073, "grasped": 0.0, - "moving": 0.22346368715083798 + "moving": 0.12849162011173185 }, "is_static_global": false, "n_state_frames": 179 diff --git a/samples/-8WOMg810tk_48.4_60.3/signals.json b/samples/-8WOMg810tk_48.4_60.3/signals.json index ae9ca0dfac2659e9fdd3531b8fac8121d24d501b..fae18cde73c846889efb16bbf56ad81bc557e90b 100644 --- a/samples/-8WOMg810tk_48.4_60.3/signals.json +++ b/samples/-8WOMg810tk_48.4_60.3/signals.json @@ -1 +1 @@ -{"n_frames": 179, "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, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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, 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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", + "grasped_l", + "grasped_l" ], "grasp_hand_per_frame": [ - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null + "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" ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -8533,72 +8533,131 @@ ], "global_span_px": 18.075422286987305, "state_counts": { - "static": 48, - "grasped_l": 0, + "static": 0, + "grasped_l": 57, "grasped_r": 0, "grasped_both": 0, - "moving": 9 + "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, - false, - false, - false, - false, - false, - false, - 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, + true, + true, + true, + true, + true, + true, + true ], "wrist_l_per_frame": [ + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true + ], + "wrist_r_per_frame": [ false, false, false, @@ -8657,7 +8716,7 @@ false, false ], - "wrist_r_per_frame": [ + "is_moving_per_frame": [ false, false, false, @@ -8716,66 +8775,19 @@ false, false ], - "is_moving_per_frame": [ - false, - false, - false, - false, + "close_per_frame": [ + 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, true, - false, - false, - false, - false, - false, - false, true, true, true, true, - false, - false, - false, - false, - false, - false, true, - true - ], - "close_per_frame": [ true, true, true, @@ -8815,24 +8827,12 @@ true, true, false, + true, + true, false, false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false + true, + true ] } } \ No newline at end of file diff --git a/samples/-8WOMg810tk_56.3_60.3/recording.viser b/samples/-8WOMg810tk_56.3_60.3/recording.viser index bff38b9362053a03e431c572f5dabe7ba798a85e..46141770bbd80450ebaa032fe096e518266871f4 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:f36206e5afa7a2837c67f610d2ffd48f04b038a8020e03fe5c71b198260b00c9 -size 3548322 +oid sha256:df1c5aa0039eb9111404e903a3ef7ef16bd4f47925b7c01a56f62453acf8e1db +size 3542045 diff --git a/samples/-8WOMg810tk_56.3_60.3/scene.json b/samples/-8WOMg810tk_56.3_60.3/scene.json index d44c7d61b30e2cebf6a749f7ff0137a4c9992dc0..76b1e3fc135bd3c97fd71e697caf733599241b19 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": 0.0, "tracking_status": "ok", "state_counts": { - "static": 48, - "grasped_l": 0, + "static": 0, + "grasped_l": 57, "grasped_r": 0, "grasped_both": 0, - "moving": 9 + "moving": 0 }, "state_fractions": { - "static": 0.8421052631578947, + "static": 0.0, "grasped": 0.0, - "moving": 0.15789473684210525 + "moving": 0.0 }, "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..8941cb953aeb75acc336ff64ff8808d66c466110 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, 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-0.36749032139778137, + 1.6336346864700317 ], [ 0.0, @@ -4661,67 +4661,67 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=0 static=34 tracked=38 mc_static=False scale=0.488 grasp_src=vetoed (pkl)", - "n_frames_wrist": 0, - "n_frames_static": 34, - "n_frames_tracked": 38, + "note": "phase_d state-machine: wrist=55 static=15 tracked=2 mc_static=False scale=0.488 grasp_src=vetoed (pkl)", + "n_frames_wrist": 55, + "n_frames_static": 15, + "n_frames_tracked": 2, "state_per_frame": [ "static", "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "moving", - "moving", - "moving", - "moving", - "static", - "moving", - "static", - "static", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "static", - "static", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "static", - "static", - "static", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "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", + "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_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", "moving", "static", "moving", @@ -4742,60 +4742,60 @@ "grasp_hand_per_frame": [ null, null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, + "L", + "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", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "R", + "R", + "R", + "R", + "R", + "R", + "R", null, null, null, @@ -5180,69 +5180,69 @@ ], "global_span_px": 20.479564666748047, "state_counts": { - "static": 37, - "grasped_l": 0, - "grasped_r": 0, - "grasped_both": 0, - "moving": 35 + "static": 15, + "grasped_l": 16, + "grasped_r": 7, + "grasped_both": 31, + "moving": 3 }, "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, - 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, + true, + true, + true, + true, false, false, false, @@ -5263,6 +5263,53 @@ "wrist_l_per_frame": [ 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, false, false, false, @@ -5285,6 +5332,9 @@ false, false, false, + false + ], + "wrist_r_per_frame": [ false, false, false, @@ -5303,20 +5353,44 @@ 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, false, false, false, @@ -5334,10 +5408,7 @@ false, false ], - "wrist_r_per_frame": [ - false, - false, - false, + "is_moving_per_frame": [ false, false, false, @@ -5394,7 +5465,9 @@ false, false, false, + true, false, + true, false, false, false, @@ -5404,18 +5477,16 @@ false, false, false, + true, false, false, false ], - "is_moving_per_frame": [ - false, - false, - false, - false, - false, + "close_per_frame": [ false, false, + true, + true, false, false, false, @@ -5424,12 +5495,7 @@ false, false, false, - true, - true, - true, - true, false, - true, false, false, true, @@ -5442,8 +5508,6 @@ true, true, true, - false, - false, true, true, true, @@ -5464,81 +5528,17 @@ true, true, true, - false, true, - false, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, - false, - false, - false - ], - "close_per_frame": [ - false, - false, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, - false, - false, - true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, false, false, - false, + true, false, false, false, diff --git a/samples/-8WOMg810tk_92.8_97.6/recording.viser b/samples/-8WOMg810tk_92.8_97.6/recording.viser index 48d0d7cfcdd67bdd1974c32a8cd595aba45bbe7e..2e12138682a9368a3ea492c4cd7e81ae767e7ee2 100644 --- a/samples/-8WOMg810tk_92.8_97.6/recording.viser +++ b/samples/-8WOMg810tk_92.8_97.6/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b2ff7312d75385eeabf3e1fe2e4c327e4786b5e09b65765f0070463f6fba0656 -size 4339123 +oid sha256:964d3e97665a838c42143167a2442f4518fee660db8181551cc7f537b45295ba +size 4332895 diff --git a/samples/-8WOMg810tk_92.8_97.6/scene.json b/samples/-8WOMg810tk_92.8_97.6/scene.json index 89e9533fe00ad068da5ebbfd1f4c90d93326f335..bf7fc988282036cfcdf7542080daf416c7067b19 100644 --- a/samples/-8WOMg810tk_92.8_97.6/scene.json +++ b/samples/-8WOMg810tk_92.8_97.6/scene.json @@ -189,19 +189,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.4861111111111111, + "trust_rate": 0.041666666666666664, "tracking_status": "ok", "state_counts": { - "static": 37, - "grasped_l": 0, - "grasped_r": 0, - "grasped_both": 0, - "moving": 35 + "static": 15, + "grasped_l": 16, + "grasped_r": 7, + "grasped_both": 31, + "moving": 3 }, "state_fractions": { - "static": 0.5138888888888888, + "static": 0.20833333333333334, "grasped": 0.0, - "moving": 0.4861111111111111 + "moving": 0.041666666666666664 }, "is_static_global": false, "n_state_frames": 72 diff --git a/samples/-8WOMg810tk_92.8_97.6/signals.json b/samples/-8WOMg810tk_92.8_97.6/signals.json index 6881c3376747440868faa9274331f850f139a63b..fd8598fe69f5b49e2bc43de281ea9e7943d46e42 100644 --- a/samples/-8WOMg810tk_92.8_97.6/signals.json +++ b/samples/-8WOMg810tk_92.8_97.6/signals.json @@ -1 +1 @@ -{"n_frames": 72, "scene": {"contact_l": [0.0, 0.0, 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, 1.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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], "contact_r": [0.0, 0.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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-0.054254841059446335 + -0.060837455093860626 ], [ -0.1944573074579239, 0.9664031267166138, -0.16808156669139862, - 0.1322062909603119 + 0.13572128117084503 ], [ -0.13887503743171692, -0.19675011932849884, -0.9705684781074524, - 1.008469581604004 + 0.9543466567993164 ], [ 0.0, @@ -1261,19 +1261,19 @@ -0.9729017019271851, -0.16582006216049194, 0.16113965213298798, - -0.054239410907030106 + -0.06090812385082245 ], [ -0.19295498728752136, 0.9662494659423828, -0.17067603766918182, - 0.1333090364933014 + 0.13712087273597717 ], [ -0.12739959359169006, -0.19714370369911194, -0.9720615744590759, - 1.0095300674438477 + 0.9538161754608154 ], [ 0.0, @@ -1287,19 +1287,19 @@ -0.9762915968894958, -0.17590901255607605, 0.12613773345947266, - -0.05403052270412445 + -0.05997363105416298 ], [ -0.19587871432304382, 0.9659609794616699, -0.16897009313106537, - 0.13349509239196777 + 0.13740205764770508 ], [ -0.09212076663970947, -0.18967178463935852, -0.9775164127349854, - 1.0113204717636108 + 0.9533064961433411 ], [ 0.0, @@ -1315,7 +1315,6 @@ "n_frames_static": 0, "n_frames_tracked": 0, "state_per_frame": [ - "grasped_l", "grasped_both", "grasped_both", "grasped_both", @@ -1325,49 +1324,49 @@ "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_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both" ], "grasp_hand_per_frame": [ - "L", "both", "both", "both", @@ -1377,46 +1376,47 @@ "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" + "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" ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -1676,9 +1676,9 @@ "global_span_px": 16.18739891052246, "state_counts": { "static": 0, - "grasped_l": 41, + "grasped_l": 0, "grasped_r": 0, - "grasped_both": 9, + "grasped_both": 50, "moving": 0 }, "wrist_used_per_frame": [ @@ -1786,7 +1786,6 @@ true ], "wrist_r_per_frame": [ - false, true, true, true, @@ -1796,46 +1795,47 @@ 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 + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true ], "is_moving_per_frame": [ false, @@ -1892,7 +1892,6 @@ "close_per_frame": [ true, true, - false, true, true, true, @@ -1924,8 +1923,9 @@ true, true, true, - false, - false, + true, + true, + true, true, true, true, diff --git a/samples/-9A2VyaIkX4_105.4_109.4/recording.viser b/samples/-9A2VyaIkX4_105.4_109.4/recording.viser index 596bf728316d83d8a41648dfea1bd2e6f83f2cd1..ccb21d2c1959028536725abdb5fb3359c7d78666 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:a6dcbc33e115bcb357a41f8bde1fa126517bfca808a908d8e9365a90992063fb -size 1848709 +oid sha256:4eed307a7a5e774892971e75bb826cda4fd794c10466eea5f191f5a0025532df +size 1850580 diff --git a/samples/-9A2VyaIkX4_105.4_109.4/scene.json b/samples/-9A2VyaIkX4_105.4_109.4/scene.json index b4a16042ac10b90a7c302b4b7ef83c0dc01ac17c..a01babb6d4023e2130f176967a6ce2ea6e670394 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": 41, + "grasped_l": 0, "grasped_r": 0, - "grasped_both": 9, + "grasped_both": 50, "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 6fd9c7ec7a38082f7c101fd44718117a966eeb46..e0cbde8fc9cfa4fdccbf2d5588527a6b55ba241e 100644 --- a/samples/-9A2VyaIkX4_105.4_109.4/signals.json +++ b/samples/-9A2VyaIkX4_105.4_109.4/signals.json @@ -1 +1 @@ -{"n_frames": 50, "scene": {"contact_l": [1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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], "contact_r": [1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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], "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], "motion": [0.0, 10.965856552124023, 7.5, 7.382411479949951, 3.640054941177368, 4.7169904708862305, 5.0, 3.2015621662139893, 6.4031243324279785, 0.0, 4.609772205352783, 1.8027756214141846, 1.0, 1.1180340051651, 1.1180340051651, 1.5811388492584229, 0.5, 0.5, 0.5, 0.0, 0.7071067690849304, 0.5, 0.7071067690849304, 0.0, 0.5, 0.7071067690849304, 1.0, 4.924428939819336, 8.602325439453125, 2.0615527629852295, 11.011357307434082, 9.013877868652344, 9.219544410705566, 4.609772205352783, 2.1213202476501465, 2.2360680103302, 1.8027756214141846, 4.27200174331665, 6.4031243324279785, 1.0, 1.0, 1.5, 3.9051249027252197, 2.0615527629852295, 2.5495097637176514, 5.656854152679443, 0.5, 1.5811388492584229, 0.7071067690849304, 0.0]}, "per_object": {"0": {"trust": [true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true], "state": ["grasped_l", "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"]}}} \ No newline at end of file +{"n_frames": 50, "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], "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], "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], "motion": [0.0, 10.965856552124023, 7.5, 7.382411479949951, 3.640054941177368, 4.7169904708862305, 5.0, 3.2015621662139893, 6.4031243324279785, 0.0, 4.609772205352783, 1.8027756214141846, 1.0, 1.1180340051651, 1.1180340051651, 1.5811388492584229, 0.5, 0.5, 0.5, 0.0, 0.7071067690849304, 0.5, 0.7071067690849304, 0.0, 0.5, 0.7071067690849304, 1.0, 4.924428939819336, 8.602325439453125, 2.0615527629852295, 11.011357307434082, 9.013877868652344, 9.219544410705566, 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(pkl)", - "n_frames_wrist": 59, - "n_frames_static": 33, - "n_frames_tracked": 16, + "note": "phase_d state-machine: wrist=84 static=16 tracked=8 mc_static=False scale=0.133 grasp_src=vetoed (pkl)", + "n_frames_wrist": 84, + "n_frames_static": 16, + "n_frames_tracked": 8, "state_per_frame": [ "static", "static", @@ -15296,23 +15296,23 @@ "grasped_r", "grasped_r", "grasped_r", - "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", @@ -15363,15 +15363,15 @@ "moving", "moving", "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving" + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l" ], "grasp_hand_per_frame": [ null, @@ -15406,23 +15406,23 @@ "R", "R", "R", - 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", @@ -15473,15 +15473,15 @@ null, null, null, - null, - null, - null, - null, - null, - null, - null, - null, - null + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L" ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -16030,11 +16030,11 @@ ], "global_span_px": 317.4018859863281, "state_counts": { - "static": 33, - "grasped_l": 0, - "grasped_r": 57, + "static": 16, + "grasped_l": 9, + "grasped_r": 74, "grasped_both": 0, - "moving": 18 + "moving": 9 }, "wrist_used_per_frame": [ false, @@ -16069,23 +16069,23 @@ true, true, true, - 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, @@ -16136,15 +16136,15 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, - false, - false + true, + true, + true, + true, + true, + true, + true, + true, + true ], "wrist_l_per_frame": [ false, @@ -16246,15 +16246,15 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, - false, - false + true, + true, + true, + true, + true, + true, + true, + true, + true ], "wrist_r_per_frame": [ false, @@ -16289,23 +16289,23 @@ true, true, true, - 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, @@ -16466,15 +16466,15 @@ true, true, true, - true, - true, - true, - true, - true, - true, - true, - true, - true + false, + false, + false, + false, + false, + false, + false, + false, + false ], "close_per_frame": [ false, @@ -16560,12 +16560,12 @@ true, true, true, - false, true, true, true, - false, - false, + true, + true, + true, true, false, false, @@ -16576,15 +16576,15 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, - false, - false + true, + true, + true, + true, + true, + true, + true, + true, + true ] } } \ No newline at end of file diff --git a/samples/-A4uygdLv4A_149.3_156.4/recording.viser b/samples/-A4uygdLv4A_149.3_156.4/recording.viser index f0eb97f5c17bc11a11c5d4c4292e663f47006833..20df95839cada169614afbe448cdaeb50ea5af8a 100644 --- 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 sha256:028ab667c21c2abc5b239b1301f7c2aa12322cc35b286d6203dac0cf01fc9064 -size 3989042 +oid sha256:b4e84b088a47b8ab62ef94294717f996bbcb0062d39e8b574921e27b5c6324d8 +size 3988099 diff --git a/samples/-A4uygdLv4A_149.3_156.4/scene.json b/samples/-A4uygdLv4A_149.3_156.4/scene.json index b8ba4f628d9c84436867f8d5f0a176012cd6b9bc..a5e3a26fbffa8ff619ad74a872b416088565b792 100644 --- a/samples/-A4uygdLv4A_149.3_156.4/scene.json +++ b/samples/-A4uygdLv4A_149.3_156.4/scene.json @@ -257,19 +257,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.16666666666666666, + "trust_rate": 0.08333333333333333, "tracking_status": "ok", "state_counts": { - "static": 33, - "grasped_l": 0, - "grasped_r": 57, + "static": 16, + "grasped_l": 9, + "grasped_r": 74, "grasped_both": 0, - "moving": 18 + "moving": 9 }, "state_fractions": { - "static": 0.3055555555555556, + "static": 0.14814814814814814, "grasped": 0.0, - "moving": 0.16666666666666666 + "moving": 0.08333333333333333 }, "is_static_global": false, "n_state_frames": 108 diff --git a/samples/-A4uygdLv4A_149.3_156.4/signals.json b/samples/-A4uygdLv4A_149.3_156.4/signals.json index 77685cd598d5b53b5e83775071ff42e5d585cd58..58221c1e7ca445a9e27d4877932d113730621f1a 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, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 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], [ 0.0, @@ -10603,18 +10603,11 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=83 static=6 tracked=14 mc_static=False scale=0.150 grasp_src=vetoed (pkl)", - "n_frames_wrist": 83, - "n_frames_static": 6, + "note": "phase_d state-machine: wrist=89 static=0 tracked=14 mc_static=False scale=0.150 grasp_src=vetoed (pkl)", + "n_frames_wrist": 89, + "n_frames_static": 0, "n_frames_tracked": 14, "state_per_frame": [ - "static", - "moving", - "moving", - "moving", - "moving", - "moving", - "grasped_r", "grasped_both", "grasped_both", "grasped_both", @@ -10633,24 +10626,6 @@ "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_both", "grasped_both", "grasped_both", @@ -10660,20 +10635,45 @@ "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_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", "grasped_both", "grasped_both", "grasped_both", @@ -10713,13 +10713,6 @@ "moving" ], "grasp_hand_per_frame": [ - null, - null, - null, - null, - null, - null, - "R", "both", "both", "both", @@ -10738,24 +10731,6 @@ "both", "both", "both", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", "both", "both", "both", @@ -10765,20 +10740,45 @@ "both", "both", "both", - "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", + "both", + "both", + "both", "both", "both", "both", @@ -11339,19 +11339,19 @@ ], "global_span_px": 104.51204681396484, "state_counts": { - "static": 1, + "static": 0, "grasped_l": 0, - "grasped_r": 43, - "grasped_both": 39, - "moving": 20 + "grasped_r": 10, + "grasped_both": 78, + "moving": 15 }, "wrist_used_per_frame": [ - false, - false, - false, - false, - false, - false, + true, + true, + true, + true, + true, + true, true, true, true, @@ -11451,13 +11451,6 @@ false ], "wrist_l_per_frame": [ - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -11476,24 +11469,6 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -11503,20 +11478,45 @@ true, true, true, - 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, @@ -11556,12 +11556,12 @@ false ], "wrist_r_per_frame": [ - false, - false, - false, - false, - false, - false, + true, + true, + true, + true, + true, + true, true, true, true, @@ -11662,11 +11662,11 @@ ], "is_moving_per_frame": [ false, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, false, false, false, @@ -11766,11 +11766,9 @@ true ], "close_per_frame": [ - false, - false, - false, - false, - false, + true, + true, + true, false, true, true, @@ -11794,13 +11792,15 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -11846,8 +11846,8 @@ true, true, true, - false, - false, + true, + true, true, true, true, diff --git a/samples/-AArifaAzPg_216.8_223.6/recording.viser b/samples/-AArifaAzPg_216.8_223.6/recording.viser index 34ce16af6388f4308be6f8101dc3cc7bb238147f..f76365034a61810950c52e5e94af3ee06cd84e42 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 sha256:019165012c57df69730e6b809f62eab9a7301c7ed1d2bd8f916ab112dfeb7ad9 -size 3390458 +oid sha256:31480593e4bcf3787a95bd3e9d4b97f648ef99f6d706ba754ac3585f1e575f85 +size 3389531 diff --git a/samples/-AArifaAzPg_216.8_223.6/scene.json b/samples/-AArifaAzPg_216.8_223.6/scene.json index 53d790a6a1b01b025fd55668ccde44b3e33e382d..f916a108a825c6ef8ad181030fff8b67b7ede315 100644 --- a/samples/-AArifaAzPg_216.8_223.6/scene.json +++ b/samples/-AArifaAzPg_216.8_223.6/scene.json @@ -166,19 +166,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.24271844660194175, + "trust_rate": 0.13592233009708737, "tracking_status": "ok", "state_counts": { - "static": 7, + "static": 2, "grasped_l": 0, - "grasped_r": 71, + "grasped_r": 87, "grasped_both": 0, - "moving": 25 + "moving": 14 }, "state_fractions": { - "static": 0.06796116504854369, + "static": 0.019417475728155338, "grasped": 0.0, - "moving": 0.24271844660194175 + "moving": 0.13592233009708737 }, "is_static_global": false, "n_state_frames": 103 @@ -212,19 +212,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.1941747572815534, + "trust_rate": 0.14563106796116504, "tracking_status": "ok", "state_counts": { - "static": 1, + "static": 0, "grasped_l": 0, - "grasped_r": 43, - "grasped_both": 39, - "moving": 20 + "grasped_r": 10, + "grasped_both": 78, + "moving": 15 }, "state_fractions": { - "static": 0.009708737864077669, + "static": 0.0, "grasped": 0.0, - "moving": 0.1941747572815534 + "moving": 0.14563106796116504 }, "is_static_global": false, "n_state_frames": 103 diff --git a/samples/-AArifaAzPg_216.8_223.6/signals.json b/samples/-AArifaAzPg_216.8_223.6/signals.json index 9fe1fd07cc3e146ce814ffafae3937f37801af54..a1aa939e450eb55c8b47c4c087a2f1a71849afe2 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, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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+4149,10 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=35 static=23 tracked=6 mc_static=True scale=0.176 grasp_src=vetoed (pkl)", + "note": "phase_d state-machine: wrist=35 static=29 tracked=0 mc_static=True scale=0.176 grasp_src=vetoed (pkl)", "n_frames_wrist": 35, - "n_frames_static": 23, - "n_frames_tracked": 6, + "n_frames_static": 29, + "n_frames_tracked": 0, "state_per_frame": [ "static", "static", @@ -4203,7 +4203,7 @@ "grasped_both", "grasped_both", "grasped_both", - "grasped_l", + "grasped_both", "grasped_l", "grasped_l", "grasped_l", @@ -4269,7 +4269,7 @@ "both", "both", "both", - "L", + "both", "L", "L", "L", @@ -4613,9 +4613,9 @@ "global_span_px": 125.31155395507812, "state_counts": { "static": 29, - "grasped_l": 15, + "grasped_l": 14, "grasped_r": 0, - "grasped_both": 20, + "grasped_both": 21, "moving": 0 }, "wrist_used_per_frame": [ @@ -4800,7 +4800,7 @@ true, true, true, - false, + true, false, false, false, @@ -4941,7 +4941,7 @@ true, true, true, - false, + true, true, true, true, diff --git a/samples/-AWGX2al-ow_159.6_163.8/recording.viser b/samples/-AWGX2al-ow_159.6_163.8/recording.viser index d93e0bc1a13ca6ba3341348d857fb7d44abdef96..bf685419081f464c7da8573f73eb08d11db4972e 100644 --- a/samples/-AWGX2al-ow_159.6_163.8/recording.viser +++ b/samples/-AWGX2al-ow_159.6_163.8/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fc3afcdf8124c31130b0fd647e614c293949d0ee4f381f55b0206d5aa77c2721 -size 2479472 +oid sha256:6d0a274e1babfdb61ab2a81c1d6dd2f71581db04d7724ebd31f1bb7a16f95d8c +size 2481065 diff --git a/samples/-AWGX2al-ow_159.6_163.8/scene.json b/samples/-AWGX2al-ow_159.6_163.8/scene.json index 88b897ff326feb87e631a1f414b59354aecbaf37..398b69f3ce31810d82e40873b5a0c8162fc2ccf5 100644 --- a/samples/-AWGX2al-ow_159.6_163.8/scene.json +++ b/samples/-AWGX2al-ow_159.6_163.8/scene.json @@ -171,9 +171,9 @@ "tracking_status": "ok", "state_counts": { "static": 29, - "grasped_l": 15, + "grasped_l": 14, "grasped_r": 0, - "grasped_both": 20, + "grasped_both": 21, "moving": 0 }, "state_fractions": { diff --git a/samples/-AWGX2al-ow_159.6_163.8/signals.json b/samples/-AWGX2al-ow_159.6_163.8/signals.json index c5f68863c29d0a96514adb3d5ee7841ddd1427bb..d7aeece0cd8175395ffdcfbd28b5b8d09557d5de 100644 --- a/samples/-AWGX2al-ow_159.6_163.8/signals.json +++ b/samples/-AWGX2al-ow_159.6_163.8/signals.json @@ -1 +1 @@ -{"n_frames": 64, "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, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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], "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, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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b/samples/-AWGX2al-ow_77.7_86.3/object_pose.bin @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4d007edc5a3781c294c5c7bd4f55703eb74327a0b66c1803cbe4fd3620f8f28f +oid sha256:c858d71169366d16035d35efdeda8528d2c2ee11c5fd9ce7a11c9f909e887da4 size 20992 diff --git a/samples/-AWGX2al-ow_77.7_86.3/pose_track.json b/samples/-AWGX2al-ow_77.7_86.3/pose_track.json index 606e84d497f8f0809409e5c44c80e514fc1d12a5..24e10187a37f652ccafaf0a841f074881e366d00 100644 --- a/samples/-AWGX2al-ow_77.7_86.3/pose_track.json +++ b/samples/-AWGX2al-ow_77.7_86.3/pose_track.json @@ -10,22 +10,22 @@ "T_seq": [ [ [ - 0.9993478655815125, - -0.005712365265935659, - -0.035654421895742416, + 0.9992649555206299, + -0.012606057338416576, + -0.03620278090238571, 0.12523245811462402 ], [ - -0.03521842509508133, - 0.063763827085495, - -0.9973433613777161, - 0.3327520489692688 + -0.0353705994784832, + 0.06093921139836311, + -0.9975146055221558, + 0.33335795998573303 ], [ - 0.007970651611685753, - 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state-machine: wrist=63 static=19 tracked=0 mc_static=False scale=0.150 grasp_src=vetoed (pkl)", + "n_frames_wrist": 63, + "n_frames_static": 19, + "n_frames_tracked": 0, "state_per_frame": [ "static", "static", @@ -5325,34 +5325,6 @@ "static", "static", "static", - "static", - "moving", - "moving", - "moving", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "moving", - "moving", - "moving", - "static", - "static", - "moving", - "static", - "moving", - "moving", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", "grasped_r", "grasped_r", "grasped_r", @@ -5366,28 +5338,56 @@ "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_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", - "moving", - "static", - "static", - "static", - "static", - "static", - "static", - "moving", - "moving", - "static", - "static", - "static", - "static", - "moving", - "moving", - "static" + "grasped_r" ], "grasp_hand_per_frame": [ null, @@ -5409,29 +5409,6 @@ 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", @@ -5445,33 +5422,56 @@ "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", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", "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 + "R" ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -5890,33 +5890,13 @@ ], "global_span_px": 164.05642700195312, "state_counts": { - "static": 41, + "static": 19, "grasped_l": 0, - "grasped_r": 27, - "grasped_both": 0, - "moving": 14 + "grasped_r": 19, + "grasped_both": 44, + "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, @@ -5963,22 +5943,42 @@ true, true, true, - 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 ], "wrist_l_per_frame": [ false, @@ -6013,50 +6013,50 @@ 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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static=82 tracked=0 mc_static=True scale=0.099 grasp_src=vetoed (pkl)", "n_frames_wrist": 0, - "n_frames_static": 70, - "n_frames_tracked": 12, + "n_frames_static": 82, + "n_frames_tracked": 0, "state_per_frame": [ "static", "static", diff --git a/samples/-AWGX2al-ow_77.7_86.3/recording.viser b/samples/-AWGX2al-ow_77.7_86.3/recording.viser index 68609e25339e55de472745f6b99b5d6425927e64..cdf972dd9a3e43ec5883443c151b989b0d8c72ef 100644 --- 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:ace0750596b17991047afff91e16a7288f7176a57b407ce4ce5d0554b7d2955b -size 4298889 +oid sha256:0dfc49fb8a649eaba136544332cdc053322ab29f66371e0aaddbc351fd879385 +size 4293750 diff --git a/samples/-AWGX2al-ow_77.7_86.3/scene.json b/samples/-AWGX2al-ow_77.7_86.3/scene.json index 93ecbf01f49c58eb1ad3b7ffaf18f12209e61188..39ca403c3f725efdd301f66e150c41ebf784bf33 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": 0.17073170731707318, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 41, + "static": 19, "grasped_l": 0, - "grasped_r": 27, - "grasped_both": 0, - "moving": 14 + "grasped_r": 19, + "grasped_both": 44, + "moving": 0 }, "state_fractions": { - "static": 0.5, + "static": 0.23170731707317074, "grasped": 0.0, - "moving": 0.17073170731707318 + "moving": 0.0 }, "is_static_global": false, "n_state_frames": 82 diff --git a/samples/-AWGX2al-ow_77.7_86.3/signals.json b/samples/-AWGX2al-ow_77.7_86.3/signals.json index a4e444b937afbec7a889b50aa566ff1b616539db..327669ea6c54d95ba6e2744ccf224491698df4ed 100644 --- a/samples/-AWGX2al-ow_77.7_86.3/signals.json +++ b/samples/-AWGX2al-ow_77.7_86.3/signals.json @@ -1 +1 @@ -{"n_frames": 82, "scene": {"contact_l": [0.0, 0.0, 0.0, 0.0, 0.0, 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"grasped_l", "grasped_l", - "moving", - "moving", - "static", - "static", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", "grasped_l", "grasped_l", "grasped_l", @@ -4052,6 +4024,47 @@ "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_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", "grasped_l", "grasped_l", "grasped_l", @@ -4071,19 +4084,6 @@ "grasped_l", "grasped_l", "grasped_l", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "static", - "static", "grasped_l", "grasped_l", "grasped_l", @@ -4109,17 +4109,6 @@ "L", "L", "L", - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, "L", "L", "L", @@ -4144,23 +4133,6 @@ "L", "L", "L", - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, "L", "L", "L", @@ -4205,6 +4177,47 @@ "L", "L", "L", + "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", @@ -4224,19 +4237,6 @@ "L", "L", "L", - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, "L", "L", "L", @@ -5008,11 +5008,11 @@ ], "global_span_px": 103.3924560546875, "state_counts": { - "static": 4, - "grasped_l": 110, + "static": 0, + "grasped_l": 142, "grasped_r": 0, - "grasped_both": 0, - "moving": 37 + "grasped_both": 9, + "moving": 0 }, "wrist_used_per_frame": [ true, @@ -5030,17 +5030,6 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -5065,23 +5054,6 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -5145,19 +5117,47 @@ 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -5183,17 +5183,6 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -5218,23 +5207,6 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -5298,6 +5270,57 @@ true, true, true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true + ], + "wrist_r_per_frame": [ false, false, false, @@ -5311,16 +5334,6 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true - ], - "wrist_r_per_frame": [ false, false, false, @@ -5391,6 +5404,15 @@ false, false, false, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -5434,6 +5456,24 @@ false, false, false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false + ], + "is_moving_per_frame": [ false, false, false, @@ -5471,9 +5511,6 @@ false, false, false, - false - ], - "is_moving_per_frame": [ false, false, false, @@ -5489,17 +5526,6 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, false, false, @@ -5524,23 +5550,8 @@ false, false, false, - true, - true, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, false, false, @@ -5604,17 +5615,6 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, false, false, @@ -5628,7 +5628,7 @@ ], "close_per_frame": [ true, - false, + true, false, true, true, @@ -5711,8 +5711,8 @@ true, true, true, - false, - false, + true, + true, true, true, true, @@ -5791,22 +5791,22 @@ "T_seq": [ [ [ - 0.4765763580799103, - 0.8786940574645996, - -0.02777951955795288, - 0.2272862195968628 + 0.4594149589538574, + 0.8880307674407959, + -0.018418587744235992, + 0.22181640565395355 ], [ - 0.03495017811655998, - -0.050510749220848083, - -0.9981117844581604, - 0.2110637128353119 + 0.04001028090715408, + -0.04140549525618553, + -0.9983410239219666, + 0.2087988704442978 ], [ - -0.8784380555152893, - 0.4747055768966675, - -0.054782744497060776, - 1.9205256700515747 + -0.8873201608657837, + 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b13658db88e7cfde1f264bb9edc19c7e52d027eb..fd43a11eba2f0fbd17d850f81b766b51ee793a8a 100644 --- a/samples/-BZr4emdx_o_220.8_246.3/recording.viser +++ b/samples/-BZr4emdx_o_220.8_246.3/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:16b2af6d10825931a35cbea89da89f605acf711480bb1bc363be893f58eb09fb -size 5829422 +oid sha256:0ac89d57242f249fb30de393a1a927904583d3fb36c38fd0ecb8aed2a9109bbf +size 5821538 diff --git a/samples/-BZr4emdx_o_220.8_246.3/scene.json b/samples/-BZr4emdx_o_220.8_246.3/scene.json index 55a4cb9f277920e3857ccbf4b3e54ed3ffc79431..dbb879b8b64962f1eb215d47f982f8c373a4024f 100644 --- a/samples/-BZr4emdx_o_220.8_246.3/scene.json +++ b/samples/-BZr4emdx_o_220.8_246.3/scene.json @@ -210,19 +210,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.24503311258278146, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 4, - "grasped_l": 110, + "static": 0, + "grasped_l": 142, 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"n_frames_tracked": 0, "state_per_frame": [ - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", "grasped_r", "grasped_r", "grasped_r", @@ -13967,29 +13915,6 @@ "grasped_both", "grasped_both", "grasped_both", - "grasped_r", - "moving", - "moving", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "moving", - "grasped_r", - "grasped_r", "grasped_both", "grasped_both", "grasped_both", @@ -14023,68 +13948,143 @@ "grasped_both", "grasped_both", "grasped_both", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "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", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_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", "static", "static", "static", @@ -14101,58 +14101,6 @@ "static" ], "grasp_hand_per_frame": [ - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", "R", "R", "R", @@ -14185,29 +14133,6 @@ "both", "both", "both", - "R", - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - "R", - "R", "both", "both", "both", @@ -14241,68 +14166,143 @@ "both", "both", "both", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - null, - null, - null, - null, - null, - null, - null, - null, - 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", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "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", null, null, null, @@ -15363,11 +15363,11 @@ ], "global_span_px": 96.36275482177734, "state_counts": { - "static": 63, - "grasped_l": 0, - "grasped_r": 99, - "grasped_both": 51, - "moving": 3 + "static": 14, + "grasped_l": 25, + "grasped_r": 14, + "grasped_both": 163, + "moving": 0 }, "wrist_used_per_frame": [ true, @@ -15455,26 +15455,6 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -15540,38 +15520,58 @@ 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + 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, @@ -15602,58 +15602,6 @@ 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, - false, - false, - false, - false, - false, - false, - 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, @@ -15672,29 +15620,6 @@ 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, true, true, true, @@ -15728,68 +15653,143 @@ 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + 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, @@ -15891,26 +15891,6 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -15976,13 +15956,33 @@ true, true, true, - 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, @@ -16109,8 +16109,6 @@ false, false, false, - true, - true, false, false, false, @@ -16128,7 +16126,9 @@ false, false, false, - true, + false, + false, + false, false, false, false, @@ -16258,7 +16258,6 @@ true, true, true, - false, true, true, true, @@ -16295,22 +16294,12 @@ true, true, true, - false, - false, true, true, - false, - false, - false, - false, true, true, - false, - false, - false, true, true, - false, true, true, true, @@ -16327,9 +16316,19 @@ true, true, true, - false, - false, - false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -16348,7 +16347,17 @@ false, false, true, - false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -16434,16 +16443,7 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, + true, false, false, false, diff --git a/samples/-CQgm6xT5RE_59.4_73.8/recording.viser b/samples/-CQgm6xT5RE_59.4_73.8/recording.viser index e8fea54bba5dba219df40ba36d3383ddffd0184a..b485190f257ee1f001339dfabec850eccf792b3b 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:eddc3e76697fcb2b687d8be9a03b2cd3e450c94f7fcd6a08a043f2418f4205d6 -size 7854661 +oid sha256:6780b29bb2825e1d82c21afafc7cdfe2289b48981f446a2af87d247b3496277f +size 7837881 diff --git a/samples/-CQgm6xT5RE_59.4_73.8/scene.json b/samples/-CQgm6xT5RE_59.4_73.8/scene.json index 2bd1c7d3dde67419f6577944228b5d4967203edf..68beb4e6256c814b1876e3ef6790fed928858513 100644 --- a/samples/-CQgm6xT5RE_59.4_73.8/scene.json +++ b/samples/-CQgm6xT5RE_59.4_73.8/scene.json @@ -167,19 +167,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.013888888888888888, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 63, - "grasped_l": 0, - "grasped_r": 99, - "grasped_both": 51, - "moving": 3 + "static": 14, + "grasped_l": 25, + "grasped_r": 14, + "grasped_both": 163, + "moving": 0 }, "state_fractions": { - "static": 0.2916666666666667, + "static": 0.06481481481481481, "grasped": 0.0, - "moving": 0.013888888888888888 + "moving": 0.0 }, "is_static_global": false, "n_state_frames": 216 diff --git a/samples/-CQgm6xT5RE_59.4_73.8/signals.json b/samples/-CQgm6xT5RE_59.4_73.8/signals.json index 82f450564e756ac3257150a3330001903f20a63c..379f94cc3a31e88aed713437692a2391d411e537 100644 --- a/samples/-CQgm6xT5RE_59.4_73.8/signals.json +++ b/samples/-CQgm6xT5RE_59.4_73.8/signals.json @@ -1 +1 @@ -{"n_frames": 216, "scene": {"contact_l": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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state-machine: wrist=38 static=20 tracked=8 mc_static=False scale=0.160 grasp_src=vetoed (pkl)", - "n_frames_wrist": 38, - "n_frames_static": 20, - "n_frames_tracked": 8, + "note": "phase_d state-machine: wrist=66 static=0 tracked=0 mc_static=False scale=0.160 grasp_src=vetoed (pkl)", + "n_frames_wrist": 66, + "n_frames_static": 0, + "n_frames_tracked": 0, "state_per_frame": [ - "static", - "static", "grasped_l", "grasped_l", "grasped_l", @@ -6872,37 +6870,37 @@ "grasped_l", "grasped_l", "grasped_l", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static" + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "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, - null, "L", "L", "L", @@ -6940,33 +6938,35 @@ "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 + "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" ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -7305,15 +7305,13 @@ ], "global_span_px": 45.311424255371094, "state_counts": { - "static": 29, - "grasped_l": 37, + "static": 0, + "grasped_l": 66, "grasped_r": 0, "grasped_both": 0, "moving": 0 }, "wrist_used_per_frame": [ - false, - false, true, true, true, @@ -7351,37 +7349,37 @@ 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true ], "wrist_l_per_frame": [ - false, - false, true, true, true, @@ -7419,33 +7417,35 @@ 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true ], "wrist_r_per_frame": [ false, @@ -7584,8 +7584,6 @@ false ], "close_per_frame": [ - false, - false, true, true, true, @@ -7611,31 +7609,33 @@ true, true, true, - false, true, true, true, - false, - false, - false, - false, true, 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, + true, + true, + true, + true, + true, + true, + true, true, true, true, diff --git a/samples/-DCmm-dTi0o_352.3_356.6/recording.viser b/samples/-DCmm-dTi0o_352.3_356.6/recording.viser index f6da28edac09b0624ffacd52b50c3074c5e32a59..4cffdc9c02faeb9f5e049149938b125548377eb4 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 sha256:6a6ac07b8aa4e479207d0841ed86a374c7014fe7d2a4c764d01bcdbbc0a49b10 -size 3216535 +oid sha256:cb908c65eecbc160b4ff371b539749868ce37282ffd63c0bfad34c81e7db7896 +size 3212950 diff --git a/samples/-DCmm-dTi0o_352.3_356.6/scene.json b/samples/-DCmm-dTi0o_352.3_356.6/scene.json index 26ef4dd0fe45138fb192d7947ee655f3af826a7f..1dc7aa4fff38f67469793a2b0cb41487bc9112b0 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": 0, + "grasped_l": 66, "grasped_r": 0, "grasped_both": 0, "moving": 0 }, "state_fractions": { - "static": 0.4393939393939394, + "static": 0.0, "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..6a12a6f60a2cf7b21b3653913965530427be6fde 100644 --- a/samples/-DCmm-dTi0o_352.3_356.6/signals.json +++ b/samples/-DCmm-dTi0o_352.3_356.6/signals.json @@ -1 +1 @@ -{"n_frames": 66, "scene": {"contact_l": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "contact_r": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "grasp": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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, 3.640054941177368, 5.0, 4.031128883361816, 5.7008771896362305, 6.5, 4.27200174331665, 3.8078866004943848, 1.1180340051651, 1.4142135381698608, 1.5811388492584229, 0.5, 1.4142135381698608, 1.5811388492584229, 1.0, 0.7071067690849304, 1.1180340051651, 0.5, 1.5811388492584229, 1.8027756214141846, 2.5, 1.1180340051651, 1.0, 0.7071067690849304, 1.1180340051651, 1.0, 2.5, 6.8007354736328125, 6.964194297790527, 8.139410018920898, 5.590169906616211, 2.5, 1.0, 0.7071067690849304, 2.0, 1.5811388492584229, 2.1213202476501465, 1.5811388492584229, 1.0, 1.5811388492584229, 0.5, 0.7071067690849304, 0.7071067690849304, 0.5, 0.5, 0.0, 1.0, 0.5, 0.5, 0.5, 1.0, 0.5, 0.5, 0.5, 0.0, 0.0, 0.5, 1.0, 1.1180340051651, 0.5, 0.0, 0.5, 0.5, 0.5, 0.0, 1.4142135381698608]}, "per_object": {"0": {"trust": [false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false], "state": ["static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", 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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", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static"]}, "1": {"trust": [false, false, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false], "state": ["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", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static"]}}} \ No newline at end of file +{"n_frames": 66, "scene": {"contact_l": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "contact_r": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "grasp": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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, 3.640054941177368, 5.0, 4.031128883361816, 5.7008771896362305, 6.5, 4.27200174331665, 3.8078866004943848, 1.1180340051651, 1.4142135381698608, 1.5811388492584229, 0.5, 1.4142135381698608, 1.5811388492584229, 1.0, 0.7071067690849304, 1.1180340051651, 0.5, 1.5811388492584229, 1.8027756214141846, 2.5, 1.1180340051651, 1.0, 0.7071067690849304, 1.1180340051651, 1.0, 2.5, 6.8007354736328125, 6.964194297790527, 8.139410018920898, 5.590169906616211, 2.5, 1.0, 0.7071067690849304, 2.0, 1.5811388492584229, 2.1213202476501465, 1.5811388492584229, 1.0, 1.5811388492584229, 0.5, 0.7071067690849304, 0.7071067690849304, 0.5, 0.5, 0.0, 1.0, 0.5, 0.5, 0.5, 1.0, 0.5, 0.5, 0.5, 0.0, 0.0, 0.5, 1.0, 1.1180340051651, 0.5, 0.0, 0.5, 0.5, 0.5, 0.0, 1.4142135381698608]}, "per_object": {"0": {"trust": [false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false], "state": ["static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static"]}, "2": {"trust": [false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false], "state": ["static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static"]}, "1": {"trust": [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": 107, - "n_frames_tracked": 30, + "n_frames_static": 135, + "n_frames_tracked": 2, "state_per_frame": [ "static", "static", diff --git a/samples/-DDDD1yrBC8_265.3_274.3/recording.viser b/samples/-DDDD1yrBC8_265.3_274.3/recording.viser index cdc69f0830ef921581cd594fd073c4c19f987507..c8ae52bee595c9315acd5249d9f096a2f69eac52 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 sha256:2d9c5c6a05c8780ca80a8e7854926ddeb2aa7925e8d8bfd8e41703b2fcdf3c78 -size 7641542 +oid sha256:867b8bd12876e843d78335572e453b46f4f2eca9bb23f11567f4842584f7affd +size 7619008 diff --git a/samples/-DDDD1yrBC8_265.3_274.3/scene.json b/samples/-DDDD1yrBC8_265.3_274.3/scene.json index b721f86e4199bdaeefc9b596229c4a1f78e83aef..0fa3854cb0527e65148883c0f09486d534146a2d 100644 --- a/samples/-DDDD1yrBC8_265.3_274.3/scene.json +++ b/samples/-DDDD1yrBC8_265.3_274.3/scene.json @@ 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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_r", "grasped_r", "grasped_r", @@ -2036,45 +2075,6 @@ "grasped_r", "grasped_r", "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "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", @@ -2096,6 +2096,45 @@ "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", "R", "R", "R", @@ -2115,45 +2154,6 @@ "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, @@ -2566,10 +2566,10 @@ ], "global_span_px": 114.91511535644531, "state_counts": { - "static": 20, + "static": 19, "grasped_l": 0, - "grasped_r": 57, - "grasped_both": 0, + "grasped_r": 19, + "grasped_both": 39, "moving": 0 }, "wrist_used_per_frame": [ @@ -2630,7 +2630,7 @@ true, true, true, - false, + true, false, false, false, @@ -2652,45 +2652,45 @@ 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + 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, @@ -2788,7 +2788,7 @@ true, true, true, - false, + true, false, false, false, @@ -2946,7 +2946,7 @@ true, true, true, - false, + 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 504e3d224fbe9e701d2596ac5926200e7350ea88..f4b71c921773014171e80701ae0d4d478f10c9ef 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 sha256:50b74ebe37036803ca02a9f628b46d4dafb58cf5a47001b6bf376b7f6516901f -size 2045534 +oid sha256:107ecc62b5b89a40975db143abf5f7db0ec44e740fc09b7fa5fadc23df12fe0d +size 2045749 diff --git a/samples/-DOYgzdGGe0_143.8_148.7/scene.json b/samples/-DOYgzdGGe0_143.8_148.7/scene.json index 5270d79f4beef64b84c7e4bb00436911c8db1dc9..7e54ce11031fb27fc856a2d3ffd4f2cb19770d31 100644 --- a/samples/-DOYgzdGGe0_143.8_148.7/scene.json +++ b/samples/-DOYgzdGGe0_143.8_148.7/scene.json @@ -125,14 +125,14 @@ "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 20, + "static": 19, "grasped_l": 0, - "grasped_r": 57, - "grasped_both": 0, + "grasped_r": 19, + "grasped_both": 39, "moving": 0 }, "state_fractions": { - "static": 0.2597402597402597, + "static": 0.24675324675324675, "grasped": 0.0, "moving": 0.0 }, diff --git a/samples/-DOYgzdGGe0_143.8_148.7/signals.json b/samples/-DOYgzdGGe0_143.8_148.7/signals.json index 24f41f67d4c654a351c28fc03060a9c9638dc9a4..2c535df022b15791c55df17ea3c95ec681a1d23d 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, 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mc_static=False scale=0.280 grasp_src=vetoed (pkl)", + "n_frames_wrist": 110, + "n_frames_static": 0, + "n_frames_tracked": 0, "state_per_frame": [ - "static", - "static", - "static", - "static", - "static", - "moving", - "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_l", @@ -7134,136 +7117,99 @@ "grasped_l", "grasped_l", "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "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" + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both" ], "grasp_hand_per_frame": [ - 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", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", "L", "L", "L", @@ -7283,43 +7229,97 @@ "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 + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both" ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -7878,21 +7878,13 @@ ], "global_span_px": 99.94727325439453, "state_counts": { - "static": 7, - "grasped_l": 100, + "static": 0, + "grasped_l": 19, "grasped_r": 0, - "grasped_both": 0, - "moving": 3 + "grasped_both": 91, + "moving": 0 }, "wrist_used_per_frame": [ - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -7993,18 +7985,18 @@ true, true, true, - false, - false + true, + true, + true, + true, + true, + true, + true, + true, + true, + true ], "wrist_l_per_frame": [ - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -8105,8 +8097,16 @@ true, true, true, - false, - false + true, + true, + true, + true, + true, + true, + true, + true, + true, + true ], "wrist_r_per_frame": [ false, @@ -8128,107 +8128,99 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false - ], - "is_moving_per_frame": [ - 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true + ], + "is_moving_per_frame": [ false, false, false, @@ -8330,9 +8322,6 @@ false, false, false, - false - ], - "close_per_frame": [ false, false, false, @@ -8341,6 +8330,9 @@ false, false, false, + false + ], + "close_per_frame": [ true, true, true, @@ -8365,7 +8357,6 @@ true, true, true, - false, true, true, true, @@ -8411,20 +8402,10 @@ true, true, true, - false, - false, - false, true, true, true, true, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -8433,16 +8414,35 @@ true, true, true, - false, - false, true, true, true, true, - false, 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 ] } } \ No newline at end of file diff --git a/samples/-DVV5l5eEQg_102.7_113.7/recording.viser b/samples/-DVV5l5eEQg_102.7_113.7/recording.viser index 8003d527ad098637db902c2b1bf51508fe07781c..b8b934d80d842fa555522574db4ff1c358b9ea8b 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 sha256:7c8e56ad16292c987fd3e15fb570716dfe4697846834f92ec3648b9c1eb825a2 -size 3288258 +oid sha256:3d9f935a9ccb1da50fdf59f6da9e9a084d4fc2ca95c71c8fef7145238ba38bd1 +size 3284882 diff --git a/samples/-DVV5l5eEQg_102.7_113.7/scene.json b/samples/-DVV5l5eEQg_102.7_113.7/scene.json index ee8ec6c656b8dfa2d632287f885570fe3cf0297b..91a32b02bccbf25ea6698c4245d8aa9a3a585b98 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": 0.02727272727272727, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 7, - "grasped_l": 100, + "static": 0, + "grasped_l": 19, "grasped_r": 0, - "grasped_both": 0, - "moving": 3 + "grasped_both": 91, + "moving": 0 }, "state_fractions": { - "static": 0.06363636363636363, + "static": 0.0, "grasped": 0.0, - "moving": 0.02727272727272727 + "moving": 0.0 }, "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 1ccd8343e90a0ecf1507a2da58eba74ce8958ec7..d91cfed0ab4fedb6eaced0c9d17ded34c4f09b19 100644 --- a/samples/-DVV5l5eEQg_102.7_113.7/signals.json +++ b/samples/-DVV5l5eEQg_102.7_113.7/signals.json @@ -1 +1 @@ -{"n_frames": 110, "scene": {"contact_l": [0.0, 0.0, 0.0, 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-19094,16 +19094,11 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=632 static=39 tracked=63 mc_static=False scale=0.145 grasp_src=vetoed (pkl)", - "n_frames_wrist": 632, - "n_frames_static": 39, - "n_frames_tracked": 63, + "note": "phase_d state-machine: wrist=734 static=0 tracked=0 mc_static=False scale=0.145 grasp_src=vetoed (pkl)", + "n_frames_wrist": 734, + "n_frames_static": 0, + "n_frames_tracked": 0, "state_per_frame": [ - "static", - "moving", - "moving", - "moving", - "grasped_l", "grasped_l", "grasped_both", "grasped_both", @@ -19125,6 +19120,23 @@ "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", @@ -19202,18 +19214,6 @@ "grasped_l", "grasped_l", "grasped_l", - "static", - "static", - "static", - "static", - "static", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", "grasped_l", "grasped_l", "grasped_l", @@ -19421,25 +19421,6 @@ "grasped_l", "grasped_l", "grasped_l", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "static", - "moving", - "moving", - "moving", - "moving", - "moving", "grasped_l", "grasped_l", "grasped_l", @@ -19455,14 +19436,6 @@ "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", @@ -19482,30 +19455,17 @@ "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", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", "grasped_l", "grasped_l", "grasped_l", @@ -19519,17 +19479,6 @@ "grasped_l", "grasped_l", "grasped_l", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", "grasped_l", "grasped_l", "grasped_l", @@ -19567,6 +19516,26 @@ "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_l", + "grasped_l", + "grasped_l", "grasped_l", "grasped_l", "grasped_l", @@ -19724,6 +19693,74 @@ "grasped_both", "grasped_both", "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_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", @@ -19744,23 +19781,6 @@ "grasped_l", "grasped_l", "grasped_l", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", - "grasped_both", "grasped_l", "grasped_l", "grasped_l", @@ -19793,53 +19813,28 @@ "grasped_l", "grasped_l", "grasped_l", - "static", - "moving", - "moving", - "moving", - "moving", - "moving", - "static", - "moving", - "moving", - "moving", - "moving", - "moving", - "static", - "moving", - "moving", - "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" + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "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, - null, - null, - null, - "L", "L", "both", "both", @@ -19861,6 +19856,23 @@ "both", "both", "both", + "both", + "both", + "both", + "both", + "both", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", "L", "L", "L", @@ -19938,18 +19950,6 @@ "L", "L", "L", - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, "L", "L", "L", @@ -20157,38 +20157,38 @@ "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", - "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", "both", @@ -20221,54 +20221,6 @@ "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", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - "L", - "L", - "L", "L", "L", "L", @@ -20300,6 +20252,23 @@ "L", "L", "L", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", "L", "L", "L", @@ -20460,6 +20429,74 @@ "both", "both", "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", "L", "L", "L", @@ -20480,23 +20517,6 @@ "L", "L", "L", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", - "both", "L", "L", "L", @@ -20529,46 +20549,26 @@ "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 + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L" ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -24247,17 +24247,13 @@ ], "global_span_px": 121.47372436523438, "state_counts": { - "static": 33, - "grasped_l": 542, + "static": 0, + "grasped_l": 576, "grasped_r": 0, - "grasped_both": 85, - "moving": 74 + "grasped_both": 158, + "moving": 0 }, "wrist_used_per_frame": [ - false, - false, - false, - false, true, true, true, @@ -24357,18 +24353,6 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -24576,25 +24560,6 @@ 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, @@ -24640,27 +24605,6 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -24674,17 +24618,6 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -24948,52 +24881,6 @@ 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, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false - ], - "wrist_l_per_frame": [ - false, - false, - false, - false, true, true, true, @@ -25093,18 +24980,102 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, + true, + true, + true, + true, + true, + true, + true, + true + ], + "wrist_l_per_frame": [ + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -25312,25 +25283,6 @@ 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, @@ -25376,27 +25328,6 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -25410,17 +25341,6 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -25684,54 +25604,134 @@ 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 + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true ], "wrist_r_per_frame": [ false, - false, - false, - false, - false, - false, + true, + true, + true, + true, + true, true, true, true, @@ -26143,6 +26143,23 @@ false, false, false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -26273,54 +26290,6 @@ 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, - false, - false, - 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, @@ -26351,26 +26320,57 @@ true, true, true, - 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, + true, true, true, true, @@ -26463,9 +26463,6 @@ ], "is_moving_per_frame": [ false, - true, - true, - true, false, false, false, @@ -26570,13 +26567,6 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, false, false, false, @@ -26784,25 +26774,7 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, - true, - true, - true, - true, - true, false, false, false, @@ -26848,27 +26820,6 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, false, false, @@ -26882,17 +26833,6 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, false, false, @@ -27157,22 +27097,8 @@ false, false, false, - true, - true, - true, - true, - true, false, - true, - true, - true, - true, - true, false, - true, - true, - true, - true, false, false, false, @@ -27195,15 +27121,91 @@ false, false, false, - false - ], - "close_per_frame": [ false, false, false, false, - true, false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false + ], + "close_per_frame": [ + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -27217,8 +27219,6 @@ true, true, true, - false, - false, true, true, true, @@ -27242,7 +27242,6 @@ true, true, true, - false, false, false, false, @@ -27253,10 +27252,7 @@ false, false, true, - false, - false, true, - false, true, true, true, @@ -27279,10 +27275,6 @@ true, true, true, - false, - false, - false, - false, true, true, true, @@ -27301,18 +27293,6 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -27334,24 +27314,19 @@ true, true, true, - false, true, true, true, true, true, - false, true, true, - false, - false, true, true, true, true, true, true, - false, true, true, true, @@ -27366,19 +27341,13 @@ true, true, true, - false, - false, - false, true, - false, - false, true, true, true, true, true, true, - false, true, true, true, @@ -27386,7 +27355,6 @@ true, true, true, - false, true, true, true, @@ -27401,21 +27369,14 @@ true, true, true, - false, - false, true, true, true, - false, - false, - false, true, - false, true, true, true, true, - false, true, true, true, @@ -27441,6 +27402,20 @@ true, true, true, + false, + true, + true, + true, + false, + false, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -27466,18 +27441,8 @@ true, true, true, - false, - false, - false, - false, true, - false, - false, - false, - false, - false, true, - false, true, true, true, @@ -27517,28 +27482,8 @@ true, true, true, - false, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -27551,16 +27496,10 @@ true, true, true, - false, - false, - false, true, true, - false, - false, true, true, - false, true, true, true, @@ -27569,65 +27508,22 @@ true, true, true, - false, - false, - false, - false, true, true, true, - false, true, - false, - false, - false, - false, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, - false, true, true, - false, true, true, - false, true, true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, false, true, true, @@ -27635,52 +27531,24 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, true, true, - false, - false, - false, - false, - false, - false, true, true, true, true, - false, - false, - false, - false, - false, true, true, true, true, true, true, - false, - false, - false, true, - false, - false, - false, true, true, - false, - false, true, true, true, - false, true, true, true, @@ -27691,46 +27559,21 @@ true, true, true, - false, - false, true, - false, true, - false, true, true, true, - false, - false, - false, true, true, true, true, - false, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, - false, - false, true, - false, - false, - false, - false, - false, true, true, - false, true, true, true, @@ -27738,12 +27581,9 @@ true, true, true, - false, true, true, true, - false, - false, true, true, true, @@ -27768,13 +27608,6 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -27819,23 +27652,17 @@ true, true, true, - false, true, true, true, true, true, - false, true, true, true, true, true, true, - false, - false, - false, - false, true, true, true, @@ -27862,49 +27689,196 @@ true, true, true, - false, - false, true, - false, + true, false, false, true, - false, true, true, true, true, true, - false, - false, true, true, - false, true, true, true, 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, + true, + true, + true, + 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, - false, - false, - false, - false, - false, - false, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, diff --git a/samples/-F8ykWfiTZg_417.5_431.3/recording.viser b/samples/-F8ykWfiTZg_417.5_431.3/recording.viser index 43d20950dbf29f859d7a6a298bb8b0ea44a0d7fc..1d2863ed70e8c1f7620c643a4bc2f37493415834 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 sha256:51abc363b0dd98dfb09272ee6c1787a57c6e11b774ca7589c98c24943b60edbe -size 7512448 +oid sha256:f2ced17f6e4b945dfcf6cc9a286fb220e601d01a4c163ca00391cefe22e619d2 +size 7509131 diff --git a/samples/-F8ykWfiTZg_417.5_431.3/scene.json b/samples/-F8ykWfiTZg_417.5_431.3/scene.json index c563eaf2c17b6afcac9112c5826a7f5a873877de..ee7ae2f43c9ebfb55c3f9af590d22059270e67e5 100644 --- a/samples/-F8ykWfiTZg_417.5_431.3/scene.json +++ b/samples/-F8ykWfiTZg_417.5_431.3/scene.json @@ -165,23 +165,13 @@ "anchor_fitness": null, "median_chamfer_mm": null, "mean_iou": null, - "grasp_rate": 0.0, - "trust_rate": 0.004807692307692308, + "grasp_rate": null, + "trust_rate": null, "tracking_status": "ok", - "state_counts": { - "static": 17, - "grasped_l": 108, - "grasped_r": 34, - "grasped_both": 48, - "moving": 1 - }, - "state_fractions": { - "static": 0.08173076923076923, - "grasped": 0.0, - "moving": 0.004807692307692308 - }, - "is_static_global": false, - "n_state_frames": 208 + "state_counts": null, + "state_fractions": null, + "is_static_global": null, + "n_state_frames": null }, "0": { "path": null, diff --git a/samples/-F8ykWfiTZg_417.5_431.3/signals.json b/samples/-F8ykWfiTZg_417.5_431.3/signals.json index 27c5a3a0553860728c6ad1d87a90b2c38231bf82..c5e3955fcc9fb799508d7b4c2ee14d3cc60a570a 100644 --- a/samples/-F8ykWfiTZg_417.5_431.3/signals.json +++ b/samples/-F8ykWfiTZg_417.5_431.3/signals.json @@ -1 +1 @@ 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@@ "grasped_l", "grasped_l", "grasped_l", - "moving", - "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", - "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_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "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, - null, - null, - null, - null, - null, - null, - null, - null, + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", "L", "L", "L", @@ -4028,55 +4032,51 @@ "L", "L", "L", - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null + "L", + 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tracked=83 mc_static=False scale=0.212 grasp_src=vetoed (pkl)", - "n_frames_wrist": 14, - "n_frames_static": 48, - "n_frames_tracked": 83, + "note": "phase_d state-machine: wrist=96 static=38 tracked=11 mc_static=False scale=0.212 grasp_src=vetoed (pkl)", + "n_frames_wrist": 96, + "n_frames_static": 38, + "n_frames_tracked": 11, "state_per_frame": [ - "static", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "static", - "static", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", + "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_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "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", @@ -14994,23 +14994,23 @@ "static", "static", "static", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "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", @@ -15038,6 +15038,70 @@ "static" ], "grasp_hand_per_frame": [ + "L", + "L", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", null, null, null, @@ -15077,87 +15141,23 @@ null, null, null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - 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", @@ -15916,133 +15916,13 @@ ], "global_span_px": 82.35047149658203, "state_counts": { - "static": 86, - "grasped_l": 0, - "grasped_r": 13, - "grasped_both": 0, - "moving": 46 + "static": 39, + "grasped_l": 2, + "grasped_r": 81, + "grasped_both": 11, + "moving": 12 }, "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, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - 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, @@ -16056,62 +15936,57 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - 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, - 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, + true, false, false, false, @@ -16151,6 +16026,36 @@ 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, false, false, false, @@ -16162,6 +16067,22 @@ false, false, false, + false + ], + "wrist_l_per_frame": [ + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -16214,9 +16135,6 @@ false, false, false, - false - ], - "wrist_r_per_frame": [ false, false, false, @@ -16296,8 +16214,73 @@ false, false, false, + false + ], + "wrist_r_per_frame": [ false, false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -16350,29 +16333,7 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false - ], - "is_moving_per_frame": [ - false, - true, - true, - true, - true, - true, true, - false, - false, true, true, true, @@ -16400,6 +16361,24 @@ 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, @@ -16438,14 +16417,6 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, false, false, false, @@ -16467,10 +16438,6 @@ false, false, false, - true, - true, - true, - true, true, true, true, @@ -16497,10 +16464,6 @@ false, false, false, - true, - true, - true, - true, false, false, false, @@ -16508,9 +16471,6 @@ false, false, false, - false - ], - "close_per_frame": [ false, false, false, @@ -16518,11 +16478,7 @@ false, false, false, - true, - true, - true, false, - true, false, false, false, @@ -16541,7 +16497,37 @@ false, false, false, + true, + true, + true, + true, + false, + false, + false, + false, + false, + false, false, + false + ], + "close_per_frame": [ + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -16554,9 +16540,23 @@ false, false, false, + true, + true, + true, false, false, + true, false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -16614,7 +16614,7 @@ false, false, false, - false, + true, true, false, true, diff --git a/samples/-FIE_5vWhv0_362.0_371.7/recording.viser b/samples/-FIE_5vWhv0_362.0_371.7/recording.viser index ec87a935955441061fd76aef3b5fecbc595cfc91..40bb5f078e25b1efa00da73fd310ec104868feb3 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 sha256:5071645076645d264fb9cc95e6d3b7129fd9c9ef45b62aab5db3d10eb321b06e -size 4185466 +oid sha256:bd8cf9b7c1782af128a441fe9ee7f66d97c70940fc5c6e3af856518e11fd3788 +size 4187063 diff --git a/samples/-FIE_5vWhv0_362.0_371.7/scene.json b/samples/-FIE_5vWhv0_362.0_371.7/scene.json index 1e6a7ca739cbcccd413b744d297c0c64734c75e4..2daaf9587fa53d71be8bfaf09673feb2191f19ef 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": 0.2, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 29, - "grasped_l": 87, + "static": 0, + "grasped_l": 132, "grasped_r": 0, - "grasped_both": 0, - "moving": 29 + "grasped_both": 13, + "moving": 0 }, "state_fractions": { - "static": 0.2, + "static": 0.0, "grasped": 0.0, - "moving": 0.2 + "moving": 0.0 }, "is_static_global": false, "n_state_frames": 145 @@ -212,19 +212,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.31724137931034485, + "trust_rate": 0.08275862068965517, "tracking_status": "ok", "state_counts": { - "static": 86, - "grasped_l": 0, - "grasped_r": 13, - "grasped_both": 0, - "moving": 46 + "static": 39, + "grasped_l": 2, + "grasped_r": 81, + "grasped_both": 11, + "moving": 12 }, "state_fractions": { - "static": 0.593103448275862, + "static": 0.2689655172413793, "grasped": 0.0, - "moving": 0.31724137931034485 + "moving": 0.08275862068965517 }, "is_static_global": false, "n_state_frames": 145 diff --git a/samples/-FIE_5vWhv0_362.0_371.7/signals.json b/samples/-FIE_5vWhv0_362.0_371.7/signals.json index 0404d6b68f7a09a3a6d20a2b88a59c101de45aa3..267e7aea8a997c94df2c386bbfd0c3661f907010 100644 --- a/samples/-FIE_5vWhv0_362.0_371.7/signals.json +++ b/samples/-FIE_5vWhv0_362.0_371.7/signals.json @@ -1 +1 @@ -{"n_frames": 145, "scene": {"contact_l": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 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, 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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", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", + "moving", "static", "static", "static", @@ -14409,128 +14409,128 @@ "L", "L", "L", - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - 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", + "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", + 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true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + 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, @@ -15966,6 +15966,128 @@ true, true, true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + 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, @@ -16014,6 +16136,9 @@ false, false, false, + false + ], + "wrist_r_per_frame": [ false, false, false, @@ -16115,30 +16240,6 @@ 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_r_per_frame": [ false, false, false, @@ -16257,7 +16358,11 @@ false, false, false, + false + ], + "is_moving_per_frame": [ false, + true, false, false, false, @@ -16358,11 +16463,6 @@ false, false, false, - false - ], - "is_moving_per_frame": [ - false, - true, false, false, false, @@ -16440,6 +16540,10 @@ true, true, true, + true, + true, + true, + true, false, false, false, @@ -16476,54 +16580,17 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, + false + ], + "close_per_frame": [ + true, + true, + true, + true, + true, + true, + true, + true, false, true, true, @@ -16544,54 +16611,11 @@ 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 - ], - "close_per_frame": [ - false, - false, true, true, true, true, true, - false, - false, true, true, true, @@ -16612,17 +16636,13 @@ true, true, true, - false, true, true, - false, true, true, true, true, true, - false, - false, true, true, true, @@ -16632,31 +16652,8 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, - false, - false, - false, - false, true, true, true, @@ -16664,43 +16661,29 @@ 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, @@ -16719,13 +16702,10 @@ true, true, true, - false, - false, true, true, true, true, - false, true, true, true, @@ -16735,27 +16715,47 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, - false, 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, + 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b/samples/-HBN0sPqvk0_240.9_256.9/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:54591cbd6c15b3ea464515ea9e5e32a5a229b3a0d2073ff6a849cca19928b742 -size 8012813 +oid sha256:8f2b12f8e97f007895a21cc8200e4c6bdb520ea9d81c36d3000f2f015f2b4eaa +size 7995560 diff --git a/samples/-HBN0sPqvk0_240.9_256.9/scene.json b/samples/-HBN0sPqvk0_240.9_256.9/scene.json index 9ee33c0d130a2f9cb8a87443fbdfd2d2b580aa81..bde9aadc74505728899e2a4946c9e06f4e43346d 100644 --- a/samples/-HBN0sPqvk0_240.9_256.9/scene.json +++ b/samples/-HBN0sPqvk0_240.9_256.9/scene.json @@ -277,19 +277,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.12727272727272726, + "trust_rate": 0.05909090909090909, "tracking_status": "ok", "state_counts": { - "static": 145, - "grasped_l": 47, + "static": 38, + "grasped_l": 169, "grasped_r": 0, "grasped_both": 0, - "moving": 28 + "moving": 13 }, "state_fractions": { - "static": 0.6590909090909091, + "static": 0.17272727272727273, "grasped": 0.0, - "moving": 0.12727272727272726 + "moving": 0.05909090909090909 }, "is_static_global": false, "n_state_frames": 220 diff --git a/samples/-HBN0sPqvk0_240.9_256.9/signals.json b/samples/-HBN0sPqvk0_240.9_256.9/signals.json index fa90517eab77cd5243bdd2aa634a6b8547f6cd84..12389ada1abdbcb274bc832f55d785da59eaf24c 100644 --- a/samples/-HBN0sPqvk0_240.9_256.9/signals.json +++ b/samples/-HBN0sPqvk0_240.9_256.9/signals.json @@ -1 +1 @@ -{"n_frames": 220, "scene": {"contact_l": [0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 0.0, 1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 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"n_frames_tracked": 15, + "note": "phase_d state-machine: wrist=157 static=14 tracked=0 mc_static=False scale=0.461 grasp_src=vetoed (pkl)", + "n_frames_wrist": 157, + "n_frames_static": 14, + "n_frames_tracked": 0, "state_per_frame": [ - "static", - "static", - "static", - "moving", - "moving", - "moving", - "moving", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "moving", - "static", "grasped_r", "grasped_r", "grasped_r", @@ -4505,6 +4485,29 @@ "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_r", "grasped_r", "grasped_r", @@ -4516,107 +4519,104 @@ "grasped_r", "grasped_r", "grasped_r", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "moving", - "moving", - "static", - "static", - "static", - "static", - "moving", - "moving", - "moving", - "moving", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "moving", - "moving", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "moving", - "moving", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "moving", - "moving", - "moving", - "moving", - "static", - "moving", - "static", - "static", - "static", - "moving", - "moving", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "moving", - "moving", - "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_both", + "grasped_both", + "grasped_both", + "grasped_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", "static", "static", "static", @@ -4634,26 +4634,6 @@ "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, "R", "R", "R", @@ -4678,6 +4658,29 @@ "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", "R", "R", "R", @@ -4689,107 +4692,104 @@ "R", "R", "R", - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - 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", + "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", null, null, null, @@ -5668,33 +5668,134 @@ ], "global_span_px": 39.512657165527344, "state_counts": { - "static": 105, - "grasped_l": 0, - "grasped_r": 35, - "grasped_both": 0, - "moving": 31 + "static": 15, + "grasped_l": 51, + "grasped_r": 67, + "grasped_both": 38, + "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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -5744,6 +5845,9 @@ false, false, false, + false + ], + "wrist_l_per_frame": [ false, false, false, @@ -5768,6 +5872,29 @@ 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, false, false, false, @@ -5811,199 +5938,72 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false - ], - "wrist_l_per_frame": [ - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -6021,26 +6021,76 @@ 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -6141,6 +6191,9 @@ false, false, false, + false + ], + "is_moving_per_frame": [ false, false, false, @@ -6191,16 +6244,9 @@ false, false, false, - false - ], - "is_moving_per_frame": [ false, false, false, - true, - true, - true, - true, false, false, false, @@ -6212,7 +6258,6 @@ false, false, false, - true, false, false, false, @@ -6266,13 +6311,6 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, false, false, false, @@ -6280,16 +6318,10 @@ false, false, false, - true, - true, false, false, false, false, - true, - true, - true, - true, false, false, false, @@ -6298,8 +6330,6 @@ false, false, false, - true, - true, false, false, false, @@ -6313,8 +6343,6 @@ false, false, false, - true, - true, false, false, false, @@ -6322,17 +6350,10 @@ false, false, false, - true, - true, - true, - true, false, - true, false, false, false, - true, - true, false, false, false, @@ -6343,50 +6364,14 @@ false, false, false, + false + ], + "close_per_frame": [ true, - true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false - ], - "close_per_frame": [ - false, false, false, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -6401,20 +6386,8 @@ true, true, true, - false, - false, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -6422,74 +6395,52 @@ true, true, true, - 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, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, + true, + true, + true, + true, + true, true, 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, false, false, false, @@ -6506,14 +6457,56 @@ 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, + true, + true, + true, + true, false, + true, + true, + true, + true, + true, false, false, false, false, + true, + true, false, false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -6521,8 +6514,15 @@ false, false, false, + true, + true, + true, + true, false, - false, + true, + true, + true, + true, false, false, false, @@ -6552,22 +6552,22 @@ "T_seq": [ [ [ - 0.8634432554244995, - -0.5041642785072327, - -0.016857152804732323, - -0.03277341648936272 + 0.8879491090774536, + -0.4564472436904907, + 0.05658885836601257, + -0.039147816598415375 ], [ - -0.3056536614894867, - -0.4963006377220154, - -0.8125647902488708, - -0.11164562404155731 + 0.20529593527317047, + 0.2832280397415161, + -0.9368219971656799, + -0.11159023642539978 ], [ - 0.40129992365837097, - 0.7067559957504272, - -0.5826271176338196, - 1.0037976503372192 + 0.41158226132392883, + 0.8434677124023438, + 0.3451988399028778, + 0.8609367609024048 ], [ 0.0, @@ -6578,22 +6578,22 @@ ], [ [ - 0.8634432554244995, - -0.5041642785072327, - -0.016857152804732323, - -0.03277341648936272 + 0.8879491090774536, + -0.4564472436904907, + 0.05658885836601257, + -0.0377337671816349 ], [ - -0.3056536614894867, - -0.4963006377220154, - -0.8125647902488708, - -0.11164562404155731 + 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-0.7596147060394287, + 0.4089035391807556, + -0.03174775838851929 ], [ - 0.6604968309402466, - 0.06058785691857338, - -0.7483803033828735, - 0.07568198442459106 + 0.6971033811569214, + 0.08063068985939026, + -0.7124223113059998, + 0.07848095893859863 ], [ - 0.5350449681282043, - 0.6612959504127502, - 0.5257514119148254, - 0.7884656190872192 + 0.5081962943077087, + 0.6453558206558228, + 0.5703089833259583, + 0.6854158043861389 ], [ 0.0, @@ -17511,22 +17511,22 @@ ], [ [ - 0.4797646403312683, - -0.774352490901947, - 0.41255801916122437, - -0.03135461360216141 + 0.505750298500061, + -0.7596147060394287, + 0.4089035391807556, + -0.03107028268277645 ], [ - 0.7394043803215027, - 0.1036926880478859, - -0.665228545665741, - 0.07568198442459106 + 0.6971033811569214, + 0.08063068985939026, + -0.7124223113059998, + 0.08002859354019165 ], [ - 0.4723421335220337, - 0.6242003440856934, - 0.6223076581954956, - 0.7884656190872192 + 0.5081962943077087, + 0.6453558206558228, + 0.5703089833259583, + 0.6857255697250366 ], [ 0.0, @@ -17537,9 +17537,9 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=124 static=47 tracked=0 mc_static=True scale=0.192 grasp_src=vetoed (pkl)", - "n_frames_wrist": 124, - "n_frames_static": 47, + "note": "phase_d state-machine: wrist=171 static=0 tracked=0 mc_static=True scale=0.192 grasp_src=vetoed (pkl)", + "n_frames_wrist": 171, + "n_frames_static": 0, "n_frames_tracked": 0, "state_per_frame": [ "grasped_l", @@ -17568,17 +17568,6 @@ "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", @@ -17617,6 +17606,63 @@ "grasped_both", "grasped_both", "grasped_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", @@ -17653,33 +17699,6 @@ "grasped_l", "grasped_l", "grasped_l", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "moving", - "moving", - "static", - "static", - "moving", - "moving", - "static", - "static", - "static", - "static", "grasped_l", "grasped_l", "grasped_l", @@ -17691,28 +17710,9 @@ "grasped_l", "grasped_l", "grasped_l", - "moving", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "moving", - "static", - "static", - "static", - "static", - "static", - "static", - "static" + "grasped_l", + "grasped_l", + "grasped_l" ], "grasp_hand_per_frame": [ "L", @@ -17741,17 +17741,17 @@ "both", "both", "both", - "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", @@ -17826,33 +17826,6 @@ "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, "L", "L", "L", @@ -17864,28 +17837,55 @@ "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 + "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" ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -18749,11 +18749,11 @@ ], "global_span_px": 95.4476318359375, "state_counts": { - "static": 43, - "grasped_l": 62, + "static": 0, + "grasped_l": 100, "grasped_r": 0, - "grasped_both": 60, - "moving": 6 + "grasped_both": 71, + "moving": 0 }, "wrist_used_per_frame": [ true, @@ -18867,33 +18867,6 @@ 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, - false, - false, - false, - false, true, true, true, @@ -18905,30 +18878,101 @@ 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 - ], - "wrist_l_per_frame": [ + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true + ], + "wrist_l_per_frame": [ + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -19040,33 +19084,6 @@ 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, - false, - false, - false, - false, true, true, true, @@ -19078,28 +19095,11 @@ 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 + true, + true, + true, + true, + true ], "wrist_r_per_frame": [ false, @@ -19128,17 +19128,17 @@ 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, true, true, @@ -19403,12 +19403,8 @@ false, false, false, - true, - true, false, false, - true, - true, false, false, false, @@ -19424,7 +19420,6 @@ false, false, false, - true, false, false, false, @@ -19438,7 +19433,12 @@ false, false, false, - true, + false, + false, + false, + false, + false, + false, false, false, false, @@ -19543,82 +19543,82 @@ true, true, true, - false, - false, - false, - false, true, true, true, true, true, - false, - 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, true, true, true, true, - false, - false, 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, false, + true, + true, + true, + true, + true, + true, + true, + true, false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true ], "scale_correction_orig_sam3d": 0.19244149327278137 } diff --git a/samples/-HIF7MKD1_k_128.3_139.7/recording.viser b/samples/-HIF7MKD1_k_128.3_139.7/recording.viser index 666112d3e86f737ab0d8261f4995dd622b3a1808..1bee5a7cb496e1510ac1d067ec40ba1213b83828 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 sha256:0cc6a89b02aa54a5dfd82e8b3e8b1e7ed512869bcb485a99cf44299f3900ee3d -size 5982914 +oid sha256:c75048778fe03f8aa1f6405f09c848501a93746906777e687b0c2b7818ff67be +size 5978120 diff --git a/samples/-HIF7MKD1_k_128.3_139.7/scene.json b/samples/-HIF7MKD1_k_128.3_139.7/scene.json index 058d36d8232b09f62ea45670b06704cecf13bb80..c91046bd2be13ee34553a7e6314f605ee81fa9e5 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": 0.0, "tracking_status": "ok", "state_counts": { - "static": 105, - "grasped_l": 0, - "grasped_r": 35, - "grasped_both": 0, - "moving": 31 + "static": 15, + "grasped_l": 51, + "grasped_r": 67, + "grasped_both": 38, + "moving": 0 }, "state_fractions": { - "static": 0.6140350877192983, + "static": 0.08771929824561403, "grasped": 0.0, - "moving": 0.18128654970760233 + "moving": 0.0 }, "is_static_global": false, "n_state_frames": 171 @@ -189,19 +189,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.2046783625730994, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 136, + "static": 0, "grasped_l": 0, - "grasped_r": 0, - "grasped_both": 0, - "moving": 35 + "grasped_r": 112, + "grasped_both": 59, + "moving": 0 }, "state_fractions": { - "static": 0.7953216374269005, + "static": 0.0, "grasped": 0.0, - "moving": 0.2046783625730994 + "moving": 0.0 }, "is_static_global": false, "n_state_frames": 171 @@ -212,19 +212,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.03508771929824561, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 43, - "grasped_l": 62, + "static": 0, + "grasped_l": 100, "grasped_r": 0, - "grasped_both": 60, - "moving": 6 + "grasped_both": 71, + "moving": 0 }, "state_fractions": { - "static": 0.25146198830409355, + "static": 0.0, "grasped": 0.0, - "moving": 0.03508771929824561 + "moving": 0.0 }, "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 df7de56db15b84cef2070ff17c4c29eceacec657..3d021e8578c583aa05e9f31d49497c5b6bbffc26 100644 --- a/samples/-HIF7MKD1_k_128.3_139.7/signals.json +++ b/samples/-HIF7MKD1_k_128.3_139.7/signals.json @@ -1 +1 @@ -{"n_frames": 171, "scene": {"contact_l": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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"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_r", "grasped_r", "grasped_r", @@ -10931,26 +10931,26 @@ "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", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", "R", "R", "R", @@ -11299,8 +11299,8 @@ "state_counts": { "static": 0, "grasped_l": 0, - "grasped_r": 60, - "grasped_both": 0, + "grasped_r": 40, + "grasped_both": 20, "moving": 0 }, "wrist_used_per_frame": [ @@ -11368,26 +11368,26 @@ "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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -11562,13 +11562,12 @@ true, true, true, - false, true, true, true, true, true, - false, + true, false, true, true, @@ -11591,18 +11590,19 @@ true, true, true, - false, + true, false, true, true, true, true, - false, + true, false, true, true, true, - false, + true, + true, true, true, true, diff --git a/samples/-HJPuU5UjII_182.2_186.2/recording.viser b/samples/-HJPuU5UjII_182.2_186.2/recording.viser index 8dc87aaad9f513a1fd043a6aeae79a28b324d367..fc300555193685a3369249eb57a398ba8c38ad55 100644 --- a/samples/-HJPuU5UjII_182.2_186.2/recording.viser +++ b/samples/-HJPuU5UjII_182.2_186.2/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1f86d2029e6a38e30aba6ac581d28eda462f1cc286722c1f4f1d5e218a74abc0 -size 2757405 +oid sha256:a0620221172f3055a2cc9699c91b2f7954462b8bca6abd1a73e1bade2e8db011 +size 2758599 diff --git a/samples/-HJPuU5UjII_182.2_186.2/scene.json b/samples/-HJPuU5UjII_182.2_186.2/scene.json index c2e4cb5bf5968dd166abf27755b2e79e4c9bdf2d..03f041c26bbf6abf644672e301bde668e564f125 100644 --- a/samples/-HJPuU5UjII_182.2_186.2/scene.json +++ b/samples/-HJPuU5UjII_182.2_186.2/scene.json @@ -307,8 +307,8 @@ "state_counts": { "static": 0, "grasped_l": 0, - "grasped_r": 60, - "grasped_both": 0, + "grasped_r": 40, + "grasped_both": 20, "moving": 0 }, "state_fractions": { diff --git a/samples/-HJPuU5UjII_182.2_186.2/signals.json b/samples/-HJPuU5UjII_182.2_186.2/signals.json index 5f41921b39c91300cf492c52382e9b4ea6f7704c..a1bf826d1c8671b3c2f825af579d2d85c863b3a3 100644 --- a/samples/-HJPuU5UjII_182.2_186.2/signals.json +++ b/samples/-HJPuU5UjII_182.2_186.2/signals.json @@ -1 +1 @@ -{"n_frames": 60, "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], "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], "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, 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null, null, null, - null, "R", "R", "R", @@ -4346,8 +4345,9 @@ "R", "R", "R", - null, - null, + "R", + "R", + "R", null, null ], @@ -4683,11 +4683,11 @@ ], "global_span_px": 142.9385986328125, "state_counts": { - "static": 13, + "static": 12, "grasped_l": 0, - "grasped_r": 49, + "grasped_r": 52, "grasped_both": 0, - "moving": 3 + "moving": 1 }, "wrist_used_per_frame": [ false, @@ -4701,7 +4701,6 @@ false, false, false, - false, true, true, true, @@ -4751,8 +4750,9 @@ true, true, true, - false, - false, + true, + true, + true, false, false ], @@ -4835,7 +4835,6 @@ false, false, false, - false, true, true, true, @@ -4885,8 +4884,9 @@ true, true, true, - false, - false, + true, + true, + true, false, false ], @@ -4952,8 +4952,8 @@ false, false, false, - true, - true, + false, + false, true, false ], @@ -4969,58 +4969,58 @@ false, false, false, - false, true, true, true, - false, true, true, true, true, - false, - false, true, true, true, true, - false, true, true, true, true, true, true, - false, true, true, - false, - false, true, - false, - false, - false, - false, true, true, - false, true, true, true, true, true, - false, - false, - false, - false, - false, - false, true, - false, - false, 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, false, false ] diff --git a/samples/-ISqFoGju6U_656.6_660.9/recording.viser b/samples/-ISqFoGju6U_656.6_660.9/recording.viser index 583ed12abe127aa5b1fa0f6069f5e4f5fd25d313..8a19f4ea597be2bbc859c6b6ce9efb254f2444ce 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 sha256:244b75ff995778483390cbb3c060d4a5ca2d4a4b1ee6e9a2bd39ec31ba9f722f -size 2026235 +oid sha256:d6239fdbd4e438745765a5be498b7d22094bef5ed071edd49c12b44503ae6b6f +size 2022423 diff --git a/samples/-ISqFoGju6U_656.6_660.9/scene.json b/samples/-ISqFoGju6U_656.6_660.9/scene.json index fe44712f0cdbf19226edd1a76566629cf69a200e..0d414420a010a4ffaa061d1dbb270b3c94330d24 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": 0.046153846153846156, + "trust_rate": 0.015384615384615385, "tracking_status": "ok", "state_counts": { - "static": 13, + "static": 12, "grasped_l": 0, - "grasped_r": 49, + "grasped_r": 52, "grasped_both": 0, - "moving": 3 + "moving": 1 }, "state_fractions": { - "static": 0.2, + "static": 0.18461538461538463, "grasped": 0.0, - "moving": 0.046153846153846156 + "moving": 0.015384615384615385 }, "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 39a24cb8840559379b5b2c0d5592527cc942eb49..5379f316129a54d0a53878b82812c44330be0305 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, 0.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 1.0, 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, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 1.0, 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, 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a/samples/-J3NfUD__8A_861.3_871.7/recording.viser +++ b/samples/-J3NfUD__8A_861.3_871.7/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:89b0f90bbe69cb96d7a4bf398bbbe1a0fa597bd27628a4d1e49907e770ed6292 -size 5579034 +oid sha256:3d508d9ae33cd3ba9d5483db9d1c45bdc10da2bc1d6dd189570b58c7de50415f +size 5577266 diff --git a/samples/-J3NfUD__8A_861.3_871.7/scene.json b/samples/-J3NfUD__8A_861.3_871.7/scene.json index abecffb601d7c7b67eab94a952347b7922a5e803..c30f2b53c624e0be1f298f705e92a9c4460d7ebd 100644 --- a/samples/-J3NfUD__8A_861.3_871.7/scene.json +++ b/samples/-J3NfUD__8A_861.3_871.7/scene.json @@ -189,19 +189,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.01282051282051282, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 82, + "static": 3, "grasped_l": 0, - "grasped_r": 72, + "grasped_r": 153, "grasped_both": 0, - "moving": 2 + "moving": 0 }, "state_fractions": { - "static": 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"state_per_frame": [ - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", "grasped_both", "grasped_both", "grasped_both", @@ -9654,26 +9648,32 @@ "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_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", "grasped_both", "grasped_both", "grasped_both", @@ -9746,12 +9746,6 @@ "grasped_both" ], "grasp_hand_per_frame": [ - "L", - "L", - "L", - "L", - "L", - "L", "both", "both", "both", @@ -9805,26 +9799,32 @@ "both", "both", "both", - "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", @@ -10649,9 +10649,9 @@ "global_span_px": 35.560089111328125, "state_counts": { "static": 0, - "grasped_l": 6, - "grasped_r": 20, - "grasped_both": 123, + "grasped_l": 0, + "grasped_r": 0, + "grasped_both": 149, "moving": 0 }, "wrist_used_per_frame": [ @@ -10865,26 +10865,26 @@ true, true, true, - 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, @@ -10957,12 +10957,12 @@ true ], "wrist_r_per_frame": [ - false, - false, - false, - false, - false, - false, + true, + true, + true, + true, + true, + true, true, true, true, @@ -11335,7 +11335,6 @@ true, true, true, - false, true, true, true, @@ -11363,7 +11362,6 @@ true, true, true, - false, true, true, true, @@ -11377,13 +11375,15 @@ true, true, true, - false, - false, true, - false, - false, true, - false, + true, + true, + true, + true, + true, + true, + true, true, true, true, diff --git a/samples/-K0Gl4qkyOg_260.7_270.6/recording.viser b/samples/-K0Gl4qkyOg_260.7_270.6/recording.viser index 9916c337695edb3b7328c9d5ae569f1f4aa09a04..30080f05028423cfa5daa00632fecd61c1e8b3c3 100644 --- a/samples/-K0Gl4qkyOg_260.7_270.6/recording.viser +++ b/samples/-K0Gl4qkyOg_260.7_270.6/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b2db3e2cb57158740c88a95aafac3bcb8846fb00e17335f8197720b3e1ce25b2 -size 4851275 +oid sha256:c30bd72939a5bd5d8276f84787cebcb63b7d31c0a572661525f172c4f08db285 +size 4851208 diff --git a/samples/-K0Gl4qkyOg_260.7_270.6/scene.json b/samples/-K0Gl4qkyOg_260.7_270.6/scene.json index 20ff353c3cfc5342b8fd5b6fde1beba78c7f4bfc..a127164070a4854c75cb28ae42c3d35cd763c6f6 100644 --- a/samples/-K0Gl4qkyOg_260.7_270.6/scene.json +++ b/samples/-K0Gl4qkyOg_260.7_270.6/scene.json @@ -171,9 +171,9 @@ "tracking_status": "ok", "state_counts": { "static": 0, - "grasped_l": 6, - "grasped_r": 20, - "grasped_both": 123, + "grasped_l": 0, + "grasped_r": 0, + "grasped_both": 149, "moving": 0 }, "state_fractions": { diff --git a/samples/-K0Gl4qkyOg_260.7_270.6/signals.json b/samples/-K0Gl4qkyOg_260.7_270.6/signals.json index 7f918d61642878381e272861282a4310eb6bb218..4ad7203ed5e77944c1b98221a6f2e07b8e6c07b3 100644 --- a/samples/-K0Gl4qkyOg_260.7_270.6/signals.json +++ b/samples/-K0Gl4qkyOg_260.7_270.6/signals.json @@ -1 +1 @@ -{"n_frames": 149, "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, 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, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 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, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], 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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" ], "grasp_hand_per_frame": [ null, @@ -6696,30 +6696,30 @@ "R", "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" + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both" ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -7033,9 +7033,9 @@ "global_span_px": 417.5977478027344, "state_counts": { "static": 68, - "grasped_l": 24, + "grasped_l": 0, "grasped_r": 7, - "grasped_both": 2, + "grasped_both": 26, "moving": 0 }, "wrist_used_per_frame": [ @@ -7322,30 +7322,30 @@ 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 + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true ], "is_moving_per_frame": [ false, @@ -7472,7 +7472,7 @@ false, false, false, - false, + true, false, false, false, @@ -7525,7 +7525,6 @@ false, true, true, - false, true, true, true, @@ -7543,10 +7542,11 @@ true, true, true, - false, - false, true, - false, + true, + true, + true, + true, true, true, true, diff --git a/samples/-LxWGDmwOMY_324.5_331.2/recording.viser b/samples/-LxWGDmwOMY_324.5_331.2/recording.viser index ef9eafa1f4bcdd9b0e123c8baa90b91599b49cdf..2ac8235ba50a524f6aef26628e4f253faf45508a 100644 --- a/samples/-LxWGDmwOMY_324.5_331.2/recording.viser +++ b/samples/-LxWGDmwOMY_324.5_331.2/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ea1d39b8328d2a36a17230874ecf361c7166dce9228faa0eb3294e05fe3e418f -size 2840855 +oid sha256:aca1b515904010919ad53b13fc0a54f79b8a7874d985fb3f205b99544fb14ff6 +size 2840319 diff --git a/samples/-LxWGDmwOMY_324.5_331.2/scene.json b/samples/-LxWGDmwOMY_324.5_331.2/scene.json index e54cace4ea5805f97f8b49a8486375bb09565c6a..61f372d432c4b2f5a29ab4d8d553b5f26678c173 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": 36, "grasped_l": 0, - "grasped_r": 37, + "grasped_r": 65, "grasped_both": 0, "moving": 0 }, "state_fractions": { - "static": 0.6336633663366337, + "static": 0.3564356435643564, "grasped": 0.0, "moving": 0.0 }, @@ -171,9 +171,9 @@ "tracking_status": "ok", "state_counts": { "static": 68, - "grasped_l": 24, + "grasped_l": 0, "grasped_r": 7, - "grasped_both": 2, + "grasped_both": 26, "moving": 0 }, "state_fractions": { diff --git a/samples/-LxWGDmwOMY_324.5_331.2/signals.json b/samples/-LxWGDmwOMY_324.5_331.2/signals.json index 37503c047835b1bbca54e049ce154c7d23578b40..5aecc747847999e1471e150af7189252c457cd0e 100644 --- a/samples/-LxWGDmwOMY_324.5_331.2/signals.json +++ b/samples/-LxWGDmwOMY_324.5_331.2/signals.json @@ -1 +1 @@ -{"n_frames": 101, "scene": {"contact_l": [0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 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0.1038961038961039, "tracking_status": "ok", "state_counts": { - "static": 59, + "static": 33, "grasped_l": 0, - "grasped_r": 0, + "grasped_r": 36, "grasped_both": 0, - "moving": 18 + "moving": 8 }, "state_fractions": { - "static": 0.7662337662337663, + "static": 0.42857142857142855, "grasped": 0.0, - "moving": 0.23376623376623376 + "moving": 0.1038961038961039 }, "is_static_global": false, "n_state_frames": 77 diff --git a/samples/-MF7nEIDKLk_242.2_247.3/signals.json b/samples/-MF7nEIDKLk_242.2_247.3/signals.json index a17e02355b6e07714039f78a9b1b4c6f88e00173..3112f16b566ac00e5a3e2ed7bbb4df09e94f8dd5 100644 --- a/samples/-MF7nEIDKLk_242.2_247.3/signals.json +++ b/samples/-MF7nEIDKLk_242.2_247.3/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, 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state-machine: wrist=145 static=0 tracked=0 mc_static=False scale=0.327 grasp_src=vetoed (pkl)", + "n_frames_wrist": 145, + "n_frames_static": 0, "n_frames_tracked": 0, "state_per_frame": [ "grasped_r", @@ -20475,6 +20475,26 @@ "grasped_both", "grasped_both", "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_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", @@ -20487,14 +20507,6 @@ "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", @@ -20533,62 +20545,50 @@ "grasped_r", "grasped_r", "grasped_r", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "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", + 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false, - false, - false, - false, - false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -21859,62 +21859,62 @@ 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 + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + 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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"static", "static", diff --git a/samples/-N_cOdrYjWw_318.5_328.1/recording.viser b/samples/-N_cOdrYjWw_318.5_328.1/recording.viser index 19d8d6baf0de07c0cd1d604d4bd1abec0d544970..4a58f4f8e9f88829b989af932d3456369962b046 100644 --- a/samples/-N_cOdrYjWw_318.5_328.1/recording.viser +++ b/samples/-N_cOdrYjWw_318.5_328.1/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0979098594847716c5aef955d94f943d3d52d6965b70232822ddb153b7b53766 -size 8112513 +oid sha256:505e6927092911c80cec839095a7b3a140cbb8edefff4bcc8dc4c3c6bd9eda17 +size 8090217 diff --git a/samples/-N_cOdrYjWw_318.5_328.1/scene.json b/samples/-N_cOdrYjWw_318.5_328.1/scene.json index 5c43cc650569f33ab8dcc522754fdf8a66353426..653e2fb8bde254af1d3aa4738ba51cc9e0f41d74 100644 --- a/samples/-N_cOdrYjWw_318.5_328.1/scene.json +++ b/samples/-N_cOdrYjWw_318.5_328.1/scene.json @@ -326,14 +326,14 @@ "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 56, + "static": 0, "grasped_l": 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"static", - "static", - "static", - "static", - "static", - "static", - "moving", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "moving", - "moving", - "static", - "moving", - "static", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", "static", "static", "static", @@ -4194,25 +4194,25 @@ 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", null, null, null, @@ -4541,11 +4541,11 @@ ], "global_span_px": 21.077238082885742, "state_counts": { - "static": 56, + "static": 41, "grasped_l": 0, - "grasped_r": 0, + "grasped_r": 19, "grasped_both": 0, - "moving": 7 + "moving": 3 }, "wrist_used_per_frame": [ false, @@ -4587,25 +4587,25 @@ 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, false, false, false, @@ -4717,25 +4717,25 @@ 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, false, false, false, @@ -4787,27 +4787,11 @@ false, false, false, - true, false, false, false, false, false, - false, - false, - false, - true, - true, - false, - true, - false, - false, - false, - false, - false, - false - ], - "close_per_frame": [ false, false, false, @@ -4821,6 +4805,9 @@ false, false, false, + false + ], + "close_per_frame": [ false, false, false, @@ -4860,12 +4847,25 @@ false, false, false, + true, + true, + true, false, false, false, false, + true, false, false, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, diff --git a/samples/-Ng0Rx1ahi4_412.2_416.3/recording.viser b/samples/-Ng0Rx1ahi4_412.2_416.3/recording.viser index 793354ac934b2b90f4b91dd2c9af4807774a1b86..664ec3994cf9d97d9fa61bf8bd1e170d9b29c8ed 100644 --- a/samples/-Ng0Rx1ahi4_412.2_416.3/recording.viser +++ b/samples/-Ng0Rx1ahi4_412.2_416.3/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:462b34334318501722dc338cf146bfcd28ca86f3a2d67f9f3a9a33cb76ffaa41 -size 2176439 +oid sha256:8202a4b4ec9868956aec2c88c242c77ff1c558e32ffc6c96deb83928855196f7 +size 2178300 diff --git a/samples/-Ng0Rx1ahi4_412.2_416.3/scene.json b/samples/-Ng0Rx1ahi4_412.2_416.3/scene.json index b0e3bbdd11dafee1e474e1cef9f097307c22e554..8d5cd77c0ad92e4a14887d64a62af03f5e3414a2 100644 --- 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": 0.2222222222222222, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 13, + "static": 9, "grasped_l": 5, - "grasped_r": 4, + "grasped_r": 22, "grasped_both": 27, - "moving": 14 + "moving": 0 }, "state_fractions": { - "static": 0.20634920634920634, + "static": 0.14285714285714285, "grasped": 0.0, - "moving": 0.2222222222222222 + "moving": 0.0 }, "is_static_global": false, "n_state_frames": 63 @@ -167,19 +167,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - 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"static", - "static", "grasped_l", "grasped_l", "grasped_l", @@ -4088,7 +4062,33 @@ "grasped_l", "grasped_l", "grasped_l", - "moving" + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "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": [ "L", @@ -4112,32 +4112,6 @@ "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, "L", "L", "L", @@ -4152,7 +4126,33 @@ "L", "L", "L", - null + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + 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], [ 0.0, @@ -8819,9 +8819,9 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=42 static=20 tracked=0 mc_static=False scale=0.853 grasp_src=vetoed (pkl)", - "n_frames_wrist": 42, - "n_frames_static": 20, + "note": "phase_d state-machine: wrist=62 static=0 tracked=0 mc_static=False scale=0.853 grasp_src=vetoed (pkl)", + "n_frames_wrist": 62, + "n_frames_static": 0, "n_frames_tracked": 0, "state_per_frame": [ "grasped_r", @@ -8834,27 +8834,27 @@ "grasped_r", "grasped_r", "grasped_r", - "moving", - "moving", - "static", - "moving", - "moving", - "moving", - "moving", - "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", @@ -8898,27 +8898,27 @@ "R", "R", "R", - 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", @@ -9241,11 +9241,11 @@ ], "global_span_px": 190.3154296875, "state_counts": { - "static": 15, + "static": 0, "grasped_l": 0, - "grasped_r": 40, + "grasped_r": 61, "grasped_both": 0, - "moving": 7 + "moving": 1 }, "wrist_used_per_frame": [ true, @@ -9258,27 +9258,27 @@ 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -9386,27 +9386,27 @@ 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -9450,13 +9450,13 @@ false, false, false, - true, - true, false, - true, - true, - true, - true, + false, + false, + false, + false, + false, + false, false, false, false, @@ -9515,18 +9515,18 @@ true, true, false, + true, false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -9542,16 +9542,16 @@ true, true, true, - false, - false, true, true, true, - false, - false, - false, - false, - false, + true, + true, + true, + true, + true, + true, + true, true, true, true, diff --git a/samples/-O5z3lQwqO8_157.7_161.8/recording.viser b/samples/-O5z3lQwqO8_157.7_161.8/recording.viser index 19c4e363fc43175fe5b4d5e3542024836ceb6f89..af6d40bd48577ac26c272e1a18441c86d156f8a7 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 sha256:2d7c3706a47e442949f60ba3cd8701e60cdb387e97d81953bb8e0340b31b4b3b -size 2504823 +oid sha256:23a03b0066071919e18cf327704cefd6cf70017bbbd25a29c4e0073fd441d294 +size 2517499 diff --git a/samples/-O5z3lQwqO8_157.7_161.8/scene.json b/samples/-O5z3lQwqO8_157.7_161.8/scene.json index fe1d58bd6715fedc9b70db42386f906406bfff8f..cf217e31e58b3dd29950323c73892bcf09ea0a99 100644 --- a/samples/-O5z3lQwqO8_157.7_161.8/scene.json +++ b/samples/-O5z3lQwqO8_157.7_161.8/scene.json @@ -191,14 +191,14 @@ "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 1, - "grasped_l": 2, - "grasped_r": 24, - "grasped_both": 35, + "static": 0, + "grasped_l": 3, + "grasped_r": 1, + "grasped_both": 58, "moving": 0 }, "state_fractions": { - "static": 0.016129032258064516, + "static": 0.0, "grasped": 0.0, "moving": 0.0 }, @@ -211,19 +211,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.04838709677419355, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 24, - "grasped_l": 35, + "static": 0, + "grasped_l": 62, "grasped_r": 0, "grasped_both": 0, - "moving": 3 + "moving": 0 }, "state_fractions": { - "static": 0.3870967741935484, + "static": 0.0, "grasped": 0.0, - "moving": 0.04838709677419355 + "moving": 0.0 }, "is_static_global": false, "n_state_frames": 62 @@ -257,19 +257,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.11290322580645161, + "trust_rate": 0.016129032258064516, "tracking_status": "ok", "state_counts": { - "static": 15, + "static": 0, "grasped_l": 0, - "grasped_r": 40, + "grasped_r": 61, "grasped_both": 0, - "moving": 7 + "moving": 1 }, "state_fractions": { - "static": 0.24193548387096775, + "static": 0.0, "grasped": 0.0, - "moving": 0.11290322580645161 + "moving": 0.016129032258064516 }, "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 174287c8dd4f59a3d5d905598194b4781dd3a6fa..652a43c4fed42f878c1afe668fcb27f267febfc5 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, 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b/samples/-ON6vOTrAHI_181.2_185.2/recording.viser index 554d56e77e771be24864619d3b31123c35ddc0a7..2d4293424537ddd25e3c1a1b880b80a4baa44d63 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 sha256:6fb2e268483e9310356442218eb3ed34f15838aa580cc0327d6d82ce006bf772 -size 3931274 +oid sha256:6124cfc170f023c1fa2f97a19d008b160d7d347c903efbeb57e5c2b939b0603d +size 3930920 diff --git a/samples/-ON6vOTrAHI_181.2_185.2/scene.json b/samples/-ON6vOTrAHI_181.2_185.2/scene.json index 0a62c80c8c901f211a9deaec8f9f860eef978886..dbb0eec2179c6bf97bb66e0c823dd3ef7aa73461 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": 1, + "grasped_l": 0, "grasped_r": 0, - "grasped_both": 42, + "grasped_both": 43, "moving": 0 }, "state_fractions": { diff --git a/samples/-ON6vOTrAHI_181.2_185.2/signals.json b/samples/-ON6vOTrAHI_181.2_185.2/signals.json index 8085e2977338c1e5c0a6570b96838d56b4639690..89cea39cb78d2af3f8f8c64c29aa9b7fea209233 100644 --- a/samples/-ON6vOTrAHI_181.2_185.2/signals.json +++ b/samples/-ON6vOTrAHI_181.2_185.2/signals.json @@ -1 +1 @@ -{"n_frames": 43, "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], "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], "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, 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0.15530093014240265, - -0.9595556259155273, - 0.26081180572509766 + -0.41321611404418945, + 0.1588873267173767, + -0.8966645002365112, + 0.1740410178899765 ], [ - 0.6808722019195557, - -0.6782508492469788, - -0.27638527750968933, - 1.236268162727356 + 0.8731623888015747, + 0.3486824333667755, + -0.34059956669807434, + 1.4383618831634521 ], [ 0.0, @@ -9379,44 +9379,11 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=56 static=25 tracked=10 mc_static=False scale=0.057 grasp_src=vetoed (pkl)", - "n_frames_wrist": 56, - "n_frames_static": 25, - "n_frames_tracked": 10, + "note": "phase_d state-machine: wrist=91 static=0 tracked=0 mc_static=False scale=0.057 grasp_src=vetoed (pkl)", + "n_frames_wrist": 91, + "n_frames_static": 0, + "n_frames_tracked": 0, "state_per_frame": [ - "static", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "static", - "moving", - "moving", - "moving", - "moving", - "moving", - "static", - "static", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", "grasped_r", "grasped_r", "grasped_r", @@ -9472,44 +9439,44 @@ "grasped_r", "grasped_r", "grasped_r", - "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", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r" ], "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", @@ -9565,9 +9532,42 @@ "R", "R", "R", - 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" ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -10031,46 +10031,13 @@ ], "global_span_px": 75.1664810180664, "state_counts": { - "static": 4, + "static": 0, "grasped_l": 0, - "grasped_r": 55, + "grasped_r": 91, "grasped_both": 0, - "moving": 32 + "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, - false, - false, - false, - false, - false, - false, true, true, true, @@ -10126,9 +10093,42 @@ true, true, true, - 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 ], "wrist_l_per_frame": [ false, @@ -10224,39 +10224,6 @@ 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, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -10312,12 +10279,6 @@ true, true, true, - false, - false, - false - ], - "is_moving_per_frame": [ - false, true, true, true, @@ -10327,14 +10288,11 @@ true, true, true, - false, true, true, true, true, true, - false, - false, true, true, true, @@ -10350,6 +10308,16 @@ true, true, true, + true, + true, + true, + true, + true, + true, + true + ], + "is_moving_per_frame": [ + false, false, false, false, @@ -10405,19 +10373,12 @@ false, false, false, - true, - true, - true - ], - "close_per_frame": [ false, false, false, false, false, false, - true, - true, false, false, false, @@ -10443,10 +10404,12 @@ false, false, false, - true, false, false, false, + false + ], + "close_per_frame": [ true, true, true, @@ -10475,15 +10438,10 @@ true, true, true, - false, - false, - false, true, true, true, true, - false, - false, true, true, true, @@ -10491,16 +10449,58 @@ true, true, true, - false, - false, true, true, true, true, true, - 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 ] } } \ No newline at end of file diff --git a/samples/-Oflftjt0fs_57.2_63.2/recording.viser b/samples/-Oflftjt0fs_57.2_63.2/recording.viser index 34ad3ab4e659795e604c873f076a225dc1ce866d..baab35a3ee599dff0946e56c2ca73a078a73e2a0 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 sha256:889e2b8820a0d79bd914de9d560e8ae4ac51c17f52aeb68209e353f34a849db0 -size 3478718 +oid sha256:acd8aacd99c707ceeaa6e832b9cc2274476f3c8afaf830a91a2947624d2d083f +size 3476891 diff --git a/samples/-Oflftjt0fs_57.2_63.2/scene.json b/samples/-Oflftjt0fs_57.2_63.2/scene.json index 3e6b52b4f3ac7fa748ebe3eff95d3b0bfaf97a62..eae661f7e62cf819f9a273440a97239dfe4dfba5 100644 --- a/samples/-Oflftjt0fs_57.2_63.2/scene.json +++ b/samples/-Oflftjt0fs_57.2_63.2/scene.json @@ -212,19 +212,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.3516483516483517, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 4, + "static": 0, "grasped_l": 0, - "grasped_r": 55, + "grasped_r": 91, "grasped_both": 0, - "moving": 32 + "moving": 0 }, "state_fractions": { - "static": 0.04395604395604396, + "static": 0.0, "grasped": 0.0, - "moving": 0.3516483516483517 + "moving": 0.0 }, "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 fb915099f494e217750bfa1857fa221b57d2a560..dcf3e02dba587d064ef979f274b0e6e2c03faa3a 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, 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19.912307739257812]}, "per_object": {"0": {"trust": [false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false], "state": ["static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", 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true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true], "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", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", 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+ 1.2536568641662598 ], [ 0.0, @@ -4148,134 +4148,134 @@ "n_frames_static": 1, "n_frames_tracked": 0, "state_per_frame": [ - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_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_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "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" ], "grasp_hand_per_frame": [ - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "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", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", null, null ], @@ -4601,9 +4601,9 @@ "global_span_px": 15.035374641418457, "state_counts": { "static": 2, - "grasped_l": 62, + "grasped_l": 0, "grasped_r": 0, - "grasped_both": 0, + "grasped_both": 62, "moving": 0 }, "wrist_used_per_frame": [ @@ -4739,68 +4739,68 @@ 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, - false, - 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false ], diff --git a/samples/-Oj2xzQbo4s_236.4_240.6/recording.viser b/samples/-Oj2xzQbo4s_236.4_240.6/recording.viser index 539ed07d695cecbef7bad1315efb75a8ac4f527c..30d0cf8f49d00c8d09a4f4b03f3b3e47454898ed 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 sha256:2486c480630b1f24f9a8938216dfbb78bb79b4a9e615692b18cfb49229cf40f2 -size 1976414 +oid sha256:0915d56cdef7958de5cee92bfb3adf966baf95057b054a8ac5339ca7584e5c5d +size 1977039 diff --git a/samples/-Oj2xzQbo4s_236.4_240.6/scene.json b/samples/-Oj2xzQbo4s_236.4_240.6/scene.json index f157124c17b0908095ff73d3603962297e8cd3b6..48acc4ec2bd722b5265c1caf7771f1a865819086 100644 --- a/samples/-Oj2xzQbo4s_236.4_240.6/scene.json +++ b/samples/-Oj2xzQbo4s_236.4_240.6/scene.json @@ -171,9 +171,9 @@ "tracking_status": "ok", "state_counts": { "static": 2, - "grasped_l": 62, + "grasped_l": 0, "grasped_r": 0, - "grasped_both": 0, + "grasped_both": 62, "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 9ef5553b855ab1a692e18092ebf0a869574d68cd..ed26a35b9b7d08e151dd54279c5da69b5056d1ff 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, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", "grasped_both", "grasped_both", "grasped_both", @@ -2509,24 +2509,24 @@ null, null, null, - "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", @@ -3030,8 +3030,8 @@ "state_counts": { "static": 35, "grasped_l": 28, - "grasped_r": 18, - "grasped_both": 10, + "grasped_r": 0, + "grasped_both": 28, "moving": 0 }, "wrist_used_per_frame": [ @@ -3163,24 +3163,24 @@ 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, diff --git a/samples/-PAqYhWSm2k_91.5_99.4/recording.viser b/samples/-PAqYhWSm2k_91.5_99.4/recording.viser index 738facd6c8433bfe803f30787b80fd824f373ccb..d60c364bb57affbc55cc4885642e643a39e1090b 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 sha256:1cf451db3e03bd19ec453c8fa31e497311c2001cfa2d11ee2ba7eb7204ff5605 -size 2614298 +oid sha256:1ace9eda8c191ef67b5ceda507dfa9edbd0e574cce78bda5e72e2ad8dda40b78 +size 2617813 diff --git a/samples/-PAqYhWSm2k_91.5_99.4/scene.json b/samples/-PAqYhWSm2k_91.5_99.4/scene.json index 5e9ed313f362db2f9b89e45cc1a0324de7ca7141..a76ff3f9ffaa02df48915ecaddf7ae210b9a3a36 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": 18, - "grasped_both": 10, + "grasped_r": 0, + "grasped_both": 28, "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 ff313026ce9ec5f2f2ac15280725984ffa35c395..003029af4855b3da230887ea83b8ff77ce3587b9 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, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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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"note": "phase_d state-machine: wrist=0 static=97 tracked=0 mc_static=True scale=0.202 grasp_src=vetoed (pkl)", - "n_frames_wrist": 0, - "n_frames_static": 97, - "n_frames_tracked": 0, + "note": "phase_d state-machine: wrist=9 static=86 tracked=2 mc_static=True scale=0.202 grasp_src=vetoed (pkl)", + "n_frames_wrist": 9, + "n_frames_static": 86, + "n_frames_tracked": 2, "state_per_frame": [ "static", "static", @@ -10083,15 +10083,15 @@ "moving", "moving", "static", - "static", - "static", - "static", - "static", - "static", - "moving", - "moving", - "moving", - "static" + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r" ], "grasp_hand_per_frame": [ null, @@ -10182,15 +10182,15 @@ null, null, null, - null, - null, - null, - null, - null, - null, - null, - null, - null + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R" ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -10426,11 +10426,11 @@ ], "global_span_px": 36.013885498046875, "state_counts": { - "static": 92, + "static": 86, "grasped_l": 0, - "grasped_r": 0, + "grasped_r": 9, "grasped_both": 0, - "moving": 5 + "moving": 2 }, "wrist_used_per_frame": [ false, @@ -10521,15 +10521,15 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, - false, - false + true, + true, + true, + true, + true, + true, + true, + true, + true ], "wrist_l_per_frame": [ false, @@ -10719,15 +10719,15 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, - false, - false + true, + true, + true, + true, + true, + true, + true, + true, + true ], "is_moving_per_frame": [ false, @@ -10820,21 +10820,15 @@ false, false, false, - false, - false, - false, - true, - true, - true, - false - ], - "close_per_frame": [ false, false, false, false, false, false, + false + ], + "close_per_frame": [ false, false, false, @@ -10923,9 +10917,15 @@ false, false, false, + true, + true, + true, false, false, - false + true, + true, + true, + true ] } } \ No newline at end of file diff --git a/samples/-Pfpxc5M7b0_257.7_264.2/recording.viser b/samples/-Pfpxc5M7b0_257.7_264.2/recording.viser index 799d3c31857c6de7b3ff4ae783b4ecbb8ca8f07d..36bc7ab1007a664404363e3bd58128aefd810683 100644 --- a/samples/-Pfpxc5M7b0_257.7_264.2/recording.viser +++ b/samples/-Pfpxc5M7b0_257.7_264.2/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:617df5a372ad381465cccfdabed355cb5f7d227753a9fb7595b71bf3e6d6b42a -size 2939311 +oid sha256:3405487a8dde254bc69b61df1ea4c1bc5b4750979e363c3a71436b9cde548005 +size 2932338 diff --git a/samples/-Pfpxc5M7b0_257.7_264.2/scene.json b/samples/-Pfpxc5M7b0_257.7_264.2/scene.json index 6112d23fccdbbb6d335b52c65ff195cb0893f934..6c725c8b651c947ce8fd765c8c2c2011a0ba8377 100644 --- a/samples/-Pfpxc5M7b0_257.7_264.2/scene.json +++ b/samples/-Pfpxc5M7b0_257.7_264.2/scene.json @@ -189,19 +189,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.13402061855670103, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 6, + "static": 5, "grasped_l": 0, - "grasped_r": 78, + "grasped_r": 92, "grasped_both": 0, - "moving": 13 + "moving": 0 }, "state_fractions": { - "static": 0.061855670103092786, + "static": 0.05154639175257732, "grasped": 0.0, - "moving": 0.13402061855670103 + "moving": 0.0 }, "is_static_global": false, "n_state_frames": 97 @@ -212,19 +212,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.05154639175257732, + "trust_rate": 0.020618556701030927, "tracking_status": "ok", "state_counts": { - "static": 92, + "static": 86, "grasped_l": 0, - "grasped_r": 0, + "grasped_r": 9, "grasped_both": 0, - "moving": 5 + "moving": 2 }, "state_fractions": { - "static": 0.9484536082474226, + "static": 0.8865979381443299, "grasped": 0.0, - "moving": 0.05154639175257732 + "moving": 0.020618556701030927 }, "is_static_global": false, "n_state_frames": 97 diff --git a/samples/-Pfpxc5M7b0_257.7_264.2/signals.json b/samples/-Pfpxc5M7b0_257.7_264.2/signals.json index 0c402cc432cbb92549dcb395e939c91077ee2f0b..e826bb06bd44f0c9bff1c64bd8bee88a681c05bd 100644 --- a/samples/-Pfpxc5M7b0_257.7_264.2/signals.json +++ b/samples/-Pfpxc5M7b0_257.7_264.2/signals.json @@ -1 +1 @@ -{"n_frames": 97, "scene": {"contact_l": [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, 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, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "contact_r": [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, 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"grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both" ], "grasp_hand_per_frame": [ "L", @@ -8894,62 +8894,62 @@ "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" + "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" ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -9269,9 +9269,9 @@ "global_span_px": 25.9658203125, "state_counts": { "static": 0, - "grasped_l": 62, + "grasped_l": 6, "grasped_r": 0, - "grasped_both": 0, + "grasped_both": 56, "moving": 0 }, "wrist_used_per_frame": [ @@ -9409,62 +9409,62 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - 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, + true, + true, + true, + true, + true, + true ], "is_moving_per_frame": [ false, @@ -9539,8 +9539,8 @@ true, true, true, - false, - false, + true, + true, true, true, true, @@ -9590,7 +9590,7 @@ true, true, true, - false, + true, true, true ] diff --git a/samples/-QALmP1nHtM_216.9_220.9/recording.viser b/samples/-QALmP1nHtM_216.9_220.9/recording.viser index fd18531f3e1ae733cc0e3808bd89aa0049c35fa0..31eb0b56fc6b8128eeb1038e2311546f443a02b7 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:fec9dc23368809ca928310f1880d9e891aaf43cd95d8d1cb04b5866550d3b7c1 -size 3656328 +oid sha256:99f7675a2f68747fa657eb38c18b3c7f6d22d0b924f1202d0c44c0104116b284 +size 3663683 diff --git a/samples/-QALmP1nHtM_216.9_220.9/scene.json b/samples/-QALmP1nHtM_216.9_220.9/scene.json index 720cdfb4a4ccd8fdb54a54c0b34e281fe5a0b6bc..7178021d63fa3519c705e1b4d7c8ab18713c30da 100644 --- a/samples/-QALmP1nHtM_216.9_220.9/scene.json +++ b/samples/-QALmP1nHtM_216.9_220.9/scene.json @@ -214,14 +214,14 @@ "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 2, + "static": 0, "grasped_l": 0, - "grasped_r": 11, + "grasped_r": 13, "grasped_both": 49, "moving": 0 }, "state_fractions": { - "static": 0.03225806451612903, + "static": 0.0, "grasped": 0.0, "moving": 0.0 }, @@ -261,9 +261,9 @@ "tracking_status": "ok", "state_counts": { "static": 0, - "grasped_l": 62, + "grasped_l": 6, "grasped_r": 0, - "grasped_both": 0, + "grasped_both": 56, "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..963c2bc4ea2a48fbda0f64a51b0bc358b74bb305 100644 --- a/samples/-QALmP1nHtM_216.9_220.9/signals.json +++ b/samples/-QALmP1nHtM_216.9_220.9/signals.json @@ -1 +1 @@ -{"n_frames": 62, "scene": {"contact_l": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "contact_r": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "grasp": [0.0, 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0.6129641532897949, - 0.2059287577867508 + 0.15002679824829102, + -0.5921948552131653, + 0.7917052507400513, + 0.20580798387527466 ], [ - -0.46718308329582214, - -0.4337184727191925, - -0.7704727649688721, - 1.3576682806015015 + -0.6302725672721863, + -0.6742464900016785, + -0.38490021228790283, + 1.3138996362686157 ], [ 0.0, @@ -11370,22 +11370,22 @@ ], [ [ - 0.11705834418535233, - -0.9792109131813049, - 0.16566036641597748, - -0.053549107164144516 + 0.7841740250587463, + -0.440285325050354, + -0.43728703260421753, + -0.05382794886827469 ], [ - -0.29675182700157166, - -0.19367407262325287, - -0.9351089000701904, - 0.210683673620224 + 0.10935091227293015, + -0.5956135392189026, + 0.7957932353019714, + 0.2105206996202469 ], [ - 0.9477529525756836, - 0.06030229106545448, - -0.313253790140152, - 1.363993525505066 + -0.6108301877975464, + -0.6718581318855286, + -0.41891905665397644, + 1.314365029335022 ], [ 0.0, @@ -11396,10 +11396,10 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=10 static=8 tracked=45 mc_static=False scale=0.227 grasp_src=vetoed (pkl)", - "n_frames_wrist": 10, - "n_frames_static": 8, - "n_frames_tracked": 45, + "note": "phase_d state-machine: wrist=63 static=0 tracked=0 mc_static=False scale=0.227 grasp_src=vetoed (pkl)", + "n_frames_wrist": 63, + "n_frames_static": 0, + "n_frames_tracked": 0, "state_per_frame": [ "grasped_r", "grasped_r", @@ -11410,60 +11410,60 @@ "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" + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r" ], "grasp_hand_per_frame": [ "R", @@ -11475,60 +11475,60 @@ "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 + "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" ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -11852,11 +11852,11 @@ ], "global_span_px": 68.36563110351562, "state_counts": { - "static": 14, + "static": 0, "grasped_l": 0, - "grasped_r": 9, + "grasped_r": 63, "grasped_both": 0, - "moving": 40 + "moving": 0 }, "wrist_used_per_frame": [ true, @@ -11868,60 +11868,60 @@ 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 + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true ], "wrist_l_per_frame": [ false, @@ -11998,6 +11998,62 @@ true, true, true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true + ], + "is_moving_per_frame": [ false, false, false, @@ -12051,9 +12107,6 @@ false, false, false, - false - ], - "is_moving_per_frame": [ false, false, false, @@ -12063,6 +12116,9 @@ false, false, false, + false + ], + "close_per_frame": [ true, true, true, @@ -12075,31 +12131,18 @@ 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, - false, - false, true, true, true, @@ -12115,73 +12158,30 @@ true, 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 + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true ] } } \ No newline at end of file diff --git a/samples/-QALmP1nHtM_678.2_682.2/recording.viser b/samples/-QALmP1nHtM_678.2_682.2/recording.viser index 11d463817ecb459552e92b95dd177a8cc51b075b..c375446ba157108429e18d58a9786101ddcfba24 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 sha256:6e217da47d9231b4eab26fb792dbeea911367c9e381ac3b81d12e950524937d5 -size 3529061 +oid sha256:0bc8fbbc51b7b2d574baf389c63558669315b9ca331d106ed2c9d453f6b1fdbb +size 3524690 diff --git a/samples/-QALmP1nHtM_678.2_682.2/scene.json b/samples/-QALmP1nHtM_678.2_682.2/scene.json index ef304431fe54ed11ec0683bbed6aad659b292d06..7b3bd688a92595bdab4bd1daa04fc28bd8f04a13 100644 --- a/samples/-QALmP1nHtM_678.2_682.2/scene.json +++ b/samples/-QALmP1nHtM_678.2_682.2/scene.json @@ -302,19 +302,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.6349206349206349, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 14, + "static": 0, "grasped_l": 0, - "grasped_r": 9, + "grasped_r": 63, "grasped_both": 0, - "moving": 40 + "moving": 0 }, "state_fractions": { - "static": 0.2222222222222222, + "static": 0.0, "grasped": 0.0, - "moving": 0.6349206349206349 + "moving": 0.0 }, "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 ebab7dfc616976db56281e7009d5fffcc19ba808..a6945ac16c28bceb5a53ff14a96f197c6e15511a 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, 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, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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, 1.0, 1.0, 1.0, 1.0, 1.0], "contact_r": [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, 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, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0], "grasp": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "motion": [0.0, 10.630146026611328, 12.50999641418457, 4.5, 4.031128883361816, 3.3541018962860107, 1.5811388492584229, 11.401754379272461, 1.4142135381698608, 16.620769500732422, 6.4031243324279785, 2.915475845336914, 18.901058197021484, 3.0, 3.3541018962860107, 5.147815227508545, 18.439088821411133, 4.0, 4.609772205352783, 5.099019527435303, 6.5, 0.5, 1.1180340051651, 0.7071067690849304, 2.2360680103302, 6.041522979736328, 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false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false], "state": ["static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static"]}, "2": {"trust": [false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, true, false, false, false, false, false, false, false, false, false, false, false, false, false, false, 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"n_frames_wrist": 0, - "n_frames_static": 29, - "n_frames_tracked": 1, + "n_frames_static": 30, + "n_frames_tracked": 0, "state_per_frame": [ "static", "static", diff --git a/samples/-QALmP1nHtM_715.0_719.0/recording.viser b/samples/-QALmP1nHtM_715.0_719.0/recording.viser index 8ef2c2fa18b5153bd69784f5ec38a1ab599edb20..31861aa207780c53e5a3e04e926b62eba83eacca 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 sha256:82dff5e03dd1d390aadf2b1f0e5e09a217b5340b1ff0564153c98c375220a6bb -size 3711061 +oid sha256:f1525dd4fafc7c205205443f5e38fe065504bea88b4b3234e5728b28726d3587 +size 3710335 diff --git a/samples/-QALmP1nHtM_715.0_719.0/scene.json b/samples/-QALmP1nHtM_715.0_719.0/scene.json index bea4a93bda1a78a09bec54a3cfa18fdab6387d0e..9f2dc10de64497b61b383b71469cf2cc865f1794 100644 --- a/samples/-QALmP1nHtM_715.0_719.0/scene.json +++ b/samples/-QALmP1nHtM_715.0_719.0/scene.json @@ -278,19 +278,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.2, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 24, + "static": 0, "grasped_l": 0, - "grasped_r": 0, + "grasped_r": 30, "grasped_both": 0, - "moving": 6 + "moving": 0 }, "state_fractions": { - "static": 0.8, + "static": 0.0, "grasped": 0.0, - "moving": 0.2 + "moving": 0.0 }, "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": 0.23333333333333334, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 23, + "static": 1, "grasped_l": 0, - "grasped_r": 0, + "grasped_r": 29, "grasped_both": 0, - "moving": 7 + "moving": 0 }, "state_fractions": { - "static": 0.7666666666666667, + "static": 0.03333333333333333, "grasped": 0.0, - "moving": 0.23333333333333334 + "moving": 0.0 }, "is_static_global": 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mc_static=False scale=0.159 grasp_src=vetoed (pkl)", "n_frames_wrist": 0, - "n_frames_static": 92, - "n_frames_tracked": 0, + "n_frames_static": 91, + "n_frames_tracked": 1, "state_per_frame": [ "static", "static", diff --git a/samples/-QALmP1nHtM_715.0_723.1/recording.viser b/samples/-QALmP1nHtM_715.0_723.1/recording.viser index 0c8358a4d563117b2ac109a914896ae6bd594836..b4e287182547665c145b280f5e26741344d7a178 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:a4ee2fa49d552fd62363815ec0c58f4b52fd6b4312dec994d052ab570e028b43 -size 6264894 +oid sha256:6f85e8e9dbbfd4801a4a51f3d4a36aa4111cc623bfc05a29794f4ad990ddbfca +size 6261258 diff --git a/samples/-QALmP1nHtM_715.0_723.1/scene.json b/samples/-QALmP1nHtM_715.0_723.1/scene.json index 72a6661041836434586a6294da7961e138a1404f..053194882b056dcd1577bebf38ba0ec5a19e6c43 100644 --- a/samples/-QALmP1nHtM_715.0_723.1/scene.json +++ b/samples/-QALmP1nHtM_715.0_723.1/scene.json @@ -301,19 +301,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.06521739130434782, + "trust_rate": 0.010869565217391304, "tracking_status": "ok", "state_counts": { - "static": 86, - "grasped_l": 0, + "static": 83, + "grasped_l": 8, "grasped_r": 0, "grasped_both": 0, - "moving": 6 + "moving": 1 }, "state_fractions": { - "static": 0.9347826086956522, + "static": 0.9021739130434783, "grasped": 0.0, - "moving": 0.06521739130434782 + "moving": 0.010869565217391304 }, "is_static_global": false, "n_state_frames": 92 diff --git a/samples/-QALmP1nHtM_715.0_723.1/signals.json b/samples/-QALmP1nHtM_715.0_723.1/signals.json index a433b150a503bf01a0bf05c9c237bac168ef411a..4ac7ab381ac25e1ed8b7601c1e26ee68138c4740 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": 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0.28749987483024597, + 0.4492245316505432 ], [ 0.0, @@ -1752,20 +1752,20 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=58 static=1 tracked=8 mc_static=False scale=0.174 grasp_src=vetoed (pkl)", - "n_frames_wrist": 58, - "n_frames_static": 1, - "n_frames_tracked": 8, + "note": "phase_d state-machine: wrist=67 static=0 tracked=0 mc_static=False scale=0.174 grasp_src=vetoed (pkl)", + "n_frames_wrist": 67, + "n_frames_static": 0, + "n_frames_tracked": 0, "state_per_frame": [ "static", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", "grasped_both", "grasped_both", "grasped_both", @@ -1827,14 +1827,14 @@ ], "grasp_hand_per_frame": [ null, - null, - null, - null, - null, - null, - null, - null, - null, + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", "both", "both", "both", @@ -2239,19 +2239,19 @@ "static": 1, "grasped_l": 0, "grasped_r": 0, - "grasped_both": 58, - "moving": 8 + "grasped_both": 66, + "moving": 0 }, "wrist_used_per_frame": [ false, - false, - false, - false, - false, - false, - false, - false, - false, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -2313,14 +2313,14 @@ ], "wrist_l_per_frame": [ false, - false, - false, - false, - false, - false, - false, - false, - false, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -2381,14 +2381,6 @@ true ], "wrist_r_per_frame": [ - false, - false, - false, - false, - false, - false, - false, - false, false, true, true, @@ -2447,10 +2439,6 @@ true, true, true, - true - ], - "is_moving_per_frame": [ - false, true, true, true, @@ -2459,6 +2447,9 @@ true, true, true, + true + ], + "is_moving_per_frame": [ false, false, false, @@ -2516,9 +2507,6 @@ false, false, false, - false - ], - "close_per_frame": [ false, false, false, @@ -2527,6 +2515,10 @@ false, false, false, + false, + false + ], + "close_per_frame": [ false, true, true, @@ -2546,19 +2538,12 @@ true, true, true, - false, - false, - false, true, - false, true, true, - false, - false, true, true, true, - false, true, true, true, @@ -2572,16 +2557,31 @@ true, true, true, - false, true, - false, - false, - false, - false, true, - 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, diff --git a/samples/-QED0HrDVy4_440.5_444.9/recording.viser b/samples/-QED0HrDVy4_440.5_444.9/recording.viser index 54c52bf63e72a705772da8413d444270c7858e4c..92a775f35812d874c0d4c5ed8c8985a1874eb4e9 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 sha256:507bc4a5ea8727fab62d366e6739219f308d79229632ced6b47d13203c0ecad4 -size 2355508 +oid sha256:435b7fd2b177d361c1cd423134ab3776c45ecb6d96ebbbc4271be9c43a6447a8 +size 2355130 diff --git a/samples/-QED0HrDVy4_440.5_444.9/scene.json b/samples/-QED0HrDVy4_440.5_444.9/scene.json index a38be44b334a8286053629b250937af37312af45..cc3e3a1f97aac94bced9970e6f910a5c7a9ddf5d 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": 0.11940298507462686, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { "static": 1, "grasped_l": 0, "grasped_r": 0, - "grasped_both": 58, - "moving": 8 + "grasped_both": 66, + "moving": 0 }, "state_fractions": { "static": 0.014925373134328358, "grasped": 0.0, - "moving": 0.11940298507462686 + "moving": 0.0 }, "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 ee06f4287046ac75f6b30ee353e8c0b8341c3eee..e005b4df614d50443e5650c4a3a09ee87c3719f1 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, 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, 0.0, 0.0, 0.0, 1.0, 0.0, 1.0, 1.0, 0.0, 0.0, 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, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0], "contact_r": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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, 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, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 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8.381526947021484, 12.165525436401367, 8.5440034866333, 7.905694007873535, 6.8007354736328125, 7.071067810058594, 4.3011627197265625, 2.1213202476501465, 1.5, 1.5811388492584229, 2.5, 3.9051249027252197, 3.535533905029297, 6.082762718200684, 7.762087345123291, 13.601470947265625, 10.404326438903809, 7.5, 3.535533905029297, 4.0, 3.5, 4.7434163093566895, 8.732124328613281, 11.412712097167969, 11.236102104187012, 12.529964447021484, 10.770329475402832, 4.7169904708862305, 1.0, 4.031128883361816]}, "per_object": {"0": {"trust": [false, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true], "state": ["static", "moving", "moving", "moving", "moving", 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+{"n_frames": 67, "scene": {"contact_l": [0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "grasp": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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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", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_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_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_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", @@ -31314,102 +31314,34 @@ "grasped_l", "grasped_l", "grasped_l", + "grasped_l", "moving", "moving", "moving", "moving", "moving", "moving", - "moving", - "static", - "static", - "static", - "static", - "static", - "static", "static", "static", "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static" - ], - "grasp_hand_per_frame": [ - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "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", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static", + "static" + ], + "grasp_hand_per_frame": [ "L", "L", "L", @@ -31430,6 +31362,74 @@ "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", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", "L", "L", "L", @@ -31628,7 +31628,7 @@ "L", "L", "L", - null, + "L", null, null, null, @@ -33166,10 +33166,10 @@ "global_span_px": 60.62020492553711, "state_counts": { "static": 19, - "grasped_l": 166, + "grasped_l": 99, "grasped_r": 0, - "grasped_both": 120, - "moving": 7 + "grasped_both": 188, + "moving": 6 }, "wrist_used_per_frame": [ true, @@ -33458,7 +33458,7 @@ true, true, true, - false, + true, false, false, false, @@ -33772,7 +33772,7 @@ true, true, true, - false, + true, false, false, false, @@ -33820,74 +33820,74 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -34400,7 +34400,7 @@ false, false, false, - true, + false, true, true, true, @@ -34445,8 +34445,6 @@ true, false, true, - false, - false, true, true, true, @@ -34640,7 +34638,6 @@ true, true, true, - false, true, true, true, @@ -34698,23 +34695,26 @@ true, true, true, - false, - false, - false, - false, - false, true, true, true, true, true, true, - false, - false, - false, - false, true, - false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, diff --git a/samples/-QGsBuKzP4U_48.6_72.9/recording.viser b/samples/-QGsBuKzP4U_48.6_72.9/recording.viser index 41359aec9362de1e981c0740dd16c888cab53524..61ae5ab3e4709c2eedaffe5ea969f16ae69a64f9 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 sha256:27a1c97f629d13060aafa95b68f4a9c41b70921632228c68697d4ac62a8e9a8e -size 12455778 +oid sha256:42ac8ae06d99e30aa0e44c72792c653a7b4ebc149b9f6d645bca303f80078a34 +size 12450128 diff --git a/samples/-QGsBuKzP4U_48.6_72.9/scene.json b/samples/-QGsBuKzP4U_48.6_72.9/scene.json index b50bee963878875f80f11b51e91199cc059bbae4..f0bfe0a291c82750eb2e53de3d35c19c69406cd0 100644 --- a/samples/-QGsBuKzP4U_48.6_72.9/scene.json +++ b/samples/-QGsBuKzP4U_48.6_72.9/scene.json @@ -212,19 +212,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.022435897435897436, + "trust_rate": 0.019230769230769232, "tracking_status": "ok", "state_counts": { "static": 19, - "grasped_l": 166, + "grasped_l": 99, "grasped_r": 0, - "grasped_both": 120, - "moving": 7 + "grasped_both": 188, + "moving": 6 }, "state_fractions": { "static": 0.060897435897435896, "grasped": 0.0, - "moving": 0.022435897435897436 + "moving": 0.019230769230769232 }, "is_static_global": false, "n_state_frames": 312 diff --git a/samples/-QGsBuKzP4U_48.6_72.9/signals.json b/samples/-QGsBuKzP4U_48.6_72.9/signals.json index b1eefe31a0c60d16ed21993e4a8eae8b25e81333..599a75af4fa9ba69dd1a6d28ffb93eb75410b83d 100644 --- a/samples/-QGsBuKzP4U_48.6_72.9/signals.json +++ b/samples/-QGsBuKzP4U_48.6_72.9/signals.json @@ -1 +1 @@ -{"n_frames": 312, "scene": {"contact_l": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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grasp_src=vetoed (pkl)", - "n_frames_wrist": 21, - "n_frames_static": 62, - "n_frames_tracked": 63, + "note": "phase_d state-machine: wrist=23 static=123 tracked=0 mc_static=True scale=0.210 grasp_src=vetoed (pkl)", + "n_frames_wrist": 23, + "n_frames_static": 123, + "n_frames_tracked": 0, "state_per_frame": [ "static", - "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_l", "grasped_l", "grasped_l", @@ -9551,18 +9551,18 @@ ], "grasp_hand_per_frame": [ null, - null, - "L", - "L", - "L", - "L", - "L", - "L", - "L", "L", "L", "L", "L", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", "L", "L", "L", @@ -10435,14 +10435,14 @@ "global_span_px": 31.253999710083008, "state_counts": { "static": 124, - "grasped_l": 20, + "grasped_l": 13, "grasped_r": 0, - "grasped_both": 0, - "moving": 2 + "grasped_both": 8, + "moving": 1 }, "wrist_used_per_frame": [ false, - false, + true, true, true, true, @@ -10590,7 +10590,7 @@ ], "wrist_l_per_frame": [ false, - false, + true, true, true, true, @@ -10742,14 +10742,14 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, - false, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -10886,7 +10886,7 @@ ], "is_moving_per_frame": [ false, - true, + false, false, false, false, @@ -11033,11 +11033,11 @@ false ], "close_per_frame": [ - false, false, true, true, - false, + true, + true, true, true, true, diff --git a/samples/-R2qOLA1W0Q_284.9_294.6/recording.viser b/samples/-R2qOLA1W0Q_284.9_294.6/recording.viser index a69f313047c299dd00393699e6dc9e240f607f78..7ce091e4d4a2112e2571145eb24a854594a1abe2 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:bc4c1cf709f105f8af07494d0b7831ea6e4d609e8eadeba9651f3927ea1df905 -size 3876635 +oid sha256:e80d789da4dafda8b34d4900d860d0fef245ac95b13ae342fea9b9e335284a3b +size 3869501 diff --git a/samples/-R2qOLA1W0Q_284.9_294.6/scene.json b/samples/-R2qOLA1W0Q_284.9_294.6/scene.json index cf8fa9b7a108b2cff6a35100d8319477b2f9d40a..dbaca99dc28d679d732598ddecf3f9291e4be79b 100644 --- a/samples/-R2qOLA1W0Q_284.9_294.6/scene.json +++ b/samples/-R2qOLA1W0Q_284.9_294.6/scene.json @@ -144,19 +144,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.0273972602739726, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 127, + "static": 123, "grasped_l": 0, - "grasped_r": 15, + "grasped_r": 23, "grasped_both": 0, - "moving": 4 + "moving": 0 }, "state_fractions": { - "static": 0.8698630136986302, + "static": 0.8424657534246576, "grasped": 0.0, - "moving": 0.0273972602739726 + "moving": 0.0 }, "is_static_global": false, "n_state_frames": 146 @@ -167,19 +167,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.0136986301369863, + "trust_rate": 0.00684931506849315, "tracking_status": "ok", "state_counts": { "static": 124, - "grasped_l": 20, + "grasped_l": 13, "grasped_r": 0, - "grasped_both": 0, - "moving": 2 + "grasped_both": 8, + "moving": 1 }, "state_fractions": { "static": 0.8493150684931506, "grasped": 0.0, - "moving": 0.0136986301369863 + "moving": 0.00684931506849315 }, "is_static_global": false, "n_state_frames": 146 diff --git a/samples/-R2qOLA1W0Q_284.9_294.6/signals.json b/samples/-R2qOLA1W0Q_284.9_294.6/signals.json index beab2e18a0270148431251eb183c5340fa0692fe..77d7e70b038553500f708ff635ff1af3244ea877 100644 --- a/samples/-R2qOLA1W0Q_284.9_294.6/signals.json +++ b/samples/-R2qOLA1W0Q_284.9_294.6/signals.json @@ -1 +1 @@ -{"n_frames": 146, "scene": {"contact_l": 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"grasped_l", "grasped_l", "grasped_l", @@ -7606,20 +7602,24 @@ "grasped_l", "grasped_l", "grasped_l", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "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_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l" ], "grasp_hand_per_frame": [ null, @@ -7660,10 +7660,6 @@ null, null, null, - null, - null, - null, - null, "L", "L", "L", @@ -7681,20 +7677,24 @@ "L", "L", "L", - 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" ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -7970,10 +7970,10 @@ "global_span_px": 348.9444274902344, "state_counts": { "static": 34, - "grasped_l": 17, + "grasped_l": 35, "grasped_r": 0, "grasped_both": 0, - "moving": 22 + "moving": 4 }, "wrist_used_per_frame": [ false, @@ -8014,10 +8014,6 @@ false, false, false, - false, - false, - false, - false, true, true, true, @@ -8035,20 +8031,24 @@ true, true, true, - 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 ], "wrist_l_per_frame": [ false, @@ -8089,10 +8089,6 @@ false, false, false, - false, - false, - false, - false, true, true, true, @@ -8110,6 +8106,26 @@ 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, @@ -8123,9 +8139,6 @@ false, false, false, - false - ], - "wrist_r_per_frame": [ false, false, false, @@ -8185,7 +8198,14 @@ false, false, false, + false + ], + "is_moving_per_frame": [ false, + true, + true, + true, + true, false, false, false, @@ -8198,14 +8218,7 @@ false, false, false, - false - ], - "is_moving_per_frame": [ false, - true, - true, - true, - true, false, false, false, @@ -8239,10 +8252,6 @@ false, false, false, - true, - true, - true, - true, false, false, false, @@ -8257,25 +8266,6 @@ false, false, false, - false, - false, - false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true - ], - "close_per_frame": [ false, false, false, @@ -8283,8 +8273,14 @@ false, false, false, + false + ], + "close_per_frame": [ false, false, + true, + true, + true, false, false, false, @@ -8326,26 +8322,30 @@ true, true, true, - false, - false, - false, - false, - false, true, 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, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true diff --git a/samples/-R2qOLA1W0Q_663.0_667.8/recording.viser b/samples/-R2qOLA1W0Q_663.0_667.8/recording.viser index 4ca808b624b71b8591ba0ffcc9b22f0c813b39a7..4f484e807c38cfb9111d4dcbe55d29fd2de5ec23 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:ea02e709e6e141c79a9585447e4d186395ef8e7e5f5c797a49ab209cb29b8ed2 -size 3042746 +oid sha256:c86a483f9e2cb872bd27a19aa821eb5cb0ef02bfa910e7004a0938c9b5585283 +size 3043885 diff --git a/samples/-R2qOLA1W0Q_663.0_667.8/scene.json b/samples/-R2qOLA1W0Q_663.0_667.8/scene.json index f667e3d24d9be896a5674c500357693e7d039da7..36d6944b804ef11e872fa7b78f17c4a1e8afcefa 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": 0.3013698630136986, + "trust_rate": 0.0547945205479452, "tracking_status": "ok", "state_counts": { "static": 34, - "grasped_l": 17, + "grasped_l": 35, "grasped_r": 0, "grasped_both": 0, - "moving": 22 + "moving": 4 }, "state_fractions": { "static": 0.4657534246575342, "grasped": 0.0, - "moving": 0.3013698630136986 + "moving": 0.0547945205479452 }, "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 614c6a05b368504032d93c35917aef34a4e39f8a..261942fa7967d70d8adfb6cc8ad2da59feea5999 100644 --- a/samples/-R2qOLA1W0Q_663.0_667.8/signals.json +++ b/samples/-R2qOLA1W0Q_663.0_667.8/signals.json @@ -1 +1 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a/samples/-SD9rDqpu8g_66.4_71.7/object_obb.bin b/samples/-SD9rDqpu8g_66.4_71.7/object_obb.bin index a71ae3b71fbc7e0934e499035d7d7755efcf3f4d..7abd76eff0322cc11b4ed93474df25f344409d5a 100644 --- a/samples/-SD9rDqpu8g_66.4_71.7/object_obb.bin +++ b/samples/-SD9rDqpu8g_66.4_71.7/object_obb.bin @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:98e8d8f567b8d6efe0a83be0b50756813fdf061b5e096c32ec6ef4d3d3ad3291 +oid sha256:bb9b3e335e12f13c81e10a68053e5971a05c136580fdc3590710adf27af7fe0e size 192 diff --git a/samples/-SD9rDqpu8g_66.4_71.7/object_pose.bin b/samples/-SD9rDqpu8g_66.4_71.7/object_pose.bin index dae3fc99fb7319e8ec22d1ff102f7a0ddf8fb472..846edc13c3bf1d336d66925a65900382e0e1be1c 100644 --- a/samples/-SD9rDqpu8g_66.4_71.7/object_pose.bin +++ b/samples/-SD9rDqpu8g_66.4_71.7/object_pose.bin @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:91c5a8c3c30cc4a26c325b174a9967ac8a2e076ac83965d510ba7023ce15cbd0 +oid 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"n_frames_tracked": 3, + "n_frames_static": 78, + "n_frames_tracked": 2, "state_per_frame": [ "static", "static", @@ -6083,15 +6083,15 @@ false ], "close_per_frame": [ - false, - false, - false, - false, - false, - false, - false, - false, - false, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, diff --git a/samples/-SD9rDqpu8g_66.4_71.7/recording.viser b/samples/-SD9rDqpu8g_66.4_71.7/recording.viser index 61e472f209326b295d0ea56b06c4125c834f7670..7e764f704ca18a652fbbfe8644a60c3e9903a93c 100644 --- 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:dddd6b986f8928e9bd003ca0ed30237dbc06e46747825af8977d3b0e7abad96d -size 2348199 +oid sha256:3b89c016090b6ebbb96ee6ef9bf6e2f16e22989832c6b61f67ab342d6c60d7c5 +size 2347963 diff --git a/samples/-SD9rDqpu8g_66.4_71.7/scene.json b/samples/-SD9rDqpu8g_66.4_71.7/scene.json index 9a085d9919ecc779dbd9dc56dd180ac4abd00786..bbe4bc8b1a6a3f4403b0721ccb058aaa1187dfdf 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": 0.0, "tracking_status": "ok", "state_counts": { - "static": 48, + "static": 0, "grasped_l": 0, - "grasped_r": 21, + "grasped_r": 80, "grasped_both": 0, - "moving": 11 + "moving": 0 }, "state_fractions": { - "static": 0.6, + "static": 0.0, "grasped": 0.0, - "moving": 0.1375 + "moving": 0.0 }, "is_static_global": false, "n_state_frames": 80 diff --git a/samples/-SD9rDqpu8g_66.4_71.7/signals.json b/samples/-SD9rDqpu8g_66.4_71.7/signals.json index bb7e73d94ac1c8306c30822c4543a38e04f2b830..dfe4ca1364cd7e302da28447faba3e9b5724a96d 100644 --- a/samples/-SD9rDqpu8g_66.4_71.7/signals.json +++ b/samples/-SD9rDqpu8g_66.4_71.7/signals.json @@ -1 +1 @@ -{"n_frames": 80, "scene": {"contact_l": 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static=3 tracked=3 mc_static=False scale=0.160 grasp_src=vetoed (pkl)", + "n_frames_wrist": 61, + "n_frames_static": 3, "n_frames_tracked": 3, "state_per_frame": [ "static", @@ -1763,28 +1763,28 @@ "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", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", "grasped_r", "grasped_r", "grasped_r", @@ -1832,28 +1832,28 @@ 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, + "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", @@ -2236,9 +2236,9 @@ ], "global_span_px": 66.74858093261719, "state_counts": { - "static": 25, + "static": 3, "grasped_l": 4, - "grasped_r": 27, + "grasped_r": 49, "grasped_both": 8, "moving": 3 }, @@ -2249,28 +2249,28 @@ 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, true, true, true, @@ -2387,28 +2387,28 @@ 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, true, true, true, @@ -2564,8 +2564,8 @@ true, true, true, - false, - false, + true, + true, false, true, false, diff --git a/samples/-SNEly05Nmg_424.2_428.5/recording.viser b/samples/-SNEly05Nmg_424.2_428.5/recording.viser index de7244c12f41732e87dd9315474b8019cac0358d..53c6c4ca401e24aba51fb95aa27fe6f996cc9f7d 100644 --- a/samples/-SNEly05Nmg_424.2_428.5/recording.viser +++ b/samples/-SNEly05Nmg_424.2_428.5/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:dd744165cd41e7cfc2bbc7c861be318001e9cac752653b38766614ab9cfa95a5 -size 1420611 +oid sha256:1b8b1403e7e089a7655a1ccd1d4c7c8fb4d78a39bb658368e9a18d0f5b7ac6f4 +size 1419398 diff --git a/samples/-SNEly05Nmg_424.2_428.5/scene.json b/samples/-SNEly05Nmg_424.2_428.5/scene.json index 2bb8039e38210ff80e0e0650f99a49cd687792ef..cafdb15d902dfd1a135a782e32d8103c74efe51b 100644 --- a/samples/-SNEly05Nmg_424.2_428.5/scene.json +++ b/samples/-SNEly05Nmg_424.2_428.5/scene.json @@ -125,14 +125,14 @@ "trust_rate": 0.04477611940298507, "tracking_status": "ok", "state_counts": { - "static": 25, + "static": 3, "grasped_l": 4, - "grasped_r": 27, + "grasped_r": 49, "grasped_both": 8, "moving": 3 }, "state_fractions": { - "static": 0.373134328358209, + "static": 0.04477611940298507, "grasped": 0.0, "moving": 0.04477611940298507 }, diff --git a/samples/-SNEly05Nmg_424.2_428.5/signals.json b/samples/-SNEly05Nmg_424.2_428.5/signals.json index b0fdf866ec45613ab749b56a306eb0e2d6317034..86b9f7492b985486bf48ff43f318c4ce1b1a3e5e 100644 --- a/samples/-SNEly05Nmg_424.2_428.5/signals.json +++ b/samples/-SNEly05Nmg_424.2_428.5/signals.json @@ -1 +1 @@ -{"n_frames": 67, "scene": {"contact_l": [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_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", "grasped_l", "grasped_l", "grasped_l", @@ -22728,60 +22782,6 @@ "grasped_l", "grasped_l", "grasped_l", - "moving", - "static", - "static", - "moving", - "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", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", "static", "static", "static", @@ -23054,6 +23054,60 @@ "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", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", + "L", "L", "L", "L", @@ -23083,60 +23137,6 @@ "L", "L", "L", - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, null, null, null, @@ -25131,11 +25131,11 @@ ], "global_span_px": 124.25139617919922, "state_counts": { - "static": 271, - "grasped_l": 78, + "static": 220, + "grasped_l": 114, "grasped_r": 0, - "grasped_both": 0, - "moving": 4 + "grasped_both": 18, + "moving": 1 }, "wrist_used_per_frame": [ true, @@ -25216,60 +25216,60 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - 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- 0.1356603056192398, - 0.1574057638645172 + 0.6720933318138123, + 0.5403948426246643, + 0.5062252283096313, + 0.16628193855285645 ], [ - 0.9978511929512024, - -0.04989061877131462, - 0.042472563683986664, - 1.2754113674163818 + 0.38730156421661377, + 0.3261277377605438, + -0.8623445630073547, + 1.320428490638733 ], [ 0.0, @@ -36102,14 +36102,13 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=277 static=4 tracked=72 mc_static=False scale=0.236 grasp_src=vetoed (pkl)", - "n_frames_wrist": 277, - "n_frames_static": 4, - "n_frames_tracked": 72, + "note": "phase_d state-machine: wrist=351 static=2 tracked=0 mc_static=False scale=0.236 grasp_src=vetoed (pkl)", + "n_frames_wrist": 351, + "n_frames_static": 2, + "n_frames_tracked": 0, "state_per_frame": [ "static", "static", - "moving", "grasped_r", "grasped_r", "grasped_r", @@ -36122,17 +36121,6 @@ "grasped_r", "grasped_r", "grasped_r", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", "grasped_r", "grasped_r", "grasped_r", @@ -36154,17 +36142,20 @@ "grasped_r", "grasped_r", "grasped_r", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "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", @@ -36225,31 +36216,75 @@ "grasped_both", "grasped_both", "grasped_both", - "grasped_l", - "grasped_l", - "grasped_l", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "static", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", "grasped_r", "grasped_r", "grasped_r", @@ -36272,19 +36307,6 @@ "grasped_r", "grasped_r", "grasped_r", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "static", - "static", - "moving", "grasped_r", "grasped_r", "grasped_r", @@ -36296,28 +36318,6 @@ "grasped_r", "grasped_r", "grasped_r", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "static", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", "grasped_r", "grasped_r", "grasped_r", @@ -36462,7 +36462,6 @@ "grasped_r" ], "grasp_hand_per_frame": [ - null, null, null, "R", @@ -36477,17 +36476,6 @@ "R", "R", "R", - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, "R", "R", "R", @@ -36509,17 +36497,6 @@ "R", "R", "R", - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, "R", "R", "R", @@ -36553,58 +36530,116 @@ "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", - "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, + "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", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", "R", "R", "R", @@ -36627,19 +36662,6 @@ "R", "R", "R", - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, "R", "R", "R", @@ -36651,28 +36673,6 @@ "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, "R", "R", "R", @@ -38588,14 +38588,13 @@ ], "global_span_px": 145.4043426513672, "state_counts": { - "static": 8, - "grasped_l": 3, - "grasped_r": 241, - "grasped_both": 27, - "moving": 74 + "static": 2, + "grasped_l": 0, + "grasped_r": 287, + "grasped_both": 64, + "moving": 0 }, "wrist_used_per_frame": [ - false, false, false, true, @@ -38610,17 +38609,6 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -38642,17 +38630,6 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -38716,28 +38693,6 @@ 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, true, true, true, @@ -38760,19 +38715,6 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -38784,28 +38726,86 @@ 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -39032,15 +39032,6 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -39071,31 +39062,40 @@ 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + 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, @@ -39305,7 +39305,6 @@ false ], "wrist_r_per_frame": [ - false, false, false, true, @@ -39320,17 +39319,6 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -39352,17 +39340,6 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -39423,31 +39400,6 @@ 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, - false, - false, true, true, true, @@ -39470,19 +39422,6 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -39494,28 +39433,6 @@ 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, true, true, true, @@ -39657,24 +39574,7 @@ true, true, true, - true - ], - "is_moving_per_frame": [ - false, - false, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -39686,6 +39586,88 @@ true, true, true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true + ], + "is_moving_per_frame": [ + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, @@ -39707,15 +39689,6 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, false, false, @@ -39781,28 +39754,7 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, - true, - true, - true, - true, - true, - true, - true, - true, false, false, false, @@ -39825,19 +39777,8 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, false, - true, false, false, false, @@ -39849,28 +39790,7 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, false, false, @@ -40012,24 +39932,15 @@ false, false, false, - false - ], - "close_per_frame": [ false, false, false, - true, false, false, false, false, false, false, - true, - true, - true, - true, - true, false, false, false, @@ -40041,16 +39952,10 @@ false, false, false, - true, - true, - true, - true, - true, false, false, false, false, - true, false, false, false, @@ -40061,7 +39966,6 @@ false, false, false, - true, false, false, false, @@ -40073,27 +39977,18 @@ false, false, false, - true, false, false, false, false, false, - true, false, - true, false, false, false, false, - true, - true, false, false, - true, - true, - true, - true, false, false, false, @@ -40102,52 +39997,40 @@ false, false, false, - true, false, - true, - true, - true, false, - true, - true, - true, - true, - true, false, - true, - true, false, - true, - true, false, false, false, - true, - true, false, false, - true, false, - true, - true, - true, - true, - true, - true, - true, - true, false, false, false, false, false, + false + ], + "close_per_frame": [ false, false, + true, + true, false, false, false, + true, false, false, + true, + true, + true, + true, + true, + true, false, false, false, @@ -40161,9 +40044,13 @@ true, true, true, + true, + true, false, + true, false, false, + true, false, false, false, @@ -40173,17 +40060,126 @@ true, 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + 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, + true, + true, + true, + true, false, + true, false, - false, + true, + true, false, false, false, @@ -40196,20 +40192,23 @@ true, true, true, - false, - false, true, true, true, - false, - false, + true, + true, + true, + true, + true, true, false, + true, + true, + true, false, false, false, - false, - false, + true, false, false, false, @@ -40227,17 +40226,18 @@ false, false, true, - false, true, false, - false, - false, + true, + true, true, false, + true, false, + true, false, false, - false, + true, false, false, true, @@ -40248,16 +40248,16 @@ true, true, false, - false, - false, - false, - false, true, false, true, true, true, true, + true, + true, + true, + true, false, true, true, @@ -40306,7 +40306,7 @@ true, true, true, - false, + true, true, true, true, @@ -40338,7 +40338,6 @@ true, true, false, - false, true, true, true, @@ -40346,7 +40345,8 @@ true, true, true, - false, + true, + true, true, true, true, @@ -53770,8 +53770,8 @@ false, false, false, - false, - false, + true, + true, false, false, false, diff --git a/samples/-SsQVS63Reo_223.6_250.6/recording.viser b/samples/-SsQVS63Reo_223.6_250.6/recording.viser index 2747ab7a180f13f32217bb1e8c3e71e72b6918a3..463ad54ca35fed3fe66c22d217dd6c49bd54719e 100644 --- a/samples/-SsQVS63Reo_223.6_250.6/recording.viser +++ b/samples/-SsQVS63Reo_223.6_250.6/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fe0def211a8ad6b3b40b191218a9a5723575656965151a06ed6b7c5517c4f48b -size 10890796 +oid sha256:b5b2833898b93fed34ccdc0ddd2d4536bf0be2f65f191cf069a21a57217273d9 +size 10888576 diff --git a/samples/-SsQVS63Reo_223.6_250.6/scene.json b/samples/-SsQVS63Reo_223.6_250.6/scene.json index 0d43796efa2019d3ceb619cd34aa231befb0dca2..abeeee2a8decd0738a25c2d6b6dbceb191ac56c6 100644 --- a/samples/-SsQVS63Reo_223.6_250.6/scene.json +++ b/samples/-SsQVS63Reo_223.6_250.6/scene.json @@ -211,19 +211,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.0113314447592068, + "trust_rate": 0.0028328611898017, "tracking_status": "ok", "state_counts": { - "static": 271, - "grasped_l": 78, + "static": 220, + "grasped_l": 114, "grasped_r": 0, - "grasped_both": 0, - "moving": 4 + "grasped_both": 18, + "moving": 1 }, "state_fractions": { - "static": 0.7677053824362606, + "static": 0.623229461756374, "grasped": 0.0, - "moving": 0.0113314447592068 + "moving": 0.0028328611898017 }, "is_static_global": false, "n_state_frames": 353 @@ -234,19 +234,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.2096317280453258, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 8, - "grasped_l": 3, - "grasped_r": 241, - "grasped_both": 27, - "moving": 74 + "static": 2, + "grasped_l": 0, + "grasped_r": 287, + "grasped_both": 64, + "moving": 0 }, "state_fractions": { - "static": 0.0226628895184136, + "static": 0.0056657223796034, "grasped": 0.0, - "moving": 0.2096317280453258 + "moving": 0.0 }, "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 9c1af585da65f162adf2cca0a1d024ee8057d62c..abb0c6ee9a4752d788028456eb24054961cc349e 100644 --- a/samples/-SsQVS63Reo_223.6_250.6/signals.json +++ b/samples/-SsQVS63Reo_223.6_250.6/signals.json @@ -1 +1 @@ -{"n_frames": 353, "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, 0.0, 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, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.0, 0.0, 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, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 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0.16139787435531616 + 0.38544604182243347, + 0.8812457919120789, + -0.27356383204460144, + 0.152023047208786 ], [ - 0.6723377704620361, - -0.07747580856084824, - 0.7361789345741272, - 1.6898493766784668 + 0.6828269958496094, + -0.07300226390361786, + 0.7269236445426941, + 1.2675882577896118 ], [ 0.0, @@ -8680,135 +8680,135 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=32 static=1 tracked=28 mc_static=False scale=0.350 grasp_src=vetoed (pkl)", - "n_frames_wrist": 32, - "n_frames_static": 1, - "n_frames_tracked": 28, + "note": "phase_d state-machine: wrist=61 static=0 tracked=0 mc_static=False scale=0.350 grasp_src=vetoed (pkl)", + "n_frames_wrist": 61, + "n_frames_static": 0, + "n_frames_tracked": 0, "state_per_frame": [ - "static", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "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", - "grasped_r", "grasped_r", "grasped_r", "grasped_r", - "grasped_r", - "grasped_r", - "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" + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both" ], "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, - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "both", - "both", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", "R", "R", "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - null, - null + "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" ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -9119,41 +9119,13 @@ ], "global_span_px": 77.05329895019531, "state_counts": { - "static": 6, - "grasped_l": 8, - "grasped_r": 21, - "grasped_both": 2, - "moving": 24 + "static": 0, + "grasped_l": 0, + "grasped_r": 3, + "grasped_both": 58, + "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, - false, true, true, true, @@ -9185,35 +9157,38 @@ 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, + true, + true, + true, + true, + true ], "wrist_l_per_frame": [ - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, false, false, false, @@ -9227,67 +9202,56 @@ 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 + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true ], "wrist_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, true, true, true, @@ -9311,11 +9275,6 @@ true, true, true, - false, - false - ], - "is_moving_per_frame": [ - false, true, true, true, @@ -9336,13 +9295,32 @@ true, true, true, - false, true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true + ], + "is_moving_per_frame": [ + false, + false, false, false, false, false, - true, false, false, false, @@ -9374,51 +9352,71 @@ false, false, false, - true, - true - ], - "close_per_frame": [ false, false, false, false, - true, false, false, false, false, false, false, - true, - true, - true, - true, false, false, false, false, false, false, - true, false, false, false, false, false, false, + false, + false + ], + "close_per_frame": [ + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, + false, + false, + false, + false, + false, + false, true, false, false, false, false, false, + false, true, true, true, false, true, + true, + true, + true, + true, + true, + true, false, true, true, @@ -9431,14 +9429,16 @@ true, true, true, - false, - false, - false, - false, - false, true, - false, - false + true, + true, + true, + true, + true, + true, + true, + true, + true ] } } \ No newline at end of file diff --git a/samples/-SsQVS63Reo_371.8_375.8/recording.viser b/samples/-SsQVS63Reo_371.8_375.8/recording.viser index 450573350bbdb72ef6ae27c410ae3454c06860b0..bbd557d54cc1f82829e0084582d1399960a3a276 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 sha256:78b067d42427249375e466d7ded3c5ef96d02df969eb78a4e13c25b816a0fa83 -size 2756297 +oid sha256:ba05787734827410c1bc4609cde4b81f2a8f3fa536c24dfe4d22e2c80adbd47b +size 2757296 diff --git a/samples/-SsQVS63Reo_371.8_375.8/scene.json b/samples/-SsQVS63Reo_371.8_375.8/scene.json index 48feb04e66abe149b03c076a6cf35a7ab8cde9ff..fb2b1b2e2d7ba09cb902bd0dc123d162029e9495 100644 --- a/samples/-SsQVS63Reo_371.8_375.8/scene.json +++ b/samples/-SsQVS63Reo_371.8_375.8/scene.json @@ -211,19 +211,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.09836065573770492, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 12, - "grasped_l": 0, - "grasped_r": 43, - "grasped_both": 0, - "moving": 6 + "static": 0, + "grasped_l": 1, + "grasped_r": 0, + "grasped_both": 60, + "moving": 0 }, "state_fractions": { - "static": 0.19672131147540983, + "static": 0.0, "grasped": 0.0, - "moving": 0.09836065573770492 + "moving": 0.0 }, "is_static_global": false, "n_state_frames": 61 @@ -238,9 +238,9 @@ "tracking_status": "ok", "state_counts": { "static": 0, - "grasped_l": 61, + "grasped_l": 50, "grasped_r": 0, - "grasped_both": 0, + "grasped_both": 11, "moving": 0 }, "state_fractions": { @@ -257,19 +257,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.39344262295081966, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 6, - "grasped_l": 8, - "grasped_r": 21, - "grasped_both": 2, - "moving": 24 + "static": 0, + "grasped_l": 0, + "grasped_r": 3, + "grasped_both": 58, + "moving": 0 }, "state_fractions": { - "static": 0.09836065573770492, + "static": 0.0, "grasped": 0.0, - "moving": 0.39344262295081966 + "moving": 0.0 }, "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 e4b7501c40ee8f825bc561f9f75befb023e352b5..a2beec2d2d570af09bdfe873a5192b780ff661e1 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, 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, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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, 0.0, 1.0, 1.0, 1.0], "grasp": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "motion": [0.0, 19.163768768310547, 15.65247631072998, 30.84234046936035, 15.81138801574707, 12.369317054748535, 21.242645263671875, 16.56804084777832, 15.239750862121582, 17.557050704956055, 16.007810592651367, 14.70544147491455, 9.219544410705566, 9.96242904663086, 36.619667053222656, 5.590169906616211, 16.070158004760742, 8.5, 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@@ ], [ [ - -0.0781375989317894, - 0.9963005781173706, - 0.03577297180891037, - -0.01416242215782404 + -0.24575720727443695, + 0.968596875667572, + 0.03772972524166107, + -0.014215085655450821 ], [ - 0.09974974393844604, - 0.04351568967103958, - -0.9940605759620667, - 0.33701425790786743 + 0.20768174529075623, + 0.09063379466533661, + -0.9739885926246643, + 0.3369244337081909 ], [ - -0.9919397830963135, - -0.0741051584482193, - -0.10278093069791794, - 2.3323020935058594 + -0.9468218684196472, + -0.23152895271778107, + -0.22343379259109497, + 2.3392486572265625 ], [ 0.0, @@ -15242,22 +15242,22 @@ ], [ [ - -0.12178362160921097, - 0.99173504114151, - 0.04037735238671303, - -0.013566040433943272 + -0.24571223556995392, + 0.9685829877853394, + 0.03837253525853157, + -0.01362474262714386 ], [ - 0.1298871636390686, - 0.056253883987665176, - -0.9899317026138306, - 0.3348847031593323 + 0.20265552401542664, + 0.09004087746143341, + -0.9751017093658447, + 0.3347950279712677 ], [ - 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"n_frames_static": 56, - "n_frames_tracked": 63, + "note": "phase_d state-machine: wrist=103 static=45 tracked=1 mc_static=False scale=0.197 grasp_src=vetoed (pkl)", + "n_frames_wrist": 103, + "n_frames_static": 45, + "n_frames_tracked": 1, "state_per_frame": [ "static", "static", @@ -15305,46 +15305,6 @@ "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_r", "grasped_r", "grasped_r", @@ -15359,6 +15319,46 @@ "grasped_r", "grasped_r", "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_r", + "grasped_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_r", "moving", "moving", "static", @@ -15400,96 +15400,56 @@ "static", "static", "static", - "static", - "static", - "static", - "moving", - "static", - "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", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "static", - "moving", - "static", - "static", - "moving", - "moving", - "static", - "static", - "static", - "moving", - "moving", - "moving", - "moving" + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_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" ], "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, @@ -15510,6 +15470,46 @@ "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", + "R", null, null, null, @@ -15551,54 +15551,54 @@ 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", - null, - 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", + "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" ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -16352,11 +16352,11 @@ ], "global_span_px": 50.00370788574219, "state_counts": { - "static": 107, - "grasped_l": 0, - "grasped_r": 28, - "grasped_both": 0, - "moving": 14 + "static": 45, + "grasped_l": 4, + "grasped_r": 42, + "grasped_both": 56, + "moving": 2 }, "wrist_used_per_frame": [ false, @@ -16365,6 +16365,61 @@ false, false, false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + false, false, false, false, @@ -16419,56 +16474,6 @@ 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, - false, - false, - false, - 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, @@ -16483,31 +16488,26 @@ 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 + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true ], "wrist_l_per_frame": [ false, @@ -16557,6 +16557,18 @@ false, false, false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -16599,66 +16611,54 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - 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 ], "wrist_r_per_frame": [ false, @@ -16667,46 +16667,6 @@ 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, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -16721,15 +16681,46 @@ true, true, 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, + 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, @@ -16785,9 +16776,42 @@ 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, false, false, false, + false + ], + "is_moving_per_frame": [ false, false, false, @@ -16799,19 +16823,6 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false - ], - "is_moving_per_frame": [ false, false, false, @@ -16861,6 +16872,8 @@ false, false, false, + true, + true, false, false, false, @@ -16872,8 +16885,6 @@ false, false, false, - true, - true, false, false, false, @@ -16916,12 +16927,7 @@ false, false, false, - true, false, - true, - true, - true, - true, false, false, false, @@ -16949,18 +16955,12 @@ false, false, false, - true, false, false, - true, - true, false, false, false, - true, - true, - true, - true + false ], "close_per_frame": [ false, @@ -17064,20 +17064,20 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, true, - false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -17107,11 +17107,11 @@ false, false, false, + true, false, false, false, - false, - false + true ] }, "3": { @@ -17128,19 +17128,19 @@ 0.871810257434845, 0.47195494174957275, 0.13116934895515442, - 0.024210643023252487 + 0.023044096305966377 ], [ 0.47919031977653503, -0.8772473335266113, -0.0285266675055027, - 0.3564237654209137 + 0.35088911652565 ], [ 0.10160466283559799, 0.08772492408752441, -0.9909494519233704, - 2.2057642936706543 + 2.2768964767456055 ], [ 0.0, @@ -17154,19 +17154,19 @@ 0.871810257434845, 0.47195494174957275, 0.13116934895515442, - 0.02408195100724697 + 0.023044096305966377 ], [ 0.47919031977653503, -0.8772473335266113, -0.0285266675055027, - 0.3525750935077667 + 0.35088911652565 ], [ 0.10160466283559799, 0.08772492408752441, -0.9909494519233704, - 2.181201457977295 + 2.2768964767456055 ], [ 0.0, @@ -17180,19 +17180,19 @@ 0.871810257434845, 0.47195494174957275, 0.13116934895515442, - 0.023931259289383888 + 0.023044096305966377 ], [ 0.47919031977653503, -0.8772473335266113, -0.0285266675055027, - 0.35127514600753784 + 0.35088911652565 ], [ 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0.28567013144493103, + 0.4150668680667877, + -0.8637778162956238, + 2.347236394882202 ], [ 0.0, @@ -20999,10 +20999,10 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=35 static=64 tracked=50 mc_static=False scale=0.176 grasp_src=vetoed (pkl)", - "n_frames_wrist": 35, - "n_frames_static": 64, - "n_frames_tracked": 50, + "note": "phase_d state-machine: wrist=47 static=102 tracked=0 mc_static=False scale=0.176 grasp_src=vetoed (pkl)", + "n_frames_wrist": 47, + "n_frames_static": 102, + "n_frames_tracked": 0, "state_per_frame": [ "static", "static", @@ -21139,20 +21139,20 @@ "grasped_both", "grasped_both", "grasped_both", - "grasped_r", - "moving", - "moving", - "moving", - "moving", - "moving", - "static", - "static", - "static", - "static", - "moving", - "moving", - "moving", - "moving" + "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" ], "grasp_hand_per_frame": [ null, @@ -21290,20 +21290,20 @@ "both", "both", "both", - "R", - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null, - null + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "L", + "L", + "L", + "L" ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -22051,11 +22051,11 @@ ], "global_span_px": 41.58137130737305, "state_counts": { - "static": 106, - "grasped_l": 20, - "grasped_r": 1, - "grasped_both": 13, - "moving": 9 + "static": 102, + "grasped_l": 24, + "grasped_r": 0, + "grasped_both": 23, + "moving": 0 }, "wrist_used_per_frame": [ false, @@ -22194,19 +22194,19 @@ 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 ], "wrist_l_per_frame": [ false, @@ -22344,20 +22344,20 @@ true, true, true, - 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, @@ -22496,9 +22496,21 @@ true, true, true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, + false + ], + "is_moving_per_frame": [ false, false, false, @@ -22507,10 +22519,6 @@ false, false, false, - false, - false - ], - "is_moving_per_frame": [ false, false, false, @@ -22647,19 +22655,11 @@ false, false, false, - true, - true, - true, - true, - true, false, false, false, false, - true, - true, - true, - true + false ], "close_per_frame": [ false, @@ -22789,28 +22789,28 @@ true, true, true, - false, - false, - false, - false, true, - false, - false, + true, + true, + true, + true, + true, + true, true, true, false, + true, + true, + true, + true, false, false, false, + true, false, false, false, - false, - false, - false, - false, - false, - false + true ] } } \ 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 fea3e17906411c6b8f36616c3c2f5b9034663e3f..22ce60a10a36ffbe8c24cb2ca6921ceeae5e72ab 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 sha256:7d39f56ef6e48c3e64187c45f1ba8b93ce10efc703bbad658b4e77c633bd01a5 -size 4799341 +oid sha256:f2e557af439d354fbc3b2c7a563746294ad7255f6795903b69a6909001d37fd4 +size 4789851 diff --git a/samples/-SvZIM1o-Z8_41.2_51.1/scene.json b/samples/-SvZIM1o-Z8_41.2_51.1/scene.json index e89686689b37cf1a7b7d125c1f8bd3e86332ee3e..986a3494ecf3cd725be4f8a22b9f7e8ede31f7e5 100644 --- a/samples/-SvZIM1o-Z8_41.2_51.1/scene.json +++ b/samples/-SvZIM1o-Z8_41.2_51.1/scene.json @@ -234,19 +234,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.09395973154362416, + "trust_rate": 0.013422818791946308, "tracking_status": "ok", "state_counts": { - "static": 107, - "grasped_l": 0, - "grasped_r": 28, - "grasped_both": 0, - "moving": 14 + "static": 45, + "grasped_l": 4, + "grasped_r": 42, + "grasped_both": 56, + "moving": 2 }, "state_fractions": { - "static": 0.7181208053691275, + "static": 0.30201342281879195, "grasped": 0.0, - "moving": 0.09395973154362416 + "moving": 0.013422818791946308 }, "is_static_global": false, "n_state_frames": 149 @@ -257,19 +257,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.06040268456375839, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 106, - "grasped_l": 20, - "grasped_r": 1, - "grasped_both": 13, - "moving": 9 + "static": 102, + "grasped_l": 24, + "grasped_r": 0, + "grasped_both": 23, + "moving": 0 }, "state_fractions": { - "static": 0.7114093959731543, + "static": 0.6845637583892618, "grasped": 0.0, - "moving": 0.06040268456375839 + "moving": 0.0 }, "is_static_global": false, "n_state_frames": 149 diff --git a/samples/-SvZIM1o-Z8_41.2_51.1/signals.json b/samples/-SvZIM1o-Z8_41.2_51.1/signals.json index 3c535764eb889325e319b40cdf79ea7dfb55df7f..3f8a3ad3aa28193105ec101fcf9f04919506a753 100644 --- a/samples/-SvZIM1o-Z8_41.2_51.1/signals.json +++ b/samples/-SvZIM1o-Z8_41.2_51.1/signals.json @@ -1 +1 @@ -{"n_frames": 149, "scene": {"contact_l": [0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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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", - "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", - "moving", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_l", + "grasped_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_l", "grasped_l", "grasped_l", @@ -2123,74 +2123,74 @@ "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, - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - 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", + "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", "L", "L", "L", @@ -2596,63 +2596,13 @@ ], "global_span_px": 28.05852699279785, "state_counts": { - "static": 51, - "grasped_l": 9, - "grasped_r": 17, - "grasped_both": 0, - "moving": 1 + "static": 1, + "grasped_l": 43, + "grasped_r": 0, + "grasped_both": 34, + "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, - 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, @@ -2670,7 +2620,57 @@ true, true, 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -2683,74 +2683,74 @@ 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, - 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -2797,22 +2797,6 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -2830,7 +2814,23 @@ true, true, true, - false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -2910,7 +2910,7 @@ false, false, false, - true, + false, false, false, false, @@ -2957,22 +2957,7 @@ true, true, true, - false, - false, - false, - false, - false, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -2990,10 +2975,25 @@ true, true, true, - false, true, - false, - false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, diff --git a/samples/-WFScKY5jxA_119.5_124.7/recording.viser b/samples/-WFScKY5jxA_119.5_124.7/recording.viser index e817483821ce964132458e711f90f3a0a9653fa9..5ed43cef851c197861737600479df174fcb5d469 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:d581f18dff157fd66d82abe877e68c35b22d0b387c646f2fd1fce6605d57948d -size 2028675 +oid sha256:021c7f033f2a49ccd1f4ec57b6f32b0b6c82d9b4263faabb27c596289faa9e30 +size 2032620 diff --git a/samples/-WFScKY5jxA_119.5_124.7/scene.json b/samples/-WFScKY5jxA_119.5_124.7/scene.json index 484e3d554b5b66efc3e31ac06eceb8672fc28d76..8de2e15c0c9f77613a8dd168989fb5cc36868d79 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": 0.01282051282051282, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 51, - "grasped_l": 9, - "grasped_r": 17, - "grasped_both": 0, - "moving": 1 + "static": 1, + "grasped_l": 43, + "grasped_r": 0, + "grasped_both": 34, + "moving": 0 }, "state_fractions": { - "static": 0.6538461538461539, + "static": 0.01282051282051282, "grasped": 0.0, - "moving": 0.01282051282051282 + "moving": 0.0 }, "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 21640d9621cf85591ff95e3edc6ba2f5b0e893c2..b408a17b9318e8989392af7ec06e65d74b62803c 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, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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, 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, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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, 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], "motion": [0.0, 0.7071067690849304, 0.0, 0.5, 0.7071067690849304, 0.0, 0.5, 0.0, 0.0, 0.5, 0.5, 0.5, 0.0, 0.0, 0.5, 0.0, 0.5, 0.0, 0.7071067690849304, 0.5, 0.5, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5, 0.5, 0.5, 0.7071067690849304, 1.1180340051651, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5, 0.0, 0.5, 0.0, 0.0, 0.0, 0.5, 0.5, 0.0, 0.0, 0.5, 0.5, 1.5, 1.5, 4.0, 4.5, 1.5, 2.5, 2.0615527629852295, 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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", @@ -2410,9 +2388,31 @@ "grasped_both", "grasped_both", "grasped_both", - "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_l", "grasped_l", "grasped_l", @@ -2440,42 +2440,20 @@ "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", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", + "R", "R", "R", "R", @@ -2501,9 +2479,31 @@ "both", "both", "both", - "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", "L", "L", "L", @@ -2962,11 +2962,11 @@ ], "global_span_px": 81.51380920410156, "state_counts": { - "static": 22, - "grasped_l": 8, - "grasped_r": 24, - "grasped_both": 21, - "moving": 14 + "static": 0, + "grasped_l": 5, + "grasped_r": 38, + "grasped_both": 46, + "moving": 0 }, "wrist_used_per_frame": [ true, @@ -2989,42 +2989,42 @@ 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -3114,28 +3114,28 @@ 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, true, true, true, @@ -3171,42 +3171,6 @@ 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, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -3232,9 +3196,45 @@ true, true, true, - false, - false, - false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -3278,20 +3278,20 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + false, + 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], [ 0.0, @@ -5749,10 +5749,10 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=0 static=68 tracked=21 mc_static=True scale=0.225 grasp_src=vetoed (pkl)", + "note": "phase_d state-machine: wrist=0 static=89 tracked=0 mc_static=True scale=0.225 grasp_src=vetoed (pkl)", "n_frames_wrist": 0, - "n_frames_static": 68, - "n_frames_tracked": 21, + "n_frames_static": 89, + "n_frames_tracked": 0, "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 10170435e83fe5fed952a49553d46f063170758b..9d4439e46e043a63fef36b186e92ec6674874f7b 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 sha256:279cd0938997c636f45e06effb4a12bfa6d619c79a3388ad25124a5aa78e4b5d -size 3233120 +oid sha256:ed77e921e410735bb133dd84e7e039a6f8f5ef0e2d31003570b0c2fceeb2b219 +size 3231886 diff --git a/samples/-_ow-vw258c_58.4_64.3/scene.json b/samples/-_ow-vw258c_58.4_64.3/scene.json index b1731ca96995e759c4bab05030ce0cc5c3f2efdb..27302dc7bb456d67914571c2ffa042fec375f771 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, "grasp_rate": 0.0, - "trust_rate": 0.15730337078651685, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 22, - "grasped_l": 8, - "grasped_r": 24, - "grasped_both": 21, - "moving": 14 + "static": 0, + "grasped_l": 5, + "grasped_r": 38, + "grasped_both": 46, + "moving": 0 }, "state_fractions": { - "static": 0.24719101123595505, + "static": 0.0, "grasped": 0.0, - "moving": 0.15730337078651685 + "moving": 0.0 }, "is_static_global": false, "n_state_frames": 89 diff --git a/samples/-_ow-vw258c_58.4_64.3/signals.json b/samples/-_ow-vw258c_58.4_64.3/signals.json index 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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" ], "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, - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", - "L", "L", "L", "L", @@ -6593,6 +6562,37 @@ "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" ], "is_static_global": false, @@ -7097,35 +7097,35 @@ ], "global_span_px": 138.01539611816406, "state_counts": { - "static": 13, - "grasped_l": 30, + "static": 0, + "grasped_l": 21, "grasped_r": 0, - "grasped_both": 47, - "moving": 9 + "grasped_both": 78, + "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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -7205,28 +7205,28 @@ true ], "wrist_l_per_frame": [ - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true, @@ -7306,37 +7306,6 @@ true ], "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, @@ -7404,10 +7373,6 @@ true, true, true, - true - ], - "is_moving_per_frame": [ - false, true, true, true, @@ -7417,6 +7382,31 @@ true, true, true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true + ], + "is_moving_per_frame": [ false, false, false, @@ -7493,21 +7483,6 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false - ], - "close_per_frame": [ false, false, false, @@ -7530,24 +7505,51 @@ false, false, false, + false + ], + "close_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, - false, - false, - false, - false, - false, true, true, true, true, - false, - false, true, - false, true, true, true, - false, true, true, true, @@ -7558,8 +7560,6 @@ 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 a074c89ead2d05b4282c4dccd62bba7c404d5470..47d7a743cca699089429bc5c0dfb7352f74d7e0f 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 sha256:5497f661e990e2a782e2d51609f8c4a4af21e06c2de92a38d87b973fd7dbdaef -size 4242113 +oid sha256:a555715db914c4972ababdc3e865db30fc00bdd721db78757e1195c4fc5206fe +size 4237633 diff --git a/samples/-_ow-vw258c_79.8_86.4/scene.json b/samples/-_ow-vw258c_79.8_86.4/scene.json index e74f511e6e627ad11a5d549f6b2c69e5eb17e69a..037b238e80b7020bc8e70473a0f8f5a84f801e87 100644 --- a/samples/-_ow-vw258c_79.8_86.4/scene.json +++ b/samples/-_ow-vw258c_79.8_86.4/scene.json @@ -167,19 +167,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.09090909090909091, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 13, - "grasped_l": 30, + "static": 0, + "grasped_l": 21, "grasped_r": 0, - "grasped_both": 47, - "moving": 9 + "grasped_both": 78, + "moving": 0 }, "state_fractions": { - "static": 0.13131313131313133, + "static": 0.0, "grasped": 0.0, - "moving": 0.09090909090909091 + "moving": 0.0 }, "is_static_global": false, "n_state_frames": 99 diff --git a/samples/-_ow-vw258c_79.8_86.4/signals.json b/samples/-_ow-vw258c_79.8_86.4/signals.json index 1e0919fba86ea08c257b97b279bae3b8a1ef79fc..a690885e7a4297473ccb5a61903e8ee36b813af7 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, 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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_r", "grasped_r", "grasped_r", @@ -1623,33 +1623,33 @@ "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", "R", "R", "R", @@ -1950,8 +1950,8 @@ "state_counts": { "static": 8, "grasped_l": 0, - "grasped_r": 47, - "grasped_both": 0, + "grasped_r": 20, + "grasped_both": 27, "moving": 4 }, "wrist_used_per_frame": [ @@ -2029,33 +2029,33 @@ false, false, false, - false, - false, - false, - 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, @@ -2205,9 +2205,8 @@ true, true, true, - false, true, - false, + true, false, true, true, @@ -2230,21 +2229,22 @@ true, true, true, - false, - false, true, - false, - false, true, - false, true, - false, - false, - false, true, - false, - false, - false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, false, false, diff --git a/samples/-wU6h7BA8Os_131.9_140.4/recording.viser b/samples/-wU6h7BA8Os_131.9_140.4/recording.viser index 643ffef7b5a1883032d20d201135f714281e539a..c0e046238250da3cc06a819079a4117a07b05a7c 100644 --- a/samples/-wU6h7BA8Os_131.9_140.4/recording.viser +++ b/samples/-wU6h7BA8Os_131.9_140.4/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:138aa2a884738d9e6f73c52017b68995ad2a56b4761163e16fd927f46cde67bd -size 1305066 +oid sha256:a0a38a3eb79bbbd681a2010cfbbc7acc2afce09c8ccbb52b1f70997cd2add2a3 +size 1305044 diff --git a/samples/-wU6h7BA8Os_131.9_140.4/scene.json b/samples/-wU6h7BA8Os_131.9_140.4/scene.json index 266fb496be218f206173e977e7546e3ac890e81a..22158aa757245ea9b63302f8ff21f07ad6fe7e07 100644 --- a/samples/-wU6h7BA8Os_131.9_140.4/scene.json +++ b/samples/-wU6h7BA8Os_131.9_140.4/scene.json @@ -127,8 +127,8 @@ "state_counts": { "static": 8, "grasped_l": 0, - "grasped_r": 47, - "grasped_both": 0, + "grasped_r": 20, + "grasped_both": 27, "moving": 4 }, "state_fractions": { diff --git 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+ 0.8630282878875732, + 0.25916922092437744, + 0.4336051642894745, + 1.033862829208374 ], [ 0.0, @@ -9499,22 +9499,22 @@ ], [ [ - 0.47242802381515503, - 0.3073202669620514, - -0.8260545134544373, - 0.12399861216545105 + 0.45713773369789124, + -0.7285549640655518, + -0.5101301074028015, + 0.1312849521636963 ], [ - -0.6411153674125671, - 0.7629635334014893, - -0.0828113779425621, - -0.21671687066555023 + 0.21599458158016205, + 0.6473394632339478, + -0.7309569120407104, + -0.2365839034318924 ], [ - 0.6047998070716858, - 0.568718671798706, - 0.5574731230735779, - 0.9078993797302246 + 0.862769603729248, + 0.22396264970302582, + 0.4532872140407562, + 1.03207528591156 ], [ 0.0, @@ -9525,10 +9525,10 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=142 static=1 tracked=5 mc_static=False scale=0.218 grasp_src=vetoed (pkl)", - "n_frames_wrist": 142, - "n_frames_static": 1, - "n_frames_tracked": 5, + "note": "phase_d state-machine: wrist=148 static=0 tracked=0 mc_static=False scale=0.218 grasp_src=vetoed (pkl)", + "n_frames_wrist": 148, + "n_frames_static": 0, + "n_frames_tracked": 0, "state_per_frame": [ "grasped_r", "grasped_r", @@ -9567,6 +9567,25 @@ "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_r", "grasped_r", "grasped_r", @@ -9658,26 +9677,7 @@ "grasped_r", "grasped_r", "grasped_r", - "grasped_r", - "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", - "static", - "static" + "grasped_r" ], "grasp_hand_per_frame": [ "R", @@ -9717,6 +9717,25 @@ "R", "R", "R", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", "R", "R", "R", @@ -9808,26 +9827,7 @@ "R", "R", "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - null, - null, - null, - null, - null, - null, - null + "R" ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -10576,11 +10576,11 @@ ], "global_span_px": 366.96435546875, "state_counts": { - "static": 2, + "static": 0, "grasped_l": 0, - "grasped_r": 141, - "grasped_both": 0, - "moving": 5 + "grasped_r": 129, + "grasped_both": 19, + "moving": 0 }, "wrist_used_per_frame": [ true, @@ -10724,13 +10724,13 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false + true, + true, + true, + true, + true, + true, + true ], "wrist_l_per_frame": [ false, @@ -10770,25 +10770,25 @@ 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, false, false, false, @@ -11024,15 +11024,21 @@ true, true, true, + true, + true, + true, + true, + true, + true, + true + ], + "is_moving_per_frame": [ false, false, false, false, false, false, - false - ], - "is_moving_per_frame": [ false, false, false, @@ -11174,12 +11180,6 @@ false, false, false, - true, - true, - true, - true, - true, - false, false ], "close_per_frame": [ @@ -11190,16 +11190,15 @@ true, true, true, - false, - false, - false, - false, true, true, true, true, - false, - false, + true, + true, + true, + true, + true, false, true, true, @@ -11208,36 +11207,15 @@ true, true, true, - false, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, - false, - false, - false, - false, - false, - false, true, true, - false, - false, true, true, true, true, true, - false, - false, - false, true, true, true, @@ -11245,45 +11223,29 @@ true, true, true, - false, - false, true, true, true, true, - false, true, true, true, true, true, - false, - false, - false, - false, true, true, true, - false, - false, true, true, true, true, true, true, - false, - false, - false, - false, - false, true, true, true, true, true, - false, - false, true, true, true, @@ -11299,9 +11261,6 @@ true, true, true, - false, - false, - false, true, true, true, @@ -11310,11 +11269,7 @@ true, true, true, - false, true, - false, - false, - false, true, true, true, @@ -11324,13 +11279,58 @@ true, true, true, - 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, + true, + true ] } } \ No newline at end of file diff --git a/samples/EKO4wj7EOnE_375.2_384.9/recording.viser b/samples/EKO4wj7EOnE_375.2_384.9/recording.viser index 6849a16176b94dd353764075ad2e54aa377f21d0..fbf2c138cf0bbb70ecceb74d3e31bc8f0461e5b6 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 sha256:423b3d37a469602cd7eb79c0b3ba3d0ece9ad0e8b1ed902b32ae38e0b48ac90b -size 7850058 +oid sha256:bed901b0a5ddfc80d3cf2135d8011a9d47f4f026a74e1636145687a8d76bb462 +size 7865905 diff --git a/samples/EKO4wj7EOnE_375.2_384.9/scene.json b/samples/EKO4wj7EOnE_375.2_384.9/scene.json index 8a8a306753552e264e6fe82050a0e32b8de25fe7..782e2958eecdb841016b1d6b98971305a6bd74b4 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": 0.033783783783783786, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 2, + "static": 0, "grasped_l": 0, - "grasped_r": 141, - "grasped_both": 0, - "moving": 5 + "grasped_r": 129, + "grasped_both": 19, + "moving": 0 }, "state_fractions": { - "static": 0.013513513513513514, + "static": 0.0, "grasped": 0.0, - "moving": 0.033783783783783786 + "moving": 0.0 }, "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 a764f629e0083edcd6ea2b5b7a070cfc46ffd6b5..8667b09896b8f50f3b1e05e8aa3035c4bc48611a 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, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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, 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], "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, 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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-9641,9 +9666,6 @@ false, false, false, - false - ], - "is_moving_per_frame": [ false, false, false, @@ -9706,6 +9728,9 @@ false, false, false, + false + ], + "close_per_frame": [ true, true, true, @@ -9724,13 +9749,9 @@ true, true, true, - false, true, true, true, - true - ], - "close_per_frame": [ true, true, true, @@ -9753,33 +9774,6 @@ 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, - false, - false, - false, - false, true, true, true, @@ -9787,35 +9781,41 @@ 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, true, true, - false, - false + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + 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a/samples/NJ0_jMbxv5I_754.0_759.6/recording.viser b/samples/NJ0_jMbxv5I_754.0_759.6/recording.viser index c0e2af7ef855ef46ef28ac956732953c01157954..2731847445a135c88415c35679c11493b8c5b3c7 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 sha256:4b4d517de0c7d900c3852008eecfcda80b8f0e8798cfa5ab3c64cbfc0609fcd7 -size 5350764 +oid sha256:85cefaae959d8a302a75b9e0d9b6ffad01b882ec98ee9c08752ec61a45dcc717 +size 5353329 diff --git a/samples/NJ0_jMbxv5I_754.0_759.6/scene.json b/samples/NJ0_jMbxv5I_754.0_759.6/scene.json index 10d5d734b7b6b464b3b99af9328e234e1982c77e..d7c86a23b6bc320acdfe10fe74d75d35d7478317 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": 0.25882352941176473, + "trust_rate": 0.0, 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"tracking_status": "ok", - "note": "phase_d state-machine: wrist=94 static=14 tracked=1 mc_static=False scale=0.157 grasp_src=vetoed (pkl)", - "n_frames_wrist": 94, - "n_frames_static": 14, - "n_frames_tracked": 1, + "note": "phase_d state-machine: wrist=104 static=5 tracked=0 mc_static=False scale=0.157 grasp_src=vetoed (pkl)", + "n_frames_wrist": 104, + "n_frames_static": 5, + "n_frames_tracked": 0, "state_per_frame": [ "static", "static", @@ -2923,17 +2923,17 @@ "grasped_r", "grasped_r", "grasped_r", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "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", @@ -3034,17 +3034,17 @@ "R", "R", "R", - 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", @@ -3624,9 +3624,9 @@ "state_counts": { "static": 5, "grasped_l": 0, - "grasped_r": 93, + "grasped_r": 104, "grasped_both": 0, - "moving": 11 + "moving": 0 }, "wrist_used_per_frame": [ false, @@ -3703,17 +3703,17 @@ 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, true, true, @@ -3925,17 +3925,17 @@ 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, true, true, @@ -4036,17 +4036,17 @@ 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, false, false, false, @@ -4081,9 +4081,6 @@ true, true, true, - false, - false, - false, true, true, true, @@ -4094,13 +4091,6 @@ true, true, true, - false, - false, - false, - false, - false, - false, - false, true, true, true, @@ -4108,9 +4098,6 @@ true, true, true, - false, - false, - false, true, true, true, @@ -4137,48 +4124,61 @@ true, true, true, - false, - false, - false, true, true, true, - false, - false, - false, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, - false, - false, - false, - false, - false, - false, - false, - false, - false, true, - false, + true, + true, + true, + true, true, true, 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, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, true, true, true diff --git a/samples/PFONr8zMpGM_84.1_91.3/recording.viser b/samples/PFONr8zMpGM_84.1_91.3/recording.viser index 068e52585fac35e3ef401c0ccc5687ce5b595c6c..d7f4862b9836904532421d27736ec029a53cd9ed 100644 --- a/samples/PFONr8zMpGM_84.1_91.3/recording.viser +++ b/samples/PFONr8zMpGM_84.1_91.3/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:60ff59f67f790cc9f68972ba064bc1f75fa1e96e2e328a4b50d5846af5d332d5 -size 2651859 +oid sha256:ae2a5d5b4944068f196235928e05575758712709eaa8826e955ec2e3bdc70010 +size 2651568 diff --git a/samples/PFONr8zMpGM_84.1_91.3/scene.json b/samples/PFONr8zMpGM_84.1_91.3/scene.json index 20a2484cfc8cb60abc53867e0f4da18904e1e6ee..cf1dce9cdee4b4a70d1b679f06cf85a3f712ae53 100644 --- a/samples/PFONr8zMpGM_84.1_91.3/scene.json +++ b/samples/PFONr8zMpGM_84.1_91.3/scene.json @@ -122,19 +122,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.10091743119266056, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { "static": 5, "grasped_l": 0, - "grasped_r": 93, + "grasped_r": 104, "grasped_both": 0, - "moving": 11 + "moving": 0 }, "state_fractions": { "static": 0.045871559633027525, "grasped": 0.0, - "moving": 0.10091743119266056 + "moving": 0.0 }, "is_static_global": false, "n_state_frames": 109 diff --git a/samples/PFONr8zMpGM_84.1_91.3/signals.json b/samples/PFONr8zMpGM_84.1_91.3/signals.json index db1bca452eb0f49e260150f83d91b448f912cc10..623e1a483ccd9d9ca99025a3c4fae2a811d4a441 100644 --- a/samples/PFONr8zMpGM_84.1_91.3/signals.json +++ b/samples/PFONr8zMpGM_84.1_91.3/signals.json @@ -1 +1 @@ -{"n_frames": 109, "scene": {"contact_l": [0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 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, 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[ - 0.9999917149543762, - -0.0039970544166862965, - 0.0007371953688561916, - -0.03174971044063568 + 0.9998155832290649, + -0.003550059162080288, + 0.018873121589422226, + -0.030909163877367973 ], [ - 0.0010392809053882957, - 0.42680203914642334, - 0.9043444991111755, - -0.03381446748971939 + -0.015033355914056301, + 0.4668388366699219, + 0.8842146396636963, + -0.029954802244901657 ], [ - -0.003929350525140762, - -0.9043362140655518, - 0.4268026649951935, - 0.6870246529579163 + -0.011949719861149788, + -0.8843352794647217, + 0.46669939160346985, + 0.586312472820282 ], [ 0.0, @@ -6194,10 +6194,10 @@ ] ], "tracking_status": "ok", - "note": "phase_d state-machine: wrist=53 static=3 tracked=4 mc_static=False scale=0.228 grasp_src=vetoed (pkl)", - "n_frames_wrist": 53, - "n_frames_static": 3, - "n_frames_tracked": 4, + "note": "phase_d state-machine: wrist=54 static=4 tracked=2 mc_static=False scale=0.228 grasp_src=vetoed (pkl)", + "n_frames_wrist": 54, + "n_frames_static": 4, + "n_frames_tracked": 2, "state_per_frame": [ "static", "static", @@ -6212,53 +6212,53 @@ "grasped_l", "grasped_l", "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "grasped_l", - "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" + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_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" ], "grasp_hand_per_frame": [ null, @@ -6274,53 +6274,53 @@ "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", - null, - null + "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", + "R", + "R" ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -6629,10 +6629,10 @@ ], "global_span_px": 30.5, "state_counts": { - "static": 6, - "grasped_l": 52, - "grasped_r": 0, - "grasped_both": 0, + "static": 4, + "grasped_l": 7, + "grasped_r": 2, + "grasped_both": 45, "moving": 2 }, "wrist_used_per_frame": [ @@ -6694,8 +6694,8 @@ true, true, true, - false, - false + true, + true ], "wrist_l_per_frame": [ false, @@ -6773,53 +6773,53 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - 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 ], "is_moving_per_frame": [ false, @@ -6942,7 +6942,7 @@ true, true, true, - false, + true, true ], "scale_correction_orig_sam3d": 0.22757838666439056 diff --git a/samples/XgOQwJUVqkU_350.1_354.1/recording.viser b/samples/XgOQwJUVqkU_350.1_354.1/recording.viser index ee38845818ac342ad833c94793889fc8a13fc01f..ad8fc51864233adeff3d497539e3e25df3654bb5 100644 --- a/samples/XgOQwJUVqkU_350.1_354.1/recording.viser +++ b/samples/XgOQwJUVqkU_350.1_354.1/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:be9ad7c58af34380f2137b3acac024da177fd7389b16aed5808a7c00c84b9b61 -size 1645782 +oid sha256:abb0cea6ffaef57e9c3092b934218154342af0aac159d8f1eff45a498f170681 +size 1645859 diff --git a/samples/XgOQwJUVqkU_350.1_354.1/scene.json b/samples/XgOQwJUVqkU_350.1_354.1/scene.json index 5999f16c723731450eb02699cb7ae70ab5ed794b..9d3c1ec7cdfde6e3465508877714766bf45258a1 100644 --- a/samples/XgOQwJUVqkU_350.1_354.1/scene.json +++ b/samples/XgOQwJUVqkU_350.1_354.1/scene.json @@ -166,19 +166,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.016666666666666666, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 5, - "grasped_l": 6, - "grasped_r": 2, - "grasped_both": 46, - "moving": 1 + "static": 0, + "grasped_l": 0, + "grasped_r": 8, + "grasped_both": 52, + "moving": 0 }, "state_fractions": { - "static": 0.08333333333333333, + "static": 0.0, "grasped": 0.0, - "moving": 0.016666666666666666 + "moving": 0.0 }, "is_static_global": false, "n_state_frames": 60 @@ -189,19 +189,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.03333333333333333, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 4, - "grasped_l": 21, - "grasped_r": 3, - "grasped_both": 30, - "moving": 2 + "static": 0, + "grasped_l": 0, + "grasped_r": 9, + "grasped_both": 51, + "moving": 0 }, "state_fractions": { - "static": 0.06666666666666667, + "static": 0.0, "grasped": 0.0, - "moving": 0.03333333333333333 + "moving": 0.0 }, "is_static_global": false, "n_state_frames": 60 @@ -215,14 +215,14 @@ "trust_rate": 0.03333333333333333, "tracking_status": "ok", "state_counts": { - "static": 6, - "grasped_l": 52, - "grasped_r": 0, - "grasped_both": 0, + "static": 4, + "grasped_l": 7, + "grasped_r": 2, + "grasped_both": 45, "moving": 2 }, "state_fractions": { - "static": 0.1, + "static": 0.06666666666666667, "grasped": 0.0, "moving": 0.03333333333333333 }, diff --git a/samples/XgOQwJUVqkU_350.1_354.1/signals.json b/samples/XgOQwJUVqkU_350.1_354.1/signals.json index 9b83aeba33b3fe064b973a976bba4eaa56cf32c8..87abb36426d153754d001ebc7fa630bdbb4a75d8 100644 --- a/samples/XgOQwJUVqkU_350.1_354.1/signals.json +++ b/samples/XgOQwJUVqkU_350.1_354.1/signals.json @@ -1 +1 @@ -{"n_frames": 60, "scene": {"contact_l": [1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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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state-machine: wrist=46 static=3 tracked=12 mc_static=False scale=0.400 grasp_src=vetoed (pkl)", + "n_frames_wrist": 46, + "n_frames_static": 3, + "n_frames_tracked": 12, "state_per_frame": [ - "static", - "moving", - "moving", - "moving", - "moving", - "moving", - "static", - "static", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "moving", - "static", - "static", - "static", - "static", - "moving", - "moving", - "moving", - "static", - "moving", - "moving", - "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", "moving", "static", - "static", - "static", - "static", 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"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", @@ -6426,17 +6426,17 @@ "R", "R", "R", - null, - null, - null, - null, - null, - null, - "L", - "L", - "L", - "L", - "L", + "R", + "R", + "R", + "R", + "R", + "R", + "both", + "both", + "both", + "both", + "both", "both", "both", "both", @@ -6744,10 +6744,10 @@ ], "global_span_px": 62.66769027709961, "state_counts": { - "static": 6, - "grasped_l": 5, - "grasped_r": 38, - "grasped_both": 12, + "static": 0, + "grasped_l": 0, + "grasped_r": 44, + "grasped_both": 17, "moving": 0 }, "wrist_used_per_frame": [ @@ -6789,12 +6789,12 @@ true, true, true, - false, - false, - false, - false, - false, - false, + true, + true, + true, + true, + true, + true, true, true, true, @@ -6915,17 +6915,17 @@ 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, true, true, diff --git a/samples/XgOQwJUVqkU_473.3_477.3/recording.viser b/samples/XgOQwJUVqkU_473.3_477.3/recording.viser index d0a4e437f1803c7c582d2a3435c346d60dd313ba..2c96c79715485d215215e9e14abf473c05373f11 100644 --- a/samples/XgOQwJUVqkU_473.3_477.3/recording.viser +++ b/samples/XgOQwJUVqkU_473.3_477.3/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:efa9e0226ec99b4d395f1c38851dde71f25ff250a640208f5875b157e15a9de9 -size 2542999 +oid sha256:3c1ae353e120351769835167696f326e111d7fc8b5feadf83e81fc69d38caea1 +size 2538543 diff --git a/samples/XgOQwJUVqkU_473.3_477.3/scene.json b/samples/XgOQwJUVqkU_473.3_477.3/scene.json index b871142c4f19b8429fd05e270433c51ba2e8d77c..550d0afdb247aaa50a90c7431825be5fd4ab8a38 100644 --- a/samples/XgOQwJUVqkU_473.3_477.3/scene.json +++ b/samples/XgOQwJUVqkU_473.3_477.3/scene.json @@ -189,19 +189,19 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.6229508196721312, + "trust_rate": 0.22950819672131148, "tracking_status": "ok", "state_counts": { - "static": 23, - "grasped_l": 0, - "grasped_r": 0, + "static": 3, + "grasped_l": 17, + "grasped_r": 27, "grasped_both": 0, - "moving": 38 + "moving": 14 }, "state_fractions": { - "static": 0.3770491803278688, + "static": 0.04918032786885246, "grasped": 0.0, - "moving": 0.6229508196721312 + "moving": 0.22950819672131148 }, "is_static_global": false, "n_state_frames": 61 @@ -215,14 +215,14 @@ "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 6, - "grasped_l": 5, - "grasped_r": 38, - "grasped_both": 12, + "static": 0, + "grasped_l": 0, + "grasped_r": 44, + "grasped_both": 17, "moving": 0 }, "state_fractions": { - "static": 0.09836065573770492, + "static": 0.0, "grasped": 0.0, "moving": 0.0 }, diff --git a/samples/XgOQwJUVqkU_473.3_477.3/signals.json b/samples/XgOQwJUVqkU_473.3_477.3/signals.json index 1866226f3c99e27d5e5a7bd69790096b2095fef6..0bf257d306d626473233608afd08be63ae24badf 100644 --- a/samples/XgOQwJUVqkU_473.3_477.3/signals.json +++ b/samples/XgOQwJUVqkU_473.3_477.3/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, 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], "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, 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], "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, 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sha256:6e2aaacbf1a5d85b033daae4f3009e39e88550ba70feb60256f64982a62a0a61 +oid sha256:1fca077a5000ad48dcc287598beb6cdaa91f5a397e334fa3dbe1eebc70535a43 size 96 diff --git a/samples/boJ9zV_qVEQ_886.4_890.4/object_pose.bin b/samples/boJ9zV_qVEQ_886.4_890.4/object_pose.bin index 1936fb80fc1923b464cf9f86f552c258db5ca4e0..27e379d460490c48e1599c47fa7e864e314864ef 100644 --- a/samples/boJ9zV_qVEQ_886.4_890.4/object_pose.bin +++ b/samples/boJ9zV_qVEQ_886.4_890.4/object_pose.bin @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fe6f0a2ff50d94d6df23f15a5d2b9cad0330f50b7f7226e5064e176ce39c941d +oid sha256:4fb0f90267f3c69e89e34e700c1ba8ca48da24b8011c6a16bad4a0590e7d9e5c size 3904 diff --git a/samples/boJ9zV_qVEQ_886.4_890.4/pose_track.json b/samples/boJ9zV_qVEQ_886.4_890.4/pose_track.json index b68609fc3c748d936c64cb057b61f82808c07a2d..8234d093050d7a9580b78c8a0aedcc8a38b90a95 100644 --- a/samples/boJ9zV_qVEQ_886.4_890.4/pose_track.json +++ b/samples/boJ9zV_qVEQ_886.4_890.4/pose_track.json @@ -10,22 +10,22 @@ "T_seq": [ [ [ - -0.24031665921211243, - -0.5757729411125183, - -0.7814943790435791, - -0.09750263392925262 + -0.23291340470314026, + -0.5675889253616333, + -0.789679765701294, + 0.015559912659227848 ], [ - 0.9387373924255371, - 0.067026287317276, - -0.33805257081985474, - 0.08083171397447586 + 0.9412385821342468, + 0.07265336066484451, + -0.3298353850841522, + 0.0216464102268219 ], [ - 0.24702218174934387, - -0.8148576617240906, - 0.5243920683860779, - 0.6035953164100647 + 0.24458380043506622, + -0.8201001882553101, + 0.5173146724700928, + 0.5570019483566284 ], [ 0.0, @@ -36,22 +36,22 @@ ], [ [ - -0.24031665921211243, - -0.5757729411125183, - -0.7814943790435791, - -0.08885671198368073 + -0.23291340470314026, + -0.5675889253616333, + -0.789679765701294, + 0.029270153492689133 ], [ - 0.9387373924255371, - 0.067026287317276, - -0.33805257081985474, - 0.08118442445993423 + 0.9412385821342468, + 0.07265336066484451, + 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+ 0.10115120559930801, + -0.9742113947868347, + 0.20169416069984436, + 0.5537253618240356 ], [ 0.0, @@ -1625,20 +1625,6 @@ "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_both", "grasped_both", @@ -1661,7 +1647,21 @@ "grasped_both", "grasped_both", "grasped_both", - "moving" + "grasped_both", + "grasped_both", + "grasped_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" ], "grasp_hand_per_frame": [ "R", @@ -1688,20 +1688,6 @@ "both", "both", "both", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", - "R", "both", "both", "both", @@ -1724,7 +1710,21 @@ "both", "both", "both", - null + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "both", + "R" ], "is_static_global": false, "centroid_2d_per_frame": [ @@ -2040,9 +2040,9 @@ "state_counts": { "static": 0, "grasped_l": 0, - "grasped_r": 15, - "grasped_both": 45, - "moving": 1 + "grasped_r": 2, + "grasped_both": 59, + "moving": 0 }, "wrist_used_per_frame": [ true, @@ -2105,7 +2105,7 @@ true, true, true, - false + true ], "wrist_l_per_frame": [ false, @@ -2132,20 +2132,20 @@ true, true, true, - 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, @@ -2231,7 +2231,7 @@ true, true, true, - false + true ], "is_moving_per_frame": [ false, @@ -2294,7 +2294,7 @@ false, false, false, - true + false ], "close_per_frame": [ true, @@ -2319,21 +2319,14 @@ true, true, true, - false, true, - false, true, - false, - false, true, true, true, true, true, true, - false, - false, - false, true, true, true, @@ -2357,7 +2350,14 @@ true, true, true, - false + true, + true, + true, + true, + true, + true, + true, + true ], "scale_correction_orig_sam3d": 0.5966110229492188 } diff --git a/samples/boJ9zV_qVEQ_886.4_890.4/recording.viser b/samples/boJ9zV_qVEQ_886.4_890.4/recording.viser index 2f955cb837b010ca60ab0b322524ec21ae3f63a4..850173eff2b8844de470d1f2aa16beba6b9c443d 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 sha256:5f4ff88aac6328b51e5ee487ed7ebddb2c059e62c9c944a6bde3867c3f06ef12 -size 1564854 +oid sha256:dd8ea91ec263fa83eaa2608653af97e2b07b94cb95ec24d362066f806d7dc379 +size 1564951 diff --git a/samples/boJ9zV_qVEQ_886.4_890.4/scene.json b/samples/boJ9zV_qVEQ_886.4_890.4/scene.json index fa732eb57798935d58aaf3ead26255558d405d31..3379b2acb43b0a2dcd1ea4c9b6deb9ff14263e79 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": 0.01639344262295082, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { "static": 0, "grasped_l": 0, - "grasped_r": 15, - "grasped_both": 45, - "moving": 1 + "grasped_r": 2, + "grasped_both": 59, + "moving": 0 }, "state_fractions": { "static": 0.0, "grasped": 0.0, - "moving": 0.01639344262295082 + "moving": 0.0 }, "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 6aecf70deb125ffd228443eb9032af2dd00052c8..12debba26e8f05891c68be0941b68c24196a2aaf 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, 0.0, 1.0, 0.0, 1.0, 0.0, 0.0, 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, 1.0, 1.0, 1.0, 1.0, 1.0, 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], "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, 0.0, 1.0, 0.0, 1.0, 0.0, 0.0, 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, 1.0, 1.0, 1.0, 1.0, 1.0, 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], "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, 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1.0527082681655884 + 1.0442994832992554 ], [ 0.0, @@ -7631,19 +7631,19 @@ 0.8938547372817993, -0.13787204027175903, -0.42663219571113586, - -0.3087649643421173 + -0.37058958411216736 ], [ -0.4147268533706665, -0.615820586681366, -0.6699004769325256, - -0.043958861380815506 + 0.002252020174637437 ], [ -0.17036835849285126, 0.7757295370101929, -0.6076334118843079, - 1.0902899503707886 + 1.0823535919189453 ], [ 0.0, @@ -7657,19 +7657,19 @@ 0.9712537527084351, -0.10924645513296127, -0.21149784326553345, - -0.2966751158237457 + -0.35641050338745117 ], [ -0.23017480969429016, -0.6575874090194702, -0.7173551321029663, - -0.056299228221178055 + -0.016219232231378555 ], [ -0.06070981174707413, 0.7454153299331665, -0.663830041885376, - 1.1347341537475586 + 1.1279160976409912 ], [ 0.0, @@ -7683,19 +7683,19 @@ -0.7377047538757324, 0.6020795702934265, 0.3054371476173401, - -0.2677168548107147 + -0.31905868649482727 ], [ 0.4055379331111908, 0.03348595276474953, 0.9134646654129028, - -0.06709407269954681 + -0.03549931198358536 ], [ 0.5397505760192871, 0.7977335453033447, -0.2688688635826111, - 1.170552372932434 + 1.1650843620300293 ], [ 0.0, @@ -7709,19 +7709,19 @@ -0.7864320874214172, 0.5618343353271484, 0.25664520263671875, - -0.22316132485866547 + -0.2600327730178833 ], [ 0.32233908772468567, 0.01886587217450142, 0.9464362263679504, - -0.07424932718276978 + -0.05221541225910187 ], [ 0.5268985629081726, 0.8270346522331238, -0.1959379017353058, - 1.1893099546432495 + 1.1848070621490479 ], [ 0.0, @@ -7735,19 +7735,19 @@ -0.2475656419992447, 0.5073191523551941, 0.8254323601722717, - -0.16427958011627197 + -0.18083126842975616 ], [ 0.7175077795982361, -0.4765044152736664, 0.5080611109733582, - -0.07567095756530762 + -0.06299471855163574 ], [ 0.651071310043335, 0.7180325984954834, -0.24603931605815887, - 1.1825039386749268 + 1.17847740650177 ], [ 0.0, @@ -7761,19 +7761,19 @@ 0.8724381327629089, -0.48847874999046326, -0.015498223714530468, - -0.09234272688627243 + -0.08295276761054993 ], [ -0.3302189111709595, -0.5658103227615356, -0.7555224299430847, - -0.06926490366458893 + -0.06446442753076553 ], [ 0.360287606716156, 0.664264440536499, -0.6549394130706787, - 1.1416512727737427 + 1.1373629570007324 ], [ 0.0, @@ -7812,6 +7812,68 @@ "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_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_both", + "grasped_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", @@ -7846,89 +7908,27 @@ "grasped_r", "grasped_r", "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_r", - "grasped_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_r", "grasped_r", "grasped_r", @@ -8113,6 +8113,68 @@ "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", + "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", @@ -8147,89 +8209,27 @@ "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", - "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", "R", "R", "R", @@ -9590,7 +9590,7 @@ ] ], "centroid_2d_disp_per_frame": [ - 34.13209533691406, + 0.0, 38.239376068115234, 36.24913787841797, 2.5, @@ -9890,13 +9890,13 @@ 46.097721099853516, 58.51922607421875 ], - "global_span_px": 434.2203063964844, + "global_span_px": 442.8492126464844, "state_counts": { - "static": 2, + "static": 0, "grasped_l": 0, - "grasped_r": 307, - "grasped_both": 0, - "moving": 20 + "grasped_r": 216, + "grasped_both": 83, + "moving": 0 }, "wrist_used_per_frame": [ true, @@ -10223,6 +10223,68 @@ false, false, false, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, + true, false, false, false, @@ -10257,89 +10319,27 @@ false, false, false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - false, - 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, false, false, false, @@ -11103,10 +11103,7 @@ false ], "close_per_frame": [ - false, true, - false, - false, true, true, true, @@ -11123,9 +11120,6 @@ true, true, true, - false, - false, - false, true, true, true, @@ -11137,11 +11131,9 @@ true, true, true, - false, true, true, true, - false, true, true, true, @@ -11150,15 +11142,9 @@ true, true, true, - false, - false, - false, true, - false, - false, true, true, - false, true, true, true, @@ -11178,14 +11164,9 @@ true, true, true, - false, - false, - false, true, true, true, - false, - false, true, true, true, @@ -11197,18 +11178,11 @@ true, true, true, - false, - false, - false, true, true, - false, - false, - false, true, true, true, - false, true, true, true, @@ -11218,14 +11192,12 @@ true, true, true, - false, true, true, true, true, true, true, - false, true, true, true, @@ -11233,28 +11205,18 @@ true, true, true, - false, true, - false, - false, true, true, true, true, - false, true, - false, true, - false, true, true, true, true, - false, - false, - false, true, - false, true, true, true, @@ -11270,18 +11232,10 @@ true, true, true, - false, - false, - false, true, true, true, true, - false, - false, - false, - false, - false, true, true, true, @@ -11290,13 +11244,11 @@ true, true, true, - false, true, - false, - false, true, true, - false, + true, + true, true, true, false, @@ -11313,15 +11265,12 @@ true, true, true, - false, true, true, - false, true, true, true, true, - false, true, true, true, @@ -11329,36 +11278,23 @@ true, true, true, - false, true, true, - false, - false, true, true, - false, - false, true, true, true, true, - false, true, true, true, - false, true, true, - false, true, true, true, true, - false, - false, - false, - false, - false, true, true, true, @@ -11374,7 +11310,40 @@ true, true, 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, @@ -11387,7 +11356,38 @@ 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, + true, + true, + true, + true, + true, + true, + true, true, true, true, diff --git a/samples/qS0o53IiVQY_273.3_295.2/recording.viser b/samples/qS0o53IiVQY_273.3_295.2/recording.viser index e871834a7c433a9c0fb00a5d9d2f78a1301e2b1d..9e2aa82a7cc0e21f29d77968154f4588d0812533 100644 --- a/samples/qS0o53IiVQY_273.3_295.2/recording.viser +++ b/samples/qS0o53IiVQY_273.3_295.2/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4240954bf8891c4bebe548034626500a196e3d65233e764e8a67d188cdc89a92 -size 7012303 +oid sha256:30a102cdf63326c7db6a0906a5d8303aca3ca271f8b63e7c11aaf7857295b05a +size 7012425 diff --git a/samples/qS0o53IiVQY_273.3_295.2/scene.json b/samples/qS0o53IiVQY_273.3_295.2/scene.json index 04d0598ec654b37693e425ade383cda1f9b92d07..0ee44364cd4cea643973c3fc4f1adb1ff2331fb0 100644 --- a/samples/qS0o53IiVQY_273.3_295.2/scene.json +++ b/samples/qS0o53IiVQY_273.3_295.2/scene.json @@ -122,22 +122,22 @@ "median_chamfer_mm": null, "mean_iou": null, "grasp_rate": 0.0, - "trust_rate": 0.060790273556231005, + "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 2, + "static": 0, "grasped_l": 0, - "grasped_r": 307, - "grasped_both": 0, - "moving": 20 + "grasped_r": 216, + "grasped_both": 83, + "moving": 0 }, "state_fractions": { - "static": 0.0060790273556231, + "static": 0.0, "grasped": 0.0, - "moving": 0.060790273556231005 + "moving": 0.0 }, "is_static_global": false, - "n_state_frames": 329 + "n_state_frames": 299 } }, "_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms." diff --git a/samples/qS0o53IiVQY_273.3_295.2/signals.json b/samples/qS0o53IiVQY_273.3_295.2/signals.json index ef5dbf72b54b210bb2460152f48dda0c78dffb71..370110851d413db8340e16d82d04f0d0291150bb 100644 --- a/samples/qS0o53IiVQY_273.3_295.2/signals.json +++ b/samples/qS0o53IiVQY_273.3_295.2/signals.json @@ -1 +1 @@ -{"n_frames": 299, "scene": {"contact_l": [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, 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, 1.0, 1.0, 1.0, 0.0, 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, 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, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 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, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0, 0.0, 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, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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