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folded fabric again", + "step_description": "fold folded fabric again", + "start_time": 23.0, + "end_time": 29.5, + "step_unique_id": 91575187347580 + }, + { + "best_view": "ego", + "is_essential": true, + "keystep_timing_source": "human", + "step_id": 3, + "step_name": "place folded fabric on surface", + "step_description": "place folded fabric on surface", + "start_time": 29.5, + "end_time": 33.4, + "step_unique_id": 21813356133288 + } + ], "actions": [ { "actors": [ @@ -117,6 +203,46 @@ "start_timestamp": 29.5 } ], + "hand_pose_path": null, + "hand_pose": { + "bbox_source": "sam3_mask", + "confidence_available": true, + "frame": "camera", + "frame_rate": null, + "has_mano_params": true, + "joints_per_hand": 21, + "n_frames": 1002, + "source": "hamer", + "world_frame_available": true + }, + "object_segmentation_path": "object_mask.npz", + "object_segmentation": { + "detected_class": "plaid fabric", + "detection_score": null, + "frame_rate": null, + "n_frames": 1002, + "n_objects": 1, + "objects": [], + "seed_source": "agent_tracker", + "source": "sam3" + }, + "hand_segmentation_path": "hand_mask.npz", + "hand_segmentation": { + "frame_rate": null, + "n_frames": 1002, + "n_objects": 2, + "obj_id_to_handedness": { + "0": "left", + "1": "right" + }, + "seed_source": "agent_mask_tracker", + "source": "sam3" + }, + "audio_path": null, + "transcript_path": null, + "success_status": "success", + "failure_reason": null, + "recovery_events": [], "annotation_metadata": { "auto_annotated_fields": [ "actions_draft", @@ -172,40 +298,6 @@ "pipeline_version": "0.2.0", "source_experiment": "em1" }, - "audio_path": null, - "camera_calibration": { - "ego": { - "fps": 30.0, - "intrinsics": [ - [ - 1473.9342041015625, - 0.0, - 706.794921875 - ], - [ - 0.0, - 1473.9342041015625, - 967.7484741210938 - ], - [ - 0.0, - 0.0, - 1.0 - ] - ], - "intrinsics_path": null, - "resolution": [ - 1440, - 1920 - ] - }, - "overhead": null - }, - "camera_rig_id": "rig_iphone12pro_chest", - "date_collected": "2026-07-31", - "duration_seconds": 33.4, - "environment_id": "home_table_pretrip", - "episode_id": "EM1-D2-E03", "extensions": { "camera_world_pose": { "n_frames": 1002, @@ -226,56 +318,25 @@ "lerobot_feature": "observation.images.depth" }, "hand_object_contact": { - "version": "0.4.3", - "metric": "3d_proximity", - "joints_source": "hamer_2d_depth", - "contact_dist_m": 0.03, "confirm_dist_m": 0.05, - "hold_dist_m": 0.12, - "debounce_fps": 30.0, - "threshold_validated": true, - "detected_object": "plaid fabric", - "object_ids": [ - "1" - ], - "n_objects": 1, - "direct_contact_shape": [ - 1002, - 2, - 1 - ], - "scene_union_reduction": "any(per_hand_object_contact, axis=2)", - "n_frames": 1002, - "n_frames_in_contact": 880, - "n_contacts_from_measured_joint": 1625, - "n_contacts_from_prior_filled_joint": 118, + "contact_dist_m": 0.03, "debounce": { - "version": "1.1", - "median_window_frames": 5, - "contact_on_m": 0.015, - "contact_off_m": 0.025, + "adjacency_dilate_px": 16, "assert_frames": 12, - "release_frames": 15, - "nan_policy": "freeze_hold", + "contact_off_m": 0.025, + "contact_on_m": 0.015, + "far_release_confirm_s": 0.25, + "far_release_frames": 226, "fsm_states": [ "OPEN", "CLOSING", "CLOSED", "OPENING" ], - "gate_2d_metric": "mask_adjacency", - "adjacency_dilate_px": 16, - "gate_2d_frames_evaluated": 1696, - "gate_2d_frames_blocked": 74, "gate_2d_available": true, - "far_release_frames": 226, - "far_release_confirm_s": 0.25, - "tail_release": { - "min_tail_frames": 5, - "object_present_frac": 0.8, - "n_channels_released": 0, - "channels": [] - }, + "gate_2d_frames_blocked": 74, + "gate_2d_frames_evaluated": 1696, + "gate_2d_metric": "mask_adjacency", "grasp_onsets": { "left": [ 31 @@ -283,22141 +344,22175 @@ "right": [ 17 ] - } - }, - "per_frame": [ - { - "frame": 0, - "left_in_contact": false, - "left_min_dist_m": 0.27949, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_contact_from_measured_joint": false, - "right_in_contact": false, - "right_min_dist_m": null, - "right_contact_strength": 0.0, - "right_grasp_fsm_state": "OPEN", - "right_contact_from_measured_joint": false - }, - { - "frame": 1, - "left_in_contact": false, - "left_min_dist_m": 0.28349, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_contact_from_measured_joint": false, - "right_in_contact": false, - "right_min_dist_m": null, - "right_contact_strength": 0.0, - "right_grasp_fsm_state": "OPEN", - "right_contact_from_measured_joint": false - }, - { - "frame": 2, - "left_in_contact": false, - "left_min_dist_m": 0.29148, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_contact_from_measured_joint": false, - "right_in_contact": false, - "right_min_dist_m": null, - "right_contact_strength": 0.0, - "right_grasp_fsm_state": "OPEN", - "right_contact_from_measured_joint": false }, - { - "frame": 3, - "left_in_contact": false, - "left_min_dist_m": 0.25777, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_contact_from_measured_joint": false, - "right_in_contact": false, - "right_min_dist_m": null, - "right_contact_strength": 0.0, - "right_grasp_fsm_state": "OPEN", - "right_contact_from_measured_joint": false + "median_window_frames": 5, + "nan_policy": "freeze_hold", + "release_frames": 15, + "tail_release": { + "channels": [], + "min_tail_frames": 5, + "n_channels_released": 0, + "object_present_frac": 0.8 }, - { - "frame": 4, - "left_in_contact": false, - "left_min_dist_m": 0.239, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_contact_from_measured_joint": false, - "right_in_contact": false, - "right_min_dist_m": null, - "right_contact_strength": 0.0, - "right_grasp_fsm_state": "OPEN", - "right_contact_from_measured_joint": false - }, - { - "frame": 5, - "left_in_contact": false, - "left_min_dist_m": 0.22187, - "left_contact_strength": 0.0, - 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+35722,5 @@ }, "version": "0.2" } - }, - "failure_reason": null, - "hand_pose": { - "bbox_source": "sam3_mask", - "confidence_available": true, - "frame": "camera", - "frame_rate": null, - "has_mano_params": true, - "joints_per_hand": 21, - "n_frames": 1002, - "source": "hamer", - "world_frame_available": false - }, - "hand_pose_path": null, - "hand_segmentation": { - "frame_rate": null, - "n_frames": 1002, - "n_objects": 2, - "obj_id_to_handedness": { - "0": "left", - "1": "right" - }, - "seed_source": "agent_mask_tracker", - "source": "sam3" - }, - "hand_segmentation_path": "hand_mask.npz", - "keysteps": [ - { - "best_view": "ego", - "is_essential": true, - "keystep_timing_source": "human", - "step_id": 0, - "step_name": "fold plaid fabric lengthwise", - "step_description": "fold plaid fabric lengthwise", - "start_time": 0.0, - "end_time": 19.0, - "step_unique_id": 184182960111507 - }, - { - "best_view": "ego", - "is_essential": true, - "keystep_timing_source": "human", - "step_id": 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a/episodes/019fbde9-d98a-7ea2-9915-1008207aa2f5/openego_sidecar.json b/episodes/019fbde9-d98a-7ea2-9915-1008207aa2f5/openego_sidecar.json index 45a590436bc28bc151468c3a11f8ed5cbf8fdd2e..22690a28b55d60563637ecbc28c25915143021fe 100644 --- a/episodes/019fbde9-d98a-7ea2-9915-1008207aa2f5/openego_sidecar.json +++ b/episodes/019fbde9-d98a-7ea2-9915-1008207aa2f5/openego_sidecar.json @@ -1,4 +1,79 @@ { + "episode_id": "EM1-D2-E05", + "participant_id": "M2", + "task_id": "pick_and_place", + "task_label": "pick_and_place", + "environment_id": "home_table_pretrip", + "camera_rig_id": "rig_iphone12pro_chest", + "date_collected": "2026-08-16", + "duration_seconds": 16.7, + "views": { + "ego": "observation.images.ego", + "overhead": null + }, + "camera_calibration": { + "ego": { + "fps": 30.0, + "intrinsics": [ + [ + 1477.2635498046875, + 0.0, + 953.662109375 + ], + [ + 0.0, + 1477.2635498046875, + 751.6040649414062 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics_path": null, + "resolution": [ + 1920, + 1440 + ] + }, + "overhead": null + }, + "keysteps": [ + { + "best_view": "ego", + "is_essential": true, + "keystep_timing_source": "human", + "step_id": 0, + "step_name": "pick up green bottle from table", + "step_description": "pick up green bottle from table", + "start_time": 0.0, + "end_time": 7.0, + "step_unique_id": 138571097524410 + }, + { + "best_view": "ego", + "is_essential": true, + "keystep_timing_source": "human", + "step_id": 1, + "step_name": "move green bottle over white bowl", + "step_description": "move green bottle over white bowl", + "start_time": 7.0, + "end_time": 9.0, + "step_unique_id": 149218156991356 + }, + { + "best_view": "ego", + "is_essential": true, + "keystep_timing_source": "human", + "step_id": 2, + "step_name": "place green bottle into white bowl", + "step_description": "place green bottle into white bowl", + "start_time": 9.0, + "end_time": 16.7, + "step_unique_id": 84451762567598 + } + ], "actions": [ { "actors": [ @@ -91,6 +166,46 @@ "start_timestamp": 9.0 } ], + "hand_pose_path": null, + "hand_pose": { + "bbox_source": "sam3_mask", + "confidence_available": true, + "frame": "camera", + "frame_rate": null, + "has_mano_params": true, + "joints_per_hand": 21, + "n_frames": 501, + "source": "hamer", + "world_frame_available": true + }, + "object_segmentation_path": "object_mask.npz", + "object_segmentation": { + "detected_class": "green bottle", + "detection_score": null, + "frame_rate": null, + "n_frames": 501, + "n_objects": 1, + "objects": [], + "seed_source": "agent_tracker", + "source": "sam3" + }, + "hand_segmentation_path": "hand_mask.npz", + "hand_segmentation": { + "frame_rate": null, + "n_frames": 501, + "n_objects": 2, + "obj_id_to_handedness": { + "0": "left", + "1": "right" + }, + "seed_source": "agent_mask_tracker", + "source": "sam3" + }, + "audio_path": null, + "transcript_path": null, + "success_status": "success", + "failure_reason": null, + "recovery_events": [], "annotation_metadata": { "auto_annotated_fields": [ "actions_draft", @@ -146,40 +261,6 @@ "pipeline_version": "0.2.0", "source_experiment": "em1" }, - "audio_path": null, - "camera_calibration": { - "ego": { - "fps": 30.0, - "intrinsics": [ - [ - 1477.2635498046875, - 0.0, - 953.662109375 - ], - [ - 0.0, - 1477.2635498046875, - 751.6040649414062 - ], - [ - 0.0, - 0.0, - 1.0 - ] - ], - "intrinsics_path": null, - "resolution": [ - 1920, - 1440 - ] - }, - "overhead": null - }, - "camera_rig_id": "rig_iphone12pro_chest", - "date_collected": "2026-08-02", - "duration_seconds": 16.7, - "environment_id": "home_table_pretrip", - "episode_id": "EM1-D2-E05", "extensions": { "camera_world_pose": { "n_frames": 501, @@ -208,7 +289,7 @@ "contact_off_m": 0.025, "contact_on_m": 0.015, "far_release_confirm_s": 0.25, - "far_release_frames": 608, + "far_release_frames": 599, "fsm_states": [ "OPEN", "CLOSING", @@ -216,14 +297,14 @@ "OPENING" ], "gate_2d_available": true, - "gate_2d_frames_blocked": 410, - 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"frame": 366, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 367, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { @@ -4772,64 +4853,64 @@ ], "per_primitive": [ { - "end_timestamp": 6.5, + "end_timestamp": 7.0, "in_contact_object": "green bottle", "on_which_hand": "none", - "on_which_hand_adjacency": "right", + "on_which_hand_adjacency": "left", "primitive_index": 0, "start_timestamp": 0.0 }, { - "end_timestamp": 12.0, + "end_timestamp": 9.0, "in_contact_object": "green bottle", "on_which_hand": "none", - "on_which_hand_adjacency": "right", + "on_which_hand_adjacency": "left", "primitive_index": 1, - "start_timestamp": 6.5 + "start_timestamp": 7.0 }, { "end_timestamp": 16.7, "in_contact_object": "green bottle", "on_which_hand": "none", - "on_which_hand_adjacency": "right", + "on_which_hand_adjacency": "left", "primitive_index": 2, - "start_timestamp": 12.0 + "start_timestamp": 9.0 } ] } ], "per_primitive": [ { - "end_timestamp": 6.5, + "end_timestamp": 7.0, "in_contact_object": "green bottle", "on_which_hand": "none", - "on_which_hand_adjacency": "right", + "on_which_hand_adjacency": "left", "primitive_index": 0, "start_timestamp": 0.0 }, { - "end_timestamp": 12.0, + "end_timestamp": 9.0, "in_contact_object": "green bottle", "on_which_hand": "none", - "on_which_hand_adjacency": "right", + "on_which_hand_adjacency": "left", "primitive_index": 1, - "start_timestamp": 6.5 + "start_timestamp": 7.0 }, { "end_timestamp": 16.7, "in_contact_object": "green bottle", "on_which_hand": "none", - "on_which_hand_adjacency": "right", + "on_which_hand_adjacency": "left", "primitive_index": 2, - "start_timestamp": 12.0 + "start_timestamp": 9.0 } ] }, "metric": "3d_proximity", - "n_contacts_from_measured_joint": 248, + "n_contacts_from_measured_joint": 250, "n_contacts_from_prior_filled_joint": 0, "n_frames": 501, - "n_frames_in_contact": 248, + "n_frames_in_contact": 250, "n_objects": 1, "npz_path": "hand_object_contact.npz", "object_ids": [ @@ -5349,12 +5430,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.71505, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.7154 }, { "frame": 40, @@ -5362,12 +5443,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.36027, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.35775 }, { "frame": 41, @@ -5375,7 +5456,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.57986, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -5388,12 +5469,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.56525, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.67422 }, { "frame": 43, @@ -5401,7 +5482,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.50617, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -5427,12 +5508,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.9808, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.98417 }, { "frame": 46, @@ -5440,12 +5521,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.93581, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.93434 }, { "frame": 47, @@ -5453,12 +5534,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 1.0055, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 1.00505 }, { "frame": 48, @@ -6069,7 +6150,7 @@ "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.23099 + "right_min_dist_m": null }, { "frame": 95, @@ -6077,12 +6158,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.23026, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.21767 + "right_min_dist_m": null }, { "frame": 96, @@ -6090,12 +6171,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.40059, + "left_min_dist_m": 0.20358, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.20322 + "right_min_dist_m": 0.40042 }, { "frame": 97, @@ -6103,12 +6184,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.41533, + "left_min_dist_m": 0.19838, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.19815 + "right_min_dist_m": 0.41488 }, { "frame": 98, @@ -6116,12 +6197,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.41918, + "left_min_dist_m": 0.206, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.21354 + "right_min_dist_m": 0.41962 }, { "frame": 99, @@ -6129,12 +6210,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.41241, + "left_min_dist_m": 0.15205, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.19974 + "right_min_dist_m": 0.41263 }, { "frame": 100, @@ -6142,12 +6223,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.41654, + "left_min_dist_m": 0.15235, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.16058 + "right_min_dist_m": 0.41617 }, { "frame": 101, @@ -6155,12 +6236,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.40965, + "left_min_dist_m": 0.13243, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.15148 + "right_min_dist_m": 0.40945 }, { "frame": 102, @@ -6168,12 +6249,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.41194, + "left_min_dist_m": 0.13038, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.13788 + "right_min_dist_m": 0.41171 }, { "frame": 103, @@ -6181,12 +6262,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.40439, + "left_min_dist_m": 0.10195, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.12162 + "right_min_dist_m": 0.40432 }, { "frame": 104, @@ -6194,12 +6275,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.40638, + "left_min_dist_m": 0.1156, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.07768 + "right_min_dist_m": 0.40658 }, { "frame": 105, @@ -6207,12 +6288,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.40921, + "left_min_dist_m": 0.06458, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.11247 + "right_min_dist_m": 0.40949 }, { "frame": 106, @@ -6220,12 +6301,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.40833, + "left_min_dist_m": 0.11781, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.11762 + "right_min_dist_m": 0.40797 }, { "frame": 107, @@ -6233,12 +6314,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.40558, + "left_min_dist_m": 0.07947, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.10979 + "right_min_dist_m": 0.40494 }, { "frame": 108, @@ -6246,12 +6327,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.40615, + "left_min_dist_m": 0.115, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.08918 + "right_min_dist_m": 0.40662 }, { "frame": 109, @@ -6259,12 +6340,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.41334, + "left_min_dist_m": 0.10285, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.08875 + "right_min_dist_m": 0.41346 }, { "frame": 110, @@ -6272,12 +6353,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.41513, + "left_min_dist_m": 0.04532, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.07913 + "right_min_dist_m": 0.41512 }, { "frame": 111, @@ -6285,12 +6366,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.40898, + "left_min_dist_m": 0.05169, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.12382 + "right_min_dist_m": 0.40751 }, { "frame": 112, @@ -6298,12 +6379,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.41855, + "left_min_dist_m": 0.09785, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.10675 + "right_min_dist_m": 0.41689 }, { "frame": 113, @@ -6311,12 +6392,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.09698, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.10314 + "right_min_dist_m": null }, { "frame": 114, @@ -6324,12 +6405,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.41603, + "left_min_dist_m": 0.03256, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.09368 + "right_min_dist_m": 0.41551 }, { "frame": 115, @@ -6337,12 +6418,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.42822, + "left_min_dist_m": 0.05384, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.06305 + "right_min_dist_m": 0.41619 }, { "frame": 116, @@ -6350,12 +6431,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.43868, + "left_min_dist_m": 0.03961, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.03747 + "right_min_dist_m": 0.43762 }, { "frame": 117, @@ -6363,3418 +6444,3418 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.04679, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.0364 + "right_min_dist_m": 0.43513 }, { "frame": 118, "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.4427, + "left_min_dist_m": 0.04684, "right_contact_from_measured_joint": false, - "right_contact_strength": 1.0, + "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.03708 + "right_min_dist_m": 0.44242 }, { "frame": 119, "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.44136, + "left_min_dist_m": 0.0414, "right_contact_from_measured_joint": false, - "right_contact_strength": 1.0, + "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.03273 + "right_min_dist_m": null }, { "frame": 120, "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.44617, + "left_min_dist_m": 0.04409, "right_contact_from_measured_joint": false, - "right_contact_strength": 1.0, + "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.0321 + "right_min_dist_m": 0.44818 }, { "frame": 121, "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.43943, + "left_min_dist_m": 0.0441, "right_contact_from_measured_joint": false, - "right_contact_strength": 1.0, + "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.02155 + "right_min_dist_m": null }, { "frame": 122, "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.44011, + "left_min_dist_m": 0.02722, "right_contact_from_measured_joint": false, - "right_contact_strength": 1.0, + "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.02959 + "right_min_dist_m": 0.4404 }, { "frame": 123, "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.04104, "right_contact_from_measured_joint": false, - "right_contact_strength": 1.0, + "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.01577 + "right_min_dist_m": null }, { "frame": 124, "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.43672, + "left_min_dist_m": 0.04026, "right_contact_from_measured_joint": false, - "right_contact_strength": 1.0, + "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.02279 + "right_min_dist_m": 0.43694 }, { "frame": 125, "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.43977, + "left_min_dist_m": 0.03173, "right_contact_from_measured_joint": false, - "right_contact_strength": 1.0, + "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.01689 + "right_min_dist_m": 0.43652 }, { "frame": 126, "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.4372, + "left_min_dist_m": 0.03148, "right_contact_from_measured_joint": false, - "right_contact_strength": 1.0, + "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.01025 + "right_min_dist_m": 0.43759 }, { "frame": 127, "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.01698, "right_contact_from_measured_joint": false, - "right_contact_strength": 1.0, + "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.01296 + "right_min_dist_m": null }, { "frame": 128, "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.45014, + "left_min_dist_m": 0.02233, "right_contact_from_measured_joint": false, - "right_contact_strength": 1.0, + "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.00959 + "right_min_dist_m": 0.44775 }, { "frame": 129, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": 0.44222, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSING", - "right_in_contact": true, - "right_min_dist_m": 0.00925 + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSING", + "left_in_contact": true, + "left_min_dist_m": 0.02007, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.44109 }, { "frame": 130, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": 0.43984, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.01029 + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.01381, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.41763 }, { "frame": 131, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": 0.41758, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.0061 + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.02397, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.41719 }, { "frame": 132, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": 0.42548, - "right_contact_from_measured_joint": true, - 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true, "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": 0.2912, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.06508, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, - "right_grasp_fsm_state": "OPENING", + "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.06873 + "right_min_dist_m": 0.29162 }, { "frame": 378, - "left_contact_from_measured_joint": false, + "left_contact_from_measured_joint": true, "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": 0.29166, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.05836, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.0625 + "right_min_dist_m": 0.29065 }, { "frame": 379, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", + "left_grasp_fsm_state": "OPENING", "left_in_contact": false, - "left_min_dist_m": 0.2911, + "left_min_dist_m": 0.07574, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.07323 + "right_min_dist_m": 0.29149 }, { "frame": 380, @@ -9782,12 +9863,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.29219, + "left_min_dist_m": 0.07853, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.08094 + "right_min_dist_m": 0.29246 }, { "frame": 381, @@ -9795,12 +9876,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.29383, + "left_min_dist_m": 0.1197, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.11685 + "right_min_dist_m": null }, { "frame": 382, @@ -9808,12 +9889,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.29534, + "left_min_dist_m": 0.1245, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.12568 + "right_min_dist_m": null }, { "frame": 383, @@ -9821,12 +9902,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.29521, + "left_min_dist_m": 0.11994, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.11924 + "right_min_dist_m": 0.29452 }, { "frame": 384, @@ -9834,12 +9915,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.2829, + "left_min_dist_m": 0.13088, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.12601 + "right_min_dist_m": 0.28273 }, { "frame": 385, @@ -9847,12 +9928,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.29239, + "left_min_dist_m": 0.1377, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.12967 + "right_min_dist_m": 0.29204 }, { "frame": 386, @@ -9860,12 +9941,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.29142, + "left_min_dist_m": 0.13854, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.13717 + "right_min_dist_m": 0.29119 }, { "frame": 387, @@ -9873,12 +9954,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.29412, + "left_min_dist_m": 0.4295, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.29324 }, { "frame": 388, @@ -9886,12 +9967,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28398, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28345 }, { "frame": 389, @@ -9899,12 +9980,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28438, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28449 }, { "frame": 390, @@ -9912,12 +9993,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.29149, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.29051 }, { "frame": 391, @@ -9925,12 +10006,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.29323, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.29238 }, { "frame": 392, @@ -9938,12 +10019,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28388, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28442 }, { "frame": 393, @@ -9951,12 +10032,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28456, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28463 }, { "frame": 394, @@ -9964,12 +10045,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28522, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28426 }, { "frame": 395, @@ -9977,12 +10058,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.2892, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28722 }, { "frame": 396, @@ -9990,12 +10071,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.2871, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28601 }, { "frame": 397, @@ -10003,12 +10084,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28882, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28781 }, { "frame": 398, @@ -10016,12 +10097,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28816, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28838 }, { "frame": 399, @@ -10029,12 +10110,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28221, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28145 }, { "frame": 400, @@ -10042,12 +10123,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28159, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28222 }, { "frame": 401, @@ -10055,12 +10136,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28315, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28331 }, { "frame": 402, @@ -10068,12 +10149,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28485, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28495 }, { "frame": 403, @@ -10081,12 +10162,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.2811, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28147 }, { "frame": 404, @@ -10094,12 +10175,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28146, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.2814 }, { "frame": 405, @@ -10107,12 +10188,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28099, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28107 }, { "frame": 406, @@ -10120,12 +10201,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28249, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28243 }, { "frame": 407, @@ -10133,12 +10214,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28471, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28389 }, { "frame": 408, @@ -10146,12 +10227,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28176, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28126 }, { "frame": 409, @@ -10159,12 +10240,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28595, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28572 }, { "frame": 410, @@ -10172,12 +10253,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28578, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28572 }, { "frame": 411, @@ -10185,12 +10266,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28606, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28613 }, { "frame": 412, @@ -10198,12 +10279,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28517, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28537 }, { "frame": 413, @@ -10211,12 +10292,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28833, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28859 }, { "frame": 414, @@ -10224,12 +10305,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28306, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28339 }, { "frame": 415, @@ -10237,12 +10318,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28354, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28319 }, { "frame": 416, @@ -10250,12 +10331,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28341, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28308 }, { "frame": 417, @@ -10263,12 +10344,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28737, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28681 }, { "frame": 418, @@ -10276,12 +10357,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.2894, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28894 }, { "frame": 419, @@ -10289,12 +10370,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.29304, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.29244 }, { "frame": 420, @@ -10302,12 +10383,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28229, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28202 }, { "frame": 421, @@ -10315,12 +10396,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.29165, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.29168 }, { "frame": 422, @@ -10328,12 +10409,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.29118, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.29071 }, { 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"left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28843, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28773 }, { "frame": 442, @@ -10588,12 +10669,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28216, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.27874 }, { "frame": 443, @@ -10601,12 +10682,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28051, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28014 }, { "frame": 444, @@ -10614,12 +10695,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28966, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28946 }, { "frame": 445, @@ -10627,12 +10708,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28994, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.29017 }, { "frame": 446, @@ -10640,12 +10721,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.28473, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28349 }, { "frame": 447, @@ -10653,12 +10734,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.29158, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.29165 }, { "frame": 448, @@ -10666,12 +10747,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.29378, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.29341 }, { "frame": 449, @@ -10679,12 +10760,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.2892, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.28889 }, { "frame": 450, @@ -10692,12 +10773,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.2942, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.29399 }, { "frame": 451, @@ -10705,12 +10786,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.29554, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.29498 }, { "frame": 452, @@ -10913,12 +10994,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.29902, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.29858 }, { "frame": 468, @@ -10926,12 +11007,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.31369, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.31587 }, { "frame": 469, @@ -10939,12 +11020,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.31761, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.32458 }, { "frame": 470, @@ -10952,12 +11033,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.30597, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.30583 }, { "frame": 471, @@ -10965,12 +11046,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.31602, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.31796 }, { "frame": 472, @@ -10978,7 +11059,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.31131, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -10991,7 +11072,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.85647, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -18011,86 +18092,5 @@ }, "version": "0.2" } - }, - "failure_reason": null, - "hand_pose": { - "bbox_source": "sam3_mask", - "confidence_available": true, - "frame": "camera", - "frame_rate": null, - "has_mano_params": true, - "joints_per_hand": 21, - "n_frames": 501, - "source": "hamer", - "world_frame_available": false - }, - "hand_pose_path": null, - "hand_segmentation": { - "frame_rate": null, - "n_frames": 501, - "n_objects": 2, - "obj_id_to_handedness": { - "0": "left", - "1": "right" - }, - "seed_source": "agent_mask_tracker", - "source": "sam3" - }, - "hand_segmentation_path": "hand_mask.npz", - "keysteps": [ - { - "best_view": "ego", - "is_essential": true, - "keystep_timing_source": "human", - "step_id": 0, - "step_name": "pick up green bottle from table", - "step_description": "pick up green bottle from table", - "start_time": 0.0, - "end_time": 7.0, - "step_unique_id": 138571097524410 - }, - { - "best_view": "ego", - "is_essential": true, - "keystep_timing_source": "human", - "step_id": 1, - "step_name": "move green bottle over white bowl", - "step_description": "move green bottle over white bowl", - "start_time": 7.0, - "end_time": 9.0, - "step_unique_id": 149218156991356 - }, - { - "best_view": "ego", - "is_essential": true, - "keystep_timing_source": 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