2026-05-15: state machine v2 — STATIC / GRASPED_L/R/BOTH / MOVING + L/R-aware grasp
Browse files
samples/--oo8_XIuOM_799.5_809.8/pose_track.json
CHANGED
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@@ -4040,9 +4040,1266 @@
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| 4040 |
],
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"tracking_status": "ok",
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| 4042 |
"note": "canonical_only (F@R^T) scale=0.301",
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| 4043 |
"wrist_used_per_frame": [
|
| 4044 |
false,
|
| 4045 |
false,
|
|
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|
|
| 4046 |
false,
|
| 4047 |
false,
|
| 4048 |
false,
|
|
@@ -4193,6 +5450,165 @@
|
|
| 4193 |
true,
|
| 4194 |
true,
|
| 4195 |
true,
|
|
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|
|
|
|
|
|
|
|
|
| 4196 |
false,
|
| 4197 |
false,
|
| 4198 |
false
|
|
@@ -4240,8 +5656,6 @@
|
|
| 4240 |
false,
|
| 4241 |
false,
|
| 4242 |
true,
|
| 4243 |
-
true,
|
| 4244 |
-
true,
|
| 4245 |
false,
|
| 4246 |
false,
|
| 4247 |
false,
|
|
@@ -4350,8 +5764,10 @@
|
|
| 4350 |
false,
|
| 4351 |
false,
|
| 4352 |
false,
|
| 4353 |
-
|
| 4354 |
-
|
|
|
|
|
|
|
| 4355 |
true
|
| 4356 |
],
|
| 4357 |
"close_per_frame": [
|
|
@@ -4397,7 +5813,37 @@
|
|
| 4397 |
false,
|
| 4398 |
false,
|
| 4399 |
false,
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 4400 |
false,
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 4401 |
false,
|
| 4402 |
true,
|
| 4403 |
true,
|
|
@@ -4428,7 +5874,6 @@
|
|
| 4428 |
true,
|
| 4429 |
true,
|
| 4430 |
true,
|
| 4431 |
-
false,
|
| 4432 |
true,
|
| 4433 |
true,
|
| 4434 |
true,
|
|
@@ -4436,20 +5881,14 @@
|
|
| 4436 |
true,
|
| 4437 |
true,
|
| 4438 |
true,
|
| 4439 |
-
false,
|
| 4440 |
true,
|
| 4441 |
true,
|
| 4442 |
-
false,
|
| 4443 |
true,
|
| 4444 |
-
false,
|
| 4445 |
true,
|
| 4446 |
true,
|
| 4447 |
true,
|
| 4448 |
true,
|
| 4449 |
-
false,
|
| 4450 |
-
false,
|
| 4451 |
true,
|
| 4452 |
-
false,
|
| 4453 |
true,
|
| 4454 |
true,
|
| 4455 |
true,
|
|
@@ -4457,19 +5896,8 @@
|
|
| 4457 |
true,
|
| 4458 |
true,
|
| 4459 |
true,
|
| 4460 |
-
false,
|
| 4461 |
-
false,
|
| 4462 |
-
false,
|
| 4463 |
-
false,
|
| 4464 |
-
false,
|
| 4465 |
true,
|
| 4466 |
true,
|
| 4467 |
-
false,
|
| 4468 |
-
false,
|
| 4469 |
-
false,
|
| 4470 |
-
false,
|
| 4471 |
-
false,
|
| 4472 |
-
false,
|
| 4473 |
true,
|
| 4474 |
true,
|
| 4475 |
true,
|
|
@@ -4479,20 +5907,7 @@
|
|
| 4479 |
true,
|
| 4480 |
true,
|
| 4481 |
true,
|
| 4482 |
-
false,
|
| 4483 |
-
false,
|
| 4484 |
-
false,
|
| 4485 |
-
false,
|
| 4486 |
-
false,
|
| 4487 |
true,
|
| 4488 |
-
false,
|
| 4489 |
-
false,
|
| 4490 |
-
false,
|
| 4491 |
-
false,
|
| 4492 |
-
false,
|
| 4493 |
-
false,
|
| 4494 |
-
false,
|
| 4495 |
-
false,
|
| 4496 |
true,
|
| 4497 |
true,
|
| 4498 |
true,
|
|
@@ -4507,323 +5922,10 @@
|
|
| 4507 |
true,
|
| 4508 |
true,
|
| 4509 |
true,
|
| 4510 |
-
|
| 4511 |
-
|
|
|
|
| 4512 |
false
|
| 4513 |
-
],
|
| 4514 |
-
"pc_motion_xy_per_frame": [
|
| 4515 |
-
0.0,
|
| 4516 |
-
0.000143843877594918,
|
| 4517 |
-
0.0009042331948876381,
|
| 4518 |
-
0.0012570132967084646,
|
| 4519 |
-
0.0010121689410880208,
|
| 4520 |
-
0.0013765600742772222,
|
| 4521 |
-
0.0015745258424431086,
|
| 4522 |
-
0.0025416878052055836,
|
| 4523 |
-
0.002553079044446349,
|
| 4524 |
-
0.0017829531570896506,
|
| 4525 |
-
0.0021599880419671535,
|
| 4526 |
-
0.0013356085401028395,
|
| 4527 |
-
0.003158038016408682,
|
| 4528 |
-
0.004028081428259611,
|
| 4529 |
-
0.0018945103511214256,
|
| 4530 |
-
0.0020507427398115396,
|
| 4531 |
-
0.0012488283682614565,
|
| 4532 |
-
0.0025027471128851175,
|
| 4533 |
-
0.0003716900246217847,
|
| 4534 |
-
0.005106112454086542,
|
| 4535 |
-
0.0035488109569996595,
|
| 4536 |
-
0.002254983177408576,
|
| 4537 |
-
0.0019110635621473193,
|
| 4538 |
-
0.004138937685638666,
|
| 4539 |
-
0.002427761210128665,
|
| 4540 |
-
0.0027493233792483807,
|
| 4541 |
-
0.0041346498765051365,
|
| 4542 |
-
0.0029689869843423367,
|
| 4543 |
-
0.002802773378789425,
|
| 4544 |
-
0.0003312770277261734,
|
| 4545 |
-
0.0015025294851511717,
|
| 4546 |
-
0.0038642375729978085,
|
| 4547 |
-
0.0013217759551480412,
|
| 4548 |
-
0.00027861230773851275,
|
| 4549 |
-
0.00046435566036961973,
|
| 4550 |
-
0.0010915646562352777,
|
| 4551 |
-
0.002289425116032362,
|
| 4552 |
-
0.0016604139236733317,
|
| 4553 |
-
0.00021792642655782402,
|
| 4554 |
-
0.0012951390817761421,
|
| 4555 |
-
0.0020149138290435076,
|
| 4556 |
-
0.02209348976612091,
|
| 4557 |
-
0.16617076098918915,
|
| 4558 |
-
0.006826700642704964,
|
| 4559 |
-
0.010763820260763168,
|
| 4560 |
-
0.031980376690626144,
|
| 4561 |
-
0.06381693482398987,
|
| 4562 |
-
0.10613036155700684,
|
| 4563 |
-
0.12213008105754852,
|
| 4564 |
-
0.1112368106842041,
|
| 4565 |
-
0.10975570976734161,
|
| 4566 |
-
0.05089163780212402,
|
| 4567 |
-
0.02190091460943222,
|
| 4568 |
-
0.020264146849513054,
|
| 4569 |
-
0.03194418549537659,
|
| 4570 |
-
0.013688318431377411,
|
| 4571 |
-
0.014024337753653526,
|
| 4572 |
-
0.0270717591047287,
|
| 4573 |
-
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|
| 5929 |
]
|
| 5930 |
}
|
| 5931 |
}
|
samples/--oo8_XIuOM_799.5_809.8/recording.viser
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6ad7f4d827905df0f0d6ea07552f6c9c937e3462468927c069c133f726dae934
|
| 3 |
+
size 4126483
|
samples/--oo8_XIuOM_799.5_809.8/scene.json
CHANGED
|
@@ -121,9 +121,23 @@
|
|
| 121 |
"anchor_fitness": null,
|
| 122 |
"median_chamfer_mm": null,
|
| 123 |
"mean_iou": null,
|
| 124 |
-
"grasp_rate":
|
| 125 |
-
"trust_rate":
|
| 126 |
-
"tracking_status": "ok"
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 127 |
}
|
| 128 |
},
|
| 129 |
"_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms."
|
|
|
|
| 121 |
"anchor_fitness": null,
|
| 122 |
"median_chamfer_mm": null,
|
| 123 |
"mean_iou": null,
|
| 124 |
+
"grasp_rate": 0.0,
|
| 125 |
+
"trust_rate": 0.012903225806451613,
|
| 126 |
+
"tracking_status": "ok",
|
| 127 |
+
"state_counts": {
|
| 128 |
+
"static": 41,
|
| 129 |
+
"grasped_l": 57,
|
| 130 |
+
"grasped_r": 0,
|
| 131 |
+
"grasped_both": 55,
|
| 132 |
+
"moving": 2
|
| 133 |
+
},
|
| 134 |
+
"state_fractions": {
|
| 135 |
+
"static": 0.2645161290322581,
|
| 136 |
+
"grasped": 0.0,
|
| 137 |
+
"moving": 0.012903225806451613
|
| 138 |
+
},
|
| 139 |
+
"is_static_global": false,
|
| 140 |
+
"n_state_frames": 155
|
| 141 |
}
|
| 142 |
},
|
| 143 |
"_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms."
|
samples/--oo8_XIuOM_799.5_809.8/signals.json
CHANGED
|
@@ -1 +1 @@
|
|
| 1 |
-
{"contact_l": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
|
|
|
|
| 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, 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, 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, 0.0], "contact_r": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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