2026-05-15: state machine v2 — STATIC / GRASPED_L/R/BOTH / MOVING + L/R-aware grasp (105/105)
Browse files
samples/xWBZ-yu6_CE_43.2_47.2/pose_track.json
CHANGED
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@@ -1596,6 +1596,450 @@
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| 1596 |
],
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| 1597 |
"tracking_status": "ok",
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| 1598 |
"note": "canonical_only (F@R^T) scale=0.316",
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| 1599 |
"wrist_used_per_frame": [
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| 1600 |
false,
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| 1601 |
false,
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|
@@ -1625,6 +2069,18 @@
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| 1625 |
true,
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| 1626 |
true,
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| 1627 |
true,
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| 1628 |
true,
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| 1629 |
true,
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| 1630 |
true,
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|
@@ -1633,6 +2089,34 @@
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| 1633 |
true,
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| 1634 |
true,
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| 1635 |
true,
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| 1636 |
true,
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| 1637 |
true,
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| 1638 |
true,
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|
@@ -1647,6 +2131,19 @@
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| 1647 |
true,
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| 1648 |
true,
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| 1649 |
true,
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| 1650 |
true,
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| 1651 |
true,
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| 1652 |
true,
|
|
@@ -1657,9 +2154,35 @@
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| 1657 |
true,
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| 1658 |
false,
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| 1659 |
false,
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| 1660 |
false
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| 1661 |
],
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| 1662 |
-
"
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| 1663 |
false,
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| 1664 |
true,
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| 1665 |
true,
|
|
@@ -1704,6 +2227,23 @@
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| 1704 |
false,
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| 1705 |
false,
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| 1706 |
false,
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| 1707 |
false,
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| 1708 |
false,
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| 1709 |
false,
|
|
@@ -1719,10 +2259,13 @@
|
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| 1719 |
false,
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| 1720 |
false,
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| 1721 |
true,
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| 1722 |
false,
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| 1723 |
-
false
|
| 1724 |
-
],
|
| 1725 |
-
"close_per_frame": [
|
| 1726 |
false,
|
| 1727 |
false,
|
| 1728 |
false,
|
|
@@ -1743,18 +2286,15 @@
|
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| 1743 |
true,
|
| 1744 |
true,
|
| 1745 |
true,
|
| 1746 |
-
false,
|
| 1747 |
-
true,
|
| 1748 |
true,
|
| 1749 |
false,
|
| 1750 |
-
true,
|
| 1751 |
-
true,
|
| 1752 |
-
true,
|
| 1753 |
-
true,
|
| 1754 |
-
true,
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| 1755 |
-
true,
|
| 1756 |
false,
|
| 1757 |
-
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| 1758 |
false,
|
| 1759 |
false,
|
| 1760 |
false,
|
|
@@ -1762,154 +2302,58 @@
|
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| 1762 |
false,
|
| 1763 |
false,
|
| 1764 |
false,
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| 1765 |
true,
|
| 1766 |
true,
|
| 1767 |
true,
|
| 1768 |
true,
|
| 1769 |
true,
|
| 1770 |
true,
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| 1771 |
true,
|
| 1772 |
false,
|
| 1773 |
true,
|
| 1774 |
true,
|
| 1775 |
true,
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| 1776 |
false,
|
| 1777 |
false,
|
| 1778 |
false,
|
| 1779 |
-
true,
|
| 1780 |
false,
|
| 1781 |
false,
|
| 1782 |
false,
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| 1783 |
true,
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| 1784 |
false,
|
| 1785 |
false,
|
| 1786 |
false
|
| 1787 |
-
],
|
| 1788 |
-
"pc_motion_xy_per_frame": [
|
| 1789 |
-
0.0,
|
| 1790 |
-
0.11880262941122055,
|
| 1791 |
-
0.08771379292011261,
|
| 1792 |
-
0.1413072645664215,
|
| 1793 |
-
0.12332729995250702,
|
| 1794 |
-
0.12456530332565308,
|
| 1795 |
-
0.08297020941972733,
|
| 1796 |
-
0.07348864525556564,
|
| 1797 |
-
0.05570284649729729,
|
| 1798 |
-
0.023942267522215843,
|
| 1799 |
-
0.026637842878699303,
|
| 1800 |
-
0.04039551690220833,
|
| 1801 |
-
0.04210111126303673,
|
| 1802 |
-
0.061070509254932404,
|
| 1803 |
-
0.048152949661016464,
|
| 1804 |
-
0.029978889971971512,
|
| 1805 |
-
0.03607498109340668,
|
| 1806 |
-
0.03455418348312378,
|
| 1807 |
-
0.020238127559423447,
|
| 1808 |
-
0.03185710310935974,
|
| 1809 |
-
0.02683347277343273,
|
| 1810 |
-
0.03186791390180588,
|
| 1811 |
-
0.0354212149977684,
|
| 1812 |
-
0.02049664780497551,
|
| 1813 |
-
0.0315261147916317,
|
| 1814 |
-
0.028690798208117485,
|
| 1815 |
-
0.053171876817941666,
|
| 1816 |
-
0.031951118260622025,
|
| 1817 |
-
0.04364048317074776,
|
| 1818 |
-
0.024668710306286812,
|
| 1819 |
-
0.029583213850855827,
|
| 1820 |
-
0.013331391848623753,
|
| 1821 |
-
0.012564637698233128,
|
| 1822 |
-
0.01004237774759531,
|
| 1823 |
-
0.005598006304353476,
|
| 1824 |
-
0.007603330072015524,
|
| 1825 |
-
0.007976090535521507,
|
| 1826 |
-
0.0019654775969684124,
|
| 1827 |
-
0.002816560212522745,
|
| 1828 |
-
0.007211013231426477,
|
| 1829 |
-
0.02037733793258667,
|
| 1830 |
-
0.05010998621582985,
|
| 1831 |
-
0.05091116577386856,
|
| 1832 |
-
0.03001335822045803,
|
| 1833 |
-
0.018728816881775856,
|
| 1834 |
-
0.036082036793231964,
|
| 1835 |
-
0.07430453598499298,
|
| 1836 |
-
0.13080553710460663,
|
| 1837 |
-
0.07538748532533646,
|
| 1838 |
-
0.030756691470742226,
|
| 1839 |
-
0.04771280288696289,
|
| 1840 |
-
0.04210609942674637,
|
| 1841 |
-
0.0462968535721302,
|
| 1842 |
-
0.025828419253230095,
|
| 1843 |
-
0.03106081672012806,
|
| 1844 |
-
0.03300836682319641,
|
| 1845 |
-
0.02653135173022747,
|
| 1846 |
-
0.0387394018471241,
|
| 1847 |
-
0.011126608587801456,
|
| 1848 |
-
0.002699237782508135,
|
| 1849 |
-
0.002341941464692354
|
| 1850 |
-
],
|
| 1851 |
-
"pc_motion_z_per_frame": [
|
| 1852 |
-
0.0,
|
| 1853 |
-
0.010000050067901611,
|
| 1854 |
-
0.1424999237060547,
|
| 1855 |
-
0.15349996089935303,
|
| 1856 |
-
0.02100008726119995,
|
| 1857 |
-
0.013000011444091797,
|
| 1858 |
-
0.13200008869171143,
|
| 1859 |
-
0.09799998998641968,
|
| 1860 |
-
0.037499964237213135,
|
| 1861 |
-
0.07500004768371582,
|
| 1862 |
-
0.0969998836517334,
|
| 1863 |
-
0.24199998378753662,
|
| 1864 |
-
0.10450005531311035,
|
| 1865 |
-
0.03900003433227539,
|
| 1866 |
-
0.0024999380111694336,
|
| 1867 |
-
0.033500075340270996,
|
| 1868 |
-
0.03100001811981201,
|
| 1869 |
-
0.010499954223632812,
|
| 1870 |
-
0.0034999847412109375,
|
| 1871 |
-
0.022499918937683105,
|
| 1872 |
-
0.07700002193450928,
|
| 1873 |
-
0.010499954223632812,
|
| 1874 |
-
0.004999995231628418,
|
| 1875 |
-
0.0679999589920044,
|
| 1876 |
-
0.044499993324279785,
|
| 1877 |
-
0.01549994945526123,
|
| 1878 |
-
0.03249990940093994,
|
| 1879 |
-
0.09900009632110596,
|
| 1880 |
-
0.0755000114440918,
|
| 1881 |
-
0.04400002956390381,
|
| 1882 |
-
0.06500005722045898,
|
| 1883 |
-
0.03149998188018799,
|
| 1884 |
-
0.012000083923339844,
|
| 1885 |
-
0.029999852180480957,
|
| 1886 |
-
0.02350008487701416,
|
| 1887 |
-
0.02499997615814209,
|
| 1888 |
-
0.025500059127807617,
|
| 1889 |
-
0.01700007915496826,
|
| 1890 |
-
0.019500017166137695,
|
| 1891 |
-
0.023000001907348633,
|
| 1892 |
-
0.018000006675720215,
|
| 1893 |
-
0.0625,
|
| 1894 |
-
0.06850004196166992,
|
| 1895 |
-
0.01750004291534424,
|
| 1896 |
-
0.07449996471405029,
|
| 1897 |
-
0.04400014877319336,
|
| 1898 |
-
0.05600011348724365,
|
| 1899 |
-
0.06099998950958252,
|
| 1900 |
-
0.10049998760223389,
|
| 1901 |
-
0.12249994277954102,
|
| 1902 |
-
0.004499912261962891,
|
| 1903 |
-
0.0279998779296875,
|
| 1904 |
-
0.042999863624572754,
|
| 1905 |
-
0.07949995994567871,
|
| 1906 |
-
0.001999974250793457,
|
| 1907 |
-
0.005999922752380371,
|
| 1908 |
-
0.04500019550323486,
|
| 1909 |
-
0.04700005054473877,
|
| 1910 |
-
0.03299999237060547,
|
| 1911 |
-
0.004499912261962891,
|
| 1912 |
-
0.006000041961669922
|
| 1913 |
]
|
| 1914 |
},
|
| 1915 |
"2": {
|
|
@@ -3507,9 +3951,579 @@
|
|
| 3507 |
]
|
| 3508 |
]
|
| 3509 |
],
|
| 3510 |
-
"tracking_status": "ok",
|
| 3511 |
-
"note": "canonical_only (F@R^T) scale=0.191",
|
| 3512 |
-
"
|
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|
| 3513 |
false,
|
| 3514 |
false,
|
| 3515 |
false,
|
|
@@ -3577,33 +4591,18 @@
|
|
| 3577 |
true,
|
| 3578 |
true,
|
| 3579 |
true,
|
| 3580 |
-
true,
|
| 3581 |
-
true,
|
| 3582 |
-
true,
|
| 3583 |
false,
|
| 3584 |
false,
|
| 3585 |
-
true,
|
| 3586 |
false,
|
| 3587 |
false,
|
| 3588 |
-
true,
|
| 3589 |
false,
|
| 3590 |
false,
|
| 3591 |
false,
|
| 3592 |
false,
|
| 3593 |
-
true,
|
| 3594 |
false,
|
| 3595 |
-
true,
|
| 3596 |
false,
|
| 3597 |
false,
|
| 3598 |
-
true,
|
| 3599 |
-
true,
|
| 3600 |
-
true,
|
| 3601 |
-
true,
|
| 3602 |
-
true,
|
| 3603 |
-
true,
|
| 3604 |
false,
|
| 3605 |
-
true,
|
| 3606 |
-
true,
|
| 3607 |
false,
|
| 3608 |
false,
|
| 3609 |
false,
|
|
@@ -3611,27 +4610,42 @@
|
|
| 3611 |
false,
|
| 3612 |
false,
|
| 3613 |
false,
|
| 3614 |
-
true,
|
| 3615 |
false,
|
| 3616 |
false,
|
| 3617 |
-
|
| 3618 |
-
|
| 3619 |
-
|
| 3620 |
-
|
| 3621 |
-
|
| 3622 |
-
|
| 3623 |
-
|
| 3624 |
-
|
|
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|
|
|
|
|
|
|
|
|
|
| 3625 |
false,
|
| 3626 |
false,
|
| 3627 |
true,
|
| 3628 |
-
|
| 3629 |
-
true,
|
| 3630 |
-
true,
|
| 3631 |
-
true,
|
| 3632 |
-
true,
|
| 3633 |
-
true,
|
| 3634 |
-
true,
|
| 3635 |
true,
|
| 3636 |
true
|
| 3637 |
],
|
|
@@ -3697,132 +4711,6 @@
|
|
| 3697 |
false,
|
| 3698 |
false,
|
| 3699 |
false
|
| 3700 |
-
],
|
| 3701 |
-
"pc_motion_xy_per_frame": [
|
| 3702 |
-
0.0,
|
| 3703 |
-
0.025233862921595573,
|
| 3704 |
-
0.08671198785305023,
|
| 3705 |
-
0.03628966584801674,
|
| 3706 |
-
0.003999728709459305,
|
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| 3828 |
"3": {
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|
@@ -5368,60 +6256,495 @@
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| 5395 |
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|
| 5396 |
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|
| 5397 |
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| 5398 |
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| 5399 |
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| 5400 |
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| 5401 |
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| 5402 |
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| 5403 |
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| 5410 |
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| 5415 |
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| 5419 |
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| 5420 |
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| 5421 |
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| 5422 |
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| 5423 |
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| 5424 |
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| 5425 |
"wrist_used_per_frame": [
|
| 5426 |
false,
|
| 5427 |
false,
|
|
@@ -5485,6 +6808,132 @@
|
|
| 5485 |
false,
|
| 5486 |
false
|
| 5487 |
],
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| 5488 |
"is_moving_per_frame": [
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| 5489 |
false,
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| 5490 |
false,
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@@ -5492,31 +6941,8 @@
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false,
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@@ -5532,6 +6958,24 @@
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| 5532 |
true,
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| 5535 |
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| 6992 |
+
false,
|
| 6993 |
+
false,
|
| 6994 |
+
false,
|
| 6995 |
+
false,
|
| 6996 |
+
false,
|
| 6997 |
false,
|
| 6998 |
false
|
| 6999 |
],
|
|
|
|
| 7059 |
false,
|
| 7060 |
false,
|
| 7061 |
false
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|
| 7062 |
]
|
| 7063 |
}
|
| 7064 |
}
|
samples/xWBZ-yu6_CE_43.2_47.2/recording.viser
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
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|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1220877fdc83f7cedc425e8622d02b16627474b47e340db2f0c9864ff2e67f29
|
| 3 |
+
size 2633370
|
samples/xWBZ-yu6_CE_43.2_47.2/scene.json
CHANGED
|
@@ -165,27 +165,69 @@
|
|
| 165 |
"anchor_fitness": null,
|
| 166 |
"median_chamfer_mm": null,
|
| 167 |
"mean_iou": null,
|
| 168 |
-
"grasp_rate":
|
| 169 |
-
"trust_rate":
|
| 170 |
-
"tracking_status": "ok"
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 171 |
},
|
| 172 |
"2": {
|
| 173 |
"path": null,
|
| 174 |
"anchor_fitness": null,
|
| 175 |
"median_chamfer_mm": null,
|
| 176 |
"mean_iou": null,
|
| 177 |
-
"grasp_rate":
|
| 178 |
-
"trust_rate":
|
| 179 |
-
"tracking_status": "ok"
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 180 |
},
|
| 181 |
"3": {
|
| 182 |
"path": null,
|
| 183 |
"anchor_fitness": null,
|
| 184 |
"median_chamfer_mm": null,
|
| 185 |
"mean_iou": null,
|
| 186 |
-
"grasp_rate":
|
| 187 |
-
"trust_rate":
|
| 188 |
-
"tracking_status": "ok"
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
| 189 |
}
|
| 190 |
},
|
| 191 |
"_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms."
|
|
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|
| 165 |
"anchor_fitness": null,
|
| 166 |
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|
| 167 |
"mean_iou": null,
|
| 168 |
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"grasp_rate": 0.0,
|
| 169 |
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"trust_rate": 0.39344262295081966,
|
| 170 |
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"tracking_status": "ok",
|
| 171 |
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"state_counts": {
|
| 172 |
+
"static": 13,
|
| 173 |
+
"grasped_l": 13,
|
| 174 |
+
"grasped_r": 1,
|
| 175 |
+
"grasped_both": 10,
|
| 176 |
+
"moving": 24
|
| 177 |
+
},
|
| 178 |
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"state_fractions": {
|
| 179 |
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"static": 0.21311475409836064,
|
| 180 |
+
"grasped": 0.0,
|
| 181 |
+
"moving": 0.39344262295081966
|
| 182 |
+
},
|
| 183 |
+
"is_static_global": false,
|
| 184 |
+
"n_state_frames": 61
|
| 185 |
},
|
| 186 |
"2": {
|
| 187 |
"path": null,
|
| 188 |
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|
| 189 |
"median_chamfer_mm": null,
|
| 190 |
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|
| 191 |
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"grasp_rate": 0.0,
|
| 192 |
+
"trust_rate": 0.0,
|
| 193 |
+
"tracking_status": "ok",
|
| 194 |
+
"state_counts": {
|
| 195 |
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"static": 61,
|
| 196 |
+
"grasped_l": 0,
|
| 197 |
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"grasped_r": 0,
|
| 198 |
+
"grasped_both": 0,
|
| 199 |
+
"moving": 0
|
| 200 |
+
},
|
| 201 |
+
"state_fractions": {
|
| 202 |
+
"static": 1.0,
|
| 203 |
+
"grasped": 0.0,
|
| 204 |
+
"moving": 0.0
|
| 205 |
+
},
|
| 206 |
+
"is_static_global": true,
|
| 207 |
+
"n_state_frames": 61
|
| 208 |
},
|
| 209 |
"3": {
|
| 210 |
"path": null,
|
| 211 |
"anchor_fitness": null,
|
| 212 |
"median_chamfer_mm": null,
|
| 213 |
"mean_iou": null,
|
| 214 |
+
"grasp_rate": 0.0,
|
| 215 |
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"trust_rate": 0.32786885245901637,
|
| 216 |
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"tracking_status": "ok",
|
| 217 |
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"state_counts": {
|
| 218 |
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"static": 41,
|
| 219 |
+
"grasped_l": 0,
|
| 220 |
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"grasped_r": 0,
|
| 221 |
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"grasped_both": 0,
|
| 222 |
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"moving": 20
|
| 223 |
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},
|
| 224 |
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"state_fractions": {
|
| 225 |
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"static": 0.6721311475409836,
|
| 226 |
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"grasped": 0.0,
|
| 227 |
+
"moving": 0.32786885245901637
|
| 228 |
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},
|
| 229 |
+
"is_static_global": false,
|
| 230 |
+
"n_state_frames": 61
|
| 231 |
}
|
| 232 |
},
|
| 233 |
"_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms."
|
samples/xWBZ-yu6_CE_43.2_47.2/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,
|
|
|
|
| 1 |
+
{"n_frames": 61, "scene": {"contact_l": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 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, 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], "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, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 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, 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], "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, 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