2026-05-15: state machine v2 — STATIC / GRASPED_L/R/BOTH / MOVING + L/R-aware grasp (16/105)

samples/-5nmuwQ0kwA_383.0_387.0/pose_track.json

@@ -764,6 +764,226 @@
     ],
     "tracking_status": "ok",
     "note": "canonical_only (F@R^T) scale=0.324",
+    "state_per_frame": [
+      "grasped_r",
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     "wrist_used_per_frame": [
       true,
       true,
@@ -795,7 +1015,7 @@
       true,
       true
     ],
-    "is_moving_per_frame": [
+    "wrist_l_per_frame": [
       false,
       false,
       false,
@@ -826,7 +1046,7 @@
       false,
       false
     ],
-    "close_per_frame": [
+    "wrist_r_per_frame": [
       true,
       true,
       true,
@@ -857,67 +1077,67 @@
       true,
       true
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-    "pc_motion_xy_per_frame": [
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+    "close_per_frame": [
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     ]
   }
 }

samples/-5nmuwQ0kwA_383.0_387.0/recording.viser

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:14d8ff42ef5fdaecac9fa202917f2bbdab1ef6e7c71d41553cb6d06c8be497c0
+oid sha256:dc2d53eab96735d55f3ee4ecf0f542cd1a96dd97e883e0a0c14e5d1a052e1d3b
 size 894390

samples/-5nmuwQ0kwA_383.0_387.0/scene.json

@@ -121,9 +121,23 @@
       "anchor_fitness": null,
       "median_chamfer_mm": null,
       "mean_iou": null,
-      "grasp_rate": null,
-      "trust_rate": null,
-      "tracking_status": "ok"
+      "grasp_rate": 0.0,
+      "trust_rate": 0.0,
+      "tracking_status": "ok",
+      "state_counts": {
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+        "grasped_l": 0,
+        "grasped_r": 29,
+        "grasped_both": 0,
+        "moving": 0
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+      "state_fractions": {
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+        "grasped": 0.0,
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+      "is_static_global": false,
+      "n_state_frames": 29
     }
   },
   "_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms."

samples/-5nmuwQ0kwA_383.0_387.0/signals.json

@@ -1 +1 @@
-{"contact_l": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "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], "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], "motion": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "trust": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}
+{"n_frames": 29, "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], "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], "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], "motion": [0.0, 100.53108978271484, 65.40833282470703, 32.729957580566406, 4.609772205352783, 12.903488159179688, 10.307764053344727, 8.86002254486084, 12.5, 22.192340850830078, 28.744564056396484, 36.58209991455078, 39.003204345703125, 46.59667205810547, 39.7555046081543, 71.1512451171875, 49.124839782714844, 55.90169906616211, 33.58943176269531, 24.12985610961914, 30.008331298828125, 27.004629135131836, 25.504901885986328, 25.12468910217285, 25.63201141357422, 49.19349670410156, 23.900836944580078, 46.06517028808594, 30.103986740112305]}, "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], "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"]}}}