2026-05-15: state machine v2 — STATIC / GRASPED_L/R/BOTH / MOVING + L/R-aware grasp (67/105)
Browse files
samples/-Ng0Rx1ahi4_412.2_416.3/pose_track.json
CHANGED
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@@ -1648,6 +1648,464 @@
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| 1648 |
],
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| 1649 |
"tracking_status": "ok",
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| 1650 |
"note": "canonical_only (F@R^T) scale=0.512",
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|
| 1651 |
"wrist_used_per_frame": [
|
| 1652 |
true,
|
| 1653 |
true,
|
|
@@ -1713,6 +2171,136 @@
|
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| 1713 |
false,
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| 1714 |
false
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| 1715 |
],
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|
| 1716 |
"is_moving_per_frame": [
|
| 1717 |
false,
|
| 1718 |
false,
|
|
@@ -1765,14 +2353,14 @@
|
|
| 1765 |
false,
|
| 1766 |
false,
|
| 1767 |
false,
|
| 1768 |
-
true,
|
| 1769 |
-
true,
|
| 1770 |
false,
|
| 1771 |
-
true,
|
| 1772 |
false,
|
| 1773 |
false,
|
| 1774 |
-
|
| 1775 |
-
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| 1776 |
false,
|
| 1777 |
false,
|
| 1778 |
false,
|
|
@@ -1842,136 +2430,6 @@
|
|
| 1842 |
false,
|
| 1843 |
false,
|
| 1844 |
false
|
| 1845 |
-
],
|
| 1846 |
-
"pc_motion_xy_per_frame": [
|
| 1847 |
-
0.0,
|
| 1848 |
-
0.011395488865673542,
|
| 1849 |
-
0.0009120245813392103,
|
| 1850 |
-
0.014193747192621231,
|
| 1851 |
-
0.04717707633972168,
|
| 1852 |
-
0.008792361244559288,
|
| 1853 |
-
0.04434354603290558,
|
| 1854 |
-
0.016682179644703865,
|
| 1855 |
-
0.021571915596723557,
|
| 1856 |
-
0.021161995828151703,
|
| 1857 |
-
0.005244058556854725,
|
| 1858 |
-
0.02632402442395687,
|
| 1859 |
-
0.013120937161147594,
|
| 1860 |
-
0.013340548612177372,
|
| 1861 |
-
0.020557064563035965,
|
| 1862 |
-
0.011348599568009377,
|
| 1863 |
-
0.03662592172622681,
|
| 1864 |
-
0.03570189327001572,
|
| 1865 |
-
0.005461216438561678,
|
| 1866 |
-
0.007610248867422342,
|
| 1867 |
-
0.007270398084074259,
|
| 1868 |
-
0.01678464189171791,
|
| 1869 |
-
0.010680781677365303,
|
| 1870 |
-
0.018794145435094833,
|
| 1871 |
-
0.015488293953239918,
|
| 1872 |
-
0.01388599630445242,
|
| 1873 |
-
0.04971763864159584,
|
| 1874 |
-
0.010923586785793304,
|
| 1875 |
-
0.0614505410194397,
|
| 1876 |
-
0.07799316197633743,
|
| 1877 |
-
0.03297344222664833,
|
| 1878 |
-
0.07075405865907669,
|
| 1879 |
-
0.07591673731803894,
|
| 1880 |
-
0.018796438351273537,
|
| 1881 |
-
0.08003905415534973,
|
| 1882 |
-
0.05979979783296585,
|
| 1883 |
-
0.0619027204811573,
|
| 1884 |
-
0.02875359356403351,
|
| 1885 |
-
0.03883727267384529,
|
| 1886 |
-
0.016363250091671944,
|
| 1887 |
-
0.007908494211733341,
|
| 1888 |
-
0.010369566269218922,
|
| 1889 |
-
0.012258609756827354,
|
| 1890 |
-
0.021623624488711357,
|
| 1891 |
-
0.020280692726373672,
|
| 1892 |
-
0.019258389249444008,
|
| 1893 |
-
0.009971003979444504,
|
| 1894 |
-
0.00778447138145566,
|
| 1895 |
-
0.003768612863495946,
|
| 1896 |
-
0.013261327520012856,
|
| 1897 |
-
0.0020746313966810703,
|
| 1898 |
-
0.015238845720887184,
|
| 1899 |
-
0.006687608081847429,
|
| 1900 |
-
0.0021553575061261654,
|
| 1901 |
-
0.007004029117524624,
|
| 1902 |
-
0.0023479207884520292,
|
| 1903 |
-
0.0006854643579572439,
|
| 1904 |
-
0.006958808749914169,
|
| 1905 |
-
0.009535989724099636,
|
| 1906 |
-
0.00040164607344195247,
|
| 1907 |
-
0.0006268807337619364,
|
| 1908 |
-
0.001631176215596497,
|
| 1909 |
-
0.0024170405231416225
|
| 1910 |
-
],
|
| 1911 |
-
"pc_motion_z_per_frame": [
|
| 1912 |
-
0.0,
|
| 1913 |
-
0.018000006675720215,
|
| 1914 |
-
0.009499996900558472,
|
| 1915 |
-
0.018499985337257385,
|
| 1916 |
-
0.06250002980232239,
|
| 1917 |
-
0.03350001573562622,
|
| 1918 |
-
0.03949998319149017,
|
| 1919 |
-
0.02799999713897705,
|
| 1920 |
-
0.00599999725818634,
|
| 1921 |
-
0.0260000079870224,
|
| 1922 |
-
0.0260000079870224,
|
| 1923 |
-
0.008000016212463379,
|
| 1924 |
-
0.0010000020265579224,
|
| 1925 |
-
0.06399999558925629,
|
| 1926 |
-
0.012000009417533875,
|
| 1927 |
-
0.008000001311302185,
|
| 1928 |
-
0.06199997663497925,
|
| 1929 |
-
0.06550000607967377,
|
| 1930 |
-
0.01600000262260437,
|
| 1931 |
-
0.009499967098236084,
|
| 1932 |
-
0.006000027060508728,
|
| 1933 |
-
0.021500006318092346,
|
| 1934 |
-
0.002500012516975403,
|
| 1935 |
-
0.036500006914138794,
|
| 1936 |
-
0.024499982595443726,
|
| 1937 |
-
0.0015000104904174805,
|
| 1938 |
-
0.03550000488758087,
|
| 1939 |
-
0.06850001215934753,
|
| 1940 |
-
0.03300000727176666,
|
| 1941 |
-
0.055500030517578125,
|
| 1942 |
-
0.016000017523765564,
|
| 1943 |
-
0.06399999558925629,
|
| 1944 |
-
0.1210000216960907,
|
| 1945 |
-
0.07700002193450928,
|
| 1946 |
-
0.0599999874830246,
|
| 1947 |
-
0.07700000703334808,
|
| 1948 |
-
0.052500009536743164,
|
| 1949 |
-
0.048500001430511475,
|
| 1950 |
-
0.023000001907348633,
|
| 1951 |
-
0.02899998426437378,
|
| 1952 |
-
0.004999995231628418,
|
| 1953 |
-
0.007999986410140991,
|
| 1954 |
-
0.03949999809265137,
|
| 1955 |
-
0.014999985694885254,
|
| 1956 |
-
0.006499975919723511,
|
| 1957 |
-
0.03999999165534973,
|
| 1958 |
-
0.013999998569488525,
|
| 1959 |
-
0.007499992847442627,
|
| 1960 |
-
0.011500000953674316,
|
| 1961 |
-
0.062000006437301636,
|
| 1962 |
-
0.012000024318695068,
|
| 1963 |
-
0.020499974489212036,
|
| 1964 |
-
0.028500020503997803,
|
| 1965 |
-
0.006000012159347534,
|
| 1966 |
-
0.012499988079071045,
|
| 1967 |
-
0.0059999823570251465,
|
| 1968 |
-
0.0009999573230743408,
|
| 1969 |
-
0.01750001311302185,
|
| 1970 |
-
0.02599996328353882,
|
| 1971 |
-
0.0020000338554382324,
|
| 1972 |
-
0.001999974250793457,
|
| 1973 |
-
0.006999969482421875,
|
| 1974 |
-
0.004500001668930054
|
| 1975 |
]
|
| 1976 |
},
|
| 1977 |
"1": {
|
|
@@ -3595,34 +4053,492 @@
|
|
| 3595 |
]
|
| 3596 |
],
|
| 3597 |
[
|
| 3598 |
-
[
|
| 3599 |
-
-0.3510521948337555,
|
| 3600 |
-
0.9361520409584045,
|
| 3601 |
-
-0.019537217915058136,
|
| 3602 |
-
-0.41668984293937683
|
| 3603 |
-
],
|
| 3604 |
-
[
|
| 3605 |
-
0.07639024406671524,
|
| 3606 |
-
0.007837868295609951,
|
| 3607 |
-
-0.9970471858978271,
|
| 3608 |
-
0.1367824375629425
|
| 3609 |
-
],
|
| 3610 |
-
[
|
| 3611 |
-
-0.9332346320152283,
|
| 3612 |
-
-0.35150808095932007,
|
| 3613 |
-
-0.07426438480615616,
|
| 3614 |
-
1.1317487955093384
|
| 3615 |
-
],
|
| 3616 |
-
[
|
| 3617 |
-
0.0,
|
| 3618 |
-
0.0,
|
| 3619 |
-
0.0,
|
| 3620 |
-
1.0
|
| 3621 |
-
]
|
|
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| 3622 |
]
|
| 3623 |
],
|
| 3624 |
-
"
|
| 3625 |
-
|
|
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|
|
| 3626 |
"wrist_used_per_frame": [
|
| 3627 |
false,
|
| 3628 |
false,
|
|
@@ -3688,6 +4604,136 @@
|
|
| 3688 |
false,
|
| 3689 |
false
|
| 3690 |
],
|
|
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|
|
|
| 3691 |
"is_moving_per_frame": [
|
| 3692 |
false,
|
| 3693 |
true,
|
|
@@ -3706,51 +4752,51 @@
|
|
| 3706 |
false,
|
| 3707 |
false,
|
| 3708 |
false,
|
| 3709 |
-
true,
|
| 3710 |
-
true,
|
| 3711 |
-
true,
|
| 3712 |
-
true,
|
| 3713 |
-
true,
|
| 3714 |
false,
|
| 3715 |
false,
|
| 3716 |
false,
|
| 3717 |
-
true,
|
| 3718 |
-
true,
|
| 3719 |
-
true,
|
| 3720 |
-
true,
|
| 3721 |
-
true,
|
| 3722 |
-
true,
|
| 3723 |
-
true,
|
| 3724 |
-
true,
|
| 3725 |
-
true,
|
| 3726 |
-
true,
|
| 3727 |
false,
|
| 3728 |
false,
|
| 3729 |
false,
|
| 3730 |
-
|
| 3731 |
-
|
| 3732 |
-
|
| 3733 |
-
|
| 3734 |
-
|
| 3735 |
-
|
| 3736 |
-
|
| 3737 |
-
true,
|
| 3738 |
-
true,
|
| 3739 |
false,
|
| 3740 |
false,
|
| 3741 |
false,
|
| 3742 |
true,
|
| 3743 |
true,
|
| 3744 |
-
|
| 3745 |
-
|
| 3746 |
-
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 3747 |
true,
|
| 3748 |
false,
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 3749 |
true,
|
| 3750 |
true,
|
|
|
|
| 3751 |
true,
|
| 3752 |
false,
|
| 3753 |
false,
|
|
|
|
|
|
|
|
|
|
| 3754 |
false
|
| 3755 |
],
|
| 3756 |
"close_per_frame": [
|
|
@@ -3817,136 +4863,6 @@
|
|
| 3817 |
false,
|
| 3818 |
false,
|
| 3819 |
false
|
| 3820 |
-
],
|
| 3821 |
-
"pc_motion_xy_per_frame": [
|
| 3822 |
-
0.0,
|
| 3823 |
-
0.012535789981484413,
|
| 3824 |
-
0.0017109897453337908,
|
| 3825 |
-
0.0004885001108050346,
|
| 3826 |
-
0.0004076912300661206,
|
| 3827 |
-
0.0027869415935128927,
|
| 3828 |
-
0.0013031777925789356,
|
| 3829 |
-
0.00025793613167479634,
|
| 3830 |
-
0.001205587643198669,
|
| 3831 |
-
0.001736689475364983,
|
| 3832 |
-
0.0032947142608463764,
|
| 3833 |
-
0.0014209485379979014,
|
| 3834 |
-
0.0024086544290184975,
|
| 3835 |
-
0.0012241486692801118,
|
| 3836 |
-
0.0012307098368182778,
|
| 3837 |
-
0.001503575942479074,
|
| 3838 |
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|
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|
samples/-Ng0Rx1ahi4_412.2_416.3/recording.viser
CHANGED
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size 2811422
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samples/-Ng0Rx1ahi4_412.2_416.3/scene.json
CHANGED
|
@@ -143,18 +143,46 @@
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| 143 |
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| 158 |
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|
| 160 |
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| 143 |
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"_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms."
|
samples/-Ng0Rx1ahi4_412.2_416.3/signals.json
CHANGED
|
@@ -1 +1 @@
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{"contact_l": [
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{"n_frames": 63, "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, 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": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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], "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, 15.508062362670898, 2.2360680103302, 5.5, 11.54339599609375, 5.099019527435303, 20.59126091003418, 3.3541018962860107, 11.5, 24.005207061767578, 10.307764053344727, 26.856098175048828, 12.349088668823242, 20.124610900878906, 11.704699516296387, 7.071067810058594, 15.57241153717041, 8.9442720413208, 4.5, 6.324555397033691, 6.67083215713501, 17.670597076416016, 11.236102104187012, 19.811613082885742, 17.11724281311035, 10.547511100769043, 42.01190185546875, 29.347061157226562, 65.20928192138672, 73.49319458007812, 39.68941879272461, 83.10385131835938, 26.248809814453125, 62.47599411010742, 58.193641662597656, 19.144189834594727, 31.240999221801758, 14.773286819458008, 19.906028747558594, 14.577380180358887, 2.915475845336914, 6.041522979736328, 3.1622776985168457, 8.062257766723633, 24.02602767944336, 4.527692794799805, 6.082762718200684, 2.5495097637176514, 14.142135620117188, 13.009612083435059, 1.0, 2.0, 0.7071067690849304, 19.50640869140625, 3.2015621662139893, 1.5811388492584229, 14.508618354797363, 1.0, 0.0, 0.0, 0.0, 2.0, 0.5]}, "per_object": {"0": {"trust": [true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, false, false, false, false, false, false, false, false, false, false, false, false], "state": ["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_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "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"]}, "1": {"trust": [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, true, true, false, false, false, false, false, false, false, false, false, true, false, false, false, false, false, false, false, false, true, true, false, true, false, false, false, false, false, false], "state": ["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", "moving", "moving", "static", "static", "static", "static", "static", "static", "static", "static", "static", "moving", "static", "static", "static", "static", "static", "static", "static", "static", "moving", "moving", "static", "moving", "static", "static", "static", "static", "static", "static"]}}}
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