ReactWindowDataset: default min_motion_mps 0.03 -> 0.01 (30 mm/s -> 10 mm/s). Recipes + README + demo + CLI updated.

examples/README.md

@@ -50,7 +50,7 @@ ds = ReactWindowDataset(
     which_sensors          = "any",
     # (4) — motion content (recommended for dynamics learning)
     require_motion              = True,
-    min_motion_mps              = 0.03,    # 30 mm/s
+    min_motion_mps              = 0.01,    # 10 mm/s
     min_motion_fraction         = 0.5,
     which_sensors_must_move     = "all_active",
 )
@@ -90,8 +90,8 @@ pose_L = ep["sensor_left_pose"].numpy()
 pose_R = ep["sensor_right_pose"].numpy()
 speed_L = np.linalg.norm(np.diff(pose_L[:, :3], axis=0), axis=1) * 30      # m/s
 speed_R = np.linalg.norm(np.diff(pose_R[:, :3], axis=0), axis=1) * 30
-moving_L = np.concatenate([[speed_L[0]], speed_L]) >= 0.03                  # 30 mm/s
-moving_R = np.concatenate([[speed_R[0]], speed_R]) >= 0.03
+moving_L = np.concatenate([[speed_L[0]], speed_L]) >= 0.01                  # 10 mm/s
+moving_R = np.concatenate([[speed_R[0]], speed_R]) >= 0.01
 
 # Then when picking a window [t, t+L):
 def good(t, L):

examples/demo_react_window.py

@@ -138,7 +138,7 @@ def main():
         skip_bad_frames        = True,
         respect_active_sensors = True,
         require_motion              = not args.no_motion_filter,
-        min_motion_mps              = 0.03,
+        min_motion_mps              = 0.01,
         min_motion_fraction         = 0.5,
         which_sensors_must_move     = "all_active",
     )

examples/react_window_dataset.py

@@ -66,7 +66,7 @@ ds = ReactWindowDataset(
     respect_active_sensors = True,
     # motion filter (recommended on for dynamics learning)
     require_motion              = True,
-    min_motion_mps              = 0.03,    # 30 mm/s — above "paused"
+    min_motion_mps              = 0.01,    # 10 mm/s — below typical slow manipulation
     min_motion_fraction         = 0.5,
     which_sensors_must_move     = "all_active",
 )
@@ -184,7 +184,7 @@ class ReactWindowDataset(Dataset):
         skip_bad_frames: bool = True,
         respect_active_sensors: bool = True,
         require_motion: bool = False,
-        min_motion_mps: float = 0.03,
+        min_motion_mps: float = 0.01,
         min_motion_fraction: float = 0.5,
         which_sensors_must_move: str = "all_active",
         fps: float = 30.0,
@@ -384,7 +384,7 @@ if __name__ == "__main__":
     ap.add_argument("--contact_metric", default="mixed", choices=CONTACT_METRICS)
     ap.add_argument("--which_sensors", default="any", choices=["any", "both", "left", "right"])
     ap.add_argument("--require_motion", action="store_true")
-    ap.add_argument("--min_motion_mps", type=float, default=0.03)
+    ap.add_argument("--min_motion_mps", type=float, default=0.01)
     ap.add_argument("--min_motion_fraction", type=float, default=0.5)
     ap.add_argument("--which_sensors_must_move", default="all_active",
                     choices=["any", "all_active"])