diff --git a/README.md b/README.md index fe66b4674aa5e76ebe006f7d17c746bb331a0d6b..f4a3ee8becc0c7c5ab458a97fe2eebdf981d9cad 100644 --- a/README.md +++ b/README.md @@ -32,7 +32,7 @@ Recorded on iPhone Pro (ARKit LiDAR) as part of Everyday Manipulation 1 (EM1), annotated by CaryX AI, packaged as a single multi-episode [LeRobot v3.0](https://github.com/huggingface/lerobot) dataset. -**23 episodes · 4393 frames @ 10 fps · tasks: fold_laundry, jar_open_close, scoop_grain** +**32 episodes · 6865 frames @ 15 fps · tasks: fold_laundry, jar_open_close, scoop_grain, sweep** ## Quick start @@ -49,24 +49,34 @@ frame = ds[0] # RGB, metric depth, MANO hands, contact, camera pose in one dict **Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International (CC-BY-NC-SA-4.0)**, research use only. https://creativecommons.org/licenses/by-nc-sa/4.0/. Full terms in `LICENSE.txt`. +## Episode orientation + +Most episodes were recorded portrait; a few were recorded landscape and are +shipped ROTATED 90° CCW onto the same portrait canvas so the dataset merges +under one schema. Those episodes are flagged in +`info.foundry.episodes..raster_rotation = "ccw90"`: rotate their image +channels 90° CW to display upright. All spatial channels (RGB, depth, masks, +camera pose, MANO orientation) are expressed consistently in the shipped, +rotated frame, so training and 3D geometry need no special-casing. + ## Features Shapes are numpy shapes, so `(7,)` is a flat 7-element vector. | key | shape | notes | |---|---|---| -| `observation.images.ego` | (256, 256, 3) | RGB ego frame | -| `observation.images.depth` | (192-h, w, 1) video | **metric metres**, 12-bit log-HEVC (quantizer [0.1, 5.0] m in `meta/info.json`). Depth has its OWN intrinsics, listed in `episodes//depth_geometry.json`. Never assume `depth[y,x] == ego[y,x]`. | -| `observation.state` | (7,) | wrist pose `[x, y, z, rx, ry, rz]` plus grasp. Frame is per-episode `action_frame` in `info.foundry.episodes`. | +| `observation.images.ego` | (512, 384, 3) | RGB ego frame, portrait, ONE uniform downscale of the native 1440×1920 (no aspect distortion). Exactly 2× the depth grid: `ego[y, x]` and `depth[y//2, x//2]` are the same ray. | +| `observation.images.depth` | (256, 192, 1) video | **metric metres**, native ARKit sceneDepth grid (never resampled), 12-bit log-HEVC (quantizer [0.1, 5.0] m in `meta/info.json`). Intrinsics for both grids: `episodes//depth_geometry.json`. | +| `observation.state` | (7,) | wrist pose `[x, y, z, rx, ry, rz]` plus grasp, metric WORLD frame. The wrist source is named per episode in `info.foundry.episodes.state_source` (LiDAR-solved joints, or the RTMPose wrist depth-lifted through the LiDAR grid). | | `action` | (7,) | wrist pose delta `[dx, dy, dz, drx, dry, drz]` plus grasp. | -| `observation.camera_pose` | (4, 4) | ARKit camera to world (metric) | +| `observation.camera_pose` | (4, 4) | camera to world (metric), expressed in the SHIPPED raster frame (x = raster right, y = raster down, z = forward) and gravity-verified per episode at export. Composes directly with the intrinsics in `depth_geometry.json`. | | `observation.contact` | (2, 2) | The shipped contact channel. Rows are the left and right hand, column k is object slot k. Values are contact strength in [0, 1]. Contact against any object is the max over slots. | | `observation.contact_valid` | (2, 2) | 1.0 where that hand-to-object distance was actually measured on that frame, 0.0 where it could not be (hand out of frame, no depth surface, or no object in that slot). Single-object episodes ship slot 1 all-zero rather than a fabricated "measured apart". | | `observation.mano_joints` | (2, 21, 3) | **ROOT-RELATIVE** MANO/HaMeR joints (wrist at the origin). Compose with `observation.state` + `observation.camera_pose` for world placement. The primary channel is tip-smoothed (occlusion-gated fingertip de-jitter, named per episode in `mano_joints_channel`); the raw fit is recoverable from `observation.mano_params`. | | `observation.mano_params` | (2, 58) | full MANO parameterization: global_orient(3) ⊕ pose(45) ⊕ betas(10) | | `observation.mano_valid` | (2,) | 1.0 where the MANO fit is valid for that hand/frame | -| `observation.images.object_mask` | (256, 256, 3) video | R = object slot 0, B = slot 1 (two-object episodes), G unused. Threshold > 127 (video codecs are lossy). Exact full-res masks: `episodes//object_mask.npz`. | -| `observation.images.hand_mask` | (256, 256, 3) video | R = LEFT hand, B = RIGHT hand. Same thresholding. Reviewer-corrected (shipped) channel. | +| `observation.images.object_mask` | (512, 384, 3) video | R = object slot 0, B = slot 1 (two-object episodes), G unused. Threshold > 127 (video codecs are lossy). Exact full-res masks: `episodes//object_mask.npz`. | +| `observation.images.hand_mask` | (512, 384, 3) video | R = LEFT hand, B = RIGHT hand. Same thresholding. Reviewer-corrected (shipped) channel. | ## Per-episode sidecars diff --git a/data/chunk-000/file-000.parquet b/data/chunk-000/file-000.parquet index c019e3dbf98cae16072bf816311d7ac814d6e895..774e5139fcd3bfd038570ce51f7a0e568f5494a1 100644 --- a/data/chunk-000/file-000.parquet +++ b/data/chunk-000/file-000.parquet @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d5cd0639218e9b695f26b45373fcff2a43d68446d343248065813454931cc3e2 -size 94132875 +oid sha256:80d4ed4fa9bb18297ed75e1582e660d43a28ff916d79e1d6a7c999817ff3183e +size 61109349 diff --git a/data/chunk-000/file-001.parquet b/data/chunk-000/file-001.parquet index 55032e612fb5f8196ae207e84bb97269ef10a426..c941a92dc3db28acfb59fd4f70cea739b0f2f16d 100644 --- a/data/chunk-000/file-001.parquet +++ b/data/chunk-000/file-001.parquet @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:178d6559059af4c06b62a8d8ecc543f14644bd100eaad7b7b4d51ec412f23a68 -size 102366693 +oid 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depth_geometry.json); observation.images.ego is 256x256 (resized). DIFFERENT pixel grids \u2014 register via the depth intrinsics + observation.camera_pose, never depth[y,x]==ego[y,x]. The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", - "depth_resolution_hw": [ - 256, - 192 - ], - "ego_obs_resolution_hw": [ - 256, - 256 - ], - "rgb_native_resolution_hw": [ - 1920, - 1440 - ], - "depth_output_unit_default": "mm (LeRobot depth_output_unit default; pass --dataset.depth_output_unit m to load metres)", - "raw_depth_reference": "openego_sidecar.json + data/annotations//depth.npz (lossless)", - "arkit_rgb_intrinsics_3x3": [ - [ - 1473.2802734375, - 0.0, - 703.8724975585938 - ], - [ - 0.0, - 1473.2802734375, - 970.4024047851562 - ], - [ - 0.0, - 0.0, - 1.0 - ] - ], - "depth_intrinsics_3x3": [ - [ - 196.43736979166667, - 0.0, - 93.84966634114583 - ], - [ - 0.0, - 196.43736979166667, - 129.3869873046875 - ], - [ - 0.0, - 0.0, - 1.0 - ] - ], - "depth_intrinsics_scale_xy": [ - 0.13333333333333333, - 0.13333333333333333 - ], - "intrinsics_source": "record3d_arkit (median of per-frame, via chokepoint)" -} \ No newline at end of file diff --git a/episodes/019fb6db-ff4d-7f00-a9ae-58c76698a120/hand_object_contact.npz b/episodes/019fb6db-ff4d-7f00-a9ae-58c76698a120/hand_object_contact.npz deleted file mode 100644 index 35362cafba2096b40aefb936f442cfb9372b7d38..0000000000000000000000000000000000000000 --- a/episodes/019fb6db-ff4d-7f00-a9ae-58c76698a120/hand_object_contact.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:204f6ab45205164bf78d5ce2b7aab498e65c96718dad3b3f4cd70f8c939f9955 -size 15137 diff --git a/episodes/019fb6db-ff4d-7f00-a9ae-58c76698a120/object_mask.npz b/episodes/019fb6db-ff4d-7f00-a9ae-58c76698a120/object_mask.npz deleted file mode 100644 index 466d90815e429c844b4817eff1dd960ed0b341ca..0000000000000000000000000000000000000000 --- a/episodes/019fb6db-ff4d-7f00-a9ae-58c76698a120/object_mask.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:cbba465a59164ae3c4c274369d1e3d5ea070e63327d7a343892a58c91b2f043c -size 7051249 diff --git a/episodes/019fb6df-0a15-7630-b4e1-b5e552791fcc/depth_geometry.json b/episodes/019fb6df-0a15-7630-b4e1-b5e552791fcc/depth_geometry.json index 451be71985fc91868e04450c9bb4182949b22e27..1a3f69954b5507dfcbc85433443bbae5be94b47b 100644 --- a/episodes/019fb6df-0a15-7630-b4e1-b5e552791fcc/depth_geometry.json +++ b/episodes/019fb6df-0a15-7630-b4e1-b5e552791fcc/depth_geometry.json @@ -1,14 +1,18 @@ { "sensor": "iphone_lidar_arkit", - "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth, its OWN intrinsics \u2014 see depth_geometry.json); observation.images.ego is 256x256 (resized). DIFFERENT pixel grids \u2014 register via the depth intrinsics + observation.camera_pose, never depth[y,x]==ego[y,x]. The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth grid, untouched); observation.images.ego is 512x384 \u2014 ONE uniform downscale of the native RGB, so ego is EXACTLY 2x the depth grid: ego[y, x], mask[y, x] and depth[y//2, x//2] are the same ray. Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", "depth_resolution_hw": [ 256, 192 ], "ego_obs_resolution_hw": [ - 256, - 256 + 512, + 384 ], + "ego_to_depth_scale": 2.0, + "raster_rotation": null, + "display_hint": null, + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 1 quarter-turn(s); gravity-verified at export)", "rgb_native_resolution_hw": [ 1920, 1440 @@ -32,6 +36,7 @@ 1.0 ] ], + "intrinsics_frame": "native raster", "depth_intrinsics_3x3": [ [ 197.02384440104166, diff --git a/episodes/019fb6df-0a15-7630-b4e1-b5e552791fcc/openego_sidecar.json b/episodes/019fb6df-0a15-7630-b4e1-b5e552791fcc/openego_sidecar.json index 0e64d8c11e0a3f5e623ad1b9f90a4795c81521f8..66eb2d622c62783828bcab66f76ff91b16d6ce63 100644 --- a/episodes/019fb6df-0a15-7630-b4e1-b5e552791fcc/openego_sidecar.json +++ b/episodes/019fb6df-0a15-7630-b4e1-b5e552791fcc/openego_sidecar.json @@ -422,79 +422,100 @@ }, "quality_gates": { "all_passed": true, + "validated_at": "2026-08-10T13:34:24+00:00", "gates": [ { - "detail": "", "name": "json_schema", "passed": true, + "value": "ok", "threshold": "validates", - "value": "ok" + "detail": "" }, { - "detail": "presence-conditioned over the actor's active span [126..719] = 594/778 frames (raw all-frames = 31.36%)", "name": "frames_with_hands_pct", "passed": true, - "threshold": ">= 30% [class=GLOBAL]", - "value": 41.08 + "value": 100.0, + "threshold": ">= 5% [class=sweep]", + "detail": "presence-conditioned over the actor's active span [47..727] = 681/778 frames (raw all-frames = 87.53%); shipped channel = raw \u2295 hand_mask_corrections" }, { - "detail": "silent or near-silent", "name": "audio_snr_db", "passed": true, + "value": null, "threshold": ">= 5 dB", - "value": null + "detail": "silent or near-silent" }, { - "detail": "silent clip", "name": "transcript_density", "passed": true, + "value": 0.0, "threshold": ">= 0.5 wps", - "value": 0.0 + "detail": "silent clip" }, { - "detail": "", "name": "hand_mask_coverage_pct", "passed": true, + "value": 1.917, "threshold": ">= 1%", - "value": 1.917 + "detail": "" }, { - "detail": "", "name": "phase_plan_windowing", "passed": true, + "value": "not_requested", "threshold": "phase plan absent \u2014 skipped", - "value": "not_requested" + "detail": "" }, { - "detail": "", "name": "object_mask_coverage_pct", "passed": true, - "threshold": ">= 1% (per present object) [class=GLOBAL]", - "value": 3.923 + "value": 3.923, + "threshold": ">= 0.5% (per present object) [class=sweep]", + "detail": "" }, { - "detail": "left hand absent \u2014 skipped", "name": "hand_mask_area_floor_left", "passed": true, + "value": null, "threshold": ">= 0.20% (median, per hand)", - "value": null + "detail": "left hand absent \u2014 skipped" }, { - "detail": "", "name": "hand_mask_area_floor_right", "passed": true, + "value": 4.1835, "threshold": ">= 0.20% (median, per hand)", - "value": 4.1835 + "detail": "" }, { - "detail": "both hands not present \u2014 skipped", "name": "hand_mask_lr_asymmetry", "passed": true, + "value": null, "threshold": "min/max >= 0.20", - "value": null + "detail": "both hands not present \u2014 skipped" + }, + { + "name": "hand_slot_merge", + "passed": true, + "value": 0, + "threshold": "< 5 consecutive frames with L\u2229R IoU > 0.5", + "detail": "" + }, + { + "name": "object_track_truncated", + "passed": true, + "value": 0, + "threshold": "no tracked object ends while a hand still holds it", + "detail": "" + }, + { + "name": "actor_mirror_consistency", + "passed": true, + "value": 0, + "threshold": "every hierarchy span's actor_kind == its action's actors[0]", + "detail": "" } - ], - "validated_at": "2026-07-31T08:26:03+00:00" + ] } }, "manually_annotated_fields": [], diff --git a/episodes/019fb7c0-1159-7242-9c36-bcac261ec817/depth_geometry.json b/episodes/019fb7c0-1159-7242-9c36-bcac261ec817/depth_geometry.json deleted file mode 100644 index 61cc1aa14c1b5b06b85757f4106d55d8385b368f..0000000000000000000000000000000000000000 --- a/episodes/019fb7c0-1159-7242-9c36-bcac261ec817/depth_geometry.json +++ /dev/null @@ -1,57 +0,0 @@ -{ - "sensor": "iphone_lidar_arkit", - "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth, its OWN intrinsics \u2014 see depth_geometry.json); observation.images.ego is 256x256 (resized). DIFFERENT pixel grids \u2014 register via the depth intrinsics + observation.camera_pose, never depth[y,x]==ego[y,x]. The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", - "depth_resolution_hw": [ - 256, - 192 - ], - "ego_obs_resolution_hw": [ - 256, - 256 - ], - "rgb_native_resolution_hw": [ - 1920, - 1440 - ], - "depth_output_unit_default": "mm (LeRobot depth_output_unit default; pass --dataset.depth_output_unit m to load metres)", - "raw_depth_reference": "openego_sidecar.json + data/annotations//depth.npz (lossless)", - "arkit_rgb_intrinsics_3x3": [ - [ - 1473.9342041015625, - 0.0, - 706.794921875 - ], - [ - 0.0, - 1473.9342041015625, - 967.7484741210938 - ], - [ - 0.0, - 0.0, - 1.0 - ] - ], - "depth_intrinsics_3x3": [ - [ - 196.524560546875, - 0.0, - 94.23932291666667 - ], - [ - 0.0, - 196.524560546875, - 129.0331298828125 - ], - [ - 0.0, - 0.0, - 1.0 - ] - ], - "depth_intrinsics_scale_xy": [ - 0.13333333333333333, - 0.13333333333333333 - ], - "intrinsics_source": "record3d_arkit (median of per-frame, via chokepoint)" -} \ No newline at end of file diff --git a/episodes/019fb7c0-1159-7242-9c36-bcac261ec817/hand_object_contact.npz b/episodes/019fb7c0-1159-7242-9c36-bcac261ec817/hand_object_contact.npz deleted file mode 100644 index fea6f9d5bc31186cd276cfdd0f1698de4d401bbb..0000000000000000000000000000000000000000 --- a/episodes/019fb7c0-1159-7242-9c36-bcac261ec817/hand_object_contact.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:5ec3ac6ee043cf13340d7304d16d1d2d92f12eb5740d929d9a77c95f1f94d179 -size 19092 diff --git a/episodes/019fb7c0-1159-7242-9c36-bcac261ec817/object_mask.npz b/episodes/019fb7c0-1159-7242-9c36-bcac261ec817/object_mask.npz deleted file mode 100644 index 295579ef65934a2a8ffabc3443f27e5cbc4c6349..0000000000000000000000000000000000000000 --- a/episodes/019fb7c0-1159-7242-9c36-bcac261ec817/object_mask.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:ed21093eedc9102016b0a3b3fdecd71d50b34c4b8d64ca29023b22a10cec3ec6 -size 8889376 diff --git a/episodes/019fb7c6-01ed-7ca3-aa35-11b87a8a8402/depth_geometry.json b/episodes/019fb7c6-01ed-7ca3-aa35-11b87a8a8402/depth_geometry.json deleted file mode 100644 index 2f9d8275ff3c39f0fedecdaa0a6672bd14e134ee..0000000000000000000000000000000000000000 --- a/episodes/019fb7c6-01ed-7ca3-aa35-11b87a8a8402/depth_geometry.json +++ /dev/null @@ -1,57 +0,0 @@ -{ - "sensor": "iphone_lidar_arkit", - "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth, its OWN intrinsics \u2014 see depth_geometry.json); observation.images.ego is 256x256 (resized). DIFFERENT pixel grids \u2014 register via the depth intrinsics + observation.camera_pose, never depth[y,x]==ego[y,x]. The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", - "depth_resolution_hw": [ - 256, - 192 - ], - "ego_obs_resolution_hw": [ - 256, - 256 - ], - "rgb_native_resolution_hw": [ - 1920, - 1440 - ], - "depth_output_unit_default": "mm (LeRobot depth_output_unit default; pass --dataset.depth_output_unit m to load metres)", - "raw_depth_reference": "openego_sidecar.json + data/annotations//depth.npz (lossless)", - "arkit_rgb_intrinsics_3x3": [ - [ - 1471.289794921875, - 0.0, - 698.3892822265625 - ], - [ - 0.0, - 1471.289794921875, - 971.0726318359375 - ], - [ - 0.0, - 0.0, - 1.0 - ] - ], - "depth_intrinsics_3x3": [ - [ - 196.17197265625, - 0.0, - 93.11857096354167 - ], - [ - 0.0, - 196.17197265625, - 129.47635091145833 - ], - [ - 0.0, - 0.0, - 1.0 - ] - ], - "depth_intrinsics_scale_xy": [ - 0.13333333333333333, - 0.13333333333333333 - ], - "intrinsics_source": "record3d_arkit (median of per-frame, via chokepoint)" -} \ No newline at end of file diff --git a/episodes/019fb7c6-01ed-7ca3-aa35-11b87a8a8402/hand_object_contact.npz b/episodes/019fb7c6-01ed-7ca3-aa35-11b87a8a8402/hand_object_contact.npz deleted file mode 100644 index 1aaf6998bb972caafdac60ca824b0f1b1e928033..0000000000000000000000000000000000000000 --- a/episodes/019fb7c6-01ed-7ca3-aa35-11b87a8a8402/hand_object_contact.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:42b6a1e6fb9d1b9d82619460f8ac11a5456dcd93885f861b3a02dfa185c70df0 -size 8669 diff --git a/episodes/019fb7c6-01ed-7ca3-aa35-11b87a8a8402/object_mask.npz b/episodes/019fb7c6-01ed-7ca3-aa35-11b87a8a8402/object_mask.npz deleted file mode 100644 index 1b60e3bc7c1c0db11b83a596024c86ea2e1b0b26..0000000000000000000000000000000000000000 --- a/episodes/019fb7c6-01ed-7ca3-aa35-11b87a8a8402/object_mask.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:5f93cc2355b15de1f6bbf43e228b5a077b21914add4424d46481e337e120bc35 -size 1202066 diff --git a/episodes/019fb7cd-b333-7b73-a360-149207d553c6/depth_geometry.json b/episodes/019fb7cd-b333-7b73-a360-149207d553c6/depth_geometry.json new file mode 100644 index 0000000000000000000000000000000000000000..f15f8ef6449f8dd0bcbc0cad94bec1e73bf66d89 --- /dev/null +++ b/episodes/019fb7cd-b333-7b73-a360-149207d553c6/depth_geometry.json @@ -0,0 +1,62 @@ +{ + "sensor": "iphone_lidar_arkit", + "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth grid, untouched); observation.images.ego is 512x384 \u2014 ONE uniform downscale of the native RGB, so ego is EXACTLY 2x the depth grid: ego[y, x], mask[y, x] and depth[y//2, x//2] are the same ray. Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "depth_resolution_hw": [ + 256, + 192 + ], + "ego_obs_resolution_hw": [ + 512, + 384 + ], + "ego_to_depth_scale": 2.0, + "raster_rotation": "ccw90", + "display_hint": "rotate 90\u00b0 CW to view upright", + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 0 quarter-turn(s); gravity-verified at export)", + "rgb_native_resolution_hw": [ + 1440, + 1920 + ], + "depth_output_unit_default": "mm (LeRobot depth_output_unit default; pass --dataset.depth_output_unit m to load metres)", + "raw_depth_reference": "openego_sidecar.json + data/annotations//depth.npz (lossless)", + "arkit_rgb_intrinsics_3x3": [ + [ + 1471.7620849609375, + 0.0, + 745.2727661132812 + ], + [ + 0.0, + 1471.7620849609375, + 947.3223266601562 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics_frame": "shipped raster (post-rotation)", + "depth_intrinsics_3x3": [ + [ + 196.23494466145834, + 0.0, + 99.3697021484375 + ], + [ + 0.0, + 196.23494466145834, + 126.3096435546875 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "depth_intrinsics_scale_xy": [ + 0.13333333333333333, + 0.13333333333333333 + ], + "intrinsics_source": "record3d_arkit (median of per-frame, via chokepoint)" +} \ No newline at end of file diff --git a/episodes/019fb7cd-b333-7b73-a360-149207d553c6/hand_object_contact.npz b/episodes/019fb7cd-b333-7b73-a360-149207d553c6/hand_object_contact.npz new file mode 100644 index 0000000000000000000000000000000000000000..91172d64908df8c84904beabc4d653e69345027e --- /dev/null +++ b/episodes/019fb7cd-b333-7b73-a360-149207d553c6/hand_object_contact.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed9021cc8960ff1082e1758682f0405f5cc90c648d4d886a54223c3619abe8bd +size 11058 diff --git a/episodes/019fb7cd-b333-7b73-a360-149207d553c6/language_spans.json b/episodes/019fb7cd-b333-7b73-a360-149207d553c6/language_spans.json new file mode 100644 index 0000000000000000000000000000000000000000..938fc1c3ec932db889fe91596ef1fd430d1ccb44 --- /dev/null +++ b/episodes/019fb7cd-b333-7b73-a360-149207d553c6/language_spans.json @@ -0,0 +1,73 @@ +{ + "task": "sweep", + "n_spans": 3, + "n_keysteps": 3, + "spans": [ + { + "start_s": 0.0, + "end_s": 3.0, + "label": "grasp dustpan on towel", + "objects": [ + "dustpan" + ], + "actors": [ + "right_hand" + ], + "source": "human", + "confidence": "low", + "grounded": false, + "evidence": "The dustpan rests on the striped towel; the right hand takes hold of it. The brush has not yet entered frame." + }, + { + "start_s": 3.0, + "end_s": 4.5, + "label": "bring brush to dustpan", + "objects": [ + "brush" + ], + "actors": [ + "both_hands" + ], + "source": "human", + "confidence": "high", + "grounded": true, + "evidence": "The brush is brought to the dustpan positioned on the towel." + }, + { + "start_s": 4.5, + "end_s": 13.333, + "label": "sweep debris into dustpan", + "objects": [ + "debris" + ], + "actors": [ + "both_hands" + ], + "source": "human", + "confidence": "high", + "grounded": true, + "evidence": "Brush pushes crumpled white paper into the white dustpan." + } + ], + "keysteps": [ + { + "start_s": 0.0, + "end_s": 3.0, + "description": "position dustpan on towel", + "essential": true + }, + { + "start_s": 3.0, + "end_s": 4.5, + "description": "bring brush into frame", + "essential": true + }, + { + "start_s": 4.5, + "end_s": 13.333, + "description": "sweep paper into dustpan", + "essential": true + } + ], + "note": "Time-aligned sub-step language \u2014 the VLM-partitioned action `spans` (label + objects + actors + VLM evidence/confidence/grounded) and the coarser `keysteps`. This is a RIDER, not per-frame: the LeRobot `task` column stays the static high-level goal so it never flips frame-to-frame; use these spans for language-conditioned / sub-goal training by joining on the `timestamp` (seconds). A span with `grounded=false` or a low `confidence` is an honest low-trust label \u2014 filter accordingly." +} \ No newline at end of file diff --git a/episodes/019fb7cd-b333-7b73-a360-149207d553c6/object_mask.npz b/episodes/019fb7cd-b333-7b73-a360-149207d553c6/object_mask.npz new file mode 100644 index 0000000000000000000000000000000000000000..5f1f06243a2669513ee470c58155d9a572626fde --- /dev/null +++ b/episodes/019fb7cd-b333-7b73-a360-149207d553c6/object_mask.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:88ddfed5e1602225fa32c0bee6f624220c0539b5a913ece99b715d424e095eab +size 3904829 diff --git a/episodes/019fb7cd-b333-7b73-a360-149207d553c6/object_object_contact.npz b/episodes/019fb7cd-b333-7b73-a360-149207d553c6/object_object_contact.npz new file mode 100644 index 0000000000000000000000000000000000000000..a19b4d209d692b0b26ed4d9b28a563357f67f4a0 --- /dev/null +++ b/episodes/019fb7cd-b333-7b73-a360-149207d553c6/object_object_contact.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:90a66643f9a46f7798c9f9ff9a07959485e2cd49f83d174a8c61cfcc2fe6a251 +size 3373 diff --git a/episodes/019fb7cd-b333-7b73-a360-149207d553c6/object_registry.json b/episodes/019fb7cd-b333-7b73-a360-149207d553c6/object_registry.json new file mode 100644 index 0000000000000000000000000000000000000000..22f02f16c50cf2be4b247e52f245bfb41a4cc154 --- /dev/null +++ b/episodes/019fb7cd-b333-7b73-a360-149207d553c6/object_registry.json @@ -0,0 +1,17 @@ +{ + "version": "0.1.0", + "objects": [ + { + "object_id": "obj_brush", + "label": "small brush", + "phrase": "brush", + "color_idx": 1 + }, + { + "object_id": "obj_dustpan", + "label": "dustpan", + "phrase": "dustpan", + "color_idx": 3 + } + ] +} \ No newline at end of file diff --git a/episodes/019fb7cd-b333-7b73-a360-149207d553c6/openego_sidecar.json b/episodes/019fb7cd-b333-7b73-a360-149207d553c6/openego_sidecar.json new file mode 100644 index 0000000000000000000000000000000000000000..661c05c1e3dfe4153259251258d5a877e0dce73d --- /dev/null +++ b/episodes/019fb7cd-b333-7b73-a360-149207d553c6/openego_sidecar.json @@ -0,0 +1,20151 @@ +{ + "actions": [ + { + "actors": [ + "right_hand" + ], + "end_timestamp": 3.0, + "extensions": { + "actor_source": "human", + "object_source": "human", + "span_id": "s0", + "span_source": "human", + "vlm_confidence": "low", + "vlm_evidence": "The dustpan rests on the striped towel; the right hand takes hold of it. The brush has not yet entered frame.", + "vlm_grounded": false, + "vlm_object_candidates": [ + { + "evidence": "dustpan is moved by hand", + "label": "dustpan", + "role": "workpiece", + "track": true + }, + { + "evidence": "hand moves the dustpan", + "label": "hand", + "role": "tool", + "track": true + }, + { + "evidence": "towel is stationary surface", + "label": "towel", + "role": "fixture", + "track": false + }, + { + "evidence": "paper is on the towel", + "label": "crumpled paper", + "role": "material", + "track": false + } + ] + }, + "label": "grasp dustpan on towel", + "narration_uncertain": false, + "objects": [ + "dustpan" + ], + "start_timestamp": 0.0 + }, + { + "actors": [ + "both_hands" + ], + "end_timestamp": 4.5, + "extensions": { + "actor_source": "contact", + "object_source": "human", + "span_id": "s1", + "span_source": "human", + "vlm_confidence": "high", + "vlm_evidence": "The brush is brought to the dustpan positioned on the towel.", + "vlm_grounded": true, + "vlm_object_candidates": [ + { + "evidence": "brush is brought into view", + "label": "brush", + "role": "tool", + "track": true + }, + { + "evidence": "hand holds and moves the brush", + "label": "hand", + "role": "tool", + "track": true + }, + { + "evidence": "dustpan is stationary on towel", + "label": "dustpan", + "role": "container", + "track": false + }, + { + "evidence": "paper is on the towel", + "label": "crumpled paper", + "role": "material", + "track": false + } + ] + }, + "label": "bring brush to dustpan", + "narration_uncertain": false, + "objects": [ + "brush" + ], + "start_timestamp": 3.0 + }, + { + "actors": [ + "both_hands" + ], + "end_timestamp": 13.333, + "extensions": { + "actor_source": "contact", + "object_source": "human", + "span_id": "s2", + "span_source": "human", + "vlm_confidence": "high", + "vlm_evidence": "Brush pushes crumpled white paper into the white dustpan.", + "vlm_grounded": true, + "vlm_object_candidates": [ + { + "evidence": "paper is moved by the brush", + "label": "crumpled paper", + "role": "workpiece", + "track": true + }, + { + "evidence": "brush pushes the paper", + "label": "brush", + "role": "tool", + "track": true + }, + { + "evidence": "paper is swept into the dustpan", + "label": "dustpan", + "role": "destination", + "track": true + }, + { + "evidence": "hand holds and manipulates the brush and dustpan", + "label": "hand", + "role": "tool", + "track": true + } + ] + }, + "label": "sweep debris into dustpan", + "narration_uncertain": false, + "objects": [ + "debris" + ], + "start_timestamp": 4.5 + } + ], + "annotation_metadata": { + "annotator_id": null, + "auto_annotated_fields": [ + "actions_draft", + "hamer", + "hand_mask", + "mediapipe", + "object_geometry", + "object_segmentation", + "rtmpose", + "whisper" + ], + "extensions": { + "annotator_params": { + "hamer": { + "parameters": { + "bbox_source": "sam3_mask", + "checkpoint": "hamer.ckpt", + "checkpoint_sha256": "e5cc06f294d88a92", + "mano_model": "MANO_RIGHT", + "mano_sha256": "45d60aa3b27ef910", + "mask_box_pad": 0.1, + "model": "hamer_mano21", + "rescale_factor": 2.0, + "source_camera_world_pose_sha256": "f5929dd74bb7422e2bae3002c0b64ab575dcfe4db65224fe109f5a2abc52a47c", + "source_hand_mask_sha256": "d490890c833b44e6", + "source_mediapipe_sha256": "754f9993ee2c70251d64b292e7da860016fca7c6763e5f41d649ae9ec91cda5a" + }, + "producer_version": "0.6.0" + }, + "hand_mask": { + "parameters": { + "apply_oversize_flag": true, + "chunk_size": 60, + "hand_seed_source": "agent_mask_tracker", + "hand_tracker_seed": "388849a891e8f255", + "max_frames": null, + "model": "facebook/sam3", + "n_obj_slots": 2, + "one_slot_per_prompt": true, + "post_proc": "kernels", + "prompts": [ + "left hand", + "right hand" + ], + "slot_selection": "agent_hand_mask_tracker", + "start_frame": 0 + }, + "producer_version": "0.4.0" + }, + "mediapipe": { + "parameters": { + "hand_model": "hand_landmarker_float16_v1", + "min_hand_detection_confidence": 0.6, + "min_hand_presence_confidence": 0.5, + "min_tracking_confidence": 0.6, + "num_hands": 2, + "pose_model": "pose_landmarker_full_float16_v1", + "roi_box_pad": 0.1, + "roi_seed": "sam3_hand_mask", + "running_mode": "video", + "source_hand_mask_sha256": "a960be1f9542a4f386f968207ce915d8049f7ad86a822fc44cf943deec5787aa", + "use_sam3_roi": true + }, + "producer_version": "0.4.0" + }, + "object_geometry": { + "parameters": { + "max_cloud_points": 4096, + "model": "object_geometry_scaffold", + "pose_source": "object_geometry_scaffold", + "source_camera_pose_sha256": "f5929dd74bb7422e2bae3002c0b64ab575dcfe4db65224fe109f5a2abc52a47c", + "source_depth_sha256": "81b3bee56a170d633701bbf4160680cce79fb99073e26e251707002134fc02c2", + "source_object_mask_sha256": "88ddfed5e1602225fa32c0bee6f624220c0539b5a913ece99b715d424e095eab" + }, + "producer_version": "0.1.1" + }, + "object_segmentation": { + "parameters": { + "agent_tracker_seed": "a56d2c2151766d0d", + "apply_body_fabric_filter": true, + "chunk_size": 60, + "max_frames": null, + "model": "facebook/sam3", + "n_obj_slots": 6, + "one_slot_per_prompt": true, + "phase_plan": "7aaabeca3e00fc6e", + "post_proc": "kernels", + "prompts": [ + "clothing being folded", + "clothing between hands", + "folded cloth", + "clothing", + "cloth", + "fabric" + ], + "seed_source": "agent_tracker", + "slot_selection": "agent_mask_tracker", + "start_frame": 0, + "stride": 1, + "task_id": "sweep" + }, + "producer_version": "0.8.0" + }, + "whisper": { + "parameters": { + "device": "cpu", + "language": "en", + "model_size": "base", + "no_speech_prob_drop": 0.6, + "vad_filter": true, + "word_timestamps": true + }, + "producer_version": "0.2.0" + } + }, + "assembly": { + "assembled_at": "2026-08-01T14:54:55.753215+00:00", + "contact_source": "recomputed_from_disk", + "from_disk": [ + "hand_mask.npz", + "object_mask.npz", + "whisper.json" + ], + "hand_depth_clip": { + "clip_near_reference_m": 0.2642, + "depth_source": "record3d_lidar", + "n_components_evaluated": 577, + "n_components_removed": 7, + "n_frames": 400, + "n_frames_touched": 6, + "n_frames_with_depth": 305, + "n_object_protected": 282, + "object_adjacency_gate": "on", + "params": { + "label_stride": 1, + "max_plane_rms_m": 0.03, + "max_surface_offset_m": 0.02, + "min_measured_frac": 0.5, + "min_measured_px": 12, + "min_separation_m": 0.15, + "surface_ring_cells": 3 + }, + "removed": [ + { + "n_measured": 12, + "plane_rms_m": 0.0003, + "ref_z_m": 0.2642, + "row": 33, + "separation_m": 0.3899, + "slot": 1, + "surface_offset_m": 0.0005, + "z_med_m": 0.6541 + }, + { + "n_measured": 125, + "plane_rms_m": 0.0023, + "ref_z_m": 0.2642, + "row": 34, + "separation_m": 0.3789, + "slot": 1, + "surface_offset_m": 0.0069, + "z_med_m": 0.6431 + }, + { + "n_measured": 150, + "plane_rms_m": 0.0032, + "ref_z_m": 0.2642, + "row": 35, + "separation_m": 0.1993, + "slot": 1, + "surface_offset_m": 0.0025, + "z_med_m": 0.4635 + }, + { + "n_measured": 438, + "plane_rms_m": 0.0047, + "ref_z_m": 0.1893, + "row": 36, + "separation_m": 0.4323, + "slot": 1, + "surface_offset_m": 0.0101, + "z_med_m": 0.6216 + }, + { + "n_measured": 235, + "plane_rms_m": 0.0044, + "ref_z_m": 0.2642, + "row": 335, + "separation_m": 0.3198, + "slot": 1, + "surface_offset_m": 0.0081, + "z_med_m": 0.584 + }, + { + "n_measured": 76, + "plane_rms_m": 0.002, + "ref_z_m": 0.2642, + "row": 336, + "separation_m": 0.3364, + "slot": 1, + "surface_offset_m": 0.0037, + "z_med_m": 0.6006 + }, + { + "n_measured": 153, + "plane_rms_m": 0.0027, + "ref_z_m": 0.2642, + "row": 336, + "separation_m": 0.2651, + "slot": 1, + "surface_offset_m": 0.0043, + "z_med_m": 0.5293 + } + ], + "status": "applied" + }, + "hand_identity_fix": { + "basis": "mediapipe_crop_label", + "calibrated_slot0_label": "left", + "calibration": "seed_anchored_head", + "clip_majority_slot0_label": "left", + "evidence_ambiguity_frac": 0.995, + "handedness_source": "sam3_slot", + "majority_agrees_with_seed": true, + "n_frames": 400, + "n_frames_disagreeing": 0, + "n_frames_evaluated": 2, + "n_frames_swapped": 0, + "n_runs_swapped": 0, + "params": { + "fps": 30.0, + "median_k": 5, + "min_assoc_margin": 0.25, + "min_conf": 0.7, + "min_kp_in_mask": 0.5, + "min_run_frames": 15 + }, + "reason": "only 2/400 frames (0%) cleared the association + confidence gates (need >= 30%) \u2014 too thin for a clip-wide identity claim", + "runs": [], + "status": "insufficient_evidence" + }, + "hand_mask_corrections": { + "file": "hand_mask_corrections.npz", + "n_components_removed": 7, + "n_frames_swapped": 0, + "path": "hand_mask_corrections.npz", + "raw_channel": "hand_mask.npz:masks (byte-unchanged)", + "version": "0.1.0" + }, + "transcript_empty": "whisper.json_present_but_empty_or_unreadable", + "transcript_source": "none", + "transcript_source_pref": "auto" + }, + "camera": { + "device_model": "record3d_iphone", + "intrinsics_note": "REAL per-frame ARKit intrinsics from a Record3D capture; the inline 3\u00d73 is the per-element median of the measured matrices (NOT a focal-fraction heuristic).", + "intrinsics_source": "record3d_arkit", + "pose_source": "arkit" + }, + "object_roles": { + "objects": [ + { + "default_role": "tool", + "object_id": "obj_brush" + }, + { + "default_role": "container", + "object_id": "obj_dustpan" + } + ], + "phase_roles": [ + { + "interaction_role": "container", + "object_id": "obj_dustpan", + "phase_id": 0 + }, + { + "interaction_role": "tool", + "object_id": "obj_brush", + "phase_id": 1 + }, + { + "interaction_role": "container", + "object_id": "obj_dustpan", + "phase_id": 1 + }, + { + "interaction_role": "tool", + "object_id": "obj_brush", + "phase_id": 2 + }, + { + "interaction_role": "container", + "object_id": "obj_dustpan", + "phase_id": 2 + } + ], + "primary_object_id": null, + "source": "phase_plan_v0.2", + "version": "0.1.0" + }, + "quality_gates": { + "all_passed": true, + "validated_at": "2026-08-10T13:38:30+00:00", + "gates": [ + { + "name": "json_schema", + "passed": true, + "value": "ok", + "threshold": "validates", + "detail": "" + }, + { + "name": "frames_with_hands_pct", + "passed": true, + "value": 99.67, + "threshold": ">= 5% [class=sweep]", + "detail": "presence-conditioned over the actor's active span [35..337] = 303/400 frames (raw all-frames = 75.50%); shipped channel = raw \u2295 hand_mask_corrections" + }, + { + "name": "audio_snr_db", + "passed": true, + "value": null, + "threshold": ">= 5 dB", + "detail": "silent or near-silent" + }, + { + "name": "transcript_density", + "passed": true, + "value": 0.0, + "threshold": ">= 0.5 wps", + "detail": "silent clip" + }, + { + "name": "hand_mask_coverage_pct", + "passed": true, + "value": 2.247, + "threshold": ">= 1%", + "detail": "" + }, + { + "name": "phase_plan_windowing", + "passed": true, + "value": "phase_plan_multi", + "threshold": "slot_selection == phase_plan_multi", + "detail": "" + }, + { + "name": "object_mask_coverage_pct", + "passed": true, + "value": 1.73, + "threshold": ">= 0.5% (per present object) [class=sweep]", + "detail": "per-object (present-frame) coverage: obj_brush=1.73%, obj_dustpan=4.444%" + }, + { + "name": "hand_mask_area_floor_left", + "passed": true, + "value": 4.141, + "threshold": ">= 0.20% (median, per hand)", + "detail": "" + }, + { + "name": "hand_mask_area_floor_right", + "passed": true, + "value": 2.6381, + "threshold": ">= 0.20% (median, per hand)", + "detail": "" + }, + { + "name": "hand_mask_lr_asymmetry", + "passed": true, + "value": 0.6371, + "threshold": "min/max >= 0.20", + "detail": "" + }, + { + "name": "hand_slot_merge", + "passed": true, + "value": 0, + "threshold": "< 5 consecutive frames with L\u2229R IoU > 0.5", + "detail": "" + }, + { + "name": "object_track_truncated", + "passed": true, + "value": 0, + "threshold": "no tracked object ends while a hand still holds it", + "detail": "" + }, + { + "name": "actor_mirror_consistency", + "passed": true, + "value": 0, + "threshold": "every hierarchy span's actor_kind == its action's actors[0]", + "detail": "" + } + ] + } + }, + "manually_annotated_fields": [], + "models": { + "hamer": null, + "mediapipe": "0.10.35", + "sam2": null, + "whisper": "1.2.1" + }, + "pipeline_version": "0.2.0", + "qa_reviewer_id": "[redacted]", + "qa_score": 5, + "source_experiment": "v0pipeline" + }, + "audio_path": "019fb7cd-b333-7b73-a360-149207d553c6.wav", + "camera_calibration": { + "ego": { + "fps": 30.0, + "intrinsics": [ + [ + 1471.7620849609375, + 0.0, + 971.6776733398438 + ], + [ + 0.0, + 1471.7620849609375, + 745.2727661132812 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics_path": null, + "resolution": [ + 1920, + 1440 + ] + }, + "overhead": null + }, + "camera_rig_id": "rig_manila_iphone12pro_chest", + "date_collected": "2026-08-01", + "duration_seconds": 13.333333333333334, + "environment_id": "home_table_pretrip", + "episode_id": "EM1-D4-E06", + "extensions": { + "camera_world_pose": { + "n_frames": 400, + "path": "camera_pose.npz", + "pose_source": "arkit", + "tracking_conf_mean": 1.0 + }, + "depth": { + "confidence_levels": "0=low,1=medium,2=high", + "depth_resolution": [ + 192, + 256 + ], + "depth_source": "record3d_lidar", + "n_frames": 400, + "path": "depth.npz" + }, + "hand_object_contact": { + "confirm_dist_m": 0.05, + "contact_dist_m": 0.03, + "contact_provenance_note": "per-hand 'contact_from_measured_joint' marks whether the joint that drove the contact was depth-MEASURED (depth_fill==0) vs a bone-length/temporal PRIOR-extrapolated point. Spec \u00a79.9: only ~65% of fingertips are depth-valid, so a prior-filled-joint contact is NOT a measurement (rule #7) \u2014 branch on this flag, don't trust the bool alone.", + "debounce": { + "adjacency_dilate_px": 16, + "assert_frames": 12, + "contact_off_m": 0.025, + "contact_on_m": 0.015, + "far_release_confirm_s": 0.25, + "far_release_frames": 0, + "fsm_states": [ + "OPEN", + "CLOSING", + "CLOSED", + "OPENING" + ], + "gate_2d_available": true, + "gate_2d_frames_blocked": 9, + "gate_2d_frames_evaluated": 533, + "gate_2d_metric": "mask_adjacency", + "grasp_onsets": { + "left": [ + 113 + ], + "right": [ + 61 + ] + }, + "median_window_frames": 5, + "nan_policy": "freeze_hold", + "note": "P4-C2 median pre-filter (NOT EMA) \u2192 P4-C3 Schmitt hysteresis (HOLD in the [on,off] dead-band) \u2192 P4-C4 asymmetric min-dwell (short assert / longer release) \u2192 P4-C5 4-state grasp FSM (edge-triggered, one onset + one release per grasp). A NaN distance never ASSERTS a contact (a depth dropout cannot fabricate a grasp) and \u2014 nan_policy=freeze_hold, CONTACT-OCC-2 \u2014 never RELEASES one: a NaN frame holds the committed state and freezes the pending dwell, so only MEASURED open evidence releases a grasp (occlusion of any length bridges; the OCC-1 validity flag marks those frames not-measurable). A 2D-gate block is enforced separately + harder upstream (contact_3d post-debounce override forces every blocked frame open).", + "release_frames": 15, + "tail_release": { + "channels": [ + { + "cut_frame": 337, + "frames_released": 62, + "hand": "right", + "object_index": 1, + "object_present_frac": 1.0, + "reason": "hand absent from the cut to the end of the clip (never returns, so the freeze is unresolved) while the object stayed tracked", + "released_from_frame": 338, + "tail_frames": 62 + } + ], + "min_tail_frames": 5, + "n_channels_released": 1, + "object_present_frac": 0.8, + "rule": "a freeze that reaches the last frame with the hand absent to the end (never returns) and the object still tracked is closed at the last hand-present frame \u2014 an unresolved freeze is not a bridge. Mid-clip occlusion is untouched (CONTACT-OCC-2)." + }, + "version": "1.1" + }, + "debounce_fps": 30.0, + "debounce_note": "LID3D-7: per_hand_contact is the DEBOUNCED bool \u2014 P4-C1 valid-depth score (a bone-prior-imputed fingertip never votes) AND-gated on the 2D SAM3 hand\u2229object overlap, P4-C2 median pre-filter, P4-C3 Schmitt hysteresis (HOLD in the [contact_on_m, contact_off_m] dead-band), P4-C4 asymmetric min-dwell, P4-C5 grasp FSM. contact_strength + grasp_fsm_state are additive; raw min_dist_m is the un-debounced firewall channel.", + "detected_object": "small brush", + "direct_contact_shape": [ + 400, + 2, + 2 + ], + "hold_dist_m": 0.12, + "joints_source": "hamer_2d_depth", + "mask_2d": { + "metric": "iou+border_adjacency", + "n_frames_in_contact": 1, + "object_ids": [ + "obj_brush", + "obj_dustpan" + ], + "objects": [ + { + "n_frames_adjacent": 229, + "n_frames_in_contact": 3, + "n_frames_scored": 234, + "n_present_frames": 234, + "object_id": "obj_brush", + "per_frame": 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The frozen hand_object_contact.npz carries the debounced per-hand contact bool + min_dist_m + grasp_state + contact_strength + grasp_fsm_state.", + "npz_path": "hand_object_contact.npz", + "object_ids": [ + "obj_brush", + "obj_dustpan" + ], + "per_frame": [ + { + "frame": 0, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 1, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 2, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 3, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 4, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 5, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 6, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 7, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 8, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 9, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 10, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 11, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 12, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 13, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 14, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 15, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 16, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 17, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 18, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 19, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 20, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 21, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 22, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 23, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 24, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 25, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 26, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 27, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 28, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 29, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 30, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 31, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 32, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 33, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 34, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 35, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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": 0.1122 + }, + { + "frame": 36, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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": 0.27956 + }, + { + "frame": 37, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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": 0.12196 + }, + { + "frame": 38, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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": 0.13103 + }, + { + "frame": 39, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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": 0.19051 + }, + { + "frame": 40, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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": 0.15491 + }, + { + "frame": 41, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "left_min_dist_m": null, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.5, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.01074 + }, + { + "frame": 42, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "left_min_dist_m": null, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.5, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.0773 + }, + { + "frame": 43, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "left_min_dist_m": null, + "right_contact_from_measured_joint": false, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.04433 + }, + { + "frame": 44, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "left_min_dist_m": null, + "right_contact_from_measured_joint": false, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.12163 + }, + { + "frame": 45, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "left_min_dist_m": null, + "right_contact_from_measured_joint": false, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.04221 + }, + { + "frame": 46, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "left_min_dist_m": null, + "right_contact_from_measured_joint": false, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.03484 + }, + { + "frame": 47, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "left_min_dist_m": null, + "right_contact_from_measured_joint": false, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.06819 + }, + { + "frame": 48, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "left_min_dist_m": null, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.5, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.03282 + }, + { + "frame": 49, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "left_min_dist_m": null, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.5, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.05481 + }, + { + "frame": 50, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "left_min_dist_m": null, + "right_contact_from_measured_joint": false, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.05165 + }, + { + "frame": 51, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + 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399, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + } + ], + "scene_union_reduction": "any(per_hand_object_contact, axis=2)", + "threshold_note": "LID3D-17 A4: per_hand_contact = DEBOUNCED (mask-ADJACENCY gate AND (nearest joint depth-measured ? proximity<=contact_dist_m : trust adjacency)). VALIDATED on two hand-labeled holdouts \u2014 A4 hits F1 0.92-0.96 vs 0.31-0.68 for the old overlap-gated proximity (the overlap gate vetoed 57-82% of real ego contact: a grasping hand is IN FRONT of the object so the masks abut without sharing pixels). contact_dist_m (3cm) is consulted only for the ~9% of depth-MEASURED fingertips; an occluded tip trusts the mask adjacency. Dossier: research/2026-06-25_hand_object_contact_sota.md.", + "threshold_validated": true, + "version": "0.4.3" + }, + "object_geometry": { + "classified_by": "label_keyword_heuristic", + "note": "Per-object metric mask-cloud (centroid_world + extent_m, meters) back-projected from object_mask via depth + camera_pose. Deformable/cloth objects get this cloud ONLY (6-DoF is structurally ill-defined \u2192 cloth_degraded). Rigid objects carry the metric extent but their 6-DoF pose is rigid_deferred (no model-free engine built \u2014 license+GPU gated, P2-3). classified_by is a LEXICAL keyword heuristic, NOT a learned classifier.", + "objects": [ + { + "centroid_world": [ + -1.1996251344680786, + 0.7390520572662354, + 0.6730709671974182 + ], + "classified_by": "label_keyword_heuristic", + "extent_m": [ + 0.10989829897880554, + 0.25782182812690735, + 0.20153221487998962 + ], + "is_deformable": false, + "label": "small brush", + "n_frames_with_cloud": 232, + "n_present_frames": 234, + "object_id": "obj_brush", + "pose_status": "rigid_deferred" + }, + { + "centroid_world": [ + -1.0496230125427246, + 0.8747245073318481, + 0.7225732207298279 + ], + "classified_by": "label_keyword_heuristic", + "extent_m": [ + 0.18229785561561584, + 0.0687183365225792, + 0.19230176508426666 + ], + "is_deformable": false, + "label": "dustpan", + "n_frames_with_cloud": 400, + "n_present_frames": 400, + "object_id": "obj_dustpan", + "pose_status": "rigid_deferred" + } + ], + "source": "object_geometry_scaffold", + "version": "0.1.0" + }, + "object_object_contact": { + "adjacency_px": 8, + "debounce": { + "assert_frames": 3, + "fps": 30.0, + "median_window_frames": 5, + "release_frames": 6 + }, + "metric": "visible_mask_adjacency+surface_proximity", + "n_frames": 400, + "n_pair_contact_cells": 79, + "npz_path": "object_object_contact.npz", + "object_ids": [ + "obj_brush", + "obj_dustpan" + ], + "pair_dist_m": 0.02, + "provenance": "contact_from_measured_surface=true means both visible object masks yielded LiDAR surface points and proximity confirmed contact; false contact is supported by visible-mask adjacency only", + "version": "0.1.0" + }, + "object_pose": { + "objects": [ + { + "n_present_frames": 234, + "obj_T_world_is_placeholder": true, + "object_id": "obj_brush", + "pose_status": "rigid_deferred" + }, + { + "n_present_frames": 400, + "obj_T_world_is_placeholder": true, + "object_id": "obj_dustpan", + "pose_status": "rigid_deferred" + } + ], + "path": "object_pose.npz", + "pose_source": "object_geometry_scaffold", + "status_legend": { + "cloth_degraded": "deformable object \u2014 NO 6-DoF (ill-defined); metric mask-cloud in extensions.object_geometry", + "rigid_deferred": "rigid object \u2014 6-DoF DEFERRED (no model-free engine built; license+GPU gated). obj_T_world is an identity placeholder; trust pose_status, not the matrix." + }, + "version": "0.1.0" + }, + "phase_plan_windowing": { + "n_phases": 3, + "slot_selection": "phase_plan_multi", + "windowed": true + }, + "studio": { + "review_state": { + "history": [ + { + "action": "submit", + "at": "2026-08-01T14:59:09.441509+00:00", + "by": "reviewer", + "from": "draft", + "to": "in_review" + }, + { + "action": "approve", + "at": "2026-08-01T14:59:13.142343+00:00", + "by": "reviewer", + "from": "in_review", + "qa_score": 5, + "to": "approved" + } + ], + "qa_score": 5, + "reviewer_id": "reviewer", + "status": "approved", + "updated_at": "2026-08-01T14:59:13.142343+00:00" + }, + "reviewed_steps": [ + "keysteps", + "verify" + ], + "verified_frames": { + "10867": true, + "10900": true + } + }, + "task_hierarchy": { + "coverage_complete": true, + "goal_echoed_task": false, + "goal_source": "vlm", + "grounding_checked": true, + "nodes": [ + { + "end_time": 3.0, + "is_essential": true, + "keystep_ref": 0, + "label": "grasp dustpan on towel", + "node_id": "e0", + "spans": [ + { + "action_ref": 0, + "actor_kind": "right_hand", + "confidence": "low", + "end_time": 3.0, + "evidence": "The dustpan rests on the striped towel; the right hand takes hold of it. The brush has not yet entered frame.", + "grounded": false, + "label": "grasp dustpan on towel", + "object": "dustpan", + "object_candidates": [ + { + "evidence": "dustpan is moved by hand", + "label": "dustpan", + "role": "workpiece", + "track": true + }, + { + "evidence": "hand moves the dustpan", + "label": "hand", + "role": "tool", + "track": true + }, + { + "evidence": "towel is stationary surface", + "label": "towel", + "role": "fixture", + "track": false + }, + { + "evidence": "paper is on the towel", + "label": "crumpled paper", + "role": "material", + "track": false + } + ], + "span_id": "s0", + "span_source": "human", + "start_time": 0.0 + } + ], + "start_time": 0.0, + "sub_goal": null + }, + { + "end_time": 4.5, + "is_essential": true, + "keystep_ref": 1, + "label": "bring brush to dustpan", + "node_id": "e1", + "spans": [ + { + "action_ref": 1, + "actor_kind": "both_hands", + "confidence": "high", + "end_time": 4.5, + "evidence": "The brush is brought to the dustpan positioned on the towel.", + "grounded": true, + "label": "bring brush to dustpan", + "object": "brush", + "object_candidates": [ + { + "evidence": "brush is brought into view", + "label": "brush", + "role": "tool", + "track": true + }, + { + "evidence": "hand holds and moves the brush", + "label": "hand", + "role": "tool", + "track": true + }, + { + "evidence": "dustpan is stationary on towel", + "label": "dustpan", + "role": "container", + "track": false + }, + { + "evidence": "paper is on the towel", + "label": "crumpled paper", + "role": "material", + "track": false + } + ], + "span_id": "s1", + "span_source": "human", + "start_time": 3.0 + } + ], + "start_time": 3.0, + "sub_goal": null + }, + { + "end_time": 13.333, + "is_essential": true, + "keystep_ref": 2, + "label": "sweep debris into dustpan", + "node_id": "e2", + "spans": [ + { + "action_ref": 2, + "actor_kind": "both_hands", + "confidence": "high", + "end_time": 13.333, + "evidence": "Brush pushes crumpled white paper into the white dustpan.", + "grounded": true, + "label": "sweep debris into dustpan", + "object": "debris", + "object_candidates": [ + { + "evidence": "paper is moved by the brush", + "label": "crumpled paper", + "role": "workpiece", + "track": true + }, + { + "evidence": "brush pushes the paper", + "label": "brush", + "role": "tool", + "track": true + }, + { + "evidence": "paper is swept into the dustpan", + "label": "dustpan", + "role": "destination", + "track": true + }, + { + "evidence": "hand holds and manipulates the brush and dustpan", + "label": "hand", + "role": "tool", + "track": true + } + ], + "span_id": "s2", + "span_source": "human", + "start_time": 4.5 + } + ], + "start_time": 4.5, + "sub_goal": null + } + ], + "span_source": "vlm", + "task_goal": "sweep crumpled paper into a dustpan", + "task_mismatch": false, + "task_mismatch_reason": "", + "tracking_mode_proposal": { + "mode": "phase_plan_multi", + "object_labels": [ + "dustpan", + "hand", + "brush", + "crumpled paper" + 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"state": "visible" + }, + { + "confidence": 1.0, + "frame": 399, + "state": "visible" + } + ], + "scene_level_union": true, + "version": "0.2" + }, + "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": 400, + "source": "hamer", + "world_frame_available": true + }, + "hand_pose_path": "hamer.npz", + "hand_segmentation": { + "frame_rate": null, + "n_frames": 400, + "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", + "end_time": 3.0, + "is_essential": true, + "keystep_timing_source": "human", + "start_time": 0.0, + "step_description": "position dustpan on towel", + "step_id": 0, + "step_name": "grasp dustpan on towel", + "step_unique_id": 207820047793481 + }, + { + "best_view": "ego", + "end_time": 4.5, + "is_essential": true, + "keystep_timing_source": "human", + "start_time": 3.0, + "step_description": "bring brush into frame", + "step_id": 1, + "step_name": "bring brush to dustpan", + "step_unique_id": 76936335512374 + }, + { + "best_view": "ego", + "end_time": 13.333, + "is_essential": true, + "keystep_timing_source": "human", + "start_time": 4.5, + "step_description": "sweep paper into dustpan", + "step_id": 2, + "step_name": "sweep debris into dustpan", + "step_unique_id": 207485693041723 + } + ], + "object_segmentation": { + "detected_class": "small brush", + "detection_score": null, + "frame_rate": null, + "n_frames": 400, + "n_objects": 2, + "objects": [ + { + "label": "small brush", + "n_frames_present": 234, + "object_id": "obj_brush", + "phrase": "brush" + }, + { + "label": "dustpan", + "n_frames_present": 400, + "object_id": "obj_dustpan", + "phrase": "dustpan" + } + ], + "seed_source": "agent_tracker", + "source": "sam3" + }, + "object_segmentation_path": "object_mask.npz", + "participant_id": "M3", + "recovery_events": [], + "success_status": "success", + "task_id": "sweep", + "task_label": "sweep", + "transcript_path": null, + "views": { + "ego": "019fb7cd-b333-7b73-a360-149207d553c6.mp4", + "overhead": null + } +} \ No newline at end of file diff --git a/episodes/019fbc13-d77f-70c1-b142-4b07a7df35f6/contact_corrections.npz b/episodes/019fbc13-d77f-70c1-b142-4b07a7df35f6/contact_corrections.npz new file mode 100644 index 0000000000000000000000000000000000000000..410c36a7a66fc3b4e69db7e3c7bfce7ad85fe197 --- /dev/null +++ b/episodes/019fbc13-d77f-70c1-b142-4b07a7df35f6/contact_corrections.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:edff5c61300a264ac2e9ac681e96e4e368eec4cb51079022230937d61ea01191 +size 2173 diff --git a/episodes/019fbc13-d77f-70c1-b142-4b07a7df35f6/depth_geometry.json b/episodes/019fbc13-d77f-70c1-b142-4b07a7df35f6/depth_geometry.json new file mode 100644 index 0000000000000000000000000000000000000000..0cd1ad7d1568a4b284737aefca738b0fb7e0e601 --- /dev/null +++ b/episodes/019fbc13-d77f-70c1-b142-4b07a7df35f6/depth_geometry.json @@ -0,0 +1,62 @@ +{ + "sensor": "iphone_lidar_arkit", + "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth grid, untouched); observation.images.ego is 512x384 \u2014 ONE uniform downscale of the native RGB, so ego is EXACTLY 2x the depth grid: ego[y, x], mask[y, x] and depth[y//2, x//2] are the same ray. Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "depth_resolution_hw": [ + 256, + 192 + ], + "ego_obs_resolution_hw": [ + 512, + 384 + ], + "ego_to_depth_scale": 2.0, + "raster_rotation": "ccw90", + "display_hint": "rotate 90\u00b0 CW to view upright", + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 0 quarter-turn(s); gravity-verified at export)", + "rgb_native_resolution_hw": [ + 1440, + 1920 + ], + "depth_output_unit_default": "mm (LeRobot depth_output_unit default; pass --dataset.depth_output_unit m to load metres)", + "raw_depth_reference": "openego_sidecar.json + data/annotations//depth.npz (lossless)", + "arkit_rgb_intrinsics_3x3": [ + [ + 1472.691162109375, + 0.0, + 742.8125 + ], + [ + 0.0, + 1472.691162109375, + 953.4917602539062 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics_frame": "shipped raster (post-rotation)", + "depth_intrinsics_3x3": [ + [ + 196.35882161458332, + 0.0, + 99.04166666666667 + ], + [ + 0.0, + 196.35882161458332, + 127.13223470052083 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "depth_intrinsics_scale_xy": [ + 0.13333333333333333, + 0.13333333333333333 + ], + "intrinsics_source": "record3d_arkit (median of per-frame, via chokepoint)" +} \ No newline at end of file diff --git a/episodes/019fbc13-d77f-70c1-b142-4b07a7df35f6/hand_object_contact.npz b/episodes/019fbc13-d77f-70c1-b142-4b07a7df35f6/hand_object_contact.npz new file mode 100644 index 0000000000000000000000000000000000000000..5df15d755c39dadf79421581ce45e46d8ebf514e --- /dev/null +++ b/episodes/019fbc13-d77f-70c1-b142-4b07a7df35f6/hand_object_contact.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc06dcdb53553eafe8a9b4159b569321a5820df568bc61b1304c6f57d8ce43a4 +size 13659 diff --git a/episodes/019fbc13-d77f-70c1-b142-4b07a7df35f6/language_spans.json b/episodes/019fbc13-d77f-70c1-b142-4b07a7df35f6/language_spans.json new file mode 100644 index 0000000000000000000000000000000000000000..dd49c52f9220ace34a6536b412dec95e1c66c2ad --- /dev/null +++ b/episodes/019fbc13-d77f-70c1-b142-4b07a7df35f6/language_spans.json @@ -0,0 +1,115 @@ +{ + "task": "scoop_grain", + "n_spans": 5, + "n_keysteps": 5, + "spans": [ + { + "start_s": 0.0, + "end_s": 5.5, + "label": "pick up mug", + "objects": [ + "mug" + ], + "actors": [ + "right_hand" + ], + "source": "vlm", + "confidence": "high", + "grounded": true, + "evidence": "Hands approach and grasp the mug, lifting it slightly from the table." + }, + { + "start_s": 5.5, + "end_s": 9.0, + "label": "move mug to bowl", + "objects": [ + "mug" + ], + "actors": [ + "right_hand" + ], + "source": "vlm", + "confidence": "high", + "grounded": true, + "evidence": "The mug is lifted from the table and moved over the large bowl containing grains." + }, + { + "start_s": 9.0, + "end_s": 12.0, + "label": "scoop grains from bowl", + "objects": [ + "grains" + ], + "actors": [ + "right_hand" + ], + "source": "vlm", + "confidence": "low", + "grounded": false, + "evidence": "The mug is dipped into the large bowl, filled with grains, and then lifted." + }, + { + "start_s": 12.0, + "end_s": 17.0, + "label": "pour grains into saucepan", + "objects": [ + "grains" + ], + "actors": [ + "right_hand" + ], + "source": "vlm", + "confidence": "low", + "grounded": false, + "evidence": "The mug is tilted over the saucepan and grains fall from it into the pan." + }, + { + "start_s": 17.0, + "end_s": 22.933, + "label": "place mug on table", + "objects": [ + "grains" + ], + "actors": [ + "both_hands" + ], + "source": "vlm", + "confidence": "low", + "grounded": false, + "evidence": "The emptied mug is lowered and set down on the table." + } + ], + "keysteps": [ + { + "start_s": 0.0, + "end_s": 5.5, + "description": "pick up mug", + "essential": true + }, + { + "start_s": 5.5, + "end_s": 9.0, + "description": "move mug to bowl", + "essential": true + }, + { + "start_s": 9.0, + "end_s": 12.0, + "description": "scoop grains from bowl", + "essential": true + }, + { + "start_s": 12.0, + "end_s": 17.0, + "description": "pour grains into saucepan", + "essential": true + }, + { + "start_s": 17.0, + "end_s": 22.933, + "description": "place mug on table", + "essential": true + } + ], + "note": "Time-aligned sub-step language \u2014 the VLM-partitioned action `spans` (label + objects + actors + VLM evidence/confidence/grounded) and the coarser `keysteps`. This is a RIDER, not per-frame: the LeRobot `task` column stays the static high-level goal so it never flips frame-to-frame; use these spans for language-conditioned / sub-goal training by joining on the `timestamp` (seconds). A span with `grounded=false` or a low `confidence` is an honest low-trust label \u2014 filter accordingly." +} \ No newline at end of file diff --git a/episodes/019fbc13-d77f-70c1-b142-4b07a7df35f6/object_mask.npz b/episodes/019fbc13-d77f-70c1-b142-4b07a7df35f6/object_mask.npz new file mode 100644 index 0000000000000000000000000000000000000000..febf53375170ce3f297e37111ed49e6ad1678818 --- /dev/null +++ b/episodes/019fbc13-d77f-70c1-b142-4b07a7df35f6/object_mask.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:793bc43e6594ffd0fb8ec112231f50f9d4491348f506777f2945409d2a502e0e +size 3803418 diff --git a/episodes/019fb6db-ff4d-7f00-a9ae-58c76698a120/openego_sidecar.json b/episodes/019fbc13-d77f-70c1-b142-4b07a7df35f6/openego_sidecar.json similarity index 75% rename from episodes/019fb6db-ff4d-7f00-a9ae-58c76698a120/openego_sidecar.json rename to episodes/019fbc13-d77f-70c1-b142-4b07a7df35f6/openego_sidecar.json index a7b909d7a934b622f1dab1bb5a0847e500863290..cf613454e1251d8bbd49a87a3f7b3d0f11e7ea74 100644 --- a/episodes/019fb6db-ff4d-7f00-a9ae-58c76698a120/openego_sidecar.json +++ b/episodes/019fbc13-d77f-70c1-b142-4b07a7df35f6/openego_sidecar.json @@ -2,197 +2,239 @@ "actions": [ { "actors": [ - "both_hands" + "right_hand" ], - "end_timestamp": 1.5, + "end_timestamp": 5.5, "extensions": { - "actor_source": "motion", + "actor_source": "default", "object_source": "vlm", "span_source": "vlm", "vlm_confidence": "high", - "vlm_evidence": "Pink striped shorts are visible lying on a patterned blanket.", + "vlm_evidence": "Hands approach and grasp the mug, lifting it slightly from the table.", "vlm_grounded": true, "vlm_object_candidates": [ { - "evidence": "pink striped shorts visible on blanket", - "label": "shorts", + "evidence": "Hands grasp the mug and lift it.", + "label": "mug", "role": "workpiece", "track": true }, { - "evidence": "brown and white patterned blanket visible", - "label": "blanket", - "role": "fixture", + "evidence": "Hands are visible and moving to interact with the mug.", + "label": "hands", + "role": "tool", + "track": false + }, + { + "evidence": "Large bowl is stationary on the table.", + "label": "large bowl", + "role": "container", + "track": false + }, + { + "evidence": "Saucepan is stationary on the table.", + "label": "saucepan", + "role": "destination", + "track": false + }, + { + "evidence": "Grains are inside the large bowl.", + "label": "grains", + "role": "material", "track": false } ] }, - "label": "Observe shorts on blanket", + "label": "pick up mug", "narration_uncertain": false, "objects": [ - "shorts" + "mug" ], "start_timestamp": 0.0 }, { "actors": [ - "both_hands" + "right_hand" ], - "end_timestamp": 9.5, + "end_timestamp": 9.0, "extensions": { "actor_source": "contact", "object_source": "vlm", "span_source": "vlm", - "vlm_confidence": "low", - "vlm_evidence": "Hands enter frame and begin to fold the shorts along their length.", - "vlm_grounded": false, + "vlm_confidence": "high", + "vlm_evidence": "The mug is lifted from the table and moved over the large bowl containing grains.", + "vlm_grounded": true, "vlm_object_candidates": [ { - "evidence": "pink shorts being folded lengthwise by hands", - "label": "shorts", + "evidence": "The mug is being moved by hands towards the large bowl.", + "label": "mug", "role": "workpiece", "track": true }, { - "evidence": "person's hands manipulating the shorts", + "evidence": "The mug is positioned over the large bowl for scooping.", + "label": "large bowl", + "role": "container", + "track": true + }, + { + "evidence": "Hands are holding and moving the mug.", "label": "hands", "role": "tool", - "track": true + "track": false }, { - "evidence": "patterned blanket under the shorts", - "label": "blanket", - "role": "fixture", + "evidence": "Grains are inside the large bowl.", + "label": "grains", + "role": "material", "track": false } ] }, - "label": "Fold shorts lengthwise", + "label": "move mug to bowl", "narration_uncertain": false, "objects": [ - "shorts" + "mug" ], - "start_timestamp": 1.5 + "start_timestamp": 5.5 }, { "actors": [ - "both_hands" + "right_hand" ], - "end_timestamp": 17.0, + "end_timestamp": 12.0, "extensions": { "actor_source": "contact", "object_source": "vlm", "span_source": "vlm", - "vlm_confidence": "high", - "vlm_evidence": "Hands roll the folded shorts upwards from the bottom towards the waistband.", - "vlm_grounded": true, + "vlm_confidence": "low", + "vlm_evidence": "The mug is dipped into the large bowl, filled with grains, and then lifted.", + "vlm_grounded": false, "vlm_object_candidates": [ { - "evidence": "pink shorts being rolled into a bundle", - "label": "shorts", + "evidence": "The mug is used to scoop the grains.", + "label": "mug", + "role": "tool", + "track": true + }, + { + "evidence": "Grains are visibly scooped into the mug.", + "label": "grains", "role": "workpiece", "track": true }, { - "evidence": "person's hands rolling the shorts", - "label": "hands", - "role": "tool", + "evidence": "Grains are scooped from this bowl.", + "label": "large bowl", + "role": "container", "track": true }, { - "evidence": "patterned blanket under the shorts", - "label": "blanket", - "role": "fixture", + "evidence": "Hands are holding the mug during the scooping action.", + "label": "hands", + "role": "tool", "track": false } ] }, - "label": "Roll shorts from bottom to top", + "label": "scoop grains from bowl", "narration_uncertain": false, "objects": [ - "shorts" + "grains" ], - "start_timestamp": 9.5 + "start_timestamp": 9.0 }, { "actors": [ - "both_hands" + "right_hand" ], - "end_timestamp": 21.5, + "end_timestamp": 17.0, "extensions": { "actor_source": "contact", "object_source": "vlm", "span_source": "vlm", - "vlm_confidence": "high", - "vlm_evidence": "Hands pat and adjust the shape of the neatly rolled shorts on the blanket.", - "vlm_grounded": true, + "vlm_confidence": "low", + "vlm_evidence": "The mug is tilted over the saucepan and grains fall from it into the pan.", + "vlm_grounded": false, "vlm_object_candidates": [ { - "evidence": "rolled pink shorts being adjusted by hands", - "label": "shorts", + "evidence": "The mug is holding and pouring the grains.", + "label": "mug", + "role": "container", + "track": true + }, + { + "evidence": "Grains are visibly poured from the mug.", + "label": "grains", "role": "workpiece", "track": true }, { - "evidence": "person's hands adjusting the shorts", - "label": "hands", - "role": "tool", + "evidence": "Grains are poured into the saucepan.", + "label": "saucepan", + "role": "destination", "track": true }, { - "evidence": "patterned blanket under the shorts", - "label": "blanket", - "role": "fixture", + "evidence": "Hands are holding the mug during the pouring action.", + "label": "hands", + "role": "tool", "track": false } ] }, - "label": "Adjust rolled shorts on blanket", + "label": "pour grains into saucepan", "narration_uncertain": false, "objects": [ - "shorts" + "grains" ], - "start_timestamp": 17.0 + "start_timestamp": 12.0 }, { "actors": [ "both_hands" ], - "end_timestamp": 23.667, + "end_timestamp": 22.933, "extensions": { "actor_source": "contact", "object_source": "vlm", "span_source": "vlm", "vlm_confidence": "low", - "vlm_evidence": "Hands release the folded shorts, leaving them on the blanket.", + "vlm_evidence": "The emptied mug is lowered and set down on the table.", "vlm_grounded": false, "vlm_object_candidates": [ { - "evidence": "folded pink shorts resting on the blanket", - "label": "shorts", - "role": "workpiece", + "evidence": "The mug is holding and pouring the grains.", + "label": "mug", + "role": "container", "track": true }, { - "evidence": "hands moving away from the shorts", - "label": "hands", - "role": "tool", + "evidence": "Grains are visibly poured from the mug.", + "label": "grains", + "role": "workpiece", "track": true }, { - "evidence": "patterned blanket where shorts are placed", - "label": "blanket", + "evidence": "Grains are poured into the saucepan.", + "label": "saucepan", "role": "destination", + "track": true + }, + { + "evidence": "Hands are holding the mug during the pouring action.", + "label": "hands", + "role": "tool", "track": false } ] }, - "label": "Place shorts on blanket", + "label": "place mug on table", "narration_uncertain": false, "objects": [ - "shorts" + "grains" ], - "start_timestamp": 21.5 + "start_timestamp": 17.0 } ], "annotation_metadata": { @@ -219,9 +261,8 @@ "mask_box_pad": 0.1, "model": "hamer_mano21", "rescale_factor": 2.0, - "source_camera_world_pose_sha256": "028ded316fdcfffb927f4054305b4fb9eb0e92304580a209d5a0a637e2fbcf7c", - "source_hand_mask_sha256": "ff6282d8e7c09df8", - "source_mediapipe_sha256": "c8d13cd39f8e2b13dd5471b2f30c718eb1d04da33a93a029dd54ea6de59abf63" + "source_hand_mask_sha256": "2d3ed7ea697647674169fd1b5321fe57bb2603b25c872f47bfbaef59a79837c5", + "source_mediapipe_sha256": "1db06b8004eef0399b9d6ef31658e61a68b3e7a87d29603d3ad87e91d19de283" }, "producer_version": "0.6.0" }, @@ -230,7 +271,7 @@ "apply_oversize_flag": true, "chunk_size": 60, "hand_seed_source": "agent_mask_tracker", - "hand_tracker_seed": "dd0751f827ef05cc", + "hand_tracker_seed": "7b57bc0de811cfef", "max_frames": null, "model": "facebook/sam3", "n_obj_slots": 2, @@ -256,7 +297,7 @@ "roi_box_pad": 0.1, "roi_seed": "sam3_hand_mask", "running_mode": "video", - "source_hand_mask_sha256": "d07198f904653088b2c72df74e652368e5c5ebb909e3a0c2decd0f2cc59ec1c5", + "source_hand_mask_sha256": "2d3ed7ea697647674169fd1b5321fe57bb2603b25c872f47bfbaef59a79837c5", "use_sam3_roi": true }, "producer_version": "0.4.0" @@ -266,15 +307,15 @@ "max_cloud_points": 4096, "model": "object_geometry_scaffold", "pose_source": "object_geometry_scaffold", - "source_camera_pose_sha256": "028ded316fdcfffb927f4054305b4fb9eb0e92304580a209d5a0a637e2fbcf7c", - "source_depth_sha256": "a3240ac8c9b527777873052d99b81a9411dad4a0402c946f0af77f2b97a2d014", - "source_object_mask_sha256": "cbba465a59164ae3c4c274369d1e3d5ea070e63327d7a343892a58c91b2f043c" + "source_camera_pose_sha256": "a14b5d4b57c00e3241885047db50776a24d366374524463ab506f10993ca4737", + "source_depth_sha256": "b3d32009754c8c92d1d2f0da175d656994bde3452eb2bc604108f3b4bb3bc99f", + "source_object_mask_sha256": "793bc43e6594ffd0fb8ec112231f50f9d4491348f506777f2945409d2a502e0e" }, "producer_version": "0.1.1" }, "object_segmentation": { "parameters": { - "agent_tracker_seed": "27939315a65eac9f", + "agent_tracker_seed": "f33201df2a3070a9", "apply_body_fabric_filter": true, "chunk_size": 60, "max_frames": null, @@ -294,7 +335,7 @@ "slot_selection": "agent_mask_tracker", "start_frame": 0, "stride": 1, - "task_id": "fold_laundry" + "task_id": "scoop_grain" }, "producer_version": "0.8.0" }, @@ -311,7 +352,7 @@ } }, "assembly": { - "assembled_at": "2026-07-31T08:33:17.458253+00:00", + "assembled_at": "2026-08-01T14:01:14.264524+00:00", "contact_source": "recomputed_from_disk", "from_disk": [ "hand_mask.npz", @@ -319,14 +360,14 @@ "whisper.json" ], "hand_depth_clip": { - "clip_near_reference_m": 0.2568, + "clip_near_reference_m": 0.2817, "depth_source": "record3d_lidar", - "n_components_evaluated": 2935, - "n_components_removed": 18, - "n_frames": 710, - "n_frames_touched": 15, - "n_frames_with_depth": 685, - "n_object_protected": 106, + "n_components_evaluated": 1343, + "n_components_removed": 4, + "n_frames": 688, + "n_frames_touched": 3, + "n_frames_with_depth": 528, + "n_object_protected": 0, "object_adjacency_gate": "on", "params": { "label_stride": 1, @@ -339,199 +380,77 @@ }, "removed": [ { - "n_measured": 66, - "plane_rms_m": 0.0018, - "ref_z_m": 0.2568, - "row": 25, - "separation_m": 0.2272, - "slot": 0, - "surface_offset_m": 0.002, - "z_med_m": 0.484 - }, - { - "n_measured": 1193, - "plane_rms_m": 0.0076, - "ref_z_m": 0.2568, - "row": 27, - "separation_m": 0.1685, - "slot": 0, - "surface_offset_m": 0.0174, - "z_med_m": 0.4253 - }, - { - "n_measured": 61, - "plane_rms_m": 0.0033, - "ref_z_m": 0.2568, - "row": 288, - "separation_m": 0.2302, + "n_measured": 35, + "plane_rms_m": 0.0012, + "ref_z_m": 0.2537, + "row": 110, + "separation_m": 0.2712, "slot": 1, - "surface_offset_m": 0.0051, - "z_med_m": 0.4871 - }, - { - "n_measured": 171, - "plane_rms_m": 0.003, - "ref_z_m": 0.2568, - "row": 290, - "separation_m": 0.2273, - "slot": 1, - "surface_offset_m": 0.0035, - "z_med_m": 0.4841 - }, - { - "n_measured": 3213, - "plane_rms_m": 0.0124, - "ref_z_m": 0.2568, - "row": 644, - "separation_m": 0.1538, - "slot": 0, - "surface_offset_m": 0.0198, - "z_med_m": 0.4106 - }, - { - "n_measured": 3349, - "plane_rms_m": 0.0071, - "ref_z_m": 0.2568, - "row": 645, - "separation_m": 0.1546, - "slot": 0, - "surface_offset_m": 0.0144, - "z_med_m": 0.4114 + "surface_offset_m": 0.0015, + "z_med_m": 0.5249 }, { - "n_measured": 2791, - "plane_rms_m": 0.0083, - "ref_z_m": 0.2568, - "row": 645, - "separation_m": 0.158, + "n_measured": 37, + "plane_rms_m": 0.0011, + "ref_z_m": 0.2537, + "row": 110, + "separation_m": 0.2441, "slot": 1, - "surface_offset_m": 0.0184, - "z_med_m": 0.4148 - }, - { - "n_measured": 3420, - "plane_rms_m": 0.0079, - "ref_z_m": 0.2568, - "row": 646, - "separation_m": 0.1509, - "slot": 0, - "surface_offset_m": 0.0138, - "z_med_m": 0.4077 + "surface_offset_m": 0.0008, + "z_med_m": 0.4978 }, { - "n_measured": 2597, - "plane_rms_m": 0.0086, - "ref_z_m": 0.2568, - "row": 646, - "separation_m": 0.1546, + "n_measured": 86, + "plane_rms_m": 0.0034, + "ref_z_m": 0.2576, + "row": 111, + "separation_m": 0.2766, "slot": 1, - "surface_offset_m": 0.0187, - "z_med_m": 0.4114 + "surface_offset_m": 0.0068, + "z_med_m": 0.5342 }, { - "n_measured": 3681, - "plane_rms_m": 0.0061, - "ref_z_m": 0.2568, - "row": 647, - "separation_m": 0.1504, + "n_measured": 406, + "plane_rms_m": 0.0043, + "ref_z_m": 0.2817, + "row": 633, + "separation_m": 0.2493, "slot": 0, - "surface_offset_m": 0.0124, - "z_med_m": 0.4072 - }, - { - "n_measured": 2499, - "plane_rms_m": 0.0078, - "ref_z_m": 0.2568, - "row": 647, - "separation_m": 0.1607, - "slot": 1, - "surface_offset_m": 0.0124, - "z_med_m": 0.4175 - }, - { - "n_measured": 2407, - "plane_rms_m": 0.0086, - "ref_z_m": 0.2568, - "row": 648, - "separation_m": 0.1609, - "slot": 1, - "surface_offset_m": 0.0135, - "z_med_m": 0.4177 - }, - { - "n_measured": 2371, - "plane_rms_m": 0.0073, - "ref_z_m": 0.2568, - "row": 649, - "separation_m": 0.1597, - "slot": 1, - "surface_offset_m": 0.0106, - "z_med_m": 0.4165 - }, - { - "n_measured": 2402, - "plane_rms_m": 0.0082, - "ref_z_m": 0.2568, - "row": 650, - "separation_m": 0.159, - "slot": 1, - "surface_offset_m": 0.0119, - "z_med_m": 0.4158 - }, - { - "n_measured": 2443, - "plane_rms_m": 0.007, - "ref_z_m": 0.2568, - "row": 651, - "separation_m": 0.1558, - "slot": 1, - "surface_offset_m": 0.014, - "z_med_m": 0.4126 - }, - { - "n_measured": 2540, - "plane_rms_m": 0.0072, - "ref_z_m": 0.2568, - "row": 652, - "separation_m": 0.1533, - "slot": 1, - "surface_offset_m": 0.0173, - "z_med_m": 0.4102 - }, - { - "n_measured": 2629, - "plane_rms_m": 0.008, - "ref_z_m": 0.2568, - "row": 653, - "separation_m": 0.1546, - "slot": 1, - "surface_offset_m": 0.0144, - "z_med_m": 0.4114 - }, - { - "n_measured": 2722, - "plane_rms_m": 0.0064, - "ref_z_m": 0.2568, - "row": 654, - "separation_m": 0.1509, - "slot": 1, - "surface_offset_m": 0.0137, - "z_med_m": 0.4077 + "surface_offset_m": 0.006, + "z_med_m": 0.531 } ], "status": "applied" }, "hand_identity_fix": { - "basis": "ensemble_lr_override", - "locked": true, - "n_frames_swapped": 710, - "preserved": true, - "status": "applied" + "basis": "mediapipe_crop_label", + "calibrated_slot0_label": "left", + "calibration": "seed_anchored_head", + "clip_majority_slot0_label": "left", + "evidence_ambiguity_frac": 0.9302, + "handedness_source": "sam3_slot", + "majority_agrees_with_seed": true, + "n_frames": 688, + "n_frames_disagreeing": 1, + "n_frames_evaluated": 48, + "n_frames_swapped": 0, + "n_runs_swapped": 0, + "params": { + "fps": 30.0, + "median_k": 5, + "min_assoc_margin": 0.25, + "min_conf": 0.7, + "min_kp_in_mask": 0.5, + "min_run_frames": 15 + }, + "reason": "only 48/688 frames (7%) cleared the association + confidence gates (need >= 30%) \u2014 too thin for a clip-wide identity claim", + "runs": [], + "status": "insufficient_evidence" }, "hand_mask_corrections": { "file": "hand_mask_corrections.npz", - "n_components_removed": 18, - "n_frames_swapped": 710, + "n_components_removed": 4, + "n_frames_swapped": 0, "path": "hand_mask_corrections.npz", "raw_channel": "hand_mask.npz:masks (byte-unchanged)", "version": "0.1.0" @@ -548,79 +467,100 @@ }, "quality_gates": { "all_passed": true, + "validated_at": "2026-08-10T13:31:08+00:00", "gates": [ { - "detail": "", "name": "json_schema", "passed": true, + "value": "ok", "threshold": "validates", - "value": "ok" + "detail": "" }, { - "detail": "presence-conditioned over the actor's active span [29..709] = 681/710 frames (raw all-frames = 53.10%)", "name": "frames_with_hands_pct", "passed": true, - "threshold": ">= 30% [class=GLOBAL]", - "value": 55.36 + "value": 100.0, + "threshold": ">= 5% [class=sweep]", + "detail": "presence-conditioned over the actor's active span [106..633] = 528/688 frames (raw all-frames = 76.74%); shipped channel = raw \u2295 hand_mask_corrections" }, { - "detail": "silent or near-silent", "name": "audio_snr_db", "passed": true, + "value": null, "threshold": ">= 5 dB", - "value": null + "detail": "silent or near-silent" }, { - "detail": "silent clip", "name": "transcript_density", "passed": true, + "value": 0.0, "threshold": ">= 0.5 wps", - "value": 0.0 + "detail": "silent clip" }, { - "detail": "", "name": "hand_mask_coverage_pct", "passed": true, + "value": 2.947, "threshold": ">= 1%", - "value": 5.177 + "detail": "" }, { - "detail": "", "name": "phase_plan_windowing", "passed": true, + "value": "not_requested", "threshold": "phase plan absent \u2014 skipped", - "value": "not_requested" + "detail": "" }, { - "detail": "", "name": "object_mask_coverage_pct", "passed": true, - "threshold": ">= 1% (per present object) [class=GLOBAL]", - "value": 21.394 + "value": 4.331, + "threshold": ">= 0.5% (per present object) [class=sweep]", + "detail": "" }, { - "detail": "", "name": "hand_mask_area_floor_left", "passed": true, + "value": 3.8274, "threshold": ">= 0.20% (median, per hand)", - "value": 5.0387 + "detail": "" }, { - "detail": "", "name": "hand_mask_area_floor_right", "passed": true, + "value": 3.9268, "threshold": ">= 0.20% (median, per hand)", - "value": 5.8725 + "detail": "" }, { - "detail": "", "name": "hand_mask_lr_asymmetry", "passed": true, + "value": 0.9747, "threshold": "min/max >= 0.20", - "value": 0.858 + "detail": "" + }, + { + "name": "hand_slot_merge", + "passed": true, + "value": 0, + "threshold": "< 5 consecutive frames with L\u2229R IoU > 0.5", + "detail": "" + }, + { + "name": "object_track_truncated", + "passed": true, + "value": 0, + "threshold": "no tracked object ends while a hand still holds it", + "detail": "" + }, + { + "name": "actor_mirror_consistency", + "passed": true, + "value": 0, + "threshold": "every hierarchy span's actor_kind == its action's actors[0]", + "detail": "" } - ], - "validated_at": "2026-07-31T08:33:26+00:00" + ] } }, "manually_annotated_fields": [], @@ -632,23 +572,23 @@ }, "pipeline_version": "0.2.0", "qa_reviewer_id": "[redacted]", - "qa_score": 4, + "qa_score": 5, "source_experiment": "v0pipeline" }, - "audio_path": "019fb6db-ff4d-7f00-a9ae-58c76698a120.wav", + "audio_path": "019fbc13-d77f-70c1-b142-4b07a7df35f6.wav", "camera_calibration": { "ego": { "fps": 30.0, "intrinsics": [ [ - 1473.2802734375, + 1472.691162109375, 0.0, - 703.8724975585938 + 965.5082397460938 ], [ 0.0, - 1473.2802734375, - 970.4024047851562 + 1472.691162109375, + 742.8125 ], [ 0.0, @@ -658,20 +598,20 @@ ], "intrinsics_path": null, "resolution": [ - 1440, - 1920 + 1920, + 1440 ] }, "overhead": null }, "camera_rig_id": "rig_manila_iphone12pro_chest", - "date_collected": "2026-07-31", - "duration_seconds": 23.666666666666668, + "date_collected": "2026-08-01", + "duration_seconds": 22.933333333333334, "environment_id": "home_table_pretrip", - "episode_id": "EM1-D2-E03", + "episode_id": "EM1-D3-E01", "extensions": { "camera_world_pose": { - "n_frames": 710, + "n_frames": 688, "path": "camera_pose.npz", "pose_source": "arkit", "tracking_conf_mean": 1.0 @@ -679,11 +619,11 @@ "depth": { "confidence_levels": "0=low,1=medium,2=high", "depth_resolution": [ - 256, - 192 + 192, + 256 ], "depth_source": "record3d_lidar", - "n_frames": 710, + "n_frames": 688, "path": "depth.npz" }, "hand_object_contact": { @@ -696,21 +636,21 @@ "debounce_fps": 30.0, "threshold_validated": true, "threshold_note": "LID3D-17 A4: per_hand_contact = DEBOUNCED (mask-ADJACENCY gate AND (nearest joint depth-measured ? proximity<=contact_dist_m : trust adjacency)). VALIDATED on two hand-labeled holdouts \u2014 A4 hits F1 0.92-0.96 vs 0.31-0.68 for the old overlap-gated proximity (the overlap gate vetoed 57-82% of real ego contact: a grasping hand is IN FRONT of the object so the masks abut without sharing pixels). contact_dist_m (3cm) is consulted only for the ~9% of depth-MEASURED fingertips; an occluded tip trusts the mask adjacency. Dossier: research/2026-06-25_hand_object_contact_sota.md.", - "detected_object": "pink cloth", + "detected_object": "mug", "object_ids": [ "1" ], "n_objects": 1, "direct_contact_shape": [ - 710, + 688, 2, 1 ], "scene_union_reduction": "any(per_hand_object_contact, axis=2)", - "n_frames": 710, - "n_frames_in_contact": 617, - "n_contacts_from_measured_joint": 1205, - "n_contacts_from_prior_filled_joint": 22, + "n_frames": 688, + "n_frames_in_contact": 488, + "n_contacts_from_measured_joint": 636, + "n_contacts_from_prior_filled_joint": 0, "contact_provenance_note": "per-hand 'contact_from_measured_joint' marks whether the joint that drove the contact was depth-MEASURED (depth_fill==0) vs a bone-length/temporal PRIOR-extrapolated point. Spec \u00a79.9: only ~65% of fingertips are depth-valid, so a prior-filled-joint contact is NOT a measurement (rule #7) \u2014 branch on this flag, don't trust the bool alone.", "debounce": { "version": "1.1", @@ -729,10 +669,10 @@ "note": "P4-C2 median pre-filter (NOT EMA) \u2192 P4-C3 Schmitt hysteresis (HOLD in the [on,off] dead-band) \u2192 P4-C4 asymmetric min-dwell (short assert / longer release) \u2192 P4-C5 4-state grasp FSM (edge-triggered, one onset + one release per grasp). A NaN distance never ASSERTS a contact (a depth dropout cannot fabricate a grasp) and \u2014 nan_policy=freeze_hold, CONTACT-OCC-2 \u2014 never RELEASES one: a NaN frame holds the committed state and freezes the pending dwell, so only MEASURED open evidence releases a grasp (occlusion of any length bridges; the OCC-1 validity flag marks those frames not-measurable). A 2D-gate block is enforced separately + harder upstream (contact_3d post-debounce override forces every blocked frame open).", "gate_2d_metric": "mask_adjacency", "adjacency_dilate_px": 16, - "gate_2d_frames_evaluated": 1283, - "gate_2d_frames_blocked": 81, + "gate_2d_frames_evaluated": 1048, + "gate_2d_frames_blocked": 404, "gate_2d_available": true, - "far_release_frames": 88, + "far_release_frames": 268, "far_release_confirm_s": 0.25, "tail_release": { "rule": "a freeze that reaches the last frame with the hand absent to the end (never returns) and the object still tracked is closed at the last hand-present frame \u2014 an unresolved freeze is not a bridge. Mid-clip occlusion is untouched (CONTACT-OCC-2).", @@ -743,10 +683,11 @@ }, "grasp_onsets": { "left": [ - 46 + 137, + 534 ], "right": [ - 48 + 137 ] } }, @@ -1093,7 +1034,7 @@ { "frame": 26, "left_in_contact": false, - "left_min_dist_m": 0.23595, + "left_min_dist_m": null, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_contact_from_measured_joint": false, @@ -1119,7 +1060,7 @@ { "frame": 28, "left_in_contact": false, - "left_min_dist_m": 0.14057, + "left_min_dist_m": null, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_contact_from_measured_joint": false, @@ -1132,12 +1073,12 @@ { "frame": 29, "left_in_contact": false, - "left_min_dist_m": 0.13898, + "left_min_dist_m": null, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_contact_from_measured_joint": false, "right_in_contact": false, - "right_min_dist_m": 0.06195, + "right_min_dist_m": null, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_contact_from_measured_joint": false @@ -1145,12 +1086,12 @@ { "frame": 30, "left_in_contact": false, - "left_min_dist_m": 0.11103, + "left_min_dist_m": null, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_contact_from_measured_joint": false, "right_in_contact": false, - "right_min_dist_m": 0.20449, + "right_min_dist_m": null, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_contact_from_measured_joint": false @@ -1158,12 +1099,12 @@ { "frame": 31, "left_in_contact": false, - "left_min_dist_m": 0.09314, + "left_min_dist_m": null, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_contact_from_measured_joint": false, "right_in_contact": false, - "right_min_dist_m": 0.20869, + "right_min_dist_m": null, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_contact_from_measured_joint": false @@ -1171,12 +1112,12 @@ { "frame": 32, "left_in_contact": false, - "left_min_dist_m": 0.09128, - "left_contact_strength": 0.5, + "left_min_dist_m": null, + "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_contact_from_measured_joint": false, "right_in_contact": false, - "right_min_dist_m": 0.19692, + "right_min_dist_m": null, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_contact_from_measured_joint": false @@ -1184,12 +1125,12 @@ { "frame": 33, "left_in_contact": false, - "left_min_dist_m": 0.06679, - "left_contact_strength": 0.5, + "left_min_dist_m": null, + "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_contact_from_measured_joint": false, "right_in_contact": false, - "right_min_dist_m": 0.11355, + "right_min_dist_m": null, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_contact_from_measured_joint": false @@ -1197,12 +1138,12 @@ { "frame": 34, "left_in_contact": false, - "left_min_dist_m": 0.03989, - "left_contact_strength": 0.5, + "left_min_dist_m": null, + "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_contact_from_measured_joint": false, "right_in_contact": false, - "right_min_dist_m": 0.14173, + "right_min_dist_m": null, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_contact_from_measured_joint": false @@ -1210,8390 +1151,8104 @@ { "frame": 35, "left_in_contact": false, - "left_min_dist_m": 0.04716, - "left_contact_strength": 1.0, + "left_min_dist_m": null, + "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_contact_from_measured_joint": false, "right_in_contact": false, - "right_min_dist_m": 0.08946, - "right_contact_strength": 0.5, + "right_min_dist_m": null, + "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_contact_from_measured_joint": false }, { "frame": 36, "left_in_contact": false, - "left_min_dist_m": 0.05952, - "left_contact_strength": 1.0, + "left_min_dist_m": null, + "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_contact_from_measured_joint": false, "right_in_contact": false, - "right_min_dist_m": 0.14636, - "right_contact_strength": 0.5, + "right_min_dist_m": null, + "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_contact_from_measured_joint": false }, { "frame": 37, "left_in_contact": false, - "left_min_dist_m": 0.03337, - "left_contact_strength": 1.0, + "left_min_dist_m": null, + "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_contact_from_measured_joint": false, "right_in_contact": false, - 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"frame": 679, + "frame": 657, "left_in_contact": false, - "left_min_dist_m": 0.30211, + "left_min_dist_m": null, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_contact_from_measured_joint": false, "right_in_contact": false, - "right_min_dist_m": 0.22588, + "right_min_dist_m": null, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_contact_from_measured_joint": false }, { - "frame": 680, + "frame": 658, "left_in_contact": false, "left_min_dist_m": null, "left_contact_strength": 0.0, @@ -9606,7 +9261,7 @@ "right_contact_from_measured_joint": false }, { - "frame": 681, + "frame": 659, "left_in_contact": false, "left_min_dist_m": null, "left_contact_strength": 0.0, @@ -9619,7 +9274,7 @@ "right_contact_from_measured_joint": false }, { - "frame": 682, + "frame": 660, "left_in_contact": false, "left_min_dist_m": null, "left_contact_strength": 0.0, @@ -9632,7 +9287,7 @@ "right_contact_from_measured_joint": false }, { - "frame": 683, + "frame": 661, "left_in_contact": false, "left_min_dist_m": null, "left_contact_strength": 0.0, @@ -9645,7 +9300,7 @@ "right_contact_from_measured_joint": false }, { - "frame": 684, + "frame": 662, "left_in_contact": false, "left_min_dist_m": null, "left_contact_strength": 0.0, @@ -9658,7 +9313,7 @@ "right_contact_from_measured_joint": false }, { - "frame": 685, + "frame": 663, "left_in_contact": false, "left_min_dist_m": null, "left_contact_strength": 0.0, @@ -9671,7 +9326,7 @@ "right_contact_from_measured_joint": false }, { - "frame": 686, + "frame": 664, "left_in_contact": false, "left_min_dist_m": null, "left_contact_strength": 0.0, @@ -9684,7 +9339,7 @@ "right_contact_from_measured_joint": false }, { - "frame": 687, + "frame": 665, "left_in_contact": false, "left_min_dist_m": null, "left_contact_strength": 0.0, @@ -9697,7 +9352,7 @@ "right_contact_from_measured_joint": false }, { - "frame": 688, + "frame": 666, "left_in_contact": false, "left_min_dist_m": null, "left_contact_strength": 0.0, @@ -9710,7 +9365,7 @@ "right_contact_from_measured_joint": false }, { - "frame": 689, + "frame": 667, "left_in_contact": false, "left_min_dist_m": null, "left_contact_strength": 0.0, @@ -9723,7 +9378,7 @@ "right_contact_from_measured_joint": false }, { - "frame": 690, + "frame": 668, "left_in_contact": false, "left_min_dist_m": null, "left_contact_strength": 0.0, @@ -9736,7 +9391,7 @@ "right_contact_from_measured_joint": false }, { - "frame": 691, + "frame": 669, "left_in_contact": false, "left_min_dist_m": null, "left_contact_strength": 0.0, @@ -9749,7 +9404,7 @@ "right_contact_from_measured_joint": false }, { - "frame": 692, + "frame": 670, "left_in_contact": false, "left_min_dist_m": null, "left_contact_strength": 0.0, @@ -9762,7 +9417,7 @@ "right_contact_from_measured_joint": false }, { - "frame": 693, + "frame": 671, "left_in_contact": false, "left_min_dist_m": null, "left_contact_strength": 0.0, @@ -9775,7 +9430,7 @@ "right_contact_from_measured_joint": false }, { - "frame": 694, + "frame": 672, "left_in_contact": false, "left_min_dist_m": null, "left_contact_strength": 0.0, @@ -9788,7 +9443,7 @@ "right_contact_from_measured_joint": false }, { - "frame": 695, + "frame": 673, "left_in_contact": false, "left_min_dist_m": null, "left_contact_strength": 0.0, @@ -9801,7 +9456,7 @@ "right_contact_from_measured_joint": false }, { - "frame": 696, + "frame": 674, "left_in_contact": false, "left_min_dist_m": null, "left_contact_strength": 0.0, @@ -9814,7 +9469,7 @@ "right_contact_from_measured_joint": false }, { - "frame": 697, + "frame": 675, "left_in_contact": false, "left_min_dist_m": null, "left_contact_strength": 0.0, @@ -9827,7 +9482,7 @@ "right_contact_from_measured_joint": false }, { - "frame": 698, + "frame": 676, "left_in_contact": false, "left_min_dist_m": null, "left_contact_strength": 0.0, @@ -9840,7 +9495,7 @@ "right_contact_from_measured_joint": false }, { - "frame": 699, + "frame": 677, "left_in_contact": false, "left_min_dist_m": null, "left_contact_strength": 0.0, @@ -9853,7 +9508,7 @@ "right_contact_from_measured_joint": false }, { - "frame": 700, + "frame": 678, "left_in_contact": false, "left_min_dist_m": null, "left_contact_strength": 0.0, @@ -9866,7 +9521,7 @@ "right_contact_from_measured_joint": false }, { - "frame": 701, + "frame": 679, "left_in_contact": false, "left_min_dist_m": null, "left_contact_strength": 0.0, @@ -9879,7 +9534,7 @@ "right_contact_from_measured_joint": false }, { - "frame": 702, + "frame": 680, "left_in_contact": false, "left_min_dist_m": null, "left_contact_strength": 0.0, @@ -9892,7 +9547,7 @@ "right_contact_from_measured_joint": false }, { - "frame": 703, + "frame": 681, "left_in_contact": false, "left_min_dist_m": null, "left_contact_strength": 0.0, @@ -9905,7 +9560,7 @@ "right_contact_from_measured_joint": false }, { - "frame": 704, + "frame": 682, "left_in_contact": false, "left_min_dist_m": null, "left_contact_strength": 0.0, @@ -9918,7 +9573,7 @@ "right_contact_from_measured_joint": false }, { - "frame": 705, + "frame": 683, "left_in_contact": false, "left_min_dist_m": null, "left_contact_strength": 0.0, @@ -9931,7 +9586,7 @@ "right_contact_from_measured_joint": false }, { - "frame": 706, + "frame": 684, "left_in_contact": false, "left_min_dist_m": null, "left_contact_strength": 0.0, @@ -9944,7 +9599,7 @@ "right_contact_from_measured_joint": false }, { - "frame": 707, + "frame": 685, "left_in_contact": false, "left_min_dist_m": null, "left_contact_strength": 0.0, @@ -9957,7 +9612,7 @@ "right_contact_from_measured_joint": false }, { - "frame": 708, + "frame": 686, "left_in_contact": false, "left_min_dist_m": null, "left_contact_strength": 0.0, @@ -9970,7 +9625,7 @@ "right_contact_from_measured_joint": false }, { - "frame": 709, + "frame": 687, "left_in_contact": false, "left_min_dist_m": null, "left_contact_strength": 0.0, @@ -9990,51 +9645,51 @@ { "primitive_index": 0, "start_timestamp": 0.0, - "end_timestamp": 1.5, + "end_timestamp": 5.5, "on_which_hand": "none", "on_which_hand_adjacency": "both", - "in_contact_object": "pink cloth" + "in_contact_object": "mug" }, { "primitive_index": 1, - "start_timestamp": 1.5, - "end_timestamp": 9.5, + "start_timestamp": 5.5, + "end_timestamp": 9.0, "on_which_hand": "none", "on_which_hand_adjacency": "both", - "in_contact_object": "pink cloth" + "in_contact_object": "mug" }, { "primitive_index": 2, - "start_timestamp": 9.5, - "end_timestamp": 17.0, + "start_timestamp": 9.0, + "end_timestamp": 12.0, "on_which_hand": "none", - "on_which_hand_adjacency": "both", - "in_contact_object": "pink cloth" + "on_which_hand_adjacency": "right", + "in_contact_object": "mug" }, { "primitive_index": 3, - "start_timestamp": 17.0, - "end_timestamp": 21.5, + "start_timestamp": 12.0, + "end_timestamp": 17.0, "on_which_hand": "none", - "on_which_hand_adjacency": "both", - "in_contact_object": "pink cloth" + "on_which_hand_adjacency": "right", + "in_contact_object": "mug" }, { "primitive_index": 4, - "start_timestamp": 21.5, - "end_timestamp": 23.667, + "start_timestamp": 17.0, + "end_timestamp": 22.933, "on_which_hand": "none", - "on_which_hand_adjacency": "none", - "in_contact_object": null + "on_which_hand_adjacency": "both", + "in_contact_object": "mug" } ], "objects": [ { "object_id": "1", - "n_present_frames": 680, - "n_frames_scored": 680, + "n_present_frames": 688, + "n_frames_scored": 688, "n_frames_in_contact": 0, - "n_frames_adjacent": 592, + "n_frames_adjacent": 491, "per_frame": [ { "frame": 0, @@ -10346,838 +10001,838 @@ "frame": 34, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, + "left_adjacent": false, "right_adjacent": false, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "inconclusive" }, { "frame": 35, "left_in_contact": false, "right_in_contact": false, - 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"left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 116, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 117, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 118, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 119, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 120, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 121, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 122, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 123, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 124, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 125, "left_in_contact": false, "right_in_contact": false, "left_adjacent": true, - "right_adjacent": true, + "right_adjacent": false, "left_escape": "none", - "right_escape": "none" + "right_escape": "inconclusive" }, { "frame": 126, "left_in_contact": false, "right_in_contact": false, "left_adjacent": true, - "right_adjacent": true, + "right_adjacent": false, "left_escape": "none", - "right_escape": "none" + "right_escape": "inconclusive" }, { "frame": 127, @@ -11229,9 +10884,9 @@ "left_in_contact": false, "right_in_contact": false, "left_adjacent": true, - "right_adjacent": false, + "right_adjacent": true, "left_escape": "none", - "right_escape": "inconclusive" + "right_escape": "none" }, { "frame": 133, @@ -11282,36 +10937,36 @@ "frame": 138, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": false, + "left_adjacent": true, "right_adjacent": true, - "left_escape": "inconclusive", + "left_escape": "none", "right_escape": "none" }, { "frame": 139, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": false, + "left_adjacent": true, "right_adjacent": true, - "left_escape": "inconclusive", + "left_escape": "none", "right_escape": "none" }, { "frame": 140, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": false, + "left_adjacent": true, "right_adjacent": true, - "left_escape": "inconclusive", + "left_escape": "none", "right_escape": "none" }, { "frame": 141, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": false, + "left_adjacent": true, "right_adjacent": true, - "left_escape": "inconclusive", + "left_escape": "none", "right_escape": "none" }, { @@ -11327,81 +10982,81 @@ "frame": 143, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": false, + "left_adjacent": true, "right_adjacent": true, - "left_escape": "inconclusive", + "left_escape": "none", "right_escape": "none" }, { "frame": 144, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": false, + "left_adjacent": true, "right_adjacent": true, - "left_escape": "inconclusive", + "left_escape": "none", "right_escape": "none" }, { "frame": 145, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": false, + "left_adjacent": true, "right_adjacent": true, - "left_escape": "inconclusive", + "left_escape": "none", "right_escape": "none" }, { "frame": 146, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": false, + "left_adjacent": true, "right_adjacent": true, - "left_escape": "inconclusive", + "left_escape": "none", "right_escape": "none" }, { "frame": 147, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": false, + "left_adjacent": true, "right_adjacent": true, - "left_escape": "inconclusive", + "left_escape": "none", "right_escape": "none" }, { "frame": 148, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": false, + "left_adjacent": true, "right_adjacent": true, - "left_escape": "inconclusive", + "left_escape": "none", "right_escape": "none" }, { "frame": 149, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": false, + "left_adjacent": true, "right_adjacent": true, - "left_escape": "inconclusive", + "left_escape": "none", "right_escape": "none" }, { "frame": 150, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": false, + "left_adjacent": true, "right_adjacent": true, - "left_escape": "inconclusive", + "left_escape": "none", "right_escape": "none" }, { "frame": 151, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": false, + "left_adjacent": true, "right_adjacent": true, - "left_escape": "inconclusive", + "left_escape": "none", "right_escape": "none" }, { @@ -11588,36 +11243,36 @@ "frame": 172, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, + "left_adjacent": false, "right_adjacent": true, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "none" }, { "frame": 173, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, + "left_adjacent": false, "right_adjacent": true, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "none" }, { "frame": 174, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, + "left_adjacent": false, "right_adjacent": true, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "none" }, { "frame": 175, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, + "left_adjacent": false, "right_adjacent": true, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "none" }, { @@ -11687,9 +11342,9 @@ "frame": 183, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, + "left_adjacent": false, "right_adjacent": true, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "none" }, { @@ -11705,279 +11360,279 @@ "frame": 185, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, + "left_adjacent": false, "right_adjacent": true, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "none" }, { "frame": 186, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, + "left_adjacent": false, "right_adjacent": true, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "none" }, { "frame": 187, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, + "left_adjacent": false, "right_adjacent": true, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "none" }, { "frame": 188, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, + "left_adjacent": false, "right_adjacent": true, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "none" }, { "frame": 189, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, + "left_adjacent": false, "right_adjacent": true, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "none" }, { "frame": 190, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, + "left_adjacent": false, "right_adjacent": true, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "none" }, { "frame": 191, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, + "left_adjacent": false, "right_adjacent": true, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "none" }, { "frame": 192, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, + "left_adjacent": false, "right_adjacent": true, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "none" }, { "frame": 193, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, + "left_adjacent": false, "right_adjacent": true, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "none" }, { "frame": 194, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, + "left_adjacent": false, "right_adjacent": true, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "none" }, { "frame": 195, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, + "left_adjacent": false, "right_adjacent": true, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "none" }, { "frame": 196, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, + "left_adjacent": false, "right_adjacent": true, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "none" }, { "frame": 197, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, + "left_adjacent": false, "right_adjacent": true, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "none" }, { "frame": 198, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, + "left_adjacent": false, "right_adjacent": true, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "none" }, { "frame": 199, "left_in_contact": false, "right_in_contact": false, - 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"left_adjacent": true, + "left_adjacent": false, "right_adjacent": true, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "none" }, { "frame": 215, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, + "left_adjacent": false, "right_adjacent": true, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "none" }, { @@ -11993,486 +11648,486 @@ "frame": 217, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, + "left_adjacent": false, "right_adjacent": true, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "none" }, { "frame": 218, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, + "left_adjacent": false, "right_adjacent": true, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "none" }, { "frame": 219, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, + "left_adjacent": false, "right_adjacent": true, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "none" }, { "frame": 220, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, + "left_adjacent": false, "right_adjacent": true, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "none" }, { "frame": 221, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, + "left_adjacent": false, "right_adjacent": true, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "none" }, { "frame": 222, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, + "left_adjacent": false, "right_adjacent": true, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "none" }, { "frame": 223, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, + "left_adjacent": false, "right_adjacent": true, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "none" }, { "frame": 224, "left_in_contact": false, "right_in_contact": false, - 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"left_adjacent": true, + "left_adjacent": false, "right_adjacent": true, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "none" }, { "frame": 524, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, + "left_adjacent": false, "right_adjacent": true, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "none" }, { "frame": 525, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, + "left_adjacent": false, "right_adjacent": true, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "none" }, { @@ -15557,261 +15212,261 @@ "frame": 613, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 614, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 615, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 616, "left_in_contact": false, "right_in_contact": false, "left_adjacent": true, - "right_adjacent": true, + "right_adjacent": false, "left_escape": "none", - "right_escape": "none" + "right_escape": "inconclusive" }, { "frame": 617, "left_in_contact": false, "right_in_contact": false, "left_adjacent": true, - "right_adjacent": true, + "right_adjacent": false, "left_escape": "none", - "right_escape": "none" + "right_escape": "inconclusive" }, { "frame": 618, "left_in_contact": false, "right_in_contact": false, "left_adjacent": true, - "right_adjacent": true, + "right_adjacent": false, "left_escape": "none", - "right_escape": "none" + "right_escape": "inconclusive" }, { "frame": 619, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 620, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 621, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 622, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 623, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 624, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 625, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 626, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 627, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 628, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 629, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 630, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 631, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { - "frame": 632, - "left_in_contact": false, - "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "frame": 632, + "left_in_contact": false, + "right_in_contact": false, + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 633, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 634, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 635, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 636, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 637, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 638, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 639, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 640, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 641, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, + "left_adjacent": false, "right_adjacent": false, - "left_escape": "none", + "left_escape": "inconclusive", "right_escape": "inconclusive" }, { @@ -15819,18 +15474,18 @@ "left_in_contact": false, "right_in_contact": false, "left_adjacent": false, - "right_adjacent": true, + "right_adjacent": false, "left_escape": "inconclusive", - "right_escape": "none" + "right_escape": "inconclusive" }, { "frame": 643, "left_in_contact": false, "right_in_contact": false, - "left_adjacent": true, - "right_adjacent": true, - "left_escape": "none", - "right_escape": "none" + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" }, { "frame": 644, @@ -16155,48 +15810,120 @@ "right_adjacent": false, "left_escape": "inconclusive", "right_escape": "inconclusive" + }, + { + "frame": 680, + "left_in_contact": false, + "right_in_contact": false, + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" + }, + { + "frame": 681, + "left_in_contact": false, + "right_in_contact": false, + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" + }, + { + "frame": 682, + "left_in_contact": false, + "right_in_contact": false, + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" + }, + { + "frame": 683, + "left_in_contact": false, + "right_in_contact": false, + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" + }, + { + "frame": 684, + "left_in_contact": false, + "right_in_contact": false, + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" + }, + { + "frame": 685, + "left_in_contact": false, + "right_in_contact": false, + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" + }, + { + "frame": 686, + "left_in_contact": false, + "right_in_contact": false, + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" + }, + { + "frame": 687, + "left_in_contact": false, + "right_in_contact": false, + "left_adjacent": false, + "right_adjacent": false, + "left_escape": "inconclusive", + "right_escape": "inconclusive" } ], "per_primitive": [ { "primitive_index": 0, "start_timestamp": 0.0, - "end_timestamp": 1.5, + "end_timestamp": 5.5, "on_which_hand": "none", "on_which_hand_adjacency": "both", - "in_contact_object": "pink cloth" + "in_contact_object": "mug" }, { "primitive_index": 1, - "start_timestamp": 1.5, - "end_timestamp": 9.5, + "start_timestamp": 5.5, + "end_timestamp": 9.0, "on_which_hand": "none", "on_which_hand_adjacency": "both", - "in_contact_object": "pink cloth" + "in_contact_object": "mug" }, { "primitive_index": 2, - "start_timestamp": 9.5, - "end_timestamp": 17.0, + "start_timestamp": 9.0, + "end_timestamp": 12.0, "on_which_hand": "none", - "on_which_hand_adjacency": "both", - "in_contact_object": "pink cloth" + "on_which_hand_adjacency": "right", + "in_contact_object": "mug" }, { "primitive_index": 3, - "start_timestamp": 17.0, - "end_timestamp": 21.5, + "start_timestamp": 12.0, + "end_timestamp": 17.0, "on_which_hand": "none", - "on_which_hand_adjacency": "both", - "in_contact_object": "pink cloth" + "on_which_hand_adjacency": "right", + "in_contact_object": "mug" }, { "primitive_index": 4, - "start_timestamp": 21.5, - "end_timestamp": 23.667, + "start_timestamp": 17.0, + "end_timestamp": 22.933, "on_which_hand": "none", - "on_which_hand_adjacency": "none", - "in_contact_object": null + "on_which_hand_adjacency": "both", + "in_contact_object": "mug" } ] } @@ -16213,30 +15940,44 @@ "history": [ { "action": "submit", - "at": "2026-08-01T04:59:30.688317+00:00", + "at": "2026-08-02T08:53:37.285051+00:00", "by": "reviewer", "from": "draft", "to": "in_review" }, { "action": "approve", - "at": "2026-08-01T04:59:34.275532+00:00", + "at": "2026-08-02T08:53:39.414841+00:00", "by": "reviewer", "from": "in_review", - "qa_score": 4, + "qa_score": 5, "to": "approved" } ], - "qa_score": 4, + "qa_score": 5, "reviewer_id": "reviewer", "status": "approved", - "updated_at": "2026-08-01T04:59:34.275532+00:00" + "updated_at": "2026-08-02T08:53:39.414841+00:00" }, "reviewed_steps": [ "keysteps", + "spans", + "actions", + "masks", "verify" ], "verified_frames": { + "10000": true, + "10033": true, + "10067": true, + "10100": true, + "10133": true, + "10167": true, + "10200": true, + "10233": true, + "10267": true, + "10300": true, + "10333": true, "10367": true, "10400": true, "10433": true, @@ -16247,48 +15988,100 @@ "10600": true, "10633": true, "10667": true, - "10700": true, - "10733": true, - "10900": true, - "10933": true, - "10967": true, - "11100": true, - "11300": true, - "11333": true, + "11433": true, + "11467": true, + "11500": true, + "11533": true, "11567": true, + "11600": true, + "11633": true, + "11667": true, + "11700": true, + "11733": true, + "11767": true, + "11800": true, + "11833": true, + "11867": true, + "11900": true, + "11933": true, + "11967": true, + "12000": true, + "12033": true, + "12067": true, + "12100": true, + "12133": true, + "12167": true, + "12200": true, + "12233": true, + "12267": true, + "12300": true, + "12333": true, + "12367": true, + "12400": true, + "12433": true, + "12467": true, + "12500": true, "12533": true, + "12567": true, + "12600": true, + "12633": true, + "12667": true, + "12700": true, + "12733": true, + "12767": true, "12800": true, + "12833": true, + "12867": true, + "12900": true, + "12933": true, + "12967": true, + "13000": true, + "13033": true, + "13067": true, "13100": true, "13133": true, "13167": true, + "13200": true, + "13233": true, + "13267": true, + "13300": true, "13333": true, "13367": true, "13400": true, "13433": true, "13467": true, - "14367": true, - "14867": true, - "14900": true, - "14933": true, - "16033": true, - "16233": true, - "16267": true, - "16300": true, - "16333": true, - "16367": true, - "16400": true, - "16433": true, - "16467": true, + "13500": true, + "13533": true, + "13567": true, + "13600": true, + "13633": true, + "13667": true, + "13700": true, + "13733": true, + "13767": true, + "13800": true, + "13833": true, + "13867": true, + "13900": true, + "13933": true, + "14167": true, + "14200": true, + "14233": true, + "14267": true, + "14300": true, + "14500": true, + "14667": true, + "15200": true, + "15233": true, "16500": true, "16533": true, "16567": true, "16600": true, "16633": true, "16667": true, - "16700": true, - "16733": true, - "16767": true, - "16800": true, + "16833": true, + "16867": true, + "16900": true, "16933": true, "16967": true, "17000": true, @@ -16296,79 +16089,139 @@ "17067": true, "17100": true, "17133": true, - "17167": true, - "17200": true, - "17233": true, - "17267": true, - "17300": true, - "17333": true, - "17367": true, - "17400": true, - "17433": true, - "17467": true, - "17500": true, - "17533": true, - "17567": true, - "17600": true, - "17733": true, - "17767": true, - "17800": true, - "17833": true, - "17867": true, - "17900": true, - "17933": true, - "17967": true, - "21267": true, - "21400": true, - "21433": true, - "21467": true, - "21500": true, - "21533": true, - "21567": true, - "21600": true, - "21633": true, - "21667": true, - "21700": true, - "21733": true, - "21767": true, - "21800": true, - "21833": true, - "21867": true, - "21900": true, - "21933": true, - "21967": true, - "22000": true, - "22033": true, - "22067": true, - "22100": true, - "22133": true, - "22167": true, - "22200": true, - "22233": true, - "22267": true, - "22300": true, - "22333": true, - "22367": true, - "22400": true, - "22433": true, - "22467": true, - "22500": true, - "22533": true, - "22567": true, - "22600": true, - "22633": true, - "22667": true, - "3467": true, - "3500": true, - "3633": true, - "5667": true, + "20333": true, + "20367": true, + "20400": true, + "20433": true, + "20467": true, + "20500": true, + "4333": true, + "4367": true, + "4400": true, + "4433": true, + "4467": true, + "4500": true, + "4533": true, + "4567": true, + "4600": true, + "4633": true, + "4667": true, + "4700": true, + "4733": true, + "4767": true, + "4800": true, + "4833": true, + "4867": true, + "4900": true, + "4933": true, + "4967": true, + "5000": true, + "5033": true, + "5067": true, + "5100": true, + "5133": true, + "5167": true, + "5200": true, + "5233": true, + "5267": true, + "5300": true, + "5333": true, + "5567": true, "5700": true, "5733": true, "5767": true, "5800": true, + "5833": true, + "6067": true, + "6100": true, + "6133": true, + "6167": true, + "6200": true, + "6233": true, + "6267": true, + "6300": true, + "6333": true, + "6367": true, + "6400": true, + "6433": true, + "6467": true, + "6500": true, + "6533": true, + "6567": true, + "6600": true, + "6633": true, + "6667": true, + "6700": true, + "6733": true, + "6767": true, + "6800": true, + "7100": true, + "7133": true, + "7167": true, + "7200": true, + "7233": true, + "7267": true, + "7300": true, + "7333": true, + "7367": true, + "7400": true, + "7433": true, + "7467": true, + "7500": true, + "7533": true, + "7567": true, + "7600": true, + "7633": true, + "7667": true, + "7700": true, + "7733": true, + "7767": true, + "7800": true, + "7833": true, + "7867": true, "7900": true, "7933": true, - "7967": true + "7967": true, + "8000": true, + "8033": true, + "8067": true, + "8100": true, + "8267": true, + "8300": true, + "8333": true, + "8367": true, + "8400": true, + "8433": true, + "8467": true, + "8500": true, + "8533": true, + "8567": true, + "8600": true, + "8633": true, + "8667": true, + "8700": true, + "8733": true, + "8767": true, + "8800": true, + "8933": true, + "8967": true, + "9000": true, + "9033": true, + "9067": true, + "9100": true, + "9133": true, + "9167": true, + "9200": true, + "9233": true, + "9267": true, + "9400": true, + "9633": true, + "9800": true, + "9833": true, + "9867": true, + "9900": true, + "9933": true, + "9967": true } }, "task_hierarchy": { @@ -16378,32 +16231,50 @@ "grounding_checked": true, "nodes": [ { - "end_time": 1.5, + "end_time": 5.5, "is_essential": true, "keystep_ref": 0, - "label": "initial state", + "label": "pick up mug", "node_id": "e0", "spans": [ { "action_ref": 0, - "actor_kind": "both_hands", + "actor_kind": "right_hand", "confidence": "high", - "end_time": 1.5, - "evidence": "Pink striped shorts are visible lying on a patterned blanket.", + "end_time": 5.5, + "evidence": "Hands approach and grasp the mug, lifting it slightly from the table.", "grounded": true, - "label": "Observe shorts on blanket", - "object": "shorts", + "label": "pick up mug", + "object": "mug", "object_candidates": [ { - "evidence": "pink striped shorts visible on blanket", - "label": "shorts", + "evidence": "Hands grasp the mug and lift it.", + "label": "mug", "role": "workpiece", "track": true }, { - "evidence": "brown and white patterned blanket visible", - "label": "blanket", - "role": "fixture", + "evidence": "Hands are visible and moving to interact with the mug.", + "label": "hands", + "role": "tool", + "track": false + }, + { + "evidence": "Large bowl is stationary on the table.", + "label": "large bowl", + "role": "container", + "track": false + }, + { + "evidence": "Saucepan is stationary on the table.", + "label": "saucepan", + "role": "destination", + "track": false + }, + { + "evidence": "Grains are inside the large bowl.", + "label": "grains", + "role": "material", "track": false } ], @@ -16412,180 +16283,228 @@ } ], "start_time": 0.0, - "sub_goal": null + "sub_goal": "scoop_grain" }, { - "end_time": 21.5, + "end_time": 9.0, "is_essential": true, "keystep_ref": 1, - "label": "folding process", + "label": "move mug to bowl", "node_id": "e1", "spans": [ { "action_ref": 1, - "actor_kind": "both_hands", - "confidence": "low", - "end_time": 9.5, - "evidence": "Hands enter frame and begin to fold the shorts along their length.", - "grounded": false, - "label": "Fold shorts lengthwise", - "object": "shorts", + "actor_kind": "right_hand", + "confidence": "high", + "end_time": 9.0, + "evidence": "The mug is lifted from the table and moved over the large bowl containing grains.", + "grounded": true, + "label": "move mug to bowl", + "object": "mug", "object_candidates": [ { - "evidence": "pink shorts being folded lengthwise by hands", - "label": "shorts", + "evidence": "The mug is being moved by hands towards the large bowl.", + "label": "mug", "role": "workpiece", "track": true }, { - "evidence": "person's hands manipulating the shorts", + "evidence": "The mug is positioned over the large bowl for scooping.", + "label": "large bowl", + "role": "container", + "track": true + }, + { + "evidence": "Hands are holding and moving the mug.", "label": "hands", "role": "tool", - "track": true + "track": false }, { - "evidence": "patterned blanket under the shorts", - "label": "blanket", - "role": "fixture", + "evidence": "Grains are inside the large bowl.", + "label": "grains", + "role": "material", "track": false } ], "span_id": "s1", - "start_time": 1.5 - }, + "start_time": 5.5 + } + ], + "start_time": 5.5, + "sub_goal": "scoop_grain" + }, + { + "end_time": 12.0, + "is_essential": true, + "keystep_ref": 2, + "label": "scoop grains from bowl", + "node_id": "e2", + "spans": [ { "action_ref": 2, - "actor_kind": "both_hands", - "confidence": "high", - "end_time": 17.0, - "evidence": "Hands roll the folded shorts upwards from the bottom towards the waistband.", - "grounded": true, - "label": "Roll shorts from bottom to top", - "object": "shorts", + "actor_kind": "right_hand", + "confidence": "low", + "end_time": 12.0, + "evidence": "The mug is dipped into the large bowl, filled with grains, and then lifted.", + "grounded": false, + "label": "scoop grains from bowl", + "object": "grains", "object_candidates": [ { - "evidence": "pink shorts being rolled into a bundle", - "label": "shorts", + "evidence": "The mug is used to scoop the grains.", + "label": "mug", + "role": "tool", + "track": true + }, + { + "evidence": "Grains are visibly scooped into the mug.", + "label": "grains", "role": "workpiece", "track": true }, { - "evidence": "person's hands rolling the shorts", - "label": "hands", - "role": "tool", + "evidence": "Grains are scooped from this bowl.", + "label": "large bowl", + "role": "container", "track": true }, { - "evidence": "patterned blanket under the shorts", - "label": "blanket", - "role": "fixture", + "evidence": "Hands are holding the mug during the scooping action.", + "label": "hands", + "role": "tool", "track": false } ], "span_id": "s2", - "start_time": 9.5 - }, + "start_time": 9.0 + } + ], + "start_time": 9.0, + "sub_goal": "scoop_grain" + }, + { + "end_time": 17.0, + "is_essential": true, + "keystep_ref": 3, + "label": "pour grains into saucepan", + "node_id": "e3", + "spans": [ { "action_ref": 3, - "actor_kind": "both_hands", - "confidence": "high", - "end_time": 21.5, - "evidence": "Hands pat and adjust the shape of the neatly rolled shorts on the blanket.", - "grounded": true, - "label": "Adjust rolled shorts on blanket", - "object": "shorts", + "actor_kind": "right_hand", + "confidence": "low", + "end_time": 17.0, + "evidence": "The mug is tilted over the saucepan and grains fall from it into the pan.", + "grounded": false, + "label": "pour grains into saucepan", + "object": "grains", "object_candidates": [ { - "evidence": "rolled pink shorts being adjusted by hands", - "label": "shorts", + "evidence": "The mug is holding and pouring the grains.", + "label": "mug", + "role": "container", + "track": true + }, + { + "evidence": "Grains are visibly poured from the mug.", + "label": "grains", "role": "workpiece", "track": true }, { - "evidence": "person's hands adjusting the shorts", - "label": "hands", - "role": "tool", + "evidence": "Grains are poured into the saucepan.", + "label": "saucepan", + "role": "destination", "track": true }, { - "evidence": "patterned blanket under the shorts", - "label": "blanket", - "role": "fixture", + "evidence": "Hands are holding the mug during the pouring action.", + "label": "hands", + "role": "tool", "track": false } ], "span_id": "s3", - "start_time": 17.0 + "start_time": 12.0 } ], - "start_time": 1.5, - "sub_goal": null + "start_time": 12.0, + "sub_goal": "scoop_grain" }, { - "end_time": 23.667, + "end_time": 22.933, "is_essential": true, - "keystep_ref": 2, - "label": "final placement", - "node_id": "e2", + "keystep_ref": 4, + "label": "place mug on table", + "node_id": "e3_place", "spans": [ { "action_ref": 4, "actor_kind": "both_hands", "confidence": "low", - "end_time": 23.667, - "evidence": "Hands release the folded shorts, leaving them on the blanket.", + "end_time": 22.933, + "evidence": "The emptied mug is lowered and set down on the table.", "grounded": false, - "label": "Place shorts on blanket", - "object": "shorts", + "label": "place mug on table", + "object": "grains", "object_candidates": [ { - "evidence": "folded pink shorts resting on the blanket", - "label": "shorts", - "role": "workpiece", + "evidence": "The mug is holding and pouring the grains.", + "label": "mug", + "role": "container", "track": true }, { - "evidence": "hands moving away from the shorts", - "label": "hands", - "role": "tool", + "evidence": "Grains are visibly poured from the mug.", + "label": "grains", + "role": "workpiece", "track": true }, { - "evidence": "patterned blanket where shorts are placed", - "label": "blanket", + "evidence": "Grains are poured into the saucepan.", + "label": "saucepan", "role": "destination", + "track": true + }, + { + "evidence": "Hands are holding the mug during the pouring action.", + "label": "hands", + "role": "tool", "track": false } ], - "span_id": "s4", - "start_time": 21.5 + "span_id": "s3_place", + "start_time": 17.0 } ], - "start_time": 21.5, - "sub_goal": null + "start_time": 17.0, + "sub_goal": "scoop_grain" } ], "span_source": "vlm", - "task_goal": "fold_laundry", + "task_goal": "scoop_grain", "task_mismatch": false, "task_mismatch_reason": "", "tracking_mode_proposal": { "mode": "phase_plan_multi", "object_labels": [ - "shorts", - "hands" + "mug", + "large bowl", + "grains", + "saucepan" ], - "reason": "Multiple objects (shorts and hands) are actively involved in the manipulation and transformation process, requiring independent tracking for a complete understanding of the folding action." + "reason": "Multiple objects (mug, grains, large bowl, saucepan) are manipulated or interact significantly throughout the clip, requiring distinct tracking at different phases." }, "version": "0.1.0", - "vlm_goal": "fold_laundry", + "vlm_goal": "scoop_grain", "vlm_model": "gemini-2.5-flash" }, "visibility": { "hand_occlusion": { - "n_frames": 710, - "n_left_occluded": 3, - "n_right_occluded": 9, + "n_frames": 688, + "n_left_occluded": 6, + "n_right_occluded": 6, "note": "A hand-occluded frame means the hand mask is absent while the object is present and the hand is present nearby \u2014 MediaPipe keypoints there are low-trust (the flag GATES them; keypoints are not re-run).", "per_frame": [ { @@ -16701,17 +16620,17 @@ { "frame": 22, "left_occluded": false, - "right_occluded": true + "right_occluded": false }, { "frame": 23, "left_occluded": false, - "right_occluded": true + "right_occluded": false }, { "frame": 24, "left_occluded": false, - "right_occluded": true + "right_occluded": false }, { "frame": 25, @@ -16720,17 +16639,17 @@ }, { "frame": 26, - "left_occluded": true, + "left_occluded": false, "right_occluded": false }, { "frame": 27, - "left_occluded": true, + "left_occluded": false, "right_occluded": false }, { "frame": 28, - "left_occluded": true, + "left_occluded": false, "right_occluded": false }, { @@ -17105,17 +17024,17 @@ }, { "frame": 103, - "left_occluded": false, + "left_occluded": true, "right_occluded": false }, { "frame": 104, - "left_occluded": false, + "left_occluded": true, "right_occluded": false }, { "frame": 105, - "left_occluded": false, + "left_occluded": true, "right_occluded": false }, { @@ -17126,17 +17045,17 @@ { "frame": 107, "left_occluded": false, - "right_occluded": false + "right_occluded": true }, { "frame": 108, "left_occluded": false, - "right_occluded": false + "right_occluded": true }, { "frame": 109, "left_occluded": false, - "right_occluded": false + "right_occluded": true }, { "frame": 110, @@ -17996,17 +17915,17 @@ { "frame": 281, "left_occluded": false, - "right_occluded": true + "right_occluded": false }, { "frame": 282, "left_occluded": false, - "right_occluded": true + "right_occluded": false }, { "frame": 283, "left_occluded": false, - "right_occluded": true + "right_occluded": false }, { "frame": 284, @@ -18041,17 +17960,17 @@ { "frame": 290, "left_occluded": false, - "right_occluded": true + "right_occluded": false }, { "frame": 291, "left_occluded": false, - "right_occluded": true + "right_occluded": false }, { "frame": 292, "left_occluded": false, - "right_occluded": true + "right_occluded": false }, { "frame": 293, @@ -19741,17 +19660,17 @@ { "frame": 630, "left_occluded": false, - "right_occluded": false + "right_occluded": true }, { "frame": 631, "left_occluded": false, - "right_occluded": false + "right_occluded": true }, { "frame": 632, "left_occluded": false, - "right_occluded": false + "right_occluded": true }, { "frame": 633, @@ -19760,17 +19679,17 @@ }, { "frame": 634, - "left_occluded": false, + "left_occluded": true, "right_occluded": false }, { "frame": 635, - "left_occluded": false, + "left_occluded": true, "right_occluded": false }, { "frame": 636, - "left_occluded": false, + "left_occluded": true, "right_occluded": false }, { @@ -20027,116 +19946,6 @@ "frame": 687, "left_occluded": false, "right_occluded": false - }, - { - "frame": 688, - "left_occluded": false, - "right_occluded": false - }, - { - "frame": 689, - "left_occluded": false, - "right_occluded": false - }, - { - "frame": 690, - "left_occluded": false, - "right_occluded": false - }, - { - "frame": 691, - "left_occluded": false, - "right_occluded": false - }, - { - "frame": 692, - "left_occluded": false, - "right_occluded": false - }, - { - "frame": 693, - "left_occluded": false, - "right_occluded": false - }, - { - "frame": 694, - "left_occluded": false, - "right_occluded": false - }, - { - "frame": 695, - "left_occluded": false, - "right_occluded": false - }, - { - "frame": 696, - "left_occluded": false, - "right_occluded": false - }, - { - "frame": 697, - "left_occluded": false, - "right_occluded": false - }, - { - "frame": 698, - "left_occluded": false, - "right_occluded": false - }, - { - "frame": 699, - "left_occluded": false, - "right_occluded": false - }, - { - "frame": 700, - "left_occluded": false, - "right_occluded": false - }, - { - "frame": 701, - "left_occluded": false, - "right_occluded": false - }, - { - "frame": 702, - "left_occluded": false, - "right_occluded": false - }, - { - "frame": 703, - "left_occluded": false, - "right_occluded": false - }, - { - "frame": 704, - "left_occluded": false, - "right_occluded": false - }, - { - "frame": 705, - "left_occluded": false, - "right_occluded": false - }, - { - "frame": 706, - "left_occluded": false, - "right_occluded": false - }, - { - "frame": 707, - "left_occluded": false, - "right_occluded": false - }, - { - "frame": 708, - "left_occluded": false, - "right_occluded": false - }, - { - "frame": 709, - "left_occluded": false, - "right_occluded": false } ], "version": "0.2", @@ -20144,22 +19953,22 @@ }, "object": { "conf_threshold": 0.5, - "n_absent": 30, - "n_frames": 710, + "n_absent": 0, + "n_frames": 688, "n_low_conf": 0, "n_objects": 1, "n_occluded": 0, - "n_visible": 680, + "n_visible": 688, "object_ids": [ "1" ], "objects": [ { - "n_absent": 30, - "n_frames": 710, + "n_absent": 0, + "n_frames": 688, "n_low_conf": 0, "n_occluded": 0, - "n_visible": 680, + "n_visible": 688, "object_id": "1", "per_frame": [ { @@ -23563,154 +23372,44 @@ "state": "visible" }, { - "confidence": 0.0, + "confidence": 1.0, "frame": 680, - "state": "absent" + "state": "visible" }, { - "confidence": 0.0, + "confidence": 1.0, "frame": 681, - "state": "absent" + "state": "visible" }, { - "confidence": 0.0, + "confidence": 1.0, "frame": 682, - "state": "absent" + "state": "visible" }, { - "confidence": 0.0, + "confidence": 1.0, "frame": 683, - "state": "absent" + "state": "visible" }, { - "confidence": 0.0, + "confidence": 1.0, "frame": 684, - "state": "absent" + "state": "visible" }, { - "confidence": 0.0, + "confidence": 1.0, "frame": 685, - "state": "absent" + "state": "visible" }, { - "confidence": 0.0, + "confidence": 1.0, "frame": 686, - "state": "absent" + "state": "visible" }, { - "confidence": 0.0, + "confidence": 1.0, "frame": 687, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 688, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 689, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 690, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 691, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 692, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 693, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 694, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 695, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 696, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 697, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 698, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 699, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 700, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 701, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 702, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 703, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 704, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 705, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 706, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 707, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 708, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 709, - "state": "absent" + "state": "visible" } ] } @@ -27117,154 +26816,44 @@ "state": "visible" }, { - "confidence": 0.0, + "confidence": 1.0, "frame": 680, - "state": "absent" + "state": "visible" }, { - "confidence": 0.0, + "confidence": 1.0, "frame": 681, - "state": "absent" + "state": "visible" }, { - "confidence": 0.0, + "confidence": 1.0, "frame": 682, - "state": "absent" + "state": "visible" }, { - "confidence": 0.0, + "confidence": 1.0, "frame": 683, - "state": "absent" + "state": "visible" }, { - "confidence": 0.0, + "confidence": 1.0, "frame": 684, - "state": "absent" + "state": "visible" }, { - "confidence": 0.0, + "confidence": 1.0, "frame": 685, - "state": "absent" + "state": "visible" }, { - "confidence": 0.0, + "confidence": 1.0, "frame": 686, - "state": "absent" + "state": "visible" }, { - "confidence": 0.0, + "confidence": 1.0, "frame": 687, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 688, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 689, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 690, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 691, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 692, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 693, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 694, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 695, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 696, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 697, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 698, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 699, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 700, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 701, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 702, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 703, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 704, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 705, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 706, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 707, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 708, - "state": "absent" - }, - { - "confidence": 0.0, - "frame": 709, - "state": "absent" + "state": "visible" } ], "scene_level_union": true, @@ -27281,14 +26870,14 @@ "frame_rate": null, "has_mano_params": true, "joints_per_hand": 21, - "n_frames": 710, + "n_frames": 688, "source": "hamer", - "world_frame_available": true + "world_frame_available": false }, "hand_pose_path": "hamer.npz", "hand_segmentation": { "frame_rate": null, - "n_frames": 710, + "n_frames": 688, "n_objects": 2, "obj_id_to_handedness": { "0": "left", @@ -27301,57 +26890,79 @@ "keysteps": [ { "best_view": "ego", - "end_time": 1.5, + "end_time": 5.5, "is_essential": true, "keystep_timing_source": "human", "start_time": 0.0, - "step_description": "initial state", + "step_description": "pick up mug", "step_id": 0, - "step_name": "initial state", - "step_unique_id": 182610860092609 + "step_name": "pick up mug", + "step_unique_id": 1707819040944 }, { "best_view": "ego", - "end_time": 21.5, + "end_time": 9.0, "is_essential": true, "keystep_timing_source": "human", - "start_time": 1.5, - "step_description": "folding process", + "start_time": 5.5, + "step_description": "move mug to bowl", "step_id": 1, - "step_name": "folding process", - "step_unique_id": 157384700407933 + "step_name": "move mug to bowl", + "step_unique_id": 158875115121430 }, { "best_view": "ego", - "end_time": 23.667, + "end_time": 12.0, "is_essential": true, "keystep_timing_source": "human", - "start_time": 21.543439030678012, - "step_description": "final placement", + "start_time": 9.0, + "step_description": "scoop grains from bowl", "step_id": 2, - "step_name": "final placement", - "step_unique_id": 44695455961215 + "step_name": "scoop grains from bowl", + "step_unique_id": 72309624965473 + }, + { + "best_view": "ego", + "end_time": 17.0, + "is_essential": true, + "keystep_timing_source": "human", + "start_time": 12.0, + "step_description": "pour grains into saucepan", + "step_id": 3, + "step_name": "pour grains into saucepan", + "step_unique_id": 200151203129607 + }, + { + "best_view": "ego", + "end_time": 22.933, + "is_essential": true, + "keystep_timing_source": "human", + "start_time": 17.0, + "step_description": "place mug on table", + "step_id": 4, + "step_name": "place mug on table", + "step_unique_id": 84918775950035 } ], "object_segmentation": { - "detected_class": "pink cloth", + "detected_class": "mug", "detection_score": null, "frame_rate": null, - "n_frames": 710, + "n_frames": 688, "n_objects": 1, "objects": [], "seed_source": "agent_tracker", "source": "sam3" }, "object_segmentation_path": "object_mask.npz", - "participant_id": "M2", + "participant_id": "J", "recovery_events": [], "success_status": "success", - "task_id": "fold_laundry", - "task_label": "fold_laundry", + "task_id": "scoop_grain", + "task_label": "scoop_grain", "transcript_path": null, "views": { - "ego": "019fb6db-ff4d-7f00-a9ae-58c76698a120.mp4", + "ego": "019fbc13-d77f-70c1-b142-4b07a7df35f6.mp4", "overhead": null } } \ No newline at end of file diff --git a/episodes/019fbc15-11a7-7860-889f-d07cfa430507/depth_geometry.json b/episodes/019fbc15-11a7-7860-889f-d07cfa430507/depth_geometry.json index 58085e3dab957cfc281d14b3ddfa74582a15abe2..2e58ed5bbc89e5c773709dfbabdecb6359d119db 100644 --- a/episodes/019fbc15-11a7-7860-889f-d07cfa430507/depth_geometry.json +++ b/episodes/019fbc15-11a7-7860-889f-d07cfa430507/depth_geometry.json @@ -1,14 +1,18 @@ { "sensor": "iphone_lidar_arkit", - "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth, its OWN intrinsics \u2014 see depth_geometry.json); observation.images.ego is 256x256 (resized). DIFFERENT pixel grids \u2014 register via the depth intrinsics + observation.camera_pose, never depth[y,x]==ego[y,x]. The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth grid, untouched); observation.images.ego is 512x384 \u2014 ONE uniform downscale of the native RGB, so ego is EXACTLY 2x the depth grid: ego[y, x], mask[y, x] and depth[y//2, x//2] are the same ray. Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", "depth_resolution_hw": [ 256, 192 ], "ego_obs_resolution_hw": [ - 256, - 256 + 512, + 384 ], + "ego_to_depth_scale": 2.0, + "raster_rotation": null, + "display_hint": null, + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 1 quarter-turn(s); gravity-verified at export)", "rgb_native_resolution_hw": [ 1920, 1440 @@ -32,6 +36,7 @@ 1.0 ] ], + "intrinsics_frame": "native raster", "depth_intrinsics_3x3": [ [ 196.59479166666665, diff --git a/episodes/019fbc15-11a7-7860-889f-d07cfa430507/openego_sidecar.json b/episodes/019fbc15-11a7-7860-889f-d07cfa430507/openego_sidecar.json index 5b824dd7b83acb6771574a22d8b150d98fb1ea1d..908789c66fe4088dc219b98cbb5e99f7a9690296 100644 --- a/episodes/019fbc15-11a7-7860-889f-d07cfa430507/openego_sidecar.json +++ b/episodes/019fbc15-11a7-7860-889f-d07cfa430507/openego_sidecar.json @@ -399,86 +399,100 @@ }, "quality_gates": { "all_passed": true, + "validated_at": "2026-08-10T13:30:55+00:00", "gates": [ { - "detail": "", "name": "json_schema", "passed": true, + "value": "ok", "threshold": "validates", - "value": "ok" + "detail": "" }, { - "detail": "presence-conditioned over the actor's active span [92..634] = 543/676 frames (raw all-frames = 79.88%)", "name": "frames_with_hands_pct", "passed": true, - "threshold": ">= 30% [class=GLOBAL]", - "value": 99.45 + "value": 100.0, + "threshold": ">= 5% [class=sweep]", + "detail": "presence-conditioned over the actor's active span [86..643] = 558/676 frames (raw all-frames = 82.54%); shipped channel = raw \u2295 hand_mask_corrections" }, { - "detail": "silent or near-silent", "name": "audio_snr_db", "passed": true, + "value": null, "threshold": ">= 5 dB", - "value": null + "detail": "silent or near-silent" }, { - "detail": "silent clip", "name": "transcript_density", "passed": true, + "value": 0.0, "threshold": ">= 0.5 wps", - "value": 0.0 + "detail": "silent clip" }, { - "detail": "", "name": "hand_mask_coverage_pct", "passed": true, + "value": 3.143, "threshold": ">= 1%", - "value": 3.143 + "detail": "" }, { - "detail": "", "name": "phase_plan_windowing", "passed": true, + "value": "not_requested", "threshold": "phase plan absent \u2014 skipped", - "value": "not_requested" + "detail": "" }, { - "detail": "", "name": "object_mask_coverage_pct", "passed": true, - "threshold": ">= 1% (per present object) [class=GLOBAL]", - "value": 3.019 + "value": 3.019, + "threshold": ">= 0.5% (per present object) [class=sweep]", + "detail": "" }, { - "detail": "", "name": "hand_mask_area_floor_left", "passed": true, + "value": 3.2262, "threshold": ">= 0.20% (median, per hand)", - "value": 3.2262 + "detail": "" }, { - "detail": "", "name": "hand_mask_area_floor_right", "passed": true, + "value": 4.7846, "threshold": ">= 0.20% (median, per hand)", - "value": 4.7846 + "detail": "" }, { - "detail": "", "name": "hand_mask_lr_asymmetry", "passed": true, + "value": 0.6743, "threshold": "min/max >= 0.20", - "value": 0.6743 + "detail": "" }, { - "detail": "", "name": "hand_slot_merge", "passed": true, + "value": 0, "threshold": "< 5 consecutive frames with L\u2229R IoU > 0.5", - "value": 0 + "detail": "" + }, + { + "name": "object_track_truncated", + "passed": true, + "value": 0, + "threshold": "no tracked object ends while a hand still holds it", + "detail": "" + }, + { + "name": "actor_mirror_consistency", + "passed": true, + "value": 0, + "threshold": "every hierarchy span's actor_kind == its action's actors[0]", + "detail": "" } - ], - "validated_at": "2026-08-01T15:22:41+00:00" + ] } }, "manually_annotated_fields": [], diff --git a/episodes/019fbc16-b84b-7ad3-8387-7a3305b151d0/depth_geometry.json b/episodes/019fbc16-b84b-7ad3-8387-7a3305b151d0/depth_geometry.json index c88fb62d607fed31aea1516da03dcfa2290f4718..39035da83c537473149dbf7c735e3758747c7b67 100644 --- a/episodes/019fbc16-b84b-7ad3-8387-7a3305b151d0/depth_geometry.json +++ b/episodes/019fbc16-b84b-7ad3-8387-7a3305b151d0/depth_geometry.json @@ -1,14 +1,18 @@ { "sensor": "iphone_lidar_arkit", - "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth, its OWN intrinsics \u2014 see depth_geometry.json); observation.images.ego is 256x256 (resized). DIFFERENT pixel grids \u2014 register via the depth intrinsics + observation.camera_pose, never depth[y,x]==ego[y,x]. The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth grid, untouched); observation.images.ego is 512x384 \u2014 ONE uniform downscale of the native RGB, so ego is EXACTLY 2x the depth grid: ego[y, x], mask[y, x] and depth[y//2, x//2] are the same ray. Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", "depth_resolution_hw": [ 256, 192 ], "ego_obs_resolution_hw": [ - 256, - 256 + 512, + 384 ], + "ego_to_depth_scale": 2.0, + "raster_rotation": null, + "display_hint": null, + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 1 quarter-turn(s); gravity-verified at export)", "rgb_native_resolution_hw": [ 1920, 1440 @@ -32,6 +36,7 @@ 1.0 ] ], + "intrinsics_frame": "native raster", "depth_intrinsics_3x3": [ [ 196.544970703125, diff --git a/episodes/019fbc16-b84b-7ad3-8387-7a3305b151d0/openego_sidecar.json b/episodes/019fbc16-b84b-7ad3-8387-7a3305b151d0/openego_sidecar.json index 1ad9d205c65b7599260c005e3c2b92dcd2dd0823..12d82e1636e810fcb02bbae68b3fd894aab422ad 100644 --- a/episodes/019fbc16-b84b-7ad3-8387-7a3305b151d0/openego_sidecar.json +++ b/episodes/019fbc16-b84b-7ad3-8387-7a3305b151d0/openego_sidecar.json @@ -451,86 +451,100 @@ }, "quality_gates": { "all_passed": true, + "validated_at": "2026-08-10T13:30:42+00:00", "gates": [ { - "detail": "", "name": "json_schema", "passed": true, + "value": "ok", "threshold": "validates", - "value": "ok" + "detail": "" }, { - "detail": "presence-conditioned over the actor's active span [98..685] = 588/757 frames (raw all-frames = 71.07%)", "name": "frames_with_hands_pct", "passed": true, - "threshold": ">= 30% [class=GLOBAL]", - "value": 91.5 + "value": 100.0, + "threshold": ">= 5% [class=sweep]", + "detail": "presence-conditioned over the actor's active span [92..698] = 607/757 frames (raw all-frames = 80.18%); shipped channel = raw \u2295 hand_mask_corrections" }, { - "detail": "silent or near-silent", "name": "audio_snr_db", "passed": true, + "value": null, "threshold": ">= 5 dB", - "value": null + "detail": "silent or near-silent" }, { - "detail": "silent clip", "name": "transcript_density", "passed": true, + "value": 0.0, "threshold": ">= 0.5 wps", - "value": 0.0 + "detail": "silent clip" }, { - "detail": "", "name": "hand_mask_coverage_pct", "passed": true, + "value": 2.675, "threshold": ">= 1%", - "value": 2.675 + "detail": "" }, { - "detail": "", "name": "phase_plan_windowing", "passed": true, + "value": "not_requested", "threshold": "phase plan absent \u2014 skipped", - "value": "not_requested" + "detail": "" }, { - "detail": "", "name": "object_mask_coverage_pct", "passed": true, - "threshold": ">= 1% (per present object) [class=GLOBAL]", - "value": 3.594 + "value": 3.594, + "threshold": ">= 0.5% (per present object) [class=sweep]", + "detail": "" }, { - "detail": "", "name": "hand_mask_area_floor_left", "passed": true, + "value": 2.702, "threshold": ">= 0.20% (median, per hand)", - "value": 2.702 + "detail": "" }, { - "detail": "", "name": "hand_mask_area_floor_right", "passed": true, + "value": 3.774, "threshold": ">= 0.20% (median, per hand)", - "value": 3.774 + "detail": "" }, { - "detail": "", "name": "hand_mask_lr_asymmetry", "passed": true, + "value": 0.716, "threshold": "min/max >= 0.20", - "value": 0.716 + "detail": "" }, { - "detail": "", "name": "hand_slot_merge", "passed": true, + "value": 0, "threshold": "< 5 consecutive frames with L\u2229R IoU > 0.5", - "value": 0 + "detail": "" + }, + { + "name": "object_track_truncated", + "passed": true, + "value": 0, + "threshold": "no tracked object ends while a hand still holds it", + "detail": "" + }, + { + "name": "actor_mirror_consistency", + "passed": true, + "value": 0, + "threshold": "every hierarchy span's actor_kind == its action's actors[0]", + "detail": "" } - ], - "validated_at": "2026-08-01T17:15:36+00:00" + ] } }, "manually_annotated_fields": [], diff --git a/episodes/019fbc18-33ed-7270-8166-1997f31222c8/depth_geometry.json b/episodes/019fbc18-33ed-7270-8166-1997f31222c8/depth_geometry.json index 66be230d95e82e52d4709f6e536b2e7d694847e9..2694d294cd94f47e146308722610ba5470c4d76d 100644 --- a/episodes/019fbc18-33ed-7270-8166-1997f31222c8/depth_geometry.json +++ b/episodes/019fbc18-33ed-7270-8166-1997f31222c8/depth_geometry.json @@ -1,14 +1,18 @@ { "sensor": "iphone_lidar_arkit", - "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth, its OWN intrinsics \u2014 see depth_geometry.json); observation.images.ego is 256x256 (resized). DIFFERENT pixel grids \u2014 register via the depth intrinsics + observation.camera_pose, never depth[y,x]==ego[y,x]. The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth grid, untouched); observation.images.ego is 512x384 \u2014 ONE uniform downscale of the native RGB, so ego is EXACTLY 2x the depth grid: ego[y, x], mask[y, x] and depth[y//2, x//2] are the same ray. Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", "depth_resolution_hw": [ 256, 192 ], "ego_obs_resolution_hw": [ - 256, - 256 + 512, + 384 ], + "ego_to_depth_scale": 2.0, + "raster_rotation": null, + "display_hint": null, + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 1 quarter-turn(s); gravity-verified at export)", "rgb_native_resolution_hw": [ 1920, 1440 @@ -32,6 +36,7 @@ 1.0 ] ], + "intrinsics_frame": "native raster", "depth_intrinsics_3x3": [ [ 196.660888671875, diff --git a/episodes/019fbc18-33ed-7270-8166-1997f31222c8/openego_sidecar.json b/episodes/019fbc18-33ed-7270-8166-1997f31222c8/openego_sidecar.json index f3b02f7fc5f28a26af4abf92bf4348df716afe81..d43b82f1de1527103d45fd0a379419862b82ce63 100644 --- a/episodes/019fbc18-33ed-7270-8166-1997f31222c8/openego_sidecar.json +++ b/episodes/019fbc18-33ed-7270-8166-1997f31222c8/openego_sidecar.json @@ -522,7 +522,7 @@ }, "quality_gates": { "all_passed": true, - "validated_at": "2026-08-02T07:59:32+00:00", + "validated_at": "2026-08-10T13:30:28+00:00", "gates": [ { "name": "json_schema", @@ -534,9 +534,9 @@ { "name": "frames_with_hands_pct", "passed": true, - "value": 75.99, - "threshold": ">= 30% [class=GLOBAL]", - "detail": "presence-conditioned over the actor's active span [97..654] = 558/698 frames (raw all-frames = 60.74%)" + "value": 100.0, + "threshold": ">= 5% [class=sweep]", + "detail": "presence-conditioned over the actor's active span [98..661] = 564/698 frames (raw all-frames = 80.80%); shipped channel = raw \u2295 hand_mask_corrections" }, { "name": "audio_snr_db", @@ -570,7 +570,7 @@ "name": "object_mask_coverage_pct", "passed": true, "value": 3.88, - "threshold": ">= 1% (per present object) [class=GLOBAL]", + "threshold": ">= 0.5% (per present object) [class=sweep]", "detail": "" }, { @@ -600,6 +600,20 @@ "value": 0, "threshold": "< 5 consecutive frames with L\u2229R IoU > 0.5", "detail": "" + }, + { + "name": "object_track_truncated", + "passed": true, + "value": 0, + "threshold": "no tracked object ends while a hand still holds it", + "detail": "" + }, + { + "name": "actor_mirror_consistency", + "passed": true, + "value": 0, + "threshold": "every hierarchy span's actor_kind == its action's actors[0]", + "detail": "" } ] } diff --git a/episodes/019fbc1c-81a7-7921-9bd2-aa8973f2959b/depth_geometry.json b/episodes/019fbc1c-81a7-7921-9bd2-aa8973f2959b/depth_geometry.json deleted file mode 100644 index fe9602ad3e7fea91f2d3ee572166177e37518ff8..0000000000000000000000000000000000000000 --- a/episodes/019fbc1c-81a7-7921-9bd2-aa8973f2959b/depth_geometry.json +++ /dev/null @@ -1,57 +0,0 @@ -{ - "sensor": "iphone_lidar_arkit", - "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth, its OWN intrinsics \u2014 see depth_geometry.json); observation.images.ego is 256x256 (resized). DIFFERENT pixel grids \u2014 register via the depth intrinsics + observation.camera_pose, never depth[y,x]==ego[y,x]. The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", - "depth_resolution_hw": [ - 256, - 192 - ], - "ego_obs_resolution_hw": [ - 256, - 256 - ], - "rgb_native_resolution_hw": [ - 1920, - 1440 - ], - "depth_output_unit_default": "mm (LeRobot depth_output_unit default; pass --dataset.depth_output_unit m to load metres)", - "raw_depth_reference": "openego_sidecar.json + data/annotations//depth.npz (lossless)", - "arkit_rgb_intrinsics_3x3": [ - [ - 1473.6409912109375, - 0.0, - 699.9765014648438 - ], - [ - 0.0, - 1473.6409912109375, - 970.9853515625 - ], - [ - 0.0, - 0.0, - 1.0 - ] - ], - "depth_intrinsics_3x3": [ - [ - 196.48546549479167, - 0.0, - 93.3302001953125 - ], - [ - 0.0, - 196.48546549479167, - 129.46471354166667 - ], - [ - 0.0, - 0.0, - 1.0 - ] - ], - "depth_intrinsics_scale_xy": [ - 0.13333333333333333, - 0.13333333333333333 - ], - "intrinsics_source": "record3d_arkit (median of per-frame, via chokepoint)" -} \ No newline at end of file diff --git a/episodes/019fbc1c-81a7-7921-9bd2-aa8973f2959b/hand_object_contact.npz b/episodes/019fbc1c-81a7-7921-9bd2-aa8973f2959b/hand_object_contact.npz deleted file mode 100644 index 813726b90c13dbf72a1c2e0619623a08b5a7708e..0000000000000000000000000000000000000000 --- a/episodes/019fbc1c-81a7-7921-9bd2-aa8973f2959b/hand_object_contact.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:13ba6e02858624f8c0319bdb5c1dfe7011605461d6a375ced6d3b2f257f2bb21 -size 150588 diff --git a/episodes/019fbc1c-81a7-7921-9bd2-aa8973f2959b/object_mask.npz b/episodes/019fbc1c-81a7-7921-9bd2-aa8973f2959b/object_mask.npz deleted file mode 100644 index b13c0df044b960b79f315244232d2a1fadca5d4b..0000000000000000000000000000000000000000 --- a/episodes/019fbc1c-81a7-7921-9bd2-aa8973f2959b/object_mask.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:3fe7f8ee752937f1b3600b4ada883c4334954d2958899029ab58cb9a62d26c4d -size 1288445 diff --git a/episodes/019fbdf1-dadb-7400-bca3-1382d9d9c666/depth_geometry.json b/episodes/019fbdf1-dadb-7400-bca3-1382d9d9c666/depth_geometry.json index e5591a78f2bfe251f039bcc8c1c147f1fc090a0a..1bdd616bf576617dd8de65a933efe652490cd726 100644 --- a/episodes/019fbdf1-dadb-7400-bca3-1382d9d9c666/depth_geometry.json +++ b/episodes/019fbdf1-dadb-7400-bca3-1382d9d9c666/depth_geometry.json @@ -1,14 +1,18 @@ { "sensor": "iphone_lidar_arkit", - "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth, its OWN intrinsics \u2014 see depth_geometry.json); observation.images.ego is 256x256 (resized). DIFFERENT pixel grids \u2014 register via the depth intrinsics + observation.camera_pose, never depth[y,x]==ego[y,x]. The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth grid, untouched); observation.images.ego is 512x384 \u2014 ONE uniform downscale of the native RGB, so ego is EXACTLY 2x the depth grid: ego[y, x], mask[y, x] and depth[y//2, x//2] are the same ray. Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", "depth_resolution_hw": [ 256, 192 ], "ego_obs_resolution_hw": [ - 256, - 256 + 512, + 384 ], + "ego_to_depth_scale": 2.0, + "raster_rotation": null, + "display_hint": null, + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 1 quarter-turn(s); gravity-verified at export)", "rgb_native_resolution_hw": [ 1920, 1440 @@ -32,6 +36,7 @@ 1.0 ] ], + "intrinsics_frame": "native raster", "depth_intrinsics_3x3": [ [ 183.91941731770834, diff --git a/episodes/019fbdf1-dadb-7400-bca3-1382d9d9c666/language_spans.json b/episodes/019fbdf1-dadb-7400-bca3-1382d9d9c666/language_spans.json index ccdc653ee7e35914d765eec31a4a2b1ca0837e68..e9ebe06b47f9cad45b6ddffa2b7c4b37e2e40602 100644 --- a/episodes/019fbdf1-dadb-7400-bca3-1382d9d9c666/language_spans.json +++ b/episodes/019fbdf1-dadb-7400-bca3-1382d9d9c666/language_spans.json @@ -1,19 +1,19 @@ { "task": "fold_laundry", - "n_spans": 5, - "n_keysteps": 5, + "n_spans": 4, + "n_keysteps": 4, "spans": [ { "start_s": 0.0, "end_s": 2.5, - "label": "arrange shorts on surface", + "label": "stretch shorts out", "objects": [ "shorts" ], "actors": [ "both_hands" ], - "source": "vlm", + "source": "human", "confidence": "high", "grounded": true, "evidence": "Hands enter frame and flatten the shorts on the quilted surface." @@ -36,47 +36,32 @@ { "start_s": 7.5, "end_s": 11.5, - "label": "fold shorts horizontally", + "label": "fold shorts widthwise", "objects": [ "shorts" ], "actors": [ "both_hands" ], - "source": "vlm", + "source": "human", "confidence": "high", "grounded": true, - "evidence": "Hands fold the shorts again along the horizontal axis, forming a compact shape." + "evidence": "Hands fold the shorts in half widthwise, forming a compact bundle." }, { "start_s": 11.5, - "end_s": 12.3, - "label": "press shorts into shape", - "objects": [ - "shorts" - ], - "actors": [ - "both_hands" - ], - "source": "vlm", - "confidence": "high", - "grounded": true, - "evidence": "Hands press down on the rolled shorts to compact them." - }, - { - "start_s": 12.3, "end_s": 14.067, - "label": "leave folded shorts on surface", + "label": "flatten shorts on bed", "objects": [ "shorts" ], "actors": [ "both_hands" ], - "source": "vlm", + "source": "human", "confidence": "high", "grounded": true, - "evidence": "Hands move out of frame, leaving the compactly folded shorts." + "evidence": "Hands press down on the folded shorts to compact them on the bed." } ], "keysteps": [ @@ -100,14 +85,8 @@ }, { "start_s": 11.5, - "end_s": 12.3, - "description": "press shorts into shape", - "essential": true - }, - { - "start_s": 12.3, "end_s": 14.067, - "description": "leave folded shorts on surface", + "description": "press shorts into shape", "essential": true } ], diff --git a/episodes/019fbdf1-dadb-7400-bca3-1382d9d9c666/openego_sidecar.json b/episodes/019fbdf1-dadb-7400-bca3-1382d9d9c666/openego_sidecar.json index a5f09100ee1f2eba3bba1cb0e05420e2a7d0ae04..e5788b1c6fbaacc69fe1813a30b0869138402fba 100644 --- a/episodes/019fbdf1-dadb-7400-bca3-1382d9d9c666/openego_sidecar.json +++ b/episodes/019fbdf1-dadb-7400-bca3-1382d9d9c666/openego_sidecar.json @@ -8,7 +8,8 @@ "extensions": { "actor_source": "motion", "object_source": "vlm", - "span_source": "vlm", + "span_id": "s0", + "span_source": "human", "vlm_confidence": "high", "vlm_evidence": "Hands enter frame and flatten the shorts on the quilted surface.", "vlm_grounded": true, @@ -27,7 +28,7 @@ } ] }, - "label": "arrange shorts on surface", + "label": "stretch shorts out", "narration_uncertain": false, "objects": [ "shorts" @@ -42,6 +43,7 @@ "extensions": { "actor_source": "contact", "object_source": "vlm", + "span_id": "s1", "span_source": "vlm", "vlm_confidence": "high", "vlm_evidence": "Hands fold the shorts in half along their length.", @@ -76,9 +78,10 @@ "extensions": { "actor_source": "contact", "object_source": "vlm", - "span_source": "vlm", + "span_id": "s2", + "span_source": "human", "vlm_confidence": "high", - "vlm_evidence": "Hands fold the shorts again along the horizontal axis, forming a compact shape.", + "vlm_evidence": "Hands fold the shorts in half widthwise, forming a compact bundle.", "vlm_grounded": true, "vlm_object_candidates": [ { @@ -95,7 +98,7 @@ } ] }, - "label": "fold shorts horizontally", + "label": "fold shorts widthwise", "narration_uncertain": false, "objects": [ "shorts" @@ -106,13 +109,14 @@ "actors": [ "both_hands" ], - "end_timestamp": 12.3, + "end_timestamp": 14.067, "extensions": { "actor_source": "contact", "object_source": "vlm", - "span_source": "vlm", + "span_id": "s3", + "span_source": "human", "vlm_confidence": "high", - "vlm_evidence": "Hands press down on the rolled shorts to compact them.", + "vlm_evidence": "Hands press down on the folded shorts to compact them on the bed.", "vlm_grounded": true, "vlm_object_candidates": [ { @@ -129,40 +133,12 @@ } ] }, - "label": "press shorts into shape", + "label": "flatten shorts on bed", "narration_uncertain": false, "objects": [ "shorts" ], "start_timestamp": 11.5 - }, - { - "actors": [ - "both_hands" - ], - "end_timestamp": 14.067, - "extensions": { - "actor_source": "contact", - "object_source": "vlm", - "span_source": "vlm", - "vlm_confidence": "high", - "vlm_evidence": "Hands move out of frame, leaving the compactly folded shorts.", - "vlm_grounded": true, - "vlm_object_candidates": [ - { - "evidence": "compactly folded shorts remaining on the surface", - "label": "shorts", - "role": "workpiece", - "track": true - } - ] - }, - "label": "leave folded shorts on surface", - "narration_uncertain": false, - "objects": [ - "shorts" - ], - "start_timestamp": 12.3 } ], "annotation_metadata": { @@ -414,100 +390,100 @@ }, "quality_gates": { "all_passed": true, + "validated_at": "2026-08-10T13:36:05+00:00", "gates": [ { - "detail": "", "name": "json_schema", "passed": true, + "value": "ok", "threshold": "validates", - "value": "ok" + "detail": "" }, { - "detail": "presence-conditioned over the actor's active span [105..755] = 651/844 frames (raw all-frames = 72.51%)", "name": "frames_with_hands_pct", "passed": true, + "value": 100.0, "threshold": ">= 30% [class=GLOBAL]", - "value": 94.01 + "detail": "presence-conditioned over the actor's active span [100..759] = 660/844 frames (raw all-frames = 78.20%); shipped channel = raw \u2295 hand_mask_corrections" }, { - "detail": "silent or near-silent", "name": "audio_snr_db", "passed": true, + "value": null, "threshold": ">= 5 dB", - "value": null + "detail": "silent or near-silent" }, { - "detail": "silent clip", "name": "transcript_density", "passed": true, + "value": 0.0, "threshold": ">= 0.5 wps", - "value": 0.0 + "detail": "silent clip" }, { - "detail": "", "name": "hand_mask_coverage_pct", "passed": true, + "value": 3.337, "threshold": ">= 1%", - "value": 3.337 + "detail": "" }, { - "detail": "", "name": "phase_plan_windowing", "passed": true, + "value": "not_requested", "threshold": "phase plan absent \u2014 skipped", - "value": "not_requested" + "detail": "" }, { - "detail": "", "name": "object_mask_coverage_pct", "passed": true, + "value": 27.009, "threshold": ">= 1% (per present object) [class=GLOBAL]", - "value": 27.009 + "detail": "" }, { - "detail": "", "name": "hand_mask_area_floor_left", "passed": true, + "value": 3.7305, "threshold": ">= 0.20% (median, per hand)", - "value": 3.7305 + "detail": "" }, { - "detail": "", "name": "hand_mask_area_floor_right", "passed": true, + "value": 4.4407, "threshold": ">= 0.20% (median, per hand)", - "value": 4.4407 + "detail": "" }, { - "detail": "", "name": "hand_mask_lr_asymmetry", "passed": true, + "value": 0.8401, "threshold": "min/max >= 0.20", - "value": 0.8401 + "detail": "" }, { - "detail": "", "name": "hand_slot_merge", "passed": true, + "value": 0, "threshold": "< 5 consecutive frames with L\u2229R IoU > 0.5", - "value": 0 + "detail": "" }, { - "detail": "", "name": "object_track_truncated", "passed": true, + "value": 0, "threshold": "no tracked object ends while a hand still holds it", - "value": 0 + "detail": "" }, { - "detail": "", "name": "actor_mirror_consistency", "passed": true, + "value": 0, "threshold": "every hierarchy span's actor_kind == its action's actors[0]", - "value": 0 + "detail": "" } - ], - "validated_at": "2026-08-04T09:08:10+00:00" + ] } }, "manually_annotated_fields": [], @@ -19633,7 +19609,7 @@ "end_time": 2.5, "is_essential": true, "keystep_ref": 0, - "label": "arrange shorts on surface", + "label": "stretch shorts out", "node_id": "e0", "spans": [ { @@ -19643,7 +19619,7 @@ "end_time": 2.5, "evidence": "Hands enter frame and flatten the shorts on the quilted surface.", "grounded": true, - "label": "arrange shorts on surface", + "label": "stretch shorts out", "object": "shorts", "object_candidates": [ { @@ -19660,6 +19636,7 @@ } ], "span_id": "s0", + "span_source": "human", "start_time": 0.0 } ], @@ -19707,7 +19684,7 @@ "end_time": 11.5, "is_essential": true, "keystep_ref": 2, - "label": "fold shorts horizontally", + "label": "fold shorts widthwise", "node_id": "e2", "spans": [ { @@ -19715,9 +19692,9 @@ "actor_kind": "both_hands", "confidence": "high", "end_time": 11.5, - "evidence": "Hands fold the shorts again along the horizontal axis, forming a compact shape.", + "evidence": "Hands fold the shorts in half widthwise, forming a compact bundle.", "grounded": true, - "label": "fold shorts horizontally", + "label": "fold shorts widthwise", "object": "shorts", "object_candidates": [ { @@ -19734,6 +19711,7 @@ } ], "span_id": "s2", + "span_source": "human", "start_time": 7.5 } ], @@ -19741,20 +19719,20 @@ "sub_goal": "fold shorts" }, { - "end_time": 12.3, + "end_time": 14.067, "is_essential": true, "keystep_ref": 3, - "label": "press shorts into shape", + "label": "flatten shorts on bed", "node_id": "e3", "spans": [ { "action_ref": 3, "actor_kind": "both_hands", "confidence": "high", - "end_time": 12.3, - "evidence": "Hands press down on the rolled shorts to compact them.", + "end_time": 14.067, + "evidence": "Hands press down on the folded shorts to compact them on the bed.", "grounded": true, - "label": "press shorts into shape", + "label": "flatten shorts on bed", "object": "shorts", "object_candidates": [ { @@ -19771,42 +19749,12 @@ } ], "span_id": "s3", + "span_source": "human", "start_time": 11.5 } ], "start_time": 11.5, "sub_goal": "fold shorts" - }, - { - "end_time": 14.067, - "is_essential": true, - "keystep_ref": 4, - "label": "leave folded shorts on surface", - "node_id": "e4", - "spans": [ - { - "action_ref": 4, - "actor_kind": "both_hands", - "confidence": "high", - "end_time": 14.067, - "evidence": "Hands move out of frame, leaving the compactly folded shorts.", - "grounded": true, - "label": "leave folded shorts on surface", - "object": "shorts", - "object_candidates": [ - { - "evidence": "compactly folded shorts remaining on the surface", - "label": "shorts", - "role": "workpiece", - "track": true - } - ], - "span_id": "s4", - "start_time": 12.3 - } - ], - "start_time": 12.3, - "sub_goal": "fold shorts" } ], "span_source": "vlm", @@ -32561,8 +32509,8 @@ "start_time": 0.0, "step_description": "arrange shorts on surface", "step_id": 0, - "step_name": "arrange shorts on surface", - "step_unique_id": 103048908367292 + "step_name": "stretch shorts out", + "step_unique_id": 2191387116819 }, { "best_view": "ego", @@ -32583,30 +32531,19 @@ "start_time": 7.5, "step_description": "fold shorts horizontally", "step_id": 2, - "step_name": "fold shorts horizontally", - "step_unique_id": 88777554658133 + "step_name": "fold shorts widthwise", + "step_unique_id": 106564956343095 }, { "best_view": "ego", - "end_time": 12.3, + "end_time": 14.067, "is_essential": true, "keystep_timing_source": "human", "start_time": 11.5, "step_description": "press shorts into shape", "step_id": 3, - "step_name": "press shorts into shape", - "step_unique_id": 159170461428859 - }, - { - "best_view": "ego", - "end_time": 14.067, - "is_essential": true, - "keystep_timing_source": "human", - "start_time": 12.3, - "step_description": "leave folded shorts on surface", - "step_id": 4, - "step_name": "leave folded shorts on surface", - "step_unique_id": 22536988523399 + "step_name": "flatten shorts on bed", + "step_unique_id": 72292095753985 } ], "object_segmentation": { diff --git a/episodes/019fbdf4-04e8-7030-9358-724279af9698/depth_geometry.json b/episodes/019fbdf4-04e8-7030-9358-724279af9698/depth_geometry.json index af68256f5021bb48e141136afd2dc268105874e8..157f6ec4d38e23ddecac173fbfe797f8802407e5 100644 --- a/episodes/019fbdf4-04e8-7030-9358-724279af9698/depth_geometry.json +++ b/episodes/019fbdf4-04e8-7030-9358-724279af9698/depth_geometry.json @@ -1,14 +1,18 @@ { "sensor": "iphone_lidar_arkit", - "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth, its OWN intrinsics \u2014 see depth_geometry.json); observation.images.ego is 256x256 (resized). DIFFERENT pixel grids \u2014 register via the depth intrinsics + observation.camera_pose, never depth[y,x]==ego[y,x]. The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth grid, untouched); observation.images.ego is 512x384 \u2014 ONE uniform downscale of the native RGB, so ego is EXACTLY 2x the depth grid: ego[y, x], mask[y, x] and depth[y//2, x//2] are the same ray. Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", "depth_resolution_hw": [ 256, 192 ], "ego_obs_resolution_hw": [ - 256, - 256 + 512, + 384 ], + "ego_to_depth_scale": 2.0, + "raster_rotation": null, + "display_hint": null, + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 1 quarter-turn(s); gravity-verified at export)", "rgb_native_resolution_hw": [ 1920, 1440 @@ -32,6 +36,7 @@ 1.0 ] ], + "intrinsics_frame": "native raster", "depth_intrinsics_3x3": [ [ 182.71277669270833, diff --git a/episodes/019fbdf4-04e8-7030-9358-724279af9698/openego_sidecar.json b/episodes/019fbdf4-04e8-7030-9358-724279af9698/openego_sidecar.json index 703652a7472b2ebd151f858f9f3511d95a4e7a34..f52f31794b578124fd851312b854d4059732b869 100644 --- a/episodes/019fbdf4-04e8-7030-9358-724279af9698/openego_sidecar.json +++ b/episodes/019fbdf4-04e8-7030-9358-724279af9698/openego_sidecar.json @@ -396,100 +396,100 @@ }, "quality_gates": { "all_passed": true, + "validated_at": "2026-08-10T13:35:49+00:00", "gates": [ { - "detail": "", "name": "json_schema", "passed": true, + "value": "ok", "threshold": "validates", - "value": "ok" + "detail": "" }, { - "detail": "presence-conditioned over the actor's active span [47..1031] = 985/1115 frames (raw all-frames = 82.78%)", "name": "frames_with_hands_pct", "passed": true, + "value": 100.0, "threshold": ">= 30% [class=GLOBAL]", - "value": 93.71 + "detail": "presence-conditioned over the actor's active span [39..1038] = 1000/1115 frames (raw all-frames = 89.69%); shipped channel = raw \u2295 hand_mask_corrections" }, { - "detail": "silent or near-silent", "name": "audio_snr_db", "passed": true, + "value": null, "threshold": ">= 5 dB", - "value": null + "detail": "silent or near-silent" }, { - "detail": "silent clip", "name": "transcript_density", "passed": true, + "value": 0.0, "threshold": ">= 0.5 wps", - "value": 0.0 + "detail": "silent clip" }, { - "detail": "", "name": "hand_mask_coverage_pct", "passed": true, + "value": 2.354, "threshold": ">= 1%", - "value": 2.354 + "detail": "" }, { - "detail": "", "name": "phase_plan_windowing", "passed": true, + "value": "not_requested", "threshold": "phase plan absent \u2014 skipped", - "value": "not_requested" + "detail": "" }, { - "detail": "", "name": "object_mask_coverage_pct", "passed": true, + "value": 16.77, "threshold": ">= 1% (per present object) [class=GLOBAL]", - "value": 16.77 + "detail": "" }, { - "detail": "", "name": "hand_mask_area_floor_left", "passed": true, + "value": 2.4022, "threshold": ">= 0.20% (median, per hand)", - "value": 2.4022 + "detail": "" }, { - "detail": "", "name": "hand_mask_area_floor_right", "passed": true, + "value": 2.2951, "threshold": ">= 0.20% (median, per hand)", - "value": 2.2951 + "detail": "" }, { - "detail": "", "name": "hand_mask_lr_asymmetry", "passed": true, + "value": 0.9554, "threshold": "min/max >= 0.20", - "value": 0.9554 + "detail": "" }, { - "detail": "", "name": "hand_slot_merge", "passed": true, + "value": 0, "threshold": "< 5 consecutive frames with L\u2229R IoU > 0.5", - "value": 0 + "detail": "" }, { - "detail": "", "name": "object_track_truncated", "passed": true, + "value": 0, "threshold": "no tracked object ends while a hand still holds it", - "value": 0 + "detail": "" }, { - "detail": "", "name": "actor_mirror_consistency", "passed": true, + "value": 0, "threshold": "every hierarchy span's actor_kind == its action's actors[0]", - "value": 0 + "detail": "" } - ], - "validated_at": "2026-08-04T08:55:45+00:00" + ] } }, "manually_annotated_fields": [], diff --git a/episodes/019fbdf5-daab-71d2-a055-5c72e44d1c09/depth_geometry.json b/episodes/019fbdf5-daab-71d2-a055-5c72e44d1c09/depth_geometry.json index d75505558cca8d2865974b4a68899cf46b9e3a2c..f234473960ea35f2b3a27d7b4f13b8c442ce20d1 100644 --- a/episodes/019fbdf5-daab-71d2-a055-5c72e44d1c09/depth_geometry.json +++ b/episodes/019fbdf5-daab-71d2-a055-5c72e44d1c09/depth_geometry.json @@ -1,14 +1,18 @@ { "sensor": "iphone_lidar_arkit", - "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth, its OWN intrinsics \u2014 see depth_geometry.json); observation.images.ego is 256x256 (resized). DIFFERENT pixel grids \u2014 register via the depth intrinsics + observation.camera_pose, never depth[y,x]==ego[y,x]. The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth grid, untouched); observation.images.ego is 512x384 \u2014 ONE uniform downscale of the native RGB, so ego is EXACTLY 2x the depth grid: ego[y, x], mask[y, x] and depth[y//2, x//2] are the same ray. Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", "depth_resolution_hw": [ 256, 192 ], "ego_obs_resolution_hw": [ - 256, - 256 + 512, + 384 ], + "ego_to_depth_scale": 2.0, + "raster_rotation": null, + "display_hint": null, + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 1 quarter-turn(s); gravity-verified at export)", "rgb_native_resolution_hw": [ 1920, 1440 @@ -32,6 +36,7 @@ 1.0 ] ], + "intrinsics_frame": "native raster", "depth_intrinsics_3x3": [ [ 183.45408528645834, diff --git a/episodes/019fbdf5-daab-71d2-a055-5c72e44d1c09/language_spans.json b/episodes/019fbdf5-daab-71d2-a055-5c72e44d1c09/language_spans.json index 392ff2368d3fdb7dfac9dec658e2d84e235d2a9c..c7f0521085ae17fe2cb1d3dc9672411f4fdcb519 100644 --- a/episodes/019fbdf5-daab-71d2-a055-5c72e44d1c09/language_spans.json +++ b/episodes/019fbdf5-daab-71d2-a055-5c72e44d1c09/language_spans.json @@ -1,19 +1,19 @@ { "task": "fold_laundry", - "n_spans": 5, - "n_keysteps": 5, + "n_spans": 4, + "n_keysteps": 4, "spans": [ { "start_s": 0.0, "end_s": 6.0, - "label": "unfold shorts on surface", + "label": "stretch shorts out", "objects": [ "shorts" ], "actors": [ "both_hands" ], - "source": "vlm", + "source": "human", "confidence": "high", "grounded": true, "evidence": "Hands spread out the crumpled shorts, making them flat on the wooden surface." @@ -36,47 +36,32 @@ { "start_s": 10.0, "end_s": 16.0, - "label": "fold shorts in half", + "label": "fold shorts widthwise", "objects": [ "shorts" ], "actors": [ "both_hands" ], - "source": "vlm", + "source": "human", "confidence": "high", "grounded": true, "evidence": "Hands fold the already lengthwise-folded shorts in half, creating a compact shape." }, { "start_s": 16.0, - "end_s": 18.0, - "label": "smooth shorts on surface", - "objects": [ - "shorts" - ], - "actors": [ - "both_hands" - ], - "source": "vlm", - "confidence": "high", - "grounded": true, - "evidence": "Hands press down and smooth the surface of the folded shorts." - }, - { - "start_s": 18.0, "end_s": 20.317, - "label": "leave shorts on surface", + "label": "flatten shorts on table", "objects": [ "shorts" ], "actors": [ "both_hands" ], - "source": "vlm", + "source": "human", "confidence": "high", "grounded": true, - "evidence": "Hands move away from the folded shorts, leaving them stationary on the surface." + "evidence": "Hands press down and smooth the surface of the folded shorts." } ], "keysteps": [ @@ -100,14 +85,8 @@ }, { "start_s": 16.0, - "end_s": 18.0, - "description": "smooth shorts on surface", - "essential": true - }, - { - "start_s": 18.0, "end_s": 20.317, - "description": "leave shorts on surface", + "description": "smooth shorts on surface", "essential": true } ], diff --git a/episodes/019fbdf5-daab-71d2-a055-5c72e44d1c09/openego_sidecar.json b/episodes/019fbdf5-daab-71d2-a055-5c72e44d1c09/openego_sidecar.json index d862d06c86f99e67546449463a5df87ea6a617a9..6aaf94a0118d303cd0304f1f9fe8d27274eff7e8 100644 --- a/episodes/019fbdf5-daab-71d2-a055-5c72e44d1c09/openego_sidecar.json +++ b/episodes/019fbdf5-daab-71d2-a055-5c72e44d1c09/openego_sidecar.json @@ -8,7 +8,8 @@ "extensions": { "actor_source": "contact", "object_source": "vlm", - "span_source": "vlm", + "span_id": "s0", + "span_source": "human", "vlm_confidence": "high", "vlm_evidence": "Hands spread out the crumpled shorts, making them flat on the wooden surface.", "vlm_grounded": true, @@ -27,7 +28,7 @@ } ] }, - "label": "unfold shorts on surface", + "label": "stretch shorts out", "narration_uncertain": false, "objects": [ "shorts" @@ -42,6 +43,7 @@ "extensions": { "actor_source": "contact", "object_source": "vlm", + "span_id": "s1", "span_source": "vlm", "vlm_confidence": "high", "vlm_evidence": "Hands bring one side of the shorts over to the other, folding them in half lengthwise.", @@ -76,7 +78,8 @@ "extensions": { "actor_source": "contact", "object_source": "vlm", - "span_source": "vlm", + "span_id": "s2", + "span_source": "human", "vlm_confidence": "high", "vlm_evidence": "Hands fold the already lengthwise-folded shorts in half, creating a compact shape.", "vlm_grounded": true, @@ -95,7 +98,7 @@ } ] }, - "label": "fold shorts in half", + "label": "fold shorts widthwise", "narration_uncertain": false, "objects": [ "shorts" @@ -106,11 +109,12 @@ "actors": [ "both_hands" ], - "end_timestamp": 18.0, + "end_timestamp": 20.317, "extensions": { "actor_source": "contact", "object_source": "vlm", - "span_source": "vlm", + "span_id": "s3", + "span_source": "human", "vlm_confidence": "high", "vlm_evidence": "Hands press down and smooth the surface of the folded shorts.", "vlm_grounded": true, @@ -129,46 +133,12 @@ } ] }, - "label": "smooth shorts on surface", + "label": "flatten shorts on table", "narration_uncertain": false, "objects": [ "shorts" ], "start_timestamp": 16.0 - }, - { - "actors": [ - "both_hands" - ], - "end_timestamp": 20.317, - "extensions": { - "actor_source": "contact", - "object_source": "vlm", - "span_source": "vlm", - "vlm_confidence": "high", - "vlm_evidence": "Hands move away from the folded shorts, leaving them stationary on the surface.", - "vlm_grounded": true, - "vlm_object_candidates": [ - { - "evidence": "shorts remain on the surface", - "label": "shorts", - "role": "workpiece", - "track": true - }, - { - "evidence": "hands move away from the shorts", - "label": "hands", - "role": "tool", - "track": false - } - ] - }, - "label": "leave shorts on surface", - "narration_uncertain": false, - "objects": [ - "shorts" - ], - "start_timestamp": 18.0 } ], "annotation_metadata": { @@ -430,100 +400,100 @@ }, "quality_gates": { "all_passed": true, + "validated_at": "2026-08-10T13:35:28+00:00", "gates": [ { - "detail": "", "name": "json_schema", "passed": true, + "value": "ok", "threshold": "validates", - "value": "ok" + "detail": "" }, { - "detail": "presence-conditioned over the actor's active span [44..1101] = 1058/1219 frames (raw all-frames = 75.06%)", "name": "frames_with_hands_pct", "passed": true, + "value": 100.0, "threshold": ">= 30% [class=GLOBAL]", - "value": 86.48 + "detail": "presence-conditioned over the actor's active span [41..1108] = 1068/1219 frames (raw all-frames = 87.61%); shipped channel = raw \u2295 hand_mask_corrections" }, { - "detail": "silent or near-silent", "name": "audio_snr_db", "passed": true, + "value": null, "threshold": ">= 5 dB", - "value": null + "detail": "silent or near-silent" }, { - "detail": "silent clip", "name": "transcript_density", "passed": true, + "value": 0.0, "threshold": ">= 0.5 wps", - "value": 0.0 + "detail": "silent clip" }, { - "detail": "", "name": "hand_mask_coverage_pct", "passed": true, + "value": 2.344, "threshold": ">= 1%", - "value": 2.344 + "detail": "" }, { - "detail": "", "name": "phase_plan_windowing", "passed": true, + "value": "not_requested", "threshold": "phase plan absent \u2014 skipped", - "value": "not_requested" + "detail": "" }, { - "detail": "", "name": "object_mask_coverage_pct", "passed": true, + "value": 17.331, "threshold": ">= 1% (per present object) [class=GLOBAL]", - "value": 17.331 + "detail": "" }, { - "detail": "", "name": "hand_mask_area_floor_left", "passed": true, + "value": 2.0375, "threshold": ">= 0.20% (median, per hand)", - "value": 2.0375 + "detail": "" }, { - "detail": "", "name": "hand_mask_area_floor_right", "passed": true, + "value": 2.5153, "threshold": ">= 0.20% (median, per hand)", - "value": 2.5153 + "detail": "" }, { - "detail": "", "name": "hand_mask_lr_asymmetry", "passed": true, + "value": 0.81, "threshold": "min/max >= 0.20", - "value": 0.81 + "detail": "" }, { - "detail": "", "name": "hand_slot_merge", "passed": true, + "value": 0, "threshold": "< 5 consecutive frames with L\u2229R IoU > 0.5", - "value": 0 + "detail": "" }, { - "detail": "", "name": "object_track_truncated", "passed": true, + "value": 0, "threshold": "no tracked object ends while a hand still holds it", - "value": 0 + "detail": "" }, { - "detail": "", "name": "actor_mirror_consistency", "passed": true, + "value": 0, "threshold": "every hierarchy span's actor_kind == its action's actors[0]", - "value": 0 + "detail": "" } - ], - "validated_at": "2026-08-04T08:45:36+00:00" + ] } }, "manually_annotated_fields": [], @@ -28343,7 +28313,7 @@ "end_time": 6.0, "is_essential": true, "keystep_ref": 0, - "label": "unfold shorts on surface", + "label": "stretch shorts out", "node_id": "e0", "spans": [ { @@ -28353,7 +28323,7 @@ "end_time": 6.0, "evidence": "Hands spread out the crumpled shorts, making them flat on the wooden surface.", "grounded": true, - "label": "unfold shorts on surface", + "label": "stretch shorts out", "object": "shorts", "object_candidates": [ { @@ -28370,6 +28340,7 @@ } ], "span_id": "s0", + "span_source": "human", "start_time": 0.0 } ], @@ -28417,7 +28388,7 @@ "end_time": 16.0, "is_essential": true, "keystep_ref": 2, - "label": "fold shorts in half", + "label": "fold shorts widthwise", "node_id": "e2", "spans": [ { @@ -28427,7 +28398,7 @@ "end_time": 16.0, "evidence": "Hands fold the already lengthwise-folded shorts in half, creating a compact shape.", "grounded": true, - "label": "fold shorts in half", + "label": "fold shorts widthwise", "object": "shorts", "object_candidates": [ { @@ -28444,6 +28415,7 @@ } ], "span_id": "s2", + "span_source": "human", "start_time": 10.0 } ], @@ -28451,20 +28423,20 @@ "sub_goal": "fold_laundry" }, { - "end_time": 18.0, + "end_time": 20.317, "is_essential": true, "keystep_ref": 3, - "label": "smooth shorts on surface", + "label": "flatten shorts on table", "node_id": "e3", "spans": [ { "action_ref": 3, "actor_kind": "both_hands", "confidence": "high", - "end_time": 18.0, + "end_time": 20.317, "evidence": "Hands press down and smooth the surface of the folded shorts.", "grounded": true, - "label": "smooth shorts on surface", + "label": "flatten shorts on table", "object": "shorts", "object_candidates": [ { @@ -28481,48 +28453,12 @@ } ], "span_id": "s3", + "span_source": "human", "start_time": 16.0 } ], "start_time": 16.0, "sub_goal": "fold_laundry" - }, - { - "end_time": 20.317, - "is_essential": true, - "keystep_ref": 4, - "label": "leave shorts on surface", - "node_id": "e4", - "spans": [ - { - "action_ref": 4, - "actor_kind": "both_hands", - "confidence": "high", - "end_time": 20.317, - "evidence": "Hands move away from the folded shorts, leaving them stationary on the surface.", - "grounded": true, - "label": "leave shorts on surface", - "object": "shorts", - "object_candidates": [ - { - "evidence": "shorts remain on the surface", - "label": "shorts", - "role": "workpiece", - "track": true - }, - { - "evidence": "hands move away from the shorts", - "label": "hands", - "role": "tool", - "track": false - } - ], - "span_id": "s4", - "start_time": 18.0 - } - ], - "start_time": 18.0, - "sub_goal": "fold_laundry" } ], "span_source": "vlm", @@ -46902,8 +46838,8 @@ "start_time": 0.0, "step_description": "unfold shorts on surface", "step_id": 0, - "step_name": "unfold shorts on surface", - "step_unique_id": 61537947091292 + "step_name": "stretch shorts out", + "step_unique_id": 2191387116819 }, { "best_view": "ego", @@ -46924,30 +46860,19 @@ "start_time": 10.0, "step_description": "fold shorts in half", "step_id": 2, - "step_name": "fold shorts in half", - "step_unique_id": 97787697024713 + "step_name": "fold shorts widthwise", + "step_unique_id": 106564956343095 }, { "best_view": "ego", - "end_time": 18.0, + "end_time": 20.317, "is_essential": true, "keystep_timing_source": "human", "start_time": 16.0, "step_description": "smooth shorts on surface", "step_id": 3, - "step_name": "smooth shorts on surface", - "step_unique_id": 106558682585214 - }, - { - "best_view": "ego", - "end_time": 20.317, - "is_essential": true, - "keystep_timing_source": "human", - "start_time": 18.0, - "step_description": "leave shorts on surface", - "step_id": 4, - "step_name": "leave shorts on surface", - "step_unique_id": 59000247054284 + "step_name": "flatten shorts on table", + "step_unique_id": 271269009150231 } ], "object_segmentation": { diff --git a/episodes/019fbdfa-6dbd-7c90-938b-c476032bab5b/depth_geometry.json b/episodes/019fbdfa-6dbd-7c90-938b-c476032bab5b/depth_geometry.json deleted file mode 100644 index 584becf4dcc27f6481797148b5632e9c5ffae513..0000000000000000000000000000000000000000 --- a/episodes/019fbdfa-6dbd-7c90-938b-c476032bab5b/depth_geometry.json +++ /dev/null @@ -1,57 +0,0 @@ -{ - "sensor": "iphone_lidar_arkit", - "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth, its OWN intrinsics \u2014 see depth_geometry.json); observation.images.ego is 256x256 (resized). DIFFERENT pixel grids \u2014 register via the depth intrinsics + observation.camera_pose, never depth[y,x]==ego[y,x]. The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", - "depth_resolution_hw": [ - 256, - 192 - ], - "ego_obs_resolution_hw": [ - 256, - 256 - ], - "rgb_native_resolution_hw": [ - 1920, - 1440 - ], - "depth_output_unit_default": "mm (LeRobot depth_output_unit default; pass --dataset.depth_output_unit m to load metres)", - "raw_depth_reference": "openego_sidecar.json + data/annotations//depth.npz (lossless)", - "arkit_rgb_intrinsics_3x3": [ - [ - 1383.6243896484375, - 0.0, - 725.887939453125 - ], - [ - 0.0, - 1383.6243896484375, - 958.5609130859375 - ], - [ - 0.0, - 0.0, - 1.0 - ] - ], - "depth_intrinsics_3x3": [ - [ - 184.483251953125, - 0.0, - 96.78505859375 - ], - [ - 0.0, - 184.483251953125, - 127.80812174479166 - ], - [ - 0.0, - 0.0, - 1.0 - ] - ], - "depth_intrinsics_scale_xy": [ - 0.13333333333333333, - 0.13333333333333333 - ], - "intrinsics_source": "record3d_arkit (median of per-frame, via chokepoint)" -} \ No newline at end of file diff --git a/episodes/019fbdfa-6dbd-7c90-938b-c476032bab5b/hand_object_contact.npz b/episodes/019fbdfa-6dbd-7c90-938b-c476032bab5b/hand_object_contact.npz deleted file mode 100644 index d7601f64572474f56ae18dcc0e999a702d0b7aa2..0000000000000000000000000000000000000000 --- a/episodes/019fbdfa-6dbd-7c90-938b-c476032bab5b/hand_object_contact.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:6d83f08bd53f21b95e02e77dcfaf4172169ce346bdde97a8b5035b8f7ab91d5f -size 23488 diff --git a/episodes/019fbdfa-6dbd-7c90-938b-c476032bab5b/object_mask.npz b/episodes/019fbdfa-6dbd-7c90-938b-c476032bab5b/object_mask.npz deleted file mode 100644 index 7d79785dce61d4648851055864a2d87362d74de8..0000000000000000000000000000000000000000 --- a/episodes/019fbdfa-6dbd-7c90-938b-c476032bab5b/object_mask.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:d235c1c497edc5902ed513c044bf04535db533a299755513bae07dd2aefc3a03 -size 12879590 diff --git a/episodes/019fbdfd-df4a-7b32-9782-591df3c6ecc2/depth_geometry.json b/episodes/019fbdfd-df4a-7b32-9782-591df3c6ecc2/depth_geometry.json index c3bd38d3534c257456c1639b62326f95c137c75a..bc2a16fdb411f2e1ec2eb0b32b5c8e7694a6dd4b 100644 --- a/episodes/019fbdfd-df4a-7b32-9782-591df3c6ecc2/depth_geometry.json +++ b/episodes/019fbdfd-df4a-7b32-9782-591df3c6ecc2/depth_geometry.json @@ -1,14 +1,18 @@ { "sensor": "iphone_lidar_arkit", - "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth, its OWN intrinsics \u2014 see depth_geometry.json); observation.images.ego is 256x256 (resized). DIFFERENT pixel grids \u2014 register via the depth intrinsics + observation.camera_pose, never depth[y,x]==ego[y,x]. The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth grid, untouched); observation.images.ego is 512x384 \u2014 ONE uniform downscale of the native RGB, so ego is EXACTLY 2x the depth grid: ego[y, x], mask[y, x] and depth[y//2, x//2] are the same ray. Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", "depth_resolution_hw": [ 256, 192 ], "ego_obs_resolution_hw": [ - 256, - 256 + 512, + 384 ], + "ego_to_depth_scale": 2.0, + "raster_rotation": null, + "display_hint": null, + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 1 quarter-turn(s); gravity-verified at export)", "rgb_native_resolution_hw": [ 1920, 1440 @@ -32,6 +36,7 @@ 1.0 ] ], + "intrinsics_frame": "native raster", "depth_intrinsics_3x3": [ [ 184.48642578125, diff --git a/episodes/019fbdfd-df4a-7b32-9782-591df3c6ecc2/openego_sidecar.json b/episodes/019fbdfd-df4a-7b32-9782-591df3c6ecc2/openego_sidecar.json index 92bb1b457155fc1d4b3349e3c57281ea023af46f..a4b60ede68a1a2702fd05718d4c2027ce043c7ca 100644 --- a/episodes/019fbdfd-df4a-7b32-9782-591df3c6ecc2/openego_sidecar.json +++ b/episodes/019fbdfd-df4a-7b32-9782-591df3c6ecc2/openego_sidecar.json @@ -428,100 +428,100 @@ }, "quality_gates": { "all_passed": true, + "validated_at": "2026-08-10T13:34:59+00:00", "gates": [ { - "detail": "", "name": "json_schema", "passed": true, + "value": "ok", "threshold": "validates", - "value": "ok" + "detail": "" }, { - "detail": "presence-conditioned over the actor's active span [39..1565] = 1527/1695 frames (raw all-frames = 86.61%)", "name": "frames_with_hands_pct", "passed": true, + "value": 100.0, "threshold": ">= 30% [class=GLOBAL]", - "value": 96.14 + "detail": "presence-conditioned over the actor's active span [29..1567] = 1539/1695 frames (raw all-frames = 90.80%); shipped channel = raw \u2295 hand_mask_corrections" }, { - "detail": "silent or near-silent", "name": "audio_snr_db", "passed": true, + "value": null, "threshold": ">= 5 dB", - "value": null + "detail": "silent or near-silent" }, { - "detail": "silent clip", "name": "transcript_density", "passed": true, + "value": 0.0, "threshold": ">= 0.5 wps", - "value": 0.0 + "detail": "silent clip" }, { - "detail": "", "name": "hand_mask_coverage_pct", "passed": true, + "value": 2.821, "threshold": ">= 1%", - "value": 2.821 + "detail": "" }, { - "detail": "", "name": "phase_plan_windowing", "passed": true, + "value": "not_requested", "threshold": "phase plan absent \u2014 skipped", - "value": "not_requested" + "detail": "" }, { - "detail": "", "name": "object_mask_coverage_pct", "passed": true, + "value": 20.864, "threshold": ">= 1% (per present object) [class=GLOBAL]", - "value": 20.864 + "detail": "" }, { - "detail": "", "name": "hand_mask_area_floor_left", "passed": true, + "value": 3.0991, "threshold": ">= 0.20% (median, per hand)", - "value": 3.0991 + "detail": "" }, { - "detail": "", "name": "hand_mask_area_floor_right", "passed": true, + "value": 2.8555, "threshold": ">= 0.20% (median, per hand)", - "value": 2.8555 + "detail": "" }, { - "detail": "", "name": "hand_mask_lr_asymmetry", "passed": true, + "value": 0.9214, "threshold": "min/max >= 0.20", - "value": 0.9214 + "detail": "" }, { - "detail": "", "name": "hand_slot_merge", "passed": true, + "value": 0, "threshold": "< 5 consecutive frames with L\u2229R IoU > 0.5", - "value": 0 + "detail": "" }, { - "detail": "", "name": "object_track_truncated", "passed": true, + "value": 0, "threshold": "no tracked object ends while a hand still holds it", - "value": 0 + "detail": "" }, { - "detail": "", "name": "actor_mirror_consistency", "passed": true, + "value": 0, "threshold": "every hierarchy span's actor_kind == its action's actors[0]", - "value": 0 + "detail": "" } - ], - "validated_at": "2026-08-03T14:08:08+00:00" + ] } }, "manually_annotated_fields": [], diff --git a/episodes/019fbe00-1b47-7bf1-b0b3-74dea4da8071/depth_geometry.json b/episodes/019fbe00-1b47-7bf1-b0b3-74dea4da8071/depth_geometry.json index 61db9dd05cb838f48267df064cce094adcf4ae25..ea390b86533f3fe96d2a65580f09a49328a6b04e 100644 --- a/episodes/019fbe00-1b47-7bf1-b0b3-74dea4da8071/depth_geometry.json +++ b/episodes/019fbe00-1b47-7bf1-b0b3-74dea4da8071/depth_geometry.json @@ -1,14 +1,18 @@ { "sensor": "iphone_lidar_arkit", - "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth, its OWN intrinsics \u2014 see depth_geometry.json); observation.images.ego is 256x256 (resized). DIFFERENT pixel grids \u2014 register via the depth intrinsics + observation.camera_pose, never depth[y,x]==ego[y,x]. The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth grid, untouched); observation.images.ego is 512x384 \u2014 ONE uniform downscale of the native RGB, so ego is EXACTLY 2x the depth grid: ego[y, x], mask[y, x] and depth[y//2, x//2] are the same ray. Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", "depth_resolution_hw": [ 256, 192 ], "ego_obs_resolution_hw": [ - 256, - 256 + 512, + 384 ], + "ego_to_depth_scale": 2.0, + "raster_rotation": null, + "display_hint": null, + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 1 quarter-turn(s); gravity-verified at export)", "rgb_native_resolution_hw": [ 1920, 1440 @@ -32,6 +36,7 @@ 1.0 ] ], + "intrinsics_frame": "native raster", "depth_intrinsics_3x3": [ [ 184.387548828125, diff --git a/episodes/019fbe00-1b47-7bf1-b0b3-74dea4da8071/openego_sidecar.json b/episodes/019fbe00-1b47-7bf1-b0b3-74dea4da8071/openego_sidecar.json index fe45f31f41825a2998f0657b62db053d4d57c8b4..9177cb4cddf979ab7c10473b384f91137f6d882e 100644 --- a/episodes/019fbe00-1b47-7bf1-b0b3-74dea4da8071/openego_sidecar.json +++ b/episodes/019fbe00-1b47-7bf1-b0b3-74dea4da8071/openego_sidecar.json @@ -404,86 +404,100 @@ }, "quality_gates": { "all_passed": true, + "validated_at": "2026-08-10T13:34:05+00:00", "gates": [ { - "detail": "", "name": "json_schema", "passed": true, + "value": "ok", "threshold": "validates", - "value": "ok" + "detail": "" }, { - "detail": "presence-conditioned over the actor's active span [45..1596] = 1552/1701 frames (raw all-frames = 80.07%)", "name": "frames_with_hands_pct", "passed": true, + "value": 100.0, "threshold": ">= 30% [class=GLOBAL]", - "value": 87.76 + "detail": "presence-conditioned over the actor's active span [42..1601] = 1560/1701 frames (raw all-frames = 91.71%); shipped channel = raw \u2295 hand_mask_corrections" }, { - "detail": "silent or near-silent", "name": "audio_snr_db", "passed": true, + "value": null, "threshold": ">= 5 dB", - "value": null + "detail": "silent or near-silent" }, { - "detail": "silent clip", "name": "transcript_density", "passed": true, + "value": 0.0, "threshold": ">= 0.5 wps", - "value": 0.0 + "detail": "silent clip" }, { - "detail": "", "name": "hand_mask_coverage_pct", "passed": true, + "value": 2.999, "threshold": ">= 1%", - "value": 2.999 + "detail": "" }, { - "detail": "", "name": "phase_plan_windowing", "passed": true, + "value": "not_requested", "threshold": "phase plan absent \u2014 skipped", - "value": "not_requested" + "detail": "" }, { - "detail": "", "name": "object_mask_coverage_pct", "passed": true, + "value": 18.466, "threshold": ">= 1% (per present object) [class=GLOBAL]", - "value": 18.466 + "detail": "" }, { - "detail": "", "name": "hand_mask_area_floor_left", "passed": true, + "value": 2.6694, "threshold": ">= 0.20% (median, per hand)", - "value": 2.6694 + "detail": "" }, { - "detail": "", "name": "hand_mask_area_floor_right", "passed": true, + "value": 3.329, "threshold": ">= 0.20% (median, per hand)", - "value": 3.329 + "detail": "" }, { - "detail": "", "name": "hand_mask_lr_asymmetry", "passed": true, + "value": 0.8019, "threshold": "min/max >= 0.20", - "value": 0.8019 + "detail": "" }, { - "detail": "", "name": "hand_slot_merge", "passed": true, + "value": 0, "threshold": "< 5 consecutive frames with L\u2229R IoU > 0.5", - "value": 0 + "detail": "" + }, + { + "name": "object_track_truncated", + "passed": true, + "value": 0, + "threshold": "no tracked object ends while a hand still holds it", + "detail": "" + }, + { + "name": "actor_mirror_consistency", + "passed": true, + "value": 0, + "threshold": "every hierarchy span's actor_kind == its action's actors[0]", + "detail": "" } - ], - "validated_at": "2026-08-02T08:29:00+00:00" + ] } }, "manually_annotated_fields": [], diff --git a/episodes/019fbe02-16d6-7a62-9710-84bb67c6f74c/depth_geometry.json b/episodes/019fbe02-16d6-7a62-9710-84bb67c6f74c/depth_geometry.json index 3fd52c54ea974f48e13fa1c2249b41be8eb00c86..bc395c3fe799348771915f03c22c23563d06a286 100644 --- a/episodes/019fbe02-16d6-7a62-9710-84bb67c6f74c/depth_geometry.json +++ b/episodes/019fbe02-16d6-7a62-9710-84bb67c6f74c/depth_geometry.json @@ -1,14 +1,18 @@ { "sensor": "iphone_lidar_arkit", - "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth, its OWN intrinsics \u2014 see depth_geometry.json); observation.images.ego is 256x256 (resized). DIFFERENT pixel grids \u2014 register via the depth intrinsics + observation.camera_pose, never depth[y,x]==ego[y,x]. The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth grid, untouched); observation.images.ego is 512x384 \u2014 ONE uniform downscale of the native RGB, so ego is EXACTLY 2x the depth grid: ego[y, x], mask[y, x] and depth[y//2, x//2] are the same ray. Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", "depth_resolution_hw": [ 256, 192 ], "ego_obs_resolution_hw": [ - 256, - 256 + 512, + 384 ], + "ego_to_depth_scale": 2.0, + "raster_rotation": null, + "display_hint": null, + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 1 quarter-turn(s); gravity-verified at export)", "rgb_native_resolution_hw": [ 1920, 1440 @@ -32,6 +36,7 @@ 1.0 ] ], + "intrinsics_frame": "native raster", "depth_intrinsics_3x3": [ [ 196.962255859375, diff --git a/episodes/019fbe02-16d6-7a62-9710-84bb67c6f74c/openego_sidecar.json b/episodes/019fbe02-16d6-7a62-9710-84bb67c6f74c/openego_sidecar.json index 659b4941c15fbd4b78c480172cd864be773a1378..3cd9eeed0d8b65ef6ea7a86b844b8257bf1d74db 100644 --- a/episodes/019fbe02-16d6-7a62-9710-84bb67c6f74c/openego_sidecar.json +++ b/episodes/019fbe02-16d6-7a62-9710-84bb67c6f74c/openego_sidecar.json @@ -399,100 +399,100 @@ }, "quality_gates": { "all_passed": true, + "validated_at": "2026-08-10T13:33:24+00:00", "gates": [ { - "detail": "", "name": "json_schema", "passed": true, + "value": "ok", "threshold": "validates", - "value": "ok" + "detail": "" }, { - "detail": "presence-conditioned over the actor's active span [138..899] = 762/948 frames (raw all-frames = 51.27%)", "name": "frames_with_hands_pct", "passed": true, - "threshold": ">= 30% [class=GLOBAL]", - "value": 63.78 + "value": 100.0, + "threshold": ">= 5% [class=sweep]", + "detail": "presence-conditioned over the actor's active span [107..913] = 807/948 frames (raw all-frames = 85.13%); shipped channel = raw \u2295 hand_mask_corrections" }, { - "detail": "silent or near-silent", "name": "audio_snr_db", "passed": true, + "value": null, "threshold": ">= 5 dB", - "value": null + "detail": "silent or near-silent" }, { - "detail": "silent clip", "name": "transcript_density", "passed": true, + "value": 0.0, "threshold": ">= 0.5 wps", - "value": 0.0 + "detail": "silent clip" }, { - "detail": "", "name": "hand_mask_coverage_pct", "passed": true, + "value": 1.983, "threshold": ">= 1%", - "value": 1.983 + "detail": "" }, { - "detail": "", "name": "phase_plan_windowing", "passed": true, + "value": "not_requested", "threshold": "phase plan absent \u2014 skipped", - "value": "not_requested" + "detail": "" }, { - "detail": "", "name": "object_mask_coverage_pct", "passed": true, - "threshold": ">= 1% (per present object) [class=GLOBAL]", - "value": 3.489 + "value": 3.489, + "threshold": ">= 0.5% (per present object) [class=sweep]", + "detail": "" }, { - "detail": "left hand absent \u2014 skipped", "name": "hand_mask_area_floor_left", "passed": true, + "value": null, "threshold": ">= 0.20% (median, per hand)", - "value": null + "detail": "left hand absent \u2014 skipped" }, { - "detail": "", "name": "hand_mask_area_floor_right", "passed": true, + "value": 4.7225, "threshold": ">= 0.20% (median, per hand)", - "value": 4.7225 + "detail": "" }, { - "detail": "both hands not present \u2014 skipped", "name": "hand_mask_lr_asymmetry", "passed": true, + "value": null, "threshold": "min/max >= 0.20", - "value": null + "detail": "both hands not present \u2014 skipped" }, { - "detail": "", "name": "hand_slot_merge", "passed": true, + "value": 0, "threshold": "< 5 consecutive frames with L\u2229R IoU > 0.5", - "value": 0 + "detail": "" }, { - "detail": "", "name": "object_track_truncated", "passed": true, + "value": 0, "threshold": "no tracked object ends while a hand still holds it", - "value": 0 + "detail": "" }, { - "detail": "", "name": "actor_mirror_consistency", "passed": true, + "value": 0, "threshold": "every hierarchy span's actor_kind == its action's actors[0]", - "value": 0 + "detail": "" } - ], - "validated_at": "2026-08-02T14:53:25+00:00" + ] } }, "manually_annotated_fields": [], diff --git a/episodes/019fbe03-8d1b-7860-bdab-d81eb833590b/depth_geometry.json b/episodes/019fbe03-8d1b-7860-bdab-d81eb833590b/depth_geometry.json index cd8bf3f08315066fb3fd3fe8c476e6f07809864b..baeb933e3b63921d5a66044516d748cde1be563b 100644 --- a/episodes/019fbe03-8d1b-7860-bdab-d81eb833590b/depth_geometry.json +++ b/episodes/019fbe03-8d1b-7860-bdab-d81eb833590b/depth_geometry.json @@ -1,14 +1,18 @@ { "sensor": "iphone_lidar_arkit", - "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth, its OWN intrinsics \u2014 see depth_geometry.json); observation.images.ego is 256x256 (resized). DIFFERENT pixel grids \u2014 register via the depth intrinsics + observation.camera_pose, never depth[y,x]==ego[y,x]. The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth grid, untouched); observation.images.ego is 512x384 \u2014 ONE uniform downscale of the native RGB, so ego is EXACTLY 2x the depth grid: ego[y, x], mask[y, x] and depth[y//2, x//2] are the same ray. Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", "depth_resolution_hw": [ 256, 192 ], "ego_obs_resolution_hw": [ - 256, - 256 + 512, + 384 ], + "ego_to_depth_scale": 2.0, + "raster_rotation": null, + "display_hint": null, + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 1 quarter-turn(s); gravity-verified at export)", "rgb_native_resolution_hw": [ 1920, 1440 @@ -32,6 +36,7 @@ 1.0 ] ], + "intrinsics_frame": "native raster", "depth_intrinsics_3x3": [ [ 196.89581705729165, diff --git a/episodes/019fbe03-8d1b-7860-bdab-d81eb833590b/openego_sidecar.json b/episodes/019fbe03-8d1b-7860-bdab-d81eb833590b/openego_sidecar.json index 9e51446d8355a7dec6ce184871a9c5383f84f0dd..64944caaeda6d46e40625f8ffd19ef4d3a53a924 100644 --- a/episodes/019fbe03-8d1b-7860-bdab-d81eb833590b/openego_sidecar.json +++ b/episodes/019fbe03-8d1b-7860-bdab-d81eb833590b/openego_sidecar.json @@ -437,100 +437,100 @@ }, "quality_gates": { "all_passed": true, + "validated_at": "2026-08-10T13:33:02+00:00", "gates": [ { - "detail": "", "name": "json_schema", "passed": true, + "value": "ok", "threshold": "validates", - "value": "ok" + "detail": "" }, { - "detail": "presence-conditioned over the actor's active span [214..929] = 716/983 frames (raw all-frames = 47.51%)", "name": "frames_with_hands_pct", "passed": true, - "threshold": ">= 30% [class=GLOBAL]", - "value": 65.22 + "value": 99.62, + "threshold": ">= 5% [class=sweep]", + "detail": "presence-conditioned over the actor's active span [154..946] = 793/983 frames (raw all-frames = 80.37%); shipped channel = raw \u2295 hand_mask_corrections" }, { - "detail": "silent or near-silent", "name": "audio_snr_db", "passed": true, + "value": null, "threshold": ">= 5 dB", - "value": null + "detail": "silent or near-silent" }, { - "detail": "silent clip", "name": "transcript_density", "passed": true, + "value": 0.0, "threshold": ">= 0.5 wps", - "value": 0.0 + "detail": "silent clip" }, { - "detail": "", "name": "hand_mask_coverage_pct", "passed": true, + "value": 1.771, "threshold": ">= 1%", - "value": 1.771 + "detail": "" }, { - "detail": "", "name": "phase_plan_windowing", "passed": true, + "value": "not_requested", "threshold": "phase plan absent \u2014 skipped", - "value": "not_requested" + "detail": "" }, { - "detail": "", "name": "object_mask_coverage_pct", "passed": true, - "threshold": ">= 1% (per present object) [class=GLOBAL]", - "value": 3.882 + "value": 3.882, + "threshold": ">= 0.5% (per present object) [class=sweep]", + "detail": "" }, { - "detail": "left hand absent \u2014 skipped", "name": "hand_mask_area_floor_left", "passed": true, + "value": null, "threshold": ">= 0.20% (median, per hand)", - "value": null + "detail": "left hand absent \u2014 skipped" }, { - "detail": "", "name": "hand_mask_area_floor_right", "passed": true, + "value": 4.2011, "threshold": ">= 0.20% (median, per hand)", - "value": 4.2011 + "detail": "" }, { - "detail": "both hands not present \u2014 skipped", "name": "hand_mask_lr_asymmetry", "passed": true, + "value": null, "threshold": "min/max >= 0.20", - "value": null + "detail": "both hands not present \u2014 skipped" }, { - "detail": "", "name": "hand_slot_merge", "passed": true, + "value": 0, "threshold": "< 5 consecutive frames with L\u2229R IoU > 0.5", - "value": 0 + "detail": "" }, { - "detail": "", "name": "object_track_truncated", "passed": true, + "value": 0, "threshold": "no tracked object ends while a hand still holds it", - "value": 0 + "detail": "" }, { - "detail": "", "name": "actor_mirror_consistency", "passed": true, + "value": 0, "threshold": "every hierarchy span's actor_kind == its action's actors[0]", - "value": 0 + "detail": "" } - ], - "validated_at": "2026-08-02T14:45:26+00:00" + ] } }, "manually_annotated_fields": [], diff --git a/episodes/019fbe05-4468-7161-ba92-1e418f987dbe/depth_geometry.json b/episodes/019fbe05-4468-7161-ba92-1e418f987dbe/depth_geometry.json index 106aa6b421bb025cd08ee046ee5c515b2fddcd9a..0b2c509bb8654de97e1c9b05fd21c1e40db9f50c 100644 --- a/episodes/019fbe05-4468-7161-ba92-1e418f987dbe/depth_geometry.json +++ b/episodes/019fbe05-4468-7161-ba92-1e418f987dbe/depth_geometry.json @@ -1,14 +1,18 @@ { "sensor": "iphone_lidar_arkit", - "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth, its OWN intrinsics \u2014 see depth_geometry.json); observation.images.ego is 256x256 (resized). DIFFERENT pixel grids \u2014 register via the depth intrinsics + observation.camera_pose, never depth[y,x]==ego[y,x]. The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth grid, untouched); observation.images.ego is 512x384 \u2014 ONE uniform downscale of the native RGB, so ego is EXACTLY 2x the depth grid: ego[y, x], mask[y, x] and depth[y//2, x//2] are the same ray. Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", "depth_resolution_hw": [ 256, 192 ], "ego_obs_resolution_hw": [ - 256, - 256 + 512, + 384 ], + "ego_to_depth_scale": 2.0, + "raster_rotation": null, + "display_hint": null, + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 1 quarter-turn(s); gravity-verified at export)", "rgb_native_resolution_hw": [ 1920, 1440 @@ -32,6 +36,7 @@ 1.0 ] ], + "intrinsics_frame": "native raster", "depth_intrinsics_3x3": [ [ 196.785791015625, diff --git a/episodes/019fbe05-4468-7161-ba92-1e418f987dbe/openego_sidecar.json b/episodes/019fbe05-4468-7161-ba92-1e418f987dbe/openego_sidecar.json index 62c36c31990c787c0190490f8f4e4a1806ea6934..7754daa8f58f32840a6e59b2db406bc82783c63e 100644 --- a/episodes/019fbe05-4468-7161-ba92-1e418f987dbe/openego_sidecar.json +++ b/episodes/019fbe05-4468-7161-ba92-1e418f987dbe/openego_sidecar.json @@ -351,100 +351,100 @@ }, "quality_gates": { "all_passed": true, + "validated_at": "2026-08-10T13:32:38+00:00", "gates": [ { - "detail": "", "name": "json_schema", "passed": true, + "value": "ok", "threshold": "validates", - "value": "ok" + "detail": "" }, { - "detail": "presence-conditioned over the actor's active span [167..714] = 548/808 frames (raw all-frames = 38.12%)", "name": "frames_with_hands_pct", "passed": true, - "threshold": ">= 30% [class=GLOBAL]", - "value": 56.2 + "value": 100.0, + "threshold": ">= 5% [class=sweep]", + "detail": "presence-conditioned over the actor's active span [93..740] = 648/808 frames (raw all-frames = 80.20%); shipped channel = raw \u2295 hand_mask_corrections" }, { - "detail": "silent or near-silent", "name": "audio_snr_db", "passed": true, + "value": null, "threshold": ">= 5 dB", - "value": null + "detail": "silent or near-silent" }, { - "detail": "silent clip", "name": "transcript_density", "passed": true, + "value": 0.0, "threshold": ">= 0.5 wps", - "value": 0.0 + "detail": "silent clip" }, { - "detail": "", "name": "hand_mask_coverage_pct", "passed": true, + "value": 1.851, "threshold": ">= 1%", - "value": 1.851 + "detail": "" }, { - "detail": "", "name": "phase_plan_windowing", "passed": true, + "value": "not_requested", "threshold": "phase plan absent \u2014 skipped", - "value": "not_requested" + "detail": "" }, { - "detail": "", "name": "object_mask_coverage_pct", "passed": true, - "threshold": ">= 1% (per present object) [class=GLOBAL]", - "value": 3.803 + "value": 3.803, + "threshold": ">= 0.5% (per present object) [class=sweep]", + "detail": "" }, { - "detail": "left hand absent \u2014 skipped", "name": "hand_mask_area_floor_left", "passed": true, + "value": null, "threshold": ">= 0.20% (median, per hand)", - "value": null + "detail": "left hand absent \u2014 skipped" }, { - "detail": "", "name": "hand_mask_area_floor_right", "passed": true, + "value": 4.5114, "threshold": ">= 0.20% (median, per hand)", - "value": 4.5114 + "detail": "" }, { - "detail": "both hands not present \u2014 skipped", "name": "hand_mask_lr_asymmetry", "passed": true, + "value": null, "threshold": "min/max >= 0.20", - "value": null + "detail": "both hands not present \u2014 skipped" }, { - "detail": "", "name": "hand_slot_merge", "passed": true, + "value": 0, "threshold": "< 5 consecutive frames with L\u2229R IoU > 0.5", - "value": 0 + "detail": "" }, { - "detail": "", "name": "object_track_truncated", "passed": true, + "value": 0, "threshold": "no tracked object ends while a hand still holds it", - "value": 0 + "detail": "" }, { - "detail": "", "name": "actor_mirror_consistency", "passed": true, + "value": 0, "threshold": "every hierarchy span's actor_kind == its action's actors[0]", - "value": 0 + "detail": "" } - ], - "validated_at": "2026-08-02T14:33:55+00:00" + ] } }, "manually_annotated_fields": [], diff --git a/episodes/019fbe06-b048-7b70-b85d-e417d5254e14/depth_geometry.json b/episodes/019fbe06-b048-7b70-b85d-e417d5254e14/depth_geometry.json index 9e8811a1ade4816d7618fcb33ae5e94d02257393..a60edd0e22a9ecc6d1048cfd9100bb5b3fd4cdf7 100644 --- a/episodes/019fbe06-b048-7b70-b85d-e417d5254e14/depth_geometry.json +++ b/episodes/019fbe06-b048-7b70-b85d-e417d5254e14/depth_geometry.json @@ -1,14 +1,18 @@ { "sensor": "iphone_lidar_arkit", - "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth, its OWN intrinsics \u2014 see depth_geometry.json); observation.images.ego is 256x256 (resized). DIFFERENT pixel grids \u2014 register via the depth intrinsics + observation.camera_pose, never depth[y,x]==ego[y,x]. The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth grid, untouched); observation.images.ego is 512x384 \u2014 ONE uniform downscale of the native RGB, so ego is EXACTLY 2x the depth grid: ego[y, x], mask[y, x] and depth[y//2, x//2] are the same ray. Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", "depth_resolution_hw": [ 256, 192 ], "ego_obs_resolution_hw": [ - 256, - 256 + 512, + 384 ], + "ego_to_depth_scale": 2.0, + "raster_rotation": null, + "display_hint": null, + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 1 quarter-turn(s); gravity-verified at export)", "rgb_native_resolution_hw": [ 1920, 1440 @@ -32,6 +36,7 @@ 1.0 ] ], + "intrinsics_frame": "native raster", "depth_intrinsics_3x3": [ [ 196.84461263020833, diff --git a/episodes/019fbe06-b048-7b70-b85d-e417d5254e14/openego_sidecar.json b/episodes/019fbe06-b048-7b70-b85d-e417d5254e14/openego_sidecar.json index c5341cac6049306173f541a221b78d57364fbf4e..c1dae354a2f8083e34b6375e69c6c94fddd7aa26 100644 --- a/episodes/019fbe06-b048-7b70-b85d-e417d5254e14/openego_sidecar.json +++ b/episodes/019fbe06-b048-7b70-b85d-e417d5254e14/openego_sidecar.json @@ -475,100 +475,100 @@ }, "quality_gates": { "all_passed": true, + "validated_at": "2026-08-10T13:32:21+00:00", "gates": [ { - "detail": "", "name": "json_schema", "passed": true, + "value": "ok", "threshold": "validates", - "value": "ok" + "detail": "" }, { - "detail": "presence-conditioned over the actor's active span [146..843] = 698/897 frames (raw all-frames = 42.81%)", "name": "frames_with_hands_pct", "passed": true, - "threshold": ">= 30% [class=GLOBAL]", - "value": 55.01 + "value": 100.0, + "threshold": ">= 5% [class=sweep]", + "detail": "presence-conditioned over the actor's active span [145..856] = 712/897 frames (raw all-frames = 79.38%); shipped channel = raw \u2295 hand_mask_corrections" }, { - "detail": "silent or near-silent", "name": "audio_snr_db", "passed": true, + "value": null, "threshold": ">= 5 dB", - "value": null + "detail": "silent or near-silent" }, { - "detail": "silent clip", "name": "transcript_density", "passed": true, + "value": 0.0, "threshold": ">= 0.5 wps", - "value": 0.0 + "detail": "silent clip" }, { - "detail": "", "name": "hand_mask_coverage_pct", "passed": true, + "value": 1.746, "threshold": ">= 1%", - "value": 1.746 + "detail": "" }, { - "detail": "", "name": "phase_plan_windowing", "passed": true, + "value": "not_requested", "threshold": "phase plan absent \u2014 skipped", - "value": "not_requested" + "detail": "" }, { - "detail": "", "name": "object_mask_coverage_pct", "passed": true, - "threshold": ">= 1% (per present object) [class=GLOBAL]", - "value": 4.168 + "value": 4.168, + "threshold": ">= 0.5% (per present object) [class=sweep]", + "detail": "" }, { - "detail": "left hand absent \u2014 skipped", "name": "hand_mask_area_floor_left", "passed": true, + "value": null, "threshold": ">= 0.20% (median, per hand)", - "value": null + "detail": "left hand absent \u2014 skipped" }, { - "detail": "", "name": "hand_mask_area_floor_right", "passed": true, + "value": 4.1692, "threshold": ">= 0.20% (median, per hand)", - "value": 4.1692 + "detail": "" }, { - "detail": "both hands not present \u2014 skipped", "name": "hand_mask_lr_asymmetry", "passed": true, + "value": null, "threshold": "min/max >= 0.20", - "value": null + "detail": "both hands not present \u2014 skipped" }, { - "detail": "", "name": "hand_slot_merge", "passed": true, + "value": 0, "threshold": "< 5 consecutive frames with L\u2229R IoU > 0.5", - "value": 0 + "detail": "" }, { - "detail": "", "name": "object_track_truncated", "passed": true, + "value": 0, "threshold": "no tracked object ends while a hand still holds it", - "value": 0 + "detail": "" }, { - "detail": "", "name": "actor_mirror_consistency", "passed": true, + "value": 0, "threshold": "every hierarchy span's actor_kind == its action's actors[0]", - "value": 0 + "detail": "" } - ], - "validated_at": "2026-08-02T13:59:25+00:00" + ] } }, "manually_annotated_fields": [], diff --git a/episodes/019fbe08-680b-74b0-84d9-e3024eaafdda/depth_geometry.json b/episodes/019fbe08-680b-74b0-84d9-e3024eaafdda/depth_geometry.json index 014a73b4bae5357454ea418074f272e9a56524db..7887d7f207958fd3466db17b458dedce49db8f3c 100644 --- a/episodes/019fbe08-680b-74b0-84d9-e3024eaafdda/depth_geometry.json +++ b/episodes/019fbe08-680b-74b0-84d9-e3024eaafdda/depth_geometry.json @@ -1,14 +1,18 @@ { "sensor": "iphone_lidar_arkit", - "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth, its OWN intrinsics \u2014 see depth_geometry.json); observation.images.ego is 256x256 (resized). DIFFERENT pixel grids \u2014 register via the depth intrinsics + observation.camera_pose, never depth[y,x]==ego[y,x]. The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth grid, untouched); observation.images.ego is 512x384 \u2014 ONE uniform downscale of the native RGB, so ego is EXACTLY 2x the depth grid: ego[y, x], mask[y, x] and depth[y//2, x//2] are the same ray. Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", "depth_resolution_hw": [ 256, 192 ], "ego_obs_resolution_hw": [ - 256, - 256 + 512, + 384 ], + "ego_to_depth_scale": 2.0, + "raster_rotation": null, + "display_hint": null, + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 1 quarter-turn(s); gravity-verified at export)", "rgb_native_resolution_hw": [ 1920, 1440 @@ -32,6 +36,7 @@ 1.0 ] ], + "intrinsics_frame": "native raster", "depth_intrinsics_3x3": [ [ 196.902392578125, diff --git a/episodes/019fbe08-680b-74b0-84d9-e3024eaafdda/openego_sidecar.json b/episodes/019fbe08-680b-74b0-84d9-e3024eaafdda/openego_sidecar.json index a334e97abb95c2bab5bc745edf9cc379b4c24644..46a9926657769c2657f629e71196fe7c61f0e884 100644 --- a/episodes/019fbe08-680b-74b0-84d9-e3024eaafdda/openego_sidecar.json +++ b/episodes/019fbe08-680b-74b0-84d9-e3024eaafdda/openego_sidecar.json @@ -427,100 +427,100 @@ }, "quality_gates": { "all_passed": true, + "validated_at": "2026-08-10T13:32:04+00:00", "gates": [ { - "detail": "", "name": "json_schema", "passed": true, + "value": "ok", "threshold": "validates", - "value": "ok" + "detail": "" }, { - "detail": "presence-conditioned over the actor's active span [167..839] = 673/880 frames (raw all-frames = 33.18%)", "name": "frames_with_hands_pct", "passed": true, - "threshold": ">= 30% [class=GLOBAL]", - "value": 43.39 + "value": 99.87, + "threshold": ">= 5% [class=sweep]", + "detail": "presence-conditioned over the actor's active span [80..841] = 762/880 frames (raw all-frames = 86.48%); shipped channel = raw \u2295 hand_mask_corrections" }, { - "detail": "silent or near-silent", "name": "audio_snr_db", "passed": true, + "value": null, "threshold": ">= 5 dB", - "value": null + "detail": "silent or near-silent" }, { - "detail": "silent clip", "name": "transcript_density", "passed": true, + "value": 0.0, "threshold": ">= 0.5 wps", - "value": 0.0 + "detail": "silent clip" }, { - "detail": "", "name": "hand_mask_coverage_pct", "passed": true, + "value": 1.864, "threshold": ">= 1%", - "value": 1.864 + "detail": "" }, { - "detail": "", "name": "phase_plan_windowing", "passed": true, + "value": "not_requested", "threshold": "phase plan absent \u2014 skipped", - "value": "not_requested" + "detail": "" }, { - "detail": "", "name": "object_mask_coverage_pct", "passed": true, - "threshold": ">= 1% (per present object) [class=GLOBAL]", - "value": 3.599 + "value": 3.599, + "threshold": ">= 0.5% (per present object) [class=sweep]", + "detail": "" }, { - "detail": "left hand absent \u2014 skipped", "name": "hand_mask_area_floor_left", "passed": true, + "value": null, "threshold": ">= 0.20% (median, per hand)", - "value": null + "detail": "left hand absent \u2014 skipped" }, { - "detail": "", "name": "hand_mask_area_floor_right", "passed": true, + "value": 4.1647, "threshold": ">= 0.20% (median, per hand)", - "value": 4.1647 + "detail": "" }, { - "detail": "both hands not present \u2014 skipped", "name": "hand_mask_lr_asymmetry", "passed": true, + "value": null, "threshold": "min/max >= 0.20", - "value": null + "detail": "both hands not present \u2014 skipped" }, { - "detail": "", "name": "hand_slot_merge", "passed": true, + "value": 0, "threshold": "< 5 consecutive frames with L\u2229R IoU > 0.5", - "value": 0 + "detail": "" }, { - "detail": "", "name": "object_track_truncated", "passed": true, + "value": 0, "threshold": "no tracked object ends while a hand still holds it", - "value": 0 + "detail": "" }, { - "detail": "", "name": "actor_mirror_consistency", "passed": true, + "value": 0, "threshold": "every hierarchy span's actor_kind == its action's actors[0]", - "value": 0 + "detail": "" } - ], - "validated_at": "2026-08-02T13:50:16+00:00" + ] } }, "manually_annotated_fields": [], diff --git a/episodes/019fbe0a-0896-7dd1-bbb6-6fe24d95d71b/depth_geometry.json b/episodes/019fbe0a-0896-7dd1-bbb6-6fe24d95d71b/depth_geometry.json index 1667ddb03b95107542f059b5a9e22d10d90e09c2..1b04c41392d78e2d5efd139e8bbdffb995dd8f81 100644 --- a/episodes/019fbe0a-0896-7dd1-bbb6-6fe24d95d71b/depth_geometry.json +++ b/episodes/019fbe0a-0896-7dd1-bbb6-6fe24d95d71b/depth_geometry.json @@ -1,14 +1,18 @@ { "sensor": "iphone_lidar_arkit", - "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth, its OWN intrinsics \u2014 see depth_geometry.json); observation.images.ego is 256x256 (resized). DIFFERENT pixel grids \u2014 register via the depth intrinsics + observation.camera_pose, never depth[y,x]==ego[y,x]. The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth grid, untouched); observation.images.ego is 512x384 \u2014 ONE uniform downscale of the native RGB, so ego is EXACTLY 2x the depth grid: ego[y, x], mask[y, x] and depth[y//2, x//2] are the same ray. Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", "depth_resolution_hw": [ 256, 192 ], "ego_obs_resolution_hw": [ - 256, - 256 + 512, + 384 ], + "ego_to_depth_scale": 2.0, + "raster_rotation": null, + "display_hint": null, + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 1 quarter-turn(s); gravity-verified at export)", "rgb_native_resolution_hw": [ 1920, 1440 @@ -32,6 +36,7 @@ 1.0 ] ], + "intrinsics_frame": "native raster", "depth_intrinsics_3x3": [ [ 196.78372395833333, diff --git a/episodes/019fbe0a-0896-7dd1-bbb6-6fe24d95d71b/openego_sidecar.json b/episodes/019fbe0a-0896-7dd1-bbb6-6fe24d95d71b/openego_sidecar.json index f265c054979d86c39b1fc40d7667f456fa4e4a37..15bf8687f0ddccf27a9dcac69c277116b0e00db2 100644 --- a/episodes/019fbe0a-0896-7dd1-bbb6-6fe24d95d71b/openego_sidecar.json +++ b/episodes/019fbe0a-0896-7dd1-bbb6-6fe24d95d71b/openego_sidecar.json @@ -415,100 +415,100 @@ }, "quality_gates": { "all_passed": true, + "validated_at": "2026-08-10T13:31:48+00:00", "gates": [ { - "detail": "", "name": "json_schema", "passed": true, + "value": "ok", "threshold": "validates", - "value": "ok" + "detail": "" }, { - "detail": "presence-conditioned over the actor's active span [116..822] = 707/860 frames (raw all-frames = 60.35%)", "name": "frames_with_hands_pct", "passed": true, - "threshold": ">= 30% [class=GLOBAL]", - "value": 73.41 + "value": 99.73, + "threshold": ">= 5% [class=sweep]", + "detail": "presence-conditioned over the actor's active span [94..829] = 736/860 frames (raw all-frames = 85.35%); shipped channel = raw \u2295 hand_mask_corrections" }, { - "detail": "silent or near-silent", "name": "audio_snr_db", "passed": true, + "value": null, "threshold": ">= 5 dB", - "value": null + "detail": "silent or near-silent" }, { - "detail": "silent clip", "name": "transcript_density", "passed": true, + "value": 0.0, "threshold": ">= 0.5 wps", - "value": 0.0 + "detail": "silent clip" }, { - "detail": "", "name": "hand_mask_coverage_pct", "passed": true, + "value": 1.726, "threshold": ">= 1%", - "value": 1.726 + "detail": "" }, { - "detail": "", "name": "phase_plan_windowing", "passed": true, + "value": "not_requested", "threshold": "phase plan absent \u2014 skipped", - "value": "not_requested" + "detail": "" }, { - "detail": "", "name": "object_mask_coverage_pct", "passed": true, - "threshold": ">= 1% (per present object) [class=GLOBAL]", - "value": 2.884 + "value": 2.884, + "threshold": ">= 0.5% (per present object) [class=sweep]", + "detail": "" }, { - "detail": "left hand absent \u2014 skipped", "name": "hand_mask_area_floor_left", "passed": true, + "value": null, "threshold": ">= 0.20% (median, per hand)", - "value": null + "detail": "left hand absent \u2014 skipped" }, { - "detail": "", "name": "hand_mask_area_floor_right", "passed": true, + "value": 3.7812, "threshold": ">= 0.20% (median, per hand)", - "value": 3.7812 + "detail": "" }, { - "detail": "both hands not present \u2014 skipped", "name": "hand_mask_lr_asymmetry", "passed": true, + "value": null, "threshold": "min/max >= 0.20", - "value": null + "detail": "both hands not present \u2014 skipped" }, { - "detail": "", "name": "hand_slot_merge", "passed": true, + "value": 0, "threshold": "< 5 consecutive frames with L\u2229R IoU > 0.5", - "value": 0 + "detail": "" }, { - "detail": "", "name": "object_track_truncated", "passed": true, + "value": 0, "threshold": "no tracked object ends while a hand still holds it", - "value": 0 + "detail": "" }, { - "detail": "", "name": "actor_mirror_consistency", "passed": true, + "value": 0, "threshold": "every hierarchy span's actor_kind == its action's actors[0]", - "value": 0 + "detail": "" } - ], - "validated_at": "2026-08-02T13:36:51+00:00" + ] } }, "manually_annotated_fields": [], diff --git a/episodes/019fbe0b-c278-75c0-ac67-331632843a81/depth_geometry.json b/episodes/019fbe0b-c278-75c0-ac67-331632843a81/depth_geometry.json index 74314af5ab833ea6527ca0f2914c24f2fe6a95cc..e39a2bf5e385ecbcd062dae92e72b989334d2cb4 100644 --- a/episodes/019fbe0b-c278-75c0-ac67-331632843a81/depth_geometry.json +++ b/episodes/019fbe0b-c278-75c0-ac67-331632843a81/depth_geometry.json @@ -1,14 +1,18 @@ { "sensor": "iphone_lidar_arkit", - "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth, its OWN intrinsics \u2014 see depth_geometry.json); observation.images.ego is 256x256 (resized). DIFFERENT pixel grids \u2014 register via the depth intrinsics + observation.camera_pose, never depth[y,x]==ego[y,x]. The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth grid, untouched); observation.images.ego is 512x384 \u2014 ONE uniform downscale of the native RGB, so ego is EXACTLY 2x the depth grid: ego[y, x], mask[y, x] and depth[y//2, x//2] are the same ray. Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", "depth_resolution_hw": [ 256, 192 ], "ego_obs_resolution_hw": [ - 256, - 256 + 512, + 384 ], + "ego_to_depth_scale": 2.0, + "raster_rotation": null, + "display_hint": null, + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 1 quarter-turn(s); gravity-verified at export)", "rgb_native_resolution_hw": [ 1920, 1440 @@ -32,6 +36,7 @@ 1.0 ] ], + "intrinsics_frame": "native raster", "depth_intrinsics_3x3": [ [ 196.72766927083333, diff --git a/episodes/019fbe0b-c278-75c0-ac67-331632843a81/openego_sidecar.json b/episodes/019fbe0b-c278-75c0-ac67-331632843a81/openego_sidecar.json index c92acbd37faa0dd43eb1602207caa79dcfaa1d99..f301d8fbf11c29f8689706b68811cb8e767d2665 100644 --- a/episodes/019fbe0b-c278-75c0-ac67-331632843a81/openego_sidecar.json +++ b/episodes/019fbe0b-c278-75c0-ac67-331632843a81/openego_sidecar.json @@ -448,107 +448,107 @@ }, "quality_gates": { "all_passed": true, + "validated_at": "2026-08-10T13:31:33+00:00", "gates": [ { - "detail": "", "name": "json_schema", "passed": true, + "value": "ok", "threshold": "validates", - "value": "ok" + "detail": "" }, { - "detail": "presence-conditioned over the actor's active span [37..277] = 241/307 frames (raw all-frames = 75.90%)", "name": "frames_with_hands_pct", "passed": true, + "value": 100.0, "threshold": ">= 30% [class=GLOBAL]", - "value": 96.68 + "detail": "presence-conditioned over the actor's active span [31..281] = 251/307 frames (raw all-frames = 81.76%); shipped channel = raw \u2295 hand_mask_corrections" }, { - "detail": "silent or near-silent", "name": "audio_snr_db", "passed": true, + "value": null, "threshold": ">= 5 dB", - "value": null + "detail": "silent or near-silent" }, { - "detail": "silent clip", "name": "transcript_density", "passed": true, + "value": 0.0, "threshold": ">= 0.5 wps", - "value": 0.0 + "detail": "silent clip" }, { - "detail": "", "name": "hand_mask_coverage_pct", "passed": true, + "value": 3.25, "threshold": ">= 1%", - "value": 3.25 + "detail": "" }, { - "detail": "", "name": "phase_plan_windowing", "passed": true, + "value": "phase_plan_multi", "threshold": "slot_selection == phase_plan_multi", - "value": "phase_plan_multi" + "detail": "" }, { - "detail": "per-object (present-frame) coverage: obj_lid=1.224%, obj_jar=1.868%", "name": "object_mask_coverage_pct", "passed": true, + "value": 1.224, "threshold": ">= 1% (per present object) [class=GLOBAL]", - "value": 1.224 + "detail": "per-object (present-frame) coverage: obj_lid=1.224%, obj_jar=1.868%" }, { - "detail": "", "name": "hand_mask_area_floor_left", "passed": true, + "value": 4.5743, "threshold": ">= 0.20% (median, per hand)", - "value": 4.5743 + "detail": "" }, { - "detail": "", "name": "hand_mask_area_floor_right", "passed": true, + "value": 2.9725, "threshold": ">= 0.20% (median, per hand)", - "value": 2.9725 + "detail": "" }, { - "detail": "", "name": "hand_mask_lr_asymmetry", "passed": true, + "value": 0.6498, "threshold": "min/max >= 0.20", - "value": 0.6498 + "detail": "" }, { - "detail": "", "name": "hand_slot_merge", "passed": true, + "value": 0, "threshold": "< 5 consecutive frames with L\u2229R IoU > 0.5", - "value": 0 + "detail": "" }, { - "detail": "", "name": "object_track_truncated", "passed": true, + "value": 0, "threshold": "no tracked object ends while a hand still holds it", - "value": 0 + "detail": "" }, { - "detail": "", "name": "actor_mirror_consistency", "passed": true, + "value": 0, "threshold": "every hierarchy span's actor_kind == its action's actors[0]", - "value": 0 + "detail": "" }, { - "detail": "", "name": "multi_object_roster", "passed": true, + "value": 2, "threshold": "tracks >= 2 objects [jar, lid]", - "value": 2 + "detail": "" } - ], - "validated_at": "2026-08-02T13:23:08+00:00" + ] } }, "manually_annotated_fields": [], diff --git a/episodes/019fbe0c-ecec-7212-90ad-0cc74a21ae51/depth_geometry.json b/episodes/019fbe0c-ecec-7212-90ad-0cc74a21ae51/depth_geometry.json index afc8dc8d753498a3107b7fac9b23b56e14e1981a..fa723299d183388ecba5a6e306cdf3b4d5b4241f 100644 --- a/episodes/019fbe0c-ecec-7212-90ad-0cc74a21ae51/depth_geometry.json +++ b/episodes/019fbe0c-ecec-7212-90ad-0cc74a21ae51/depth_geometry.json @@ -1,14 +1,18 @@ { "sensor": "iphone_lidar_arkit", - "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth, its OWN intrinsics \u2014 see depth_geometry.json); observation.images.ego is 256x256 (resized). DIFFERENT pixel grids \u2014 register via the depth intrinsics + observation.camera_pose, never depth[y,x]==ego[y,x]. The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth grid, untouched); observation.images.ego is 512x384 \u2014 ONE uniform downscale of the native RGB, so ego is EXACTLY 2x the depth grid: ego[y, x], mask[y, x] and depth[y//2, x//2] are the same ray. Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", "depth_resolution_hw": [ 256, 192 ], "ego_obs_resolution_hw": [ - 256, - 256 + 512, + 384 ], + "ego_to_depth_scale": 2.0, + "raster_rotation": null, + "display_hint": null, + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 1 quarter-turn(s); gravity-verified at export)", "rgb_native_resolution_hw": [ 1920, 1440 @@ -32,6 +36,7 @@ 1.0 ] ], + "intrinsics_frame": "native raster", "depth_intrinsics_3x3": [ [ 196.77783203125, diff --git a/episodes/019fbe0c-ecec-7212-90ad-0cc74a21ae51/openego_sidecar.json b/episodes/019fbe0c-ecec-7212-90ad-0cc74a21ae51/openego_sidecar.json index 504f7cdef2308f0dd38f586f6676810bfd9b9523..521495140b0dd60e541f60eddecdcb07eeeb09ea 100644 --- a/episodes/019fbe0c-ecec-7212-90ad-0cc74a21ae51/openego_sidecar.json +++ b/episodes/019fbe0c-ecec-7212-90ad-0cc74a21ae51/openego_sidecar.json @@ -492,100 +492,107 @@ }, "quality_gates": { "all_passed": true, + "validated_at": "2026-08-10T13:31:25+00:00", "gates": [ { - "detail": "", "name": "json_schema", "passed": true, + "value": "ok", "threshold": "validates", - "value": "ok" + "detail": "" }, { - "detail": "presence-conditioned over the actor's active span [45..305] = 261/348 frames (raw all-frames = 70.11%)", "name": "frames_with_hands_pct", "passed": true, + "value": 100.0, "threshold": ">= 30% [class=GLOBAL]", - "value": 93.49 + "detail": "presence-conditioned over the actor's active span [33..309] = 277/348 frames (raw all-frames = 79.60%); shipped channel = raw \u2295 hand_mask_corrections" }, { - "detail": "silent or near-silent", "name": "audio_snr_db", "passed": true, + "value": null, "threshold": ">= 5 dB", - "value": null + "detail": "silent or near-silent" }, { - "detail": "silent clip", "name": "transcript_density", "passed": true, + "value": 0.0, "threshold": ">= 0.5 wps", - "value": 0.0 + "detail": "silent clip" }, { - "detail": "", "name": "hand_mask_coverage_pct", "passed": true, + "value": 3.056, "threshold": ">= 1%", - "value": 3.056 + "detail": "" }, { - "detail": "", "name": "phase_plan_windowing", "passed": true, + "value": "phase_plan_multi", "threshold": "slot_selection == phase_plan_multi", - "value": "phase_plan_multi" + "detail": "" }, { - "detail": "per-object (present-frame) coverage: obj_lid=1.531%, obj_jar=1.871%", "name": "object_mask_coverage_pct", "passed": true, + "value": 1.531, "threshold": ">= 1% (per present object) [class=GLOBAL]", - "value": 1.531 + "detail": "per-object (present-frame) coverage: obj_lid=1.531%, obj_jar=1.871%" }, { - "detail": "", "name": "hand_mask_area_floor_left", "passed": true, + "value": 4.5517, "threshold": ">= 0.20% (median, per hand)", - "value": 4.5517 + "detail": "" }, { - "detail": "", "name": "hand_mask_area_floor_right", "passed": true, + "value": 2.961, "threshold": ">= 0.20% (median, per hand)", - "value": 2.961 + "detail": "" }, { - "detail": "", "name": "hand_mask_lr_asymmetry", "passed": true, + "value": 0.6505, "threshold": "min/max >= 0.20", - "value": 0.6505 + "detail": "" }, { - "detail": "", "name": "hand_slot_merge", "passed": true, + "value": 0, "threshold": "< 5 consecutive frames with L\u2229R IoU > 0.5", - "value": 0 + "detail": "" }, { - "detail": "", "name": "object_track_truncated", "passed": true, + "value": 0, "threshold": "no tracked object ends while a hand still holds it", - "value": 0 + "detail": "" + }, + { + "name": "actor_mirror_consistency", + "passed": true, + "value": 0, + "threshold": "every hierarchy span's actor_kind == its action's actors[0]", + "detail": "" }, { - "detail": "", "name": "multi_object_roster", "passed": true, + "value": 2, "threshold": "tracks >= 2 objects [jar, lid]", - "value": 2 + "detail": "" } - ], - "validated_at": "2026-08-02T12:42:40+00:00" + ] } }, "manually_annotated_fields": [], diff --git a/episodes/019fbe0e-1b48-7bf0-97df-1d6702bd596e/depth_geometry.json b/episodes/019fbe0e-1b48-7bf0-97df-1d6702bd596e/depth_geometry.json index 1c7328fb61e772b1c4cf916005d85adc6f061f01..a55df0bc2974dbea30e2b1974d8258b1a104d088 100644 --- a/episodes/019fbe0e-1b48-7bf0-97df-1d6702bd596e/depth_geometry.json +++ b/episodes/019fbe0e-1b48-7bf0-97df-1d6702bd596e/depth_geometry.json @@ -1,14 +1,18 @@ { "sensor": "iphone_lidar_arkit", - "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth, its OWN intrinsics \u2014 see depth_geometry.json); observation.images.ego is 256x256 (resized). DIFFERENT pixel grids \u2014 register via the depth intrinsics + observation.camera_pose, never depth[y,x]==ego[y,x]. The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth grid, untouched); observation.images.ego is 512x384 \u2014 ONE uniform downscale of the native RGB, so ego is EXACTLY 2x the depth grid: ego[y, x], mask[y, x] and depth[y//2, x//2] are the same ray. Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", "depth_resolution_hw": [ 256, 192 ], "ego_obs_resolution_hw": [ - 256, - 256 + 512, + 384 ], + "ego_to_depth_scale": 2.0, + "raster_rotation": null, + "display_hint": null, + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 1 quarter-turn(s); gravity-verified at export)", "rgb_native_resolution_hw": [ 1920, 1440 @@ -32,6 +36,7 @@ 1.0 ] ], + "intrinsics_frame": "native raster", "depth_intrinsics_3x3": [ [ 196.83907877604167, diff --git a/episodes/019fbe0e-1b48-7bf0-97df-1d6702bd596e/openego_sidecar.json b/episodes/019fbe0e-1b48-7bf0-97df-1d6702bd596e/openego_sidecar.json index ba22052b1cd5dd1ecff399cf19c6fe5b34608929..38677562874ea79fa72404f91da093cee8691a39 100644 --- a/episodes/019fbe0e-1b48-7bf0-97df-1d6702bd596e/openego_sidecar.json +++ b/episodes/019fbe0e-1b48-7bf0-97df-1d6702bd596e/openego_sidecar.json @@ -382,100 +382,107 @@ }, "quality_gates": { "all_passed": true, + "validated_at": "2026-08-10T13:31:17+00:00", "gates": [ { - "detail": "", "name": "json_schema", "passed": true, + "value": "ok", "threshold": "validates", - "value": "ok" + "detail": "" }, { - "detail": "presence-conditioned over the actor's active span [40..271] = 232/319 frames (raw all-frames = 70.85%)", "name": "frames_with_hands_pct", "passed": true, + "value": 100.0, "threshold": ">= 30% [class=GLOBAL]", - "value": 97.41 + "detail": "presence-conditioned over the actor's active span [36..275] = 240/319 frames (raw all-frames = 75.24%); shipped channel = raw \u2295 hand_mask_corrections" }, { - "detail": "silent or near-silent", "name": "audio_snr_db", "passed": true, + "value": null, "threshold": ">= 5 dB", - "value": null + "detail": "silent or near-silent" }, { - "detail": "silent clip", "name": "transcript_density", "passed": true, + "value": 0.0, "threshold": ">= 0.5 wps", - "value": 0.0 + "detail": "silent clip" }, { - "detail": "", "name": "hand_mask_coverage_pct", "passed": true, + "value": 3.343, "threshold": ">= 1%", - "value": 3.343 + "detail": "" }, { - "detail": "", "name": "phase_plan_windowing", "passed": true, + "value": "phase_plan_multi", "threshold": "slot_selection == phase_plan_multi", - "value": "phase_plan_multi" + "detail": "" }, { - "detail": "per-object (present-frame) coverage: obj_lid=1.528%, obj_jar=2.433%", "name": "object_mask_coverage_pct", "passed": true, + "value": 1.528, "threshold": ">= 1% (per present object) [class=GLOBAL]", - "value": 1.528 + "detail": "per-object (present-frame) coverage: obj_lid=1.528%, obj_jar=2.433%" }, { - "detail": "", "name": "hand_mask_area_floor_left", "passed": true, + "value": 3.3288, "threshold": ">= 0.20% (median, per hand)", - "value": 3.3288 + "detail": "" }, { - "detail": "", "name": "hand_mask_area_floor_right", "passed": true, + "value": 5.9759, "threshold": ">= 0.20% (median, per hand)", - "value": 5.9759 + "detail": "" }, { - "detail": "", "name": "hand_mask_lr_asymmetry", "passed": true, + "value": 0.557, "threshold": "min/max >= 0.20", - "value": 0.557 + "detail": "" }, { - "detail": "", "name": "hand_slot_merge", "passed": true, + "value": 0, "threshold": "< 5 consecutive frames with L\u2229R IoU > 0.5", - "value": 0 + "detail": "" }, { - "detail": "", "name": "object_track_truncated", "passed": true, + "value": 0, "threshold": "no tracked object ends while a hand still holds it", - "value": 0 + "detail": "" + }, + { + "name": "actor_mirror_consistency", + "passed": true, + "value": 0, + "threshold": "every hierarchy span's actor_kind == its action's actors[0]", + "detail": "" }, { - "detail": "", "name": "multi_object_roster", "passed": true, + "value": 2, "threshold": "tracks >= 2 objects [jar, lid]", - "value": 2 + "detail": "" } - ], - "validated_at": "2026-08-02T12:18:56+00:00" + ] } }, "manually_annotated_fields": [], diff --git a/episodes/019fc1be-ccad-7090-a09f-aa6b70e6b67a/contact_corrections.npz b/episodes/019fc1be-ccad-7090-a09f-aa6b70e6b67a/contact_corrections.npz new file mode 100644 index 0000000000000000000000000000000000000000..dd127c8014a07e2f57f95bf9d3ef115059004203 --- /dev/null +++ b/episodes/019fc1be-ccad-7090-a09f-aa6b70e6b67a/contact_corrections.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c90127eac35b130ff959c1c63d2cdb5f94eb6670b908b0b4016078c0ae9d7c0 +size 2169 diff --git a/episodes/019fc1be-ccad-7090-a09f-aa6b70e6b67a/depth_geometry.json b/episodes/019fc1be-ccad-7090-a09f-aa6b70e6b67a/depth_geometry.json new file mode 100644 index 0000000000000000000000000000000000000000..13d4caab7580be2de9a95a74f69a4ce57cf481bc --- /dev/null +++ b/episodes/019fc1be-ccad-7090-a09f-aa6b70e6b67a/depth_geometry.json @@ -0,0 +1,62 @@ +{ + "sensor": "iphone_lidar_arkit", + "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth grid, untouched); observation.images.ego is 512x384 \u2014 ONE uniform downscale of the native RGB, so ego is EXACTLY 2x the depth grid: ego[y, x], mask[y, x] and depth[y//2, x//2] are the same ray. Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "depth_resolution_hw": [ + 256, + 192 + ], + "ego_obs_resolution_hw": [ + 512, + 384 + ], + "ego_to_depth_scale": 2.0, + "raster_rotation": null, + "display_hint": null, + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 1 quarter-turn(s); gravity-verified at export)", + "rgb_native_resolution_hw": [ + 1920, + 1440 + ], + "depth_output_unit_default": "mm (LeRobot depth_output_unit default; pass --dataset.depth_output_unit m to load metres)", + "raw_depth_reference": "openego_sidecar.json + data/annotations//depth.npz (lossless)", + "arkit_rgb_intrinsics_3x3": [ + [ + 1462.1500244140625, + 0.0, + 711.6976928710938 + ], + [ + 0.0, + 1462.1500244140625, + 971.3924560546875 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics_frame": "native raster", + "depth_intrinsics_3x3": [ + [ + 194.95333658854167, + 0.0, + 94.89302571614583 + ], + [ + 0.0, + 194.95333658854167, + 129.518994140625 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "depth_intrinsics_scale_xy": [ + 0.13333333333333333, + 0.13333333333333333 + ], + "intrinsics_source": "record3d_arkit (median of per-frame, via chokepoint)" +} \ No newline at end of file diff --git a/episodes/019fc1be-ccad-7090-a09f-aa6b70e6b67a/hand_object_contact.npz b/episodes/019fc1be-ccad-7090-a09f-aa6b70e6b67a/hand_object_contact.npz new file mode 100644 index 0000000000000000000000000000000000000000..791d53aa6e5662397e243253b9d0cd0c5e32c305 --- /dev/null +++ b/episodes/019fc1be-ccad-7090-a09f-aa6b70e6b67a/hand_object_contact.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba9a53ca741cc0c8625e0a7bdea514170aecfcf5ebe6b5fd908d4c74900da5ba +size 6051 diff --git a/episodes/019fc1be-ccad-7090-a09f-aa6b70e6b67a/language_spans.json b/episodes/019fc1be-ccad-7090-a09f-aa6b70e6b67a/language_spans.json new file mode 100644 index 0000000000000000000000000000000000000000..08aa2109d916930b6a5b3997ceb4b0226849d4ad --- /dev/null +++ b/episodes/019fc1be-ccad-7090-a09f-aa6b70e6b67a/language_spans.json @@ -0,0 +1,73 @@ +{ + "task": "sweep", + "n_spans": 3, + "n_keysteps": 3, + "spans": [ + { + "start_s": 0.0, + "end_s": 4.467, + "label": "grasp dustpan on floor", + "objects": [ + "dustpan" + ], + "actors": [ + "left_hand" + ], + "source": "human", + "confidence": "high", + "grounded": true, + "evidence": "The dustpan stands on the wooden floor; the left hand takes hold of its upright handle. The broom has not yet entered frame." + }, + { + "start_s": 4.467, + "end_s": 7.0, + "label": "sweep debris into dustpan", + "objects": [ + "debris" + ], + "actors": [ + "both_hands" + ], + "source": "human", + "confidence": "high", + "grounded": true, + "evidence": "The broom pushes the white paper and small brown object from the floor into the dustpan." + }, + { + "start_s": 7.0, + "end_s": 10.068, + "label": "move broom away from dustpan", + "objects": [ + "broom" + ], + "actors": [ + "right_hand" + ], + "source": "human", + "confidence": "high", + "grounded": true, + "evidence": "The broom is lifted and moved away from the dustpan, leaving items inside." + } + ], + "keysteps": [ + { + "start_s": 0.0, + "end_s": 4.467, + "description": "position dustpan and bring broom into frame", + "essential": true + }, + { + "start_s": 4.467, + "end_s": 7.0, + "description": "sweep paper and object into dustpan", + "essential": true + }, + { + "start_s": 7.0, + "end_s": 10.068, + "description": "remove broom from dustpan", + "essential": true + } + ], + "note": "Time-aligned sub-step language \u2014 the VLM-partitioned action `spans` (label + objects + actors + VLM evidence/confidence/grounded) and the coarser `keysteps`. This is a RIDER, not per-frame: the LeRobot `task` column stays the static high-level goal so it never flips frame-to-frame; use these spans for language-conditioned / sub-goal training by joining on the `timestamp` (seconds). A span with `grounded=false` or a low `confidence` is an honest low-trust label \u2014 filter accordingly." +} \ No newline at end of file diff --git a/episodes/019fc1be-ccad-7090-a09f-aa6b70e6b67a/object_mask.npz b/episodes/019fc1be-ccad-7090-a09f-aa6b70e6b67a/object_mask.npz new file mode 100644 index 0000000000000000000000000000000000000000..403b6171b2cbf085d50ab99a93892d14392241ba --- /dev/null +++ b/episodes/019fc1be-ccad-7090-a09f-aa6b70e6b67a/object_mask.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07d306bf9d17cd264642c85c4e95d4e85bfb3741c054145ef9fdb41905854731 +size 1368794 diff --git a/episodes/019fc1be-ccad-7090-a09f-aa6b70e6b67a/object_object_contact.npz b/episodes/019fc1be-ccad-7090-a09f-aa6b70e6b67a/object_object_contact.npz new file mode 100644 index 0000000000000000000000000000000000000000..3a19863afbaea7018520bcb6e449621734c73889 --- /dev/null +++ b/episodes/019fc1be-ccad-7090-a09f-aa6b70e6b67a/object_object_contact.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6cf987196abf3ed00f7e45fbfbbf92ca2fabf9638ef3d2a39e0d6601d761ede0 +size 2055 diff --git a/episodes/019fc1be-ccad-7090-a09f-aa6b70e6b67a/object_registry.json b/episodes/019fc1be-ccad-7090-a09f-aa6b70e6b67a/object_registry.json new file mode 100644 index 0000000000000000000000000000000000000000..e34b9332be5a068541168ca0d621c0123faf5443 --- /dev/null +++ b/episodes/019fc1be-ccad-7090-a09f-aa6b70e6b67a/object_registry.json @@ -0,0 +1,17 @@ +{ + "version": "0.1.0", + "objects": [ + { + "object_id": "obj_broom", + "label": "broom", + "phrase": "broom", + "color_idx": 1 + }, + { + "object_id": "obj_dustpan", + "label": "dustpan", + "phrase": "dustpan", + "color_idx": 3 + } + ] +} \ No newline at end of file diff --git a/episodes/019fc1be-ccad-7090-a09f-aa6b70e6b67a/openego_sidecar.json b/episodes/019fc1be-ccad-7090-a09f-aa6b70e6b67a/openego_sidecar.json new file mode 100644 index 0000000000000000000000000000000000000000..062f38ad549a8edb2cfe94d1e3ce7eeb9430b238 --- /dev/null +++ b/episodes/019fc1be-ccad-7090-a09f-aa6b70e6b67a/openego_sidecar.json @@ -0,0 +1,8254 @@ +{ + "actions": [ + { + "actors": [ + "left_hand" + ], + "end_timestamp": 4.467, + "extensions": { + "actor_source": "human", + "object_source": "human", + "span_id": "s0", + "span_source": "human", + "vlm_confidence": "high", + "vlm_evidence": "The dustpan stands on the wooden floor; the left hand takes hold of its upright handle. The broom has not yet entered frame.", + "vlm_grounded": true, + "vlm_object_candidates": [ + { + "evidence": "A hand grasps the dustpan handle, then another hand brings the broom into the frame.", + "label": "dustpan and broom", + "role": "workpiece", + "track": false + }, + { + "evidence": "Hand grasps dustpan handle.", + "label": "dustpan", + "role": "container", + "track": true + }, + { + "evidence": "Hand brings broom into frame.", + "label": "broom", + "role": "tool", + "track": true + }, + { + "evidence": "Paper is visible on the floor.", + "label": "paper", + "role": "workpiece", + "track": false + }, + { + "evidence": "Small brown object is visible on the floor.", + "label": "small brown object", + "role": "workpiece", + "track": false + } + ] + }, + "label": "grasp dustpan on floor", + "narration_uncertain": false, + "objects": [ + "dustpan" + ], + "start_timestamp": 0.0 + }, + { + "actors": [ + "both_hands" + ], + "end_timestamp": 7.0, + "extensions": { + "actor_source": "contact", + "object_source": "human", + "span_id": "s1", + "span_source": "human", + "vlm_confidence": "high", + "vlm_evidence": "The broom pushes the white paper and small brown object from the floor into the dustpan.", + "vlm_grounded": true, + "vlm_object_candidates": [ + { + "evidence": "The broom pushes the white paper and small brown object from the floor into the dustpan.", + "label": "paper and small brown object", + "role": "workpiece", + "track": true + }, + { + "evidence": "Broom is actively moving to sweep items.", + "label": "broom", + "role": "tool", + "track": true + }, + { + "evidence": "Dustpan is held by hand and receives swept items.", + "label": "dustpan", + "role": "container", + "track": true + }, + { + "evidence": "Paper is visibly moved by the broom.", + "label": "paper", + "role": "workpiece", + "track": true + }, + { + "evidence": "Small brown object is visibly moved by the broom.", + "label": "small brown object", + "role": "workpiece", + "track": true + } + ] + }, + "label": "sweep debris into dustpan", + "narration_uncertain": false, + "objects": [ + "debris" + ], + "start_timestamp": 4.467 + }, + { + "actors": [ + "right_hand" + ], + "end_timestamp": 10.068, + "extensions": { + "actor_source": "human", + "object_source": "human", + "span_id": "s2", + "span_source": "human", + "vlm_confidence": "high", + "vlm_evidence": "The broom is lifted and moved away from the dustpan, leaving items inside.", + "vlm_grounded": true, + "vlm_object_candidates": [ + { + "evidence": "Broom moves away from the dustpan.", + "label": "broom", + "role": "tool", + "track": true + }, + { + "evidence": "Dustpan remains on the floor with contents.", + "label": "dustpan", + "role": "container", + "track": true + }, + { + "evidence": "Paper is now inside the dustpan.", + "label": "paper", + "role": "workpiece", + "track": true + }, + { + "evidence": "Small brown object is now inside the dustpan.", + "label": "small brown object", + "role": "workpiece", + "track": true + } + ] + }, + "label": "move broom away from dustpan", + "narration_uncertain": false, + "objects": [ + "broom" + ], + "start_timestamp": 7.0 + } + ], + "annotation_metadata": { + "annotator_id": null, + "auto_annotated_fields": [ + "actions_draft", + "hamer", + "hand_mask", + "mediapipe", + "object_geometry", + "object_segmentation", + "rtmpose", + "whisper" + ], + "extensions": { + "annotator_params": { + "hamer": { + "parameters": { + "bbox_source": "sam3_mask", + "checkpoint": "hamer.ckpt", + "checkpoint_sha256": "e5cc06f294d88a92", + "mano_model": "MANO_RIGHT", + "mano_sha256": "45d60aa3b27ef910", + "mask_box_pad": 0.1, + "model": "hamer_mano21", + "rescale_factor": 2.0, + "source_camera_world_pose_sha256": "f56274153eaa220a1a0c8cd539c88b997f31c10c4ac846099a1e3616d05368d5", + "source_hand_mask_sha256": "b2941757e1e8e36f12471b648297c4128f4f63417159b6636eefe4049679ff0f", + "source_mediapipe_sha256": "bf10b7eafa9dd2bd26a6341f229120a2cb54279af41ef120071229e454456870" + }, + "producer_version": "0.6.0" + }, + "hand_mask": { + "parameters": { + "apply_oversize_flag": true, + "chunk_size": 60, + "hand_seed_source": "agent_mask_tracker", + "hand_tracker_seed": "7d5d6b9cf82b406c", + "max_frames": null, + "model": "facebook/sam3", + "n_obj_slots": 2, + "one_slot_per_prompt": true, + "post_proc": "kernels", + "prompts": [ + "left hand", + "right hand" + ], + "slot_selection": "agent_hand_mask_tracker", + "start_frame": 0 + }, + "producer_version": "0.4.0" + }, + "mediapipe": { + "parameters": { + "hand_model": "hand_landmarker_float16_v1", + "min_hand_detection_confidence": 0.6, + "min_hand_presence_confidence": 0.5, + "min_tracking_confidence": 0.6, + "num_hands": 2, + "pose_model": "pose_landmarker_full_float16_v1", + "roi_box_pad": 0.1, + "roi_seed": "sam3_hand_mask", + "running_mode": "video", + "source_hand_mask_sha256": "b2941757e1e8e36f12471b648297c4128f4f63417159b6636eefe4049679ff0f", + "use_sam3_roi": true + }, + "producer_version": "0.4.0" + }, + "object_geometry": { + "parameters": { + "max_cloud_points": 4096, + "model": "object_geometry_scaffold", + "pose_source": "object_geometry_scaffold", + "source_camera_pose_sha256": "f56274153eaa220a1a0c8cd539c88b997f31c10c4ac846099a1e3616d05368d5", + "source_depth_sha256": "fef7007c726c192de9748d7df75c6086a51d7519d5b81cb60b8352b711d3dfa5", + "source_object_mask_sha256": "07d306bf9d17cd264642c85c4e95d4e85bfb3741c054145ef9fdb41905854731" + }, + "producer_version": "0.1.1" + }, + "object_segmentation": { + "parameters": { + "agent_tracker_seed": "b3a690be85e11a89", + "apply_body_fabric_filter": true, + "chunk_size": 60, + "max_frames": null, + "model": "facebook/sam3", + "n_obj_slots": 6, + "one_slot_per_prompt": true, + "phase_plan": "da1903bcd2694af3", + "post_proc": "kernels", + "prompts": [ + "clothing being folded", + "clothing between hands", + "folded cloth", + "clothing", + "cloth", + "fabric" + ], + "seed_source": "agent_tracker", + "slot_selection": "agent_mask_tracker", + "start_frame": 0, + "stride": 1, + "task_id": "sweep" + }, + "producer_version": "0.8.0" + }, + "whisper": { + "parameters": { + "device": "cpu", + "language": "en", + "model_size": "base", + "no_speech_prob_drop": 0.6, + "vad_filter": true, + "word_timestamps": true + }, + "producer_version": "0.2.0" + } + }, + "assembly": { + "assembled_at": "2026-08-02T14:42:50.198537+00:00", + "contact_source": "recomputed_from_disk", + "from_disk": [ + "hand_mask.npz", + "object_mask.npz", + "whisper.json" + ], + "hand_depth_clip": { + "clip_near_reference_m": 0.3743, + "depth_source": "record3d_lidar", + "n_components_evaluated": 312, + "n_components_removed": 3, + "n_frames": 151, + "n_frames_touched": 3, + "n_frames_with_depth": 93, + "n_object_protected": 2, + "object_adjacency_gate": "on", + "params": { + "label_stride": 1, + "max_plane_rms_m": 0.03, + "max_surface_offset_m": 0.02, + "min_measured_frac": 0.5, + "min_measured_px": 12, + "min_separation_m": 0.15, + "surface_ring_cells": 3 + }, + "removed": [ + { + "n_measured": 942, + "plane_rms_m": 0.0012, + "ref_z_m": 0.3743, + "row": 26, + "separation_m": 1.0183, + "slot": 0, + "surface_offset_m": 0.0008, + "z_med_m": 1.3926 + }, + { + "n_measured": 1194, + "plane_rms_m": 0.0133, + "ref_z_m": 0.3743, + "row": 28, + "separation_m": 0.9978, + "slot": 0, + "surface_offset_m": 0.0138, + "z_med_m": 1.3721 + }, + { + "n_measured": 22, + "plane_rms_m": 0.0004, + "ref_z_m": 0.3743, + "row": 29, + "separation_m": 1.0808, + "slot": 0, + "surface_offset_m": 0.0007, + "z_med_m": 1.4551 + } + ], + "status": "applied" + }, + "hand_identity_fix": { + "basis": "mediapipe_crop_label", + "handedness_source": "sam3_slot", + "n_frames": 151, + "n_frames_evaluated": 0, + "n_frames_swapped": 0, + "params": { + "fps": 14.9984, + "median_k": 5, + "min_assoc_margin": 0.25, + "min_conf": 0.7, + "min_kp_in_mask": 0.5, + "min_run_frames": 8 + }, + "reason": "no frame cleared the association + confidence gates", + "status": "no_evidence" + }, + "hand_mask_corrections": { + "file": "hand_mask_corrections.npz", + "n_components_removed": 3, + "n_frames_swapped": 0, + "path": "hand_mask_corrections.npz", + "raw_channel": "hand_mask.npz:masks (byte-unchanged)", + "version": "0.1.0" + }, + "transcript_empty": "whisper.json_present_but_empty_or_unreadable", + "transcript_source": "none", + "transcript_source_pref": "auto" + }, + "camera": { + "device_model": "record3d_iphone", + "intrinsics_note": "REAL per-frame ARKit intrinsics from a Record3D capture; the inline 3\u00d73 is the per-element median of the measured matrices (NOT a focal-fraction heuristic).", + "intrinsics_source": "record3d_arkit", + "pose_source": "arkit" + }, + "object_roles": { + "objects": [ + { + "default_role": "tool", + "object_id": "obj_broom" + }, + { + "default_role": "container", + "object_id": "obj_dustpan" + } + ], + "phase_roles": [ + { + "interaction_role": "container", + "object_id": "obj_dustpan", + "phase_id": 0 + }, + { + "interaction_role": "tool", + "object_id": "obj_broom", + "phase_id": 1 + }, + { + "interaction_role": "container", + "object_id": "obj_dustpan", + "phase_id": 1 + }, + { + "interaction_role": "tool", + "object_id": "obj_broom", + "phase_id": 2 + }, + { + "interaction_role": "container", + "object_id": "obj_dustpan", + "phase_id": 2 + } + ], + "primary_object_id": null, + "source": "phase_plan_v0.2", + "version": "0.1.0" + }, + "quality_gates": { + "all_passed": true, + "validated_at": "2026-08-10T13:37:57+00:00", + "gates": [ + { + "name": "json_schema", + "passed": true, + "value": "ok", + "threshold": "validates", + "detail": "" + }, + { + "name": "frames_with_hands_pct", + "passed": true, + "value": 100.0, + "threshold": ">= 5% [class=sweep]", + "detail": "presence-conditioned over the actor's active span [27..118] = 92/151 frames (raw all-frames = 60.93%); shipped channel = raw \u2295 hand_mask_corrections" + }, + { + "name": "audio_snr_db", + "passed": true, + "value": null, + "threshold": ">= 5 dB", + "detail": "silent or near-silent" + }, + { + "name": "transcript_density", + "passed": true, + "value": 0.0, + "threshold": ">= 0.5 wps", + "detail": "silent clip" + }, + { + "name": "hand_mask_coverage_pct", + "passed": true, + "value": 1.016, + "threshold": ">= 1%", + "detail": "" + }, + { + "name": "phase_plan_windowing", + "passed": true, + "value": "phase_plan_multi", + "threshold": "slot_selection == phase_plan_multi", + "detail": "" + }, + { + "name": "object_mask_coverage_pct", + "passed": true, + "value": 1.274, + "threshold": ">= 0.5% (per present object) [class=sweep]", + "detail": "per-object (present-frame) coverage: obj_broom=1.274%, obj_dustpan=3.172%" + }, + { + "name": "hand_mask_area_floor_left", + "passed": true, + "value": 2.4415, + "threshold": ">= 0.20% (median, per hand)", + "detail": "" + }, + { + "name": "hand_mask_area_floor_right", + "passed": true, + "value": 1.3184, + "threshold": ">= 0.20% (median, per hand)", + "detail": "" + }, + { + "name": "hand_mask_lr_asymmetry", + "passed": true, + "value": 0.54, + "threshold": "min/max >= 0.20", + "detail": "" + }, + { + "name": "hand_slot_merge", + "passed": true, + "value": 0, + "threshold": "< 5 consecutive frames with L\u2229R IoU > 0.5", + "detail": "" + }, + { + "name": "object_track_truncated", + "passed": true, + "value": 0, + "threshold": "no tracked object ends while a hand still holds it", + "detail": "" + }, + { + "name": "actor_mirror_consistency", + "passed": true, + "value": 0, + "threshold": "every hierarchy span's actor_kind == its action's actors[0]", + "detail": "" + } + ] + } + }, + "manually_annotated_fields": [], + "models": { + "hamer": null, + "mediapipe": "0.10.35", + "sam2": null, + "whisper": "1.2.1" + }, + "pipeline_version": "0.2.0", + "qa_reviewer_id": "[redacted]", + "qa_score": 5, + "source_experiment": "v0pipeline" + }, + "audio_path": "019fc1be-ccad-7090-a09f-aa6b70e6b67a.wav", + "camera_calibration": { + "ego": { + "fps": 14.9984, + "intrinsics": [ + [ + 1462.1500244140625, + 0.0, + 711.6976928710938 + ], + [ + 0.0, + 1462.1500244140625, + 971.3924560546875 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics_path": null, + "resolution": [ + 1440, + 1920 + ] + }, + "overhead": null + }, + "camera_rig_id": "rig_manila_iphone12pro_chest", + "date_collected": "2026-08-02", + "duration_seconds": 10.06771313894249, + "environment_id": "home_table_pretrip", + "episode_id": "EM1-D4-E01", + "extensions": { + "camera_world_pose": { + "n_frames": 151, + "path": "camera_pose.npz", + "pose_source": "arkit", + "tracking_conf_mean": 1.0 + }, + "depth": { + "confidence_levels": "0=low,1=medium,2=high", + "depth_resolution": [ + 256, + 192 + ], + "depth_source": "record3d_lidar", + "n_frames": 151, + "path": "depth.npz" + }, + "hand_object_contact": { + "confirm_dist_m": 0.05, + "contact_dist_m": 0.03, + "contact_provenance_note": "per-hand 'contact_from_measured_joint' marks whether the joint that drove the contact was depth-MEASURED (depth_fill==0) vs a bone-length/temporal PRIOR-extrapolated point. Spec \u00a79.9: only ~65% of fingertips are depth-valid, so a prior-filled-joint contact is NOT a measurement (rule #7) \u2014 branch on this flag, don't trust the bool alone.", + "debounce": { + "adjacency_dilate_px": 16, + "assert_frames": 6, + "contact_off_m": 0.025, + "contact_on_m": 0.015, + "far_release_confirm_s": 0.25, + "far_release_frames": 4, + "fsm_states": [ + "OPEN", + "CLOSING", + "CLOSED", + "OPENING" + ], + "gate_2d_available": true, + "gate_2d_frames_blocked": 7, + "gate_2d_frames_evaluated": 142, + "gate_2d_metric": "mask_adjacency", + "grasp_onsets": { + "left": [ + 35, + 71 + ], + "right": [ + 72, + 90 + ] + }, + "median_window_frames": 5, + "nan_policy": "freeze_hold", + "note": "P4-C2 median pre-filter (NOT EMA) \u2192 P4-C3 Schmitt hysteresis (HOLD in the [on,off] dead-band) \u2192 P4-C4 asymmetric min-dwell (short assert / longer release) \u2192 P4-C5 4-state grasp FSM (edge-triggered, one onset + one release per grasp). A NaN distance never ASSERTS a contact (a depth dropout cannot fabricate a grasp) and \u2014 nan_policy=freeze_hold, CONTACT-OCC-2 \u2014 never RELEASES one: a NaN frame holds the committed state and freezes the pending dwell, so only MEASURED open evidence releases a grasp (occlusion of any length bridges; the OCC-1 validity flag marks those frames not-measurable). A 2D-gate block is enforced separately + harder upstream (contact_3d post-debounce override forces every blocked frame open).", + "release_frames": 7, + "tail_release": { + "channels": [ + { + "cut_frame": 117, + "frames_released": 33, + "hand": "left", + "object_index": 1, + "object_present_frac": 1.0, + "reason": "hand absent from the cut to the end of the clip (never returns, so the freeze is unresolved) while the object stayed tracked", + "released_from_frame": 118, + "tail_frames": 33 + } + ], + "min_tail_frames": 5, + "n_channels_released": 1, + "object_present_frac": 0.8, + "rule": "a freeze that reaches the last frame with the hand absent to the end (never returns) and the object still tracked is closed at the last hand-present frame \u2014 an unresolved freeze is not a bridge. Mid-clip occlusion is untouched (CONTACT-OCC-2)." + }, + "version": "1.1" + }, + "debounce_fps": 14.9984, + "debounce_note": "LID3D-7: per_hand_contact is the DEBOUNCED bool \u2014 P4-C1 valid-depth score (a bone-prior-imputed fingertip never votes) AND-gated on the 2D SAM3 hand\u2229object overlap, P4-C2 median pre-filter, P4-C3 Schmitt hysteresis (HOLD in the [contact_on_m, contact_off_m] dead-band), P4-C4 asymmetric min-dwell, P4-C5 grasp FSM. contact_strength + grasp_fsm_state are additive; raw min_dist_m is the un-debounced firewall channel.", + "detected_object": "broom", + "direct_contact_shape": [ + 151, + 2, + 2 + ], + "hold_dist_m": 0.12, + "joints_source": "hamer_2d_depth", + "mask_2d": { + "metric": "iou+border_adjacency", + "n_frames_in_contact": 0, + "object_ids": [ + "obj_broom", + "obj_dustpan" + ], + "objects": [ + { + "n_frames_adjacent": 47, + "n_frames_in_contact": 5, + "n_frames_scored": 60, + "n_present_frames": 60, + "object_id": "obj_broom", + "per_frame": [ + { 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"broom", + "on_which_hand": "none", + "on_which_hand_adjacency": "both", + "primitive_index": 2, + "start_timestamp": 7.0 + } + ] + }, + "metric": "3d_proximity", + "n_contacts_from_measured_joint": 123, + "n_contacts_from_prior_filled_joint": 8, + "n_frames": 151, + "n_frames_in_contact": 88, + "n_objects": 2, + "note": "Upgraded from 2D IoU/adjacency to 3D PROXIMITY (lidar3d P3) + debounced (Phase 4 LID3D-7): per hand per frame, the min 3D distance between hand_joints_3d.npz joints_world (valid-depth joints only) and the object_mask surface back-projected to world via depth + camera_pose, then median + hysteresis + dwell + FSM. The frozen hand_object_contact.npz carries the debounced per-hand contact bool + min_dist_m + grasp_state + contact_strength + grasp_fsm_state.", + "npz_path": "hand_object_contact.npz", + "object_ids": [ + "obj_broom", + "obj_dustpan" + ], + "per_frame": [ + { + "frame": 0, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 1, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 2, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 3, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 4, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 5, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 6, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 7, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 8, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 9, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 10, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 11, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 12, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 13, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 14, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 15, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 16, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 17, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 18, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 19, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 20, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 21, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 22, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 23, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 24, 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"OPEN", + "right_in_contact": false, + "right_min_dist_m": null + }, + { + "frame": 150, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + } + ], + "scene_union_reduction": "any(per_hand_object_contact, axis=2)", + "threshold_note": "LID3D-17 A4: per_hand_contact = DEBOUNCED (mask-ADJACENCY gate AND (nearest joint depth-measured ? proximity<=contact_dist_m : trust adjacency)). VALIDATED on two hand-labeled holdouts \u2014 A4 hits F1 0.92-0.96 vs 0.31-0.68 for the old overlap-gated proximity (the overlap gate vetoed 57-82% of real ego contact: a grasping hand is IN FRONT of the object so the masks abut without sharing pixels). contact_dist_m (3cm) is consulted only for the ~9% of depth-MEASURED fingertips; an occluded tip trusts the mask adjacency. Dossier: research/2026-06-25_hand_object_contact_sota.md.", + "threshold_validated": true, + "version": "0.4.3" + }, + "object_geometry": { + "classified_by": "label_keyword_heuristic", + "note": "Per-object metric mask-cloud (centroid_world + extent_m, meters) back-projected from object_mask via depth + camera_pose. Deformable/cloth objects get this cloud ONLY (6-DoF is structurally ill-defined \u2192 cloth_degraded). Rigid objects carry the metric extent but their 6-DoF pose is rigid_deferred (no model-free engine built \u2014 license+GPU gated, P2-3). classified_by is a LEXICAL keyword heuristic, NOT a learned classifier.", + "objects": [ + { + "centroid_world": [ + -0.13686129450798035, + 0.9800316095352173, + -0.17195171117782593 + ], + "classified_by": "label_keyword_heuristic", + "extent_m": [ + 0.3745093047618866, + 0.7277278304100037, + 0.3566679358482361 + ], + "is_deformable": false, + "label": "broom", + "n_frames_with_cloud": 60, + "n_present_frames": 60, + "object_id": "obj_broom", + "pose_status": "rigid_deferred" + }, + { + "centroid_world": [ + -0.1884351372718811, + 1.1403616666793823, + 0.21212540566921234 + ], + "classified_by": "label_keyword_heuristic", + "extent_m": [ + 0.4234822392463684, + 0.7585093975067139, + 0.33658963441848755 + ], + "is_deformable": false, + "label": "dustpan", + "n_frames_with_cloud": 151, + "n_present_frames": 151, + "object_id": "obj_dustpan", + "pose_status": "rigid_deferred" + } + ], + "source": "object_geometry_scaffold", + "version": "0.1.0" + }, + "object_object_contact": { + "adjacency_px": 8, + "debounce": { + "assert_frames": 1, + "fps": 14.9984, + "median_window_frames": 3, + "release_frames": 3 + }, + "metric": "visible_mask_adjacency+surface_proximity", + "n_frames": 151, + "n_pair_contact_cells": 22, + "npz_path": "object_object_contact.npz", + "object_ids": [ + "obj_broom", + "obj_dustpan" + ], + "pair_dist_m": 0.02, + "provenance": "contact_from_measured_surface=true means both visible object masks yielded LiDAR surface points and proximity confirmed contact; false contact is supported by visible-mask adjacency only", + "version": "0.1.0" + }, + "object_pose": { + "objects": [ + { + "n_present_frames": 60, + "obj_T_world_is_placeholder": true, + "object_id": "obj_broom", + "pose_status": "rigid_deferred" + }, + { + "n_present_frames": 151, + "obj_T_world_is_placeholder": true, + "object_id": "obj_dustpan", + "pose_status": "rigid_deferred" + } + ], + "path": "object_pose.npz", + "pose_source": "object_geometry_scaffold", + "status_legend": { + "cloth_degraded": "deformable object \u2014 NO 6-DoF (ill-defined); metric mask-cloud in extensions.object_geometry", + "rigid_deferred": "rigid object \u2014 6-DoF DEFERRED (no model-free engine built; license+GPU gated). obj_T_world is an identity placeholder; trust pose_status, not the matrix." + }, + "version": "0.1.0" + }, + "phase_plan_windowing": { + "n_phases": 3, + "slot_selection": "phase_plan_multi", + "windowed": true + }, + "studio": { + "review_state": { + "history": [ + { + "action": "submit", + "at": "2026-08-09T16:08:32.593006+00:00", + "by": "reviewer", + "from": "draft", + "to": "in_review" + }, + { + "action": "approve", + "at": "2026-08-09T16:08:49.111590+00:00", + "by": "reviewer", + "from": "in_review", + "qa_score": 5, + "to": "approved" + } + ], + "qa_score": 5, + "reviewer_id": "reviewer", + "status": "approved", + "updated_at": "2026-08-09T16:08:49.111590+00:00" + }, + "reviewed_steps": [ + "keysteps" + ], + "verified_frames": { + "0": true, + "1000": true, + "10001": true, + "1067": true, + "1133": true, + "1200": true, + "1267": true, + "133": true, + "1333": true, + "1400": true, + "1467": true, + "1533": true, + "1600": true, + "1667": true, + "1734": true, + "1800": true, + "1867": true, + "1934": true, + "200": true, + "2000": true, + "2067": true, + "2134": true, + "2200": true, + "2267": true, + "2334": true, + "2400": true, + "2467": true, + "2534": true, + "2600": true, + "2667": true, + "267": true, + "2734": true, + "2800": true, + "2867": true, + "2934": true, + "3000": true, + "3067": true, + "3134": true, + "3200": true, + "3267": true, + "333": true, + "3334": true, + "3400": true, + "3467": true, + "3534": true, + "3600": true, + "3667": true, + "3734": true, + "3800": true, + "3867": true, + "3934": true, + "400": true, + "4000": true, + "4067": true, + "4134": true, + "4200": true, + "4267": true, + "4334": true, + "4400": true, + "4467": true, + "4534": true, + "4600": true, + "4667": true, + "467": true, + "4734": true, + "4801": true, + "4867": true, + "4934": true, + "5001": true, + "5067": true, + "5134": true, + "5201": true, + "5267": true, + "533": true, + "5334": true, + "5401": true, + "5467": true, + "5534": true, + "5601": true, + "5667": true, + "5734": true, + "5801": true, + "5867": true, + "5934": true, + "600": true, + "6001": true, + "6067": true, + "6134": true, + "6201": true, + "6267": true, + "6334": true, + "6401": true, + "6467": true, + "6534": true, + "6601": true, + "6667": true, + "667": true, + "67": true, + "6734": true, + "6801": true, + "6867": true, + "6934": true, + "7001": true, + "7067": true, + "7134": true, + "7201": true, + "7267": true, + "733": true, + "7334": true, + "7401": true, + "7467": true, + "7534": true, + "7601": true, + "7667": true, + "7734": true, + "7801": true, + "7868": true, + "7934": true, + "800": true, + "8001": true, + "8068": true, + "8134": true, + "8201": true, + "8268": true, + "8334": true, + "8401": true, + "8468": true, + "8534": true, + "8601": true, + "8668": true, + "867": true, + "8734": true, + "8801": true, + "8868": true, + "8934": true, + "9001": true, + "9068": true, + "9134": true, + "9201": true, + "9268": true, + "933": true, + "9334": true, + "9401": true, + "9468": true, + "9534": true, + "9601": true, + "9668": true, + "9734": true, + "9801": true, + "9868": true, + "9934": true + } + }, + "task_hierarchy": { + "coverage_complete": true, + "goal_echoed_task": true, + "goal_source": "vlm", + "grounding_checked": true, + "nodes": [ + { + "end_time": 4.467, + "is_essential": true, + "keystep_ref": 0, + "label": "grasp dustpan on floor", + "node_id": "e0", + "spans": [ + { + "action_ref": 0, + "actor_kind": "left_hand", + "confidence": "high", + "end_time": 4.467, + "evidence": "The dustpan stands on the wooden floor; the left hand takes hold of its upright handle. The broom has not yet entered frame.", + "grounded": true, + "label": "grasp dustpan on floor", + "object": "dustpan", + "object_candidates": [ + { + "evidence": "A hand grasps the dustpan handle, then another hand brings the broom into the frame.", + "label": "dustpan and broom", + "role": "workpiece", + "track": false + }, + { + "evidence": "Hand grasps dustpan handle.", + "label": "dustpan", + "role": "container", + "track": true + }, + { + "evidence": "Hand brings broom into frame.", + "label": "broom", + "role": "tool", + "track": true + }, + { + "evidence": "Paper is visible on the floor.", + "label": "paper", + "role": "workpiece", + "track": false + }, + { + "evidence": "Small brown object is visible on the floor.", + "label": "small brown object", + "role": "workpiece", + "track": false + } + ], + "span_id": "s0", + "span_source": "human", + "start_time": 0.0 + } + ], + "start_time": 0.0, + "sub_goal": null + }, + { + "end_time": 7.0, + "is_essential": true, + "keystep_ref": 1, + "label": "sweep debris into dustpan", + "node_id": "e1", + "spans": [ + { + "action_ref": 1, + "actor_kind": "both_hands", + "confidence": "high", + "end_time": 7.0, + "evidence": "The broom pushes the white paper and small brown object from the floor into the dustpan.", + "grounded": true, + "label": "sweep debris into dustpan", + "object": "debris", + "object_candidates": [ + { + "evidence": "The broom pushes the white paper and small brown object from the floor into the dustpan.", + "label": "paper and small brown object", + "role": "workpiece", + "track": true + }, + { + "evidence": "Broom is actively moving to sweep items.", + "label": "broom", + "role": "tool", + "track": true + }, + { + "evidence": "Dustpan is held by hand and receives swept items.", + "label": "dustpan", + "role": "container", + "track": true + }, + { + "evidence": "Paper is visibly moved by the broom.", + "label": "paper", + "role": "workpiece", + "track": true + }, + { + "evidence": "Small brown object is visibly moved by the broom.", + "label": "small brown object", + "role": "workpiece", + "track": true + } + ], + "span_id": "s1", + "span_source": "human", + "start_time": 4.467 + } + ], + "start_time": 4.467, + "sub_goal": null + }, + { + "end_time": 10.068, + "is_essential": true, + "keystep_ref": 2, + "label": "move broom away from dustpan", + "node_id": "e2", + "spans": [ + { + "action_ref": 2, + "actor_kind": "right_hand", + "confidence": "high", + "end_time": 10.068, + "evidence": "The broom is lifted and moved away from the dustpan, leaving items inside.", + "grounded": true, + "label": "move broom away from dustpan", + "object": "broom", + "object_candidates": [ + { + "evidence": "Broom moves away from the dustpan.", + "label": "broom", + "role": "tool", + "track": true + }, + { + "evidence": "Dustpan remains on the floor with contents.", + "label": "dustpan", + "role": "container", + "track": true + }, + { + "evidence": "Paper is now inside the dustpan.", + "label": "paper", + "role": "workpiece", + "track": true + }, + { + "evidence": "Small brown object is now inside the dustpan.", + "label": "small brown object", + "role": "workpiece", + "track": true + } + ], + "span_id": "s2", + "span_source": "human", + "start_time": 7.0 + } + ], + "start_time": 7.0, + "sub_goal": null + } + ], + "span_source": "vlm", + "task_goal": "sweep", + "task_mismatch": false, + "task_mismatch_reason": "", + "tracking_mode_proposal": { + "mode": "phase_plan_multi", + "object_labels": [ + "dustpan", + "broom", + "paper and small brown object", + "paper", + "small brown object" + ], + "reason": "Multiple objects (broom, dustpan, paper, small brown object) are actively manipulated or change state, requiring individual tracking." + }, + "version": "0.1.0", + "vlm_goal": "sweep", + "vlm_model": "gemini-2.5-flash" + }, + "visibility": { + "hand_occlusion": { + "n_frames": 151, + "n_left_occluded": 6, + "n_right_occluded": 6, + "note": "A hand-occluded frame means the hand 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/dev/null +++ b/episodes/019fc1c5-8542-7800-b0c9-c1024cecc7a4/contact_corrections.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3e4658f272f0e22b0708b5c6571b1ee7e78d2c1f589ada0494b3151d730d58da +size 2226 diff --git a/episodes/019fc1c5-8542-7800-b0c9-c1024cecc7a4/depth_geometry.json b/episodes/019fc1c5-8542-7800-b0c9-c1024cecc7a4/depth_geometry.json new file mode 100644 index 0000000000000000000000000000000000000000..aa9a98d60db2fb4bf05aee4417ee1718bcb423d9 --- /dev/null +++ b/episodes/019fc1c5-8542-7800-b0c9-c1024cecc7a4/depth_geometry.json @@ -0,0 +1,62 @@ +{ + "sensor": "iphone_lidar_arkit", + "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth grid, untouched); observation.images.ego is 512x384 \u2014 ONE uniform downscale of the native RGB, so ego is EXACTLY 2x the depth grid: ego[y, x], mask[y, x] and depth[y//2, x//2] are the same ray. Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "depth_resolution_hw": [ + 256, + 192 + ], + "ego_obs_resolution_hw": [ + 512, + 384 + ], + "ego_to_depth_scale": 2.0, + "raster_rotation": null, + "display_hint": null, + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 1 quarter-turn(s); gravity-verified at export)", + "rgb_native_resolution_hw": [ + 1920, + 1440 + ], + "depth_output_unit_default": "mm (LeRobot depth_output_unit default; pass --dataset.depth_output_unit m to load metres)", + "raw_depth_reference": "openego_sidecar.json + data/annotations//depth.npz (lossless)", + "arkit_rgb_intrinsics_3x3": [ + [ + 1463.572265625, + 0.0, + 714.8522338867188 + ], + [ + 0.0, + 1463.572265625, + 970.2734375 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics_frame": "native raster", + "depth_intrinsics_3x3": [ + [ + 195.14296875, + 0.0, + 95.31363118489583 + ], + [ + 0.0, + 195.14296875, + 129.36979166666666 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "depth_intrinsics_scale_xy": [ + 0.13333333333333333, + 0.13333333333333333 + ], + "intrinsics_source": "record3d_arkit (median of per-frame, via chokepoint)" +} \ No newline at end of file diff --git a/episodes/019fc1c5-8542-7800-b0c9-c1024cecc7a4/hand_object_contact.npz b/episodes/019fc1c5-8542-7800-b0c9-c1024cecc7a4/hand_object_contact.npz new file mode 100644 index 0000000000000000000000000000000000000000..8f8f1c402666c9aa40e1d09a4718dd44fab6f3b8 --- /dev/null +++ b/episodes/019fc1c5-8542-7800-b0c9-c1024cecc7a4/hand_object_contact.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:457f82c187e8cd81baa99c9bcb8d175cb7d36b255972192c12f4a439f69a664a +size 12811 diff --git a/episodes/019fc1c5-8542-7800-b0c9-c1024cecc7a4/language_spans.json b/episodes/019fc1c5-8542-7800-b0c9-c1024cecc7a4/language_spans.json new file mode 100644 index 0000000000000000000000000000000000000000..a4e5a7fffca76851a57026d68b25dfa5edb282d4 --- /dev/null +++ b/episodes/019fc1c5-8542-7800-b0c9-c1024cecc7a4/language_spans.json @@ -0,0 +1,73 @@ +{ + "task": "sweep", + "n_spans": 3, + "n_keysteps": 3, + "spans": [ + { + "start_s": 0.0, + "end_s": 4.0, + "label": "pick up brush and dustpan from floor", + "objects": [ + "brush and dustpan" + ], + "actors": [ + "both_hands" + ], + "source": "human", + "confidence": "high", + "grounded": true, + "evidence": "Hands enter, grasp, and lift both the blue dustpan and orange broom from the floor." + }, + { + "start_s": 4.0, + "end_s": 14.0, + "label": "sweep debris into dustpan", + "objects": [ + "debris" + ], + "actors": [ + "both_hands" + ], + "source": "human", + "confidence": "high", + "grounded": true, + "evidence": "Broom pushes crumpled tissues across the floor into the blue dustpan." + }, + { + "start_s": 14.0, + "end_s": 15.7, + "label": "place brush on floor", + "objects": [ + "brush" + ], + "actors": [ + "right_hand" + ], + "source": "human", + "confidence": null, + "grounded": null, + "evidence": "The right hand lowers the brush and releases it onto the floor beside the filled dustpan." + } + ], + "keysteps": [ + { + "start_s": 0.0, + "end_s": 4.0, + "description": "pick up dustpan and broom from floor", + "essential": true + }, + { + "start_s": 4.0, + "end_s": 14.0, + "description": "sweep tissues into dustpan", + "essential": true + }, + { + "start_s": 14.0, + "end_s": 15.7, + "description": "sweep tissues into dustpan", + "essential": true + } + ], + "note": "Time-aligned sub-step language \u2014 the VLM-partitioned action `spans` (label + objects + actors + VLM evidence/confidence/grounded) and the coarser `keysteps`. This is a RIDER, not per-frame: the LeRobot `task` column stays the static high-level goal so it never flips frame-to-frame; use these spans for language-conditioned / sub-goal training by joining on the `timestamp` (seconds). A span with `grounded=false` or a low `confidence` is an honest low-trust label \u2014 filter accordingly." +} \ No newline at end of file diff --git a/episodes/019fc1c5-8542-7800-b0c9-c1024cecc7a4/object_mask.npz b/episodes/019fc1c5-8542-7800-b0c9-c1024cecc7a4/object_mask.npz new file mode 100644 index 0000000000000000000000000000000000000000..4798fcb825afbe5ef6a02fdc702f82298134778f --- /dev/null +++ b/episodes/019fc1c5-8542-7800-b0c9-c1024cecc7a4/object_mask.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc71b668444b2af48d062b882138606839a23c6958d5eb03125d61b7ba6cc8ee +size 4495047 diff --git a/episodes/019fc1c5-8542-7800-b0c9-c1024cecc7a4/object_object_contact.npz b/episodes/019fc1c5-8542-7800-b0c9-c1024cecc7a4/object_object_contact.npz new file mode 100644 index 0000000000000000000000000000000000000000..3e0c0e9e0746a1a0f694108c35da11bd04470ef3 --- /dev/null +++ b/episodes/019fc1c5-8542-7800-b0c9-c1024cecc7a4/object_object_contact.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:62bca75ffd6004ab200495cef7191ecf40d0b8201ee48ee09e39a756b8cd6b15 +size 3863 diff --git a/episodes/019fc1c5-8542-7800-b0c9-c1024cecc7a4/object_registry.json b/episodes/019fc1c5-8542-7800-b0c9-c1024cecc7a4/object_registry.json new file mode 100644 index 0000000000000000000000000000000000000000..e34b9332be5a068541168ca0d621c0123faf5443 --- /dev/null +++ b/episodes/019fc1c5-8542-7800-b0c9-c1024cecc7a4/object_registry.json @@ -0,0 +1,17 @@ +{ + "version": "0.1.0", + "objects": [ + { + "object_id": "obj_broom", + "label": "broom", + "phrase": "broom", + "color_idx": 1 + }, + { + "object_id": "obj_dustpan", + "label": "dustpan", + "phrase": "dustpan", + "color_idx": 3 + } + ] +} \ No newline at end of file diff --git a/episodes/019fc1c5-8542-7800-b0c9-c1024cecc7a4/openego_sidecar.json b/episodes/019fc1c5-8542-7800-b0c9-c1024cecc7a4/openego_sidecar.json new file mode 100644 index 0000000000000000000000000000000000000000..7cd7bc635d6eefbe35a2e88c4d36b1ade4205e1b --- /dev/null +++ b/episodes/019fc1c5-8542-7800-b0c9-c1024cecc7a4/openego_sidecar.json @@ -0,0 +1,24157 @@ +{ + "actions": [ + { + "actors": [ + "both_hands" + ], + "end_timestamp": 4.0, + "extensions": { + "actor_source": "default", + "object_source": "human", + "span_id": "s0", + "span_source": "human", + "vlm_confidence": "high", + "vlm_evidence": "Hands enter, grasp, and lift both the blue dustpan and orange broom from the floor.", + "vlm_grounded": true, + "vlm_object_candidates": [ + { + "evidence": "Hands enter, grasp, and lift both the blue dustpan and orange broom from the floor.", + "label": "dustpan and broom", + "role": "workpiece", + "track": true + }, + { + "evidence": "hand grasps and lifts dustpan", + "label": "dustpan", + "role": "container", + "track": true + }, + { + "evidence": "hand grasps and lifts broom", + "label": "broom", + "role": "tool", + "track": true + }, + { + "evidence": "tissues are on the floor, target for sweeping", + "label": "tissues", + "role": "workpiece", + "track": true + } + ] + }, + "label": "pick up brush and dustpan from floor", + "narration_uncertain": false, + "objects": [ + "brush and dustpan" + ], + "start_timestamp": 0.0 + }, + { + "actors": [ + "both_hands" + ], + "end_timestamp": 14.0, + "extensions": { + "actor_source": "contact", + "object_source": "human", + "span_id": "s1", + "span_source": "human", + "vlm_confidence": "high", + "vlm_evidence": "Broom pushes crumpled tissues across the floor into the blue dustpan.", + "vlm_grounded": true, + "vlm_object_candidates": [ + { + "evidence": "dustpan is held to receive tissues", + "label": "dustpan", + "role": "container", + "track": true + }, + { + "evidence": "broom pushes tissues", + "label": "broom", + "role": "tool", + "track": true + }, + { + "evidence": "tissues are moved by the broom into the dustpan", + "label": "tissues", + "role": "workpiece", + "track": true + } + ] + }, + "label": "sweep debris into dustpan", + "narration_uncertain": false, + "objects": [ + "debris" + ], + "start_timestamp": 4.0 + }, + { + "actors": [ + "right_hand" + ], + "end_timestamp": 15.7, + "extensions": { + "actor_source": "human", + "object_source": "human", + "span_id": "hfe21c29b", + "span_source": "human", + "vlm_evidence": "The right hand lowers the brush and releases it onto the floor beside the filled dustpan." + }, + "label": "place brush on floor", + "narration_uncertain": false, + "objects": [ + "brush" + ], + "start_timestamp": 14.0 + } + ], + "annotation_metadata": { + "annotator_id": null, + "auto_annotated_fields": [ + "actions_draft", + "hamer", + "hand_mask", + "mediapipe", + "object_geometry", + "object_segmentation", + "rtmpose", + "whisper" + ], + "extensions": { + "annotator_params": { + "hamer": { + "parameters": { + "bbox_source": "sam3_mask", + "checkpoint": "hamer.ckpt", + "checkpoint_sha256": "e5cc06f294d88a92", + "mano_model": "MANO_RIGHT", + "mano_sha256": "45d60aa3b27ef910", + "mask_box_pad": 0.1, + "model": "hamer_mano21", + "rescale_factor": 2.0, + "source_camera_world_pose_sha256": "01ad1ebe7a9cff4496945632862db6277684b0f6b1543666156ecf29f516e527", + "source_hand_mask_sha256": "540350d7e9b724c19d5651d378c2f37ad62fa53354b9ea16027f3dbebb6bf9a8", + "source_mediapipe_sha256": "f1b5fd8b24ad834ed89b651f7530452649d62f1cda51d9c72bf88c13bfacfdde" + }, + "producer_version": "0.6.0" + }, + "hand_mask": { + "parameters": { + "apply_oversize_flag": true, + "chunk_size": 60, + "hand_seed_source": "agent_mask_tracker", + "hand_tracker_seed": "eea5a1b2699c113c", + "max_frames": null, + "model": "facebook/sam3", + "n_obj_slots": 2, + "one_slot_per_prompt": true, + "post_proc": "kernels", + "prompts": [ + "left hand", + "right hand" + ], + "slot_selection": "agent_hand_mask_tracker", + "start_frame": 0 + }, + "producer_version": "0.4.0" + }, + "mediapipe": { + "parameters": { + "hand_model": "hand_landmarker_float16_v1", + "min_hand_detection_confidence": 0.6, + "min_hand_presence_confidence": 0.5, + "min_tracking_confidence": 0.6, + "num_hands": 2, + "pose_model": "pose_landmarker_full_float16_v1", + "roi_box_pad": 0.1, + "roi_seed": "sam3_hand_mask", + "running_mode": "video", + "source_hand_mask_sha256": "540350d7e9b724c19d5651d378c2f37ad62fa53354b9ea16027f3dbebb6bf9a8", + "use_sam3_roi": true + }, + "producer_version": "0.4.0" + }, + "object_geometry": { + "parameters": { + "max_cloud_points": 4096, + "model": "object_geometry_scaffold", + "pose_source": "object_geometry_scaffold", + "source_camera_pose_sha256": "01ad1ebe7a9cff4496945632862db6277684b0f6b1543666156ecf29f516e527", + "source_depth_sha256": "079a316157c721746548a1c0bccd26947e012f8ad685b36f75b9985d923da72b", + "source_object_mask_sha256": "fc71b668444b2af48d062b882138606839a23c6958d5eb03125d61b7ba6cc8ee" + }, + "producer_version": "0.1.1" + }, + "object_segmentation": { + "parameters": { + "agent_tracker_seed": "6f362825ce7ee1b8", + "apply_body_fabric_filter": true, + "chunk_size": 60, + "max_frames": null, + "model": "facebook/sam3", + "n_obj_slots": 6, + "one_slot_per_prompt": true, + "phase_plan": "58a4b00a02a3f384", + "post_proc": "kernels", + "prompts": [ + "clothing being folded", + "clothing between hands", + "folded cloth", + "clothing", + "cloth", + "fabric" + ], + "seed_source": "agent_tracker", + "slot_selection": "agent_mask_tracker", + "start_frame": 0, + "stride": 1, + "task_id": "sweep" + }, + "producer_version": "0.8.0" + }, + "whisper": { + "parameters": { + "device": "cpu", + "language": "en", + "model_size": "base", + "no_speech_prob_drop": 0.6, + "vad_filter": true, + "word_timestamps": true + }, + "producer_version": "0.2.0" + } + }, + "assembly": { + "assembled_at": "2026-08-02T15:02:23.690274+00:00", + "contact_source": "recomputed_from_disk", + "from_disk": [ + "hand_mask.npz", + "object_mask.npz", + "whisper.json" + ], + "hand_depth_clip": { + "clip_near_reference_m": 0.3578, + "depth_source": "record3d_lidar", + "n_components_evaluated": 750, + "n_components_removed": 4, + "n_frames": 471, + "n_frames_touched": 4, + "n_frames_with_depth": 372, + "n_object_protected": 3, + "object_adjacency_gate": "on", + "params": { + "label_stride": 1, + "max_plane_rms_m": 0.03, + "max_surface_offset_m": 0.02, + "min_measured_frac": 0.5, + "min_measured_px": 12, + "min_separation_m": 0.15, + "surface_ring_cells": 3 + }, + "removed": [ + { + "n_measured": 104, + "plane_rms_m": 0.0004, + "ref_z_m": 0.3578, + "row": 61, + "separation_m": 0.4464, + "slot": 0, + "surface_offset_m": 0.0006, + "z_med_m": 0.8042 + }, + { + "n_measured": 749, + "plane_rms_m": 0.0016, + "ref_z_m": 0.3578, + "row": 62, + "separation_m": 0.5402, + "slot": 0, + "surface_offset_m": 0.0009, + "z_med_m": 0.8979 + }, + { + "n_measured": 1062, + "plane_rms_m": 0.0025, + "ref_z_m": 0.3578, + "row": 63, + "separation_m": 0.6491, + "slot": 0, + "surface_offset_m": 0.0029, + "z_med_m": 1.0068 + }, + { + "n_measured": 1351, + "plane_rms_m": 0.0041, + "ref_z_m": 0.3578, + "row": 64, + "separation_m": 0.6979, + "slot": 0, + "surface_offset_m": 0.0032, + "z_med_m": 1.0557 + } + ], + "status": "applied" + }, + "hand_identity_fix": { + "basis": "mediapipe_crop_label", + "handedness_source": "sam3_slot", + "n_frames": 471, + "n_frames_evaluated": 0, + "n_frames_swapped": 0, + "params": { + "fps": 30.0, + "median_k": 5, + "min_assoc_margin": 0.25, + "min_conf": 0.7, + "min_kp_in_mask": 0.5, + "min_run_frames": 15 + }, + "reason": "no frame cleared the association + confidence gates", + "status": "no_evidence" + }, + "hand_mask_corrections": { + "file": "hand_mask_corrections.npz", + "n_components_removed": 4, + "n_frames_swapped": 0, + "path": "hand_mask_corrections.npz", + "raw_channel": "hand_mask.npz:masks (byte-unchanged)", + "version": "0.1.0" + }, + "transcript_empty": "whisper.json_present_but_empty_or_unreadable", + "transcript_source": "none", + "transcript_source_pref": "auto" + }, + "camera": { + "device_model": "record3d_iphone", + "intrinsics_note": "REAL per-frame ARKit intrinsics from a Record3D capture; the inline 3\u00d73 is the per-element median of the measured matrices (NOT a focal-fraction heuristic).", + "intrinsics_source": "record3d_arkit", + "pose_source": "arkit" + }, + "object_roles": { + "objects": [ + { + "default_role": "tool", + "object_id": "obj_broom" + }, + { + "default_role": "container", + "object_id": "obj_dustpan" + } + ], + "phase_roles": [ + { + "interaction_role": "container", + "object_id": "obj_dustpan", + "phase_id": 0 + }, + { + "interaction_role": "tool", + "object_id": "obj_broom", + "phase_id": 1 + }, + { + "interaction_role": "container", + "object_id": "obj_dustpan", + "phase_id": 1 + }, + { + "interaction_role": "tool", + "object_id": "obj_broom", + "phase_id": 2 + }, + { + "interaction_role": "container", + "object_id": "obj_dustpan", + "phase_id": 2 + } + ], + "primary_object_id": null, + "source": "phase_plan_v0.2", + "version": "0.1.0" + }, + "quality_gates": { + "all_passed": true, + "validated_at": "2026-08-10T13:38:09+00:00", + "gates": [ + { + "name": "json_schema", + "passed": true, + "value": "ok", + "threshold": "validates", + "detail": "" + }, + { + "name": "frames_with_hands_pct", + "passed": true, + "value": 99.19, + "threshold": ">= 5% [class=sweep]", + "detail": "presence-conditioned over the actor's active span [61..432] = 372/471 frames (raw all-frames = 78.34%); shipped channel = raw \u2295 hand_mask_corrections" + }, + { + "name": "audio_snr_db", + "passed": true, + "value": null, + "threshold": ">= 5 dB", + "detail": "silent or near-silent" + }, + { + "name": "transcript_density", + "passed": true, + "value": 0.0, + "threshold": ">= 0.5 wps", + "detail": "silent clip" + }, + { + "name": "hand_mask_coverage_pct", + "passed": true, + "value": 1.603, + "threshold": ">= 1%", + "detail": "" + }, + { + "name": "phase_plan_windowing", + "passed": true, + "value": "phase_plan_multi", + "threshold": "slot_selection == phase_plan_multi", + "detail": "" + }, + { + "name": "object_mask_coverage_pct", + "passed": true, + "value": 1.316, + "threshold": ">= 0.5% (per present object) [class=sweep]", + "detail": "per-object (present-frame) coverage: obj_broom=1.316%, obj_dustpan=2.87%" + }, + { + "name": "hand_mask_area_floor_left", + "passed": true, + "value": 2.9, + "threshold": ">= 0.20% (median, per hand)", + "detail": "" + }, + { + "name": "hand_mask_area_floor_right", + "passed": true, + "value": 1.5479, + "threshold": ">= 0.20% (median, per hand)", + "detail": "" + }, + { + "name": "hand_mask_lr_asymmetry", + "passed": true, + "value": 0.5338, + "threshold": "min/max >= 0.20", + "detail": "" + }, + { + "name": "hand_slot_merge", + "passed": true, + "value": 0, + "threshold": "< 5 consecutive frames with L\u2229R IoU > 0.5", + "detail": "" + }, + { + "name": "object_track_truncated", + "passed": true, + "value": 0, + "threshold": "no tracked object ends while a hand still holds it", + "detail": "" + }, + { + "name": "actor_mirror_consistency", + "passed": true, + "value": 0, + "threshold": "every hierarchy span's actor_kind == its action's actors[0]", + "detail": "" + } + ] + } + }, + "manually_annotated_fields": [], + "models": { + "hamer": null, + "mediapipe": "0.10.35", + "sam2": null, + "whisper": "1.2.1" + }, + "pipeline_version": "0.2.0", + "qa_reviewer_id": "[redacted]", + "qa_score": 5, + "source_experiment": "v0pipeline" + }, + "audio_path": "019fc1c5-8542-7800-b0c9-c1024cecc7a4.wav", + "camera_calibration": { + "ego": { + "fps": 30.0, + "intrinsics": [ + [ + 1463.572265625, + 0.0, + 714.8522338867188 + ], + [ + 0.0, + 1463.572265625, + 970.2734375 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics_path": null, + "resolution": [ + 1440, + 1920 + ] + }, + "overhead": null + }, + "camera_rig_id": "rig_manila_iphone12pro_chest", + "date_collected": "2026-08-02", + "duration_seconds": 15.7, + "environment_id": "home_table_pretrip", + "episode_id": "EM1-D4-E01", + "extensions": { + "camera_world_pose": { + "n_frames": 471, + "path": "camera_pose.npz", + "pose_source": "arkit", + "tracking_conf_mean": 1.0 + }, + "depth": { + "confidence_levels": "0=low,1=medium,2=high", + "depth_resolution": [ + 256, + 192 + ], + "depth_source": "record3d_lidar", + "n_frames": 471, + "path": "depth.npz" + }, + "hand_object_contact": { + "confirm_dist_m": 0.05, + "contact_dist_m": 0.03, + "contact_provenance_note": "per-hand 'contact_from_measured_joint' marks whether the joint that drove the contact was depth-MEASURED (depth_fill==0) vs a bone-length/temporal PRIOR-extrapolated point. Spec \u00a79.9: only ~65% of fingertips are depth-valid, so a prior-filled-joint contact is NOT a measurement (rule #7) \u2014 branch on this flag, don't trust the bool alone.", + "debounce": { + "adjacency_dilate_px": 16, + "assert_frames": 12, + "contact_off_m": 0.025, + "contact_on_m": 0.015, + "far_release_confirm_s": 0.25, + "far_release_frames": 20, + "fsm_states": [ + "OPEN", + "CLOSING", + "CLOSED", + "OPENING" + ], + "gate_2d_available": true, + "gate_2d_frames_blocked": 21, + "gate_2d_frames_evaluated": 661, + "gate_2d_metric": "mask_adjacency", + "grasp_onsets": { + "left": [ + 97 + ], + "right": [ + 156, + 329, + 345 + ] + }, + "median_window_frames": 5, + "nan_policy": "freeze_hold", + "note": "P4-C2 median pre-filter (NOT EMA) \u2192 P4-C3 Schmitt hysteresis (HOLD in the [on,off] dead-band) \u2192 P4-C4 asymmetric min-dwell (short assert / longer release) \u2192 P4-C5 4-state grasp FSM (edge-triggered, one onset + one release per grasp). A NaN distance never ASSERTS a contact (a depth dropout cannot fabricate a grasp) and \u2014 nan_policy=freeze_hold, CONTACT-OCC-2 \u2014 never RELEASES one: a NaN frame holds the committed state and freezes the pending dwell, so only MEASURED open evidence releases a grasp (occlusion of any length bridges; the OCC-1 validity flag marks those frames not-measurable). A 2D-gate block is enforced separately + harder upstream (contact_3d post-debounce override forces every blocked frame open).", + "release_frames": 15, + "tail_release": { + "channels": [ + { + "cut_frame": 431, + "frames_released": 39, + "hand": "left", + "object_index": 1, + "object_present_frac": 1.0, + "reason": "hand absent from the cut to the end of the clip (never returns, so the freeze is unresolved) while the object stayed tracked", + "released_from_frame": 432, + "tail_frames": 39 + } + ], + "min_tail_frames": 5, + "n_channels_released": 1, + "object_present_frac": 0.8, + "rule": "a freeze that reaches the last frame with the hand absent to the end (never returns) and the object still tracked is closed at the last hand-present frame \u2014 an unresolved freeze is not a bridge. Mid-clip occlusion is untouched (CONTACT-OCC-2)." + }, + "version": "1.1" + }, + "debounce_fps": 30.0, + "debounce_note": "LID3D-7: per_hand_contact is the DEBOUNCED bool \u2014 P4-C1 valid-depth score (a bone-prior-imputed fingertip never votes) AND-gated on the 2D SAM3 hand\u2229object overlap, P4-C2 median pre-filter, P4-C3 Schmitt hysteresis (HOLD in the [contact_on_m, contact_off_m] dead-band), P4-C4 asymmetric min-dwell, P4-C5 grasp FSM. contact_strength + grasp_fsm_state are additive; raw min_dist_m is the un-debounced firewall channel.", + "detected_object": "broom", + "direct_contact_shape": [ + 471, + 2, + 2 + ], + "hold_dist_m": 0.12, + "joints_source": "hamer_2d_depth", + "mask_2d": { + "metric": "iou+border_adjacency", + "n_frames_in_contact": 0, + "object_ids": [ + "obj_broom", + "obj_dustpan" + ], + "objects": [ + { + "n_frames_adjacent": 286, + "n_frames_in_contact": 1, + "n_frames_scored": 307, + "n_present_frames": 307, + "object_id": "obj_broom", + "per_frame": [ + { 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}, + { + "frame": 465, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 466, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 467, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 468, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 469, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 470, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + } + ], + "per_primitive": [ + { + "end_timestamp": 4.0, + "in_contact_object": "broom", + "on_which_hand": "none", + "on_which_hand_adjacency": "left", + "primitive_index": 0, + "start_timestamp": 0.0 + }, + { + "end_timestamp": 11.5, + "in_contact_object": "broom", + "on_which_hand": "none", + "on_which_hand_adjacency": "both", + "primitive_index": 1, + "start_timestamp": 4.0 + }, + { + "end_timestamp": 15.7, + "in_contact_object": "broom", + "on_which_hand": "none", + "on_which_hand_adjacency": "left", + "primitive_index": 2, + "start_timestamp": 11.5 + } + ] + } + ], + "per_primitive": [ + { + "end_timestamp": 4.0, + "in_contact_object": "broom", + "on_which_hand": "none", + "on_which_hand_adjacency": "left", + "primitive_index": 0, + "start_timestamp": 0.0 + }, + { + "end_timestamp": 11.5, + "in_contact_object": "broom", + "on_which_hand": "none", + "on_which_hand_adjacency": "both", + "primitive_index": 1, + "start_timestamp": 4.0 + }, + { + "end_timestamp": 15.7, + "in_contact_object": "broom", + "on_which_hand": "none", + "on_which_hand_adjacency": "both", + "primitive_index": 2, + "start_timestamp": 11.5 + } + ] + }, + "metric": "3d_proximity", + "n_contacts_from_measured_joint": 587, + "n_contacts_from_prior_filled_joint": 16, + "n_frames": 471, + "n_frames_in_contact": 351, + "n_objects": 2, + "note": "Upgraded from 2D IoU/adjacency to 3D PROXIMITY (lidar3d P3) + debounced (Phase 4 LID3D-7): per hand per frame, the min 3D distance between hand_joints_3d.npz joints_world (valid-depth joints only) and the object_mask surface back-projected to world via depth + camera_pose, then median + hysteresis + dwell + FSM. 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"left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 22, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 23, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 24, 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"left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 470, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + } + ], + "scene_union_reduction": "any(per_hand_object_contact, axis=2)", + "threshold_note": "LID3D-17 A4: per_hand_contact = DEBOUNCED (mask-ADJACENCY gate AND (nearest joint depth-measured ? proximity<=contact_dist_m : trust adjacency)). VALIDATED on two hand-labeled holdouts \u2014 A4 hits F1 0.92-0.96 vs 0.31-0.68 for the old overlap-gated proximity (the overlap gate vetoed 57-82% of real ego contact: a grasping hand is IN FRONT of the object so the masks abut without sharing pixels). contact_dist_m (3cm) is consulted only for the ~9% of depth-MEASURED fingertips; an occluded tip trusts the mask adjacency. Dossier: research/2026-06-25_hand_object_contact_sota.md.", + "threshold_validated": true, + "version": "0.4.3" + }, + "object_geometry": { + "classified_by": "label_keyword_heuristic", + "note": "Per-object metric mask-cloud (centroid_world + extent_m, meters) back-projected from object_mask via depth + camera_pose. Deformable/cloth objects get this cloud ONLY (6-DoF is structurally ill-defined \u2192 cloth_degraded). Rigid objects carry the metric extent but their 6-DoF pose is rigid_deferred (no model-free engine built \u2014 license+GPU gated, P2-3). classified_by is a LEXICAL keyword heuristic, NOT a learned classifier.", + "objects": [ + { + "centroid_world": [ + -3.786914110183716, + 0.9541639089584351, + 1.5212386846542358 + ], + "classified_by": "label_keyword_heuristic", + "extent_m": [ + 0.40573281049728394, + 0.7865971326828003, + 0.3029732406139374 + ], + "is_deformable": false, + "label": "broom", + "n_frames_with_cloud": 307, + "n_present_frames": 307, + "object_id": "obj_broom", + "pose_status": "rigid_deferred" + }, + { + "centroid_world": [ + -3.711491107940674, + 1.1013308763504028, + 1.2181859016418457 + ], + "classified_by": "label_keyword_heuristic", + "extent_m": [ + 0.4184175431728363, + 0.7375481128692627, + 0.3099590241909027 + ], + "is_deformable": false, + "label": "dustpan", + "n_frames_with_cloud": 471, + "n_present_frames": 471, + "object_id": "obj_dustpan", + "pose_status": "rigid_deferred" + } + ], + "source": "object_geometry_scaffold", + "version": "0.1.0" + }, + "object_object_contact": { + "adjacency_px": 8, + "debounce": { + "assert_frames": 3, + "fps": 30.0, + "median_window_frames": 5, + "release_frames": 6 + }, + "metric": "visible_mask_adjacency+surface_proximity", + "n_frames": 471, + "n_pair_contact_cells": 154, + "npz_path": "object_object_contact.npz", + "object_ids": [ + "obj_broom", + "obj_dustpan" + ], + "pair_dist_m": 0.02, + "provenance": "contact_from_measured_surface=true means both visible object masks yielded LiDAR surface points and proximity confirmed contact; false contact is supported by visible-mask adjacency only", + "version": "0.1.0" + }, + "object_pose": { + "objects": [ + { + "n_present_frames": 307, + "obj_T_world_is_placeholder": true, + "object_id": "obj_broom", + "pose_status": "rigid_deferred" + }, + { + "n_present_frames": 471, + "obj_T_world_is_placeholder": true, + "object_id": "obj_dustpan", + "pose_status": "rigid_deferred" + } + ], + "path": "object_pose.npz", + "pose_source": "object_geometry_scaffold", + "status_legend": { + "cloth_degraded": "deformable object \u2014 NO 6-DoF (ill-defined); metric mask-cloud in extensions.object_geometry", + "rigid_deferred": "rigid object \u2014 6-DoF DEFERRED (no model-free engine built; license+GPU gated). obj_T_world is an identity placeholder; trust pose_status, not the matrix." + }, + "version": "0.1.0" + }, + "phase_plan_windowing": { + "n_phases": 3, + "slot_selection": "phase_plan_multi", + "windowed": true + }, + "studio": { + "review_state": { + "history": [ + { + "action": "submit", + "at": "2026-08-09T15:23:05.496681+00:00", + "by": "reviewer", + "from": "draft", + "to": "in_review" + }, + { + "action": "approve", + "at": "2026-08-09T15:23:07.481355+00:00", + "by": "reviewer", + "from": "in_review", + "qa_score": 5, + "to": "approved" + } + ], + "qa_score": 5, + "reviewer_id": "reviewer", + "status": "approved", + 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"019fc1c5-8542-7800-b0c9-c1024cecc7a4.mp4", + "overhead": null + } +} \ No newline at end of file diff --git a/episodes/019fc1c8-035c-7aa0-897d-8eb89e7a9317/contact_corrections.npz b/episodes/019fc1c8-035c-7aa0-897d-8eb89e7a9317/contact_corrections.npz new file mode 100644 index 0000000000000000000000000000000000000000..1caaf6b3e505909cc6476508887404ec2cf07bce --- /dev/null +++ b/episodes/019fc1c8-035c-7aa0-897d-8eb89e7a9317/contact_corrections.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7dc6a566276c9d8b663dededb2a1167ef44b0c9b11d5c76b44c126a10dfba7de +size 2178 diff --git a/episodes/019fc1c8-035c-7aa0-897d-8eb89e7a9317/depth_geometry.json b/episodes/019fc1c8-035c-7aa0-897d-8eb89e7a9317/depth_geometry.json new file mode 100644 index 0000000000000000000000000000000000000000..bfdcf2444b7dd3424516f847dca78d81137a071e --- /dev/null +++ b/episodes/019fc1c8-035c-7aa0-897d-8eb89e7a9317/depth_geometry.json @@ -0,0 +1,62 @@ +{ + "sensor": "iphone_lidar_arkit", + "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth grid, untouched); observation.images.ego is 512x384 \u2014 ONE uniform downscale of the native RGB, so ego is EXACTLY 2x the depth grid: ego[y, x], mask[y, x] and depth[y//2, x//2] are the same ray. Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "depth_resolution_hw": [ + 256, + 192 + ], + "ego_obs_resolution_hw": [ + 512, + 384 + ], + "ego_to_depth_scale": 2.0, + "raster_rotation": null, + "display_hint": null, + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 1 quarter-turn(s); gravity-verified at export)", + "rgb_native_resolution_hw": [ + 1920, + 1440 + ], + "depth_output_unit_default": "mm (LeRobot depth_output_unit default; pass --dataset.depth_output_unit m to load metres)", + "raw_depth_reference": "openego_sidecar.json + data/annotations//depth.npz (lossless)", + "arkit_rgb_intrinsics_3x3": [ + [ + 1468.97509765625, + 0.0, + 695.2431640625 + ], + [ + 0.0, + 1468.97509765625, + 974.8775634765625 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics_frame": "native raster", + "depth_intrinsics_3x3": [ + [ + 195.86334635416665, + 0.0, + 92.69908854166667 + ], + [ + 0.0, + 195.86334635416665, + 129.98367513020833 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "depth_intrinsics_scale_xy": [ + 0.13333333333333333, + 0.13333333333333333 + ], + "intrinsics_source": "record3d_arkit (median of per-frame, via chokepoint)" +} \ No newline at end of file diff --git a/episodes/019fc1c8-035c-7aa0-897d-8eb89e7a9317/hand_object_contact.npz b/episodes/019fc1c8-035c-7aa0-897d-8eb89e7a9317/hand_object_contact.npz new file mode 100644 index 0000000000000000000000000000000000000000..983cec8780b8af6737434a3251ddcec239bbdccd --- /dev/null +++ b/episodes/019fc1c8-035c-7aa0-897d-8eb89e7a9317/hand_object_contact.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb0157f65fc9fccecb4c7008ff0755edeae6b0e741d92683772672a5fadf1389 +size 9402 diff --git a/episodes/019fbc1c-81a7-7921-9bd2-aa8973f2959b/language_spans.json b/episodes/019fc1c8-035c-7aa0-897d-8eb89e7a9317/language_spans.json similarity index 57% rename from episodes/019fbc1c-81a7-7921-9bd2-aa8973f2959b/language_spans.json rename to episodes/019fc1c8-035c-7aa0-897d-8eb89e7a9317/language_spans.json index 4d1b4b93b0d00d051c5c2bb8584624cfa55e6b4f..eb0a9b4a94f643cb69b79a2ff9bffc1082f4b4be 100644 --- a/episodes/019fbc1c-81a7-7921-9bd2-aa8973f2959b/language_spans.json +++ b/episodes/019fc1c8-035c-7aa0-897d-8eb89e7a9317/language_spans.json @@ -1,71 +1,71 @@ { - "task": "jar_open_close", + "task": "sweep", "n_spans": 3, "n_keysteps": 3, "spans": [ { "start_s": 0.0, - "end_s": 7.0, - "label": "unscrew lid from jar", + "end_s": 4.5, + "label": "grasp dustpan on towel", "objects": [ - "lid" + "dustpan" ], "actors": [ - "both_hands" + "left_hand" ], - "source": "vlm", + "source": "human", "confidence": "high", "grounded": true, - "evidence": "Hands grasp jar and lid, lid rotates and separates from jar opening." + "evidence": "The dustpan rests on the striped towel; the left hand takes hold of its handle. The brush has not yet entered frame." }, { - "start_s": 7.0, + "start_s": 4.5, "end_s": 9.0, - "label": "move lid from jar", + "label": "sweep debris into dustpan", "objects": [ - "lid" + "debris" ], "actors": [ - "right_hand" + "both_hands" ], - "source": "vlm", + "source": "human", "confidence": "high", "grounded": true, - "evidence": "Hand lifts and moves the lid away from the jar opening." + "evidence": "Broom pushes crumpled paper pieces into the dustpan." }, { "start_s": 9.0, - "end_s": 11.2, - "label": "place lid on surface", + "end_s": 11.533, + "label": "move brush away from dustpan", "objects": [ - "lid" + "brush" ], "actors": [ "right_hand" ], - "source": "vlm", + "source": "human", "confidence": "high", "grounded": true, - "evidence": "Hand lowers the lid onto the wooden surface next to the jar." + "evidence": "The hand lifts the brush and carries it away; the dustpan is left in place with the debris in it." } ], "keysteps": [ { "start_s": 0.0, - "end_s": 7.0, - "description": "unscrew lid from jar", + "end_s": 4.5, + "description": "move broom into frame", "essential": true }, { - "start_s": 7.0, + "start_s": 4.5, "end_s": 9.0, - "description": "move lid from jar", + "description": "sweep paper into dustpan", "essential": true }, { "start_s": 9.0, - "end_s": 11.2, - "description": "place lid on surface", + "end_s": 11.533, + "description": "remove broom from frame", "essential": true } ], diff --git a/episodes/019fc1c8-035c-7aa0-897d-8eb89e7a9317/object_mask.npz b/episodes/019fc1c8-035c-7aa0-897d-8eb89e7a9317/object_mask.npz new file mode 100644 index 0000000000000000000000000000000000000000..ee82dff77ef9dd1d48905b85f8e81f054330c696 --- /dev/null +++ b/episodes/019fc1c8-035c-7aa0-897d-8eb89e7a9317/object_mask.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa89260121a893419425355f4cb1f8117d6c6b04a6d47deb0d9b3f77a7bdca31 +size 3249596 diff --git a/episodes/019fc1c8-035c-7aa0-897d-8eb89e7a9317/object_object_contact.npz b/episodes/019fc1c8-035c-7aa0-897d-8eb89e7a9317/object_object_contact.npz new file mode 100644 index 0000000000000000000000000000000000000000..c52331d714f7319d07cb9c41db6ef3f1703159f3 --- /dev/null +++ b/episodes/019fc1c8-035c-7aa0-897d-8eb89e7a9317/object_object_contact.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00f86b1861ac7fe3bb1915f67b66abe20e575773990086ae04ce747268656174 +size 2826 diff --git a/episodes/019fc1c8-035c-7aa0-897d-8eb89e7a9317/object_registry.json b/episodes/019fc1c8-035c-7aa0-897d-8eb89e7a9317/object_registry.json new file mode 100644 index 0000000000000000000000000000000000000000..e34b9332be5a068541168ca0d621c0123faf5443 --- /dev/null +++ b/episodes/019fc1c8-035c-7aa0-897d-8eb89e7a9317/object_registry.json @@ -0,0 +1,17 @@ +{ + "version": "0.1.0", + "objects": [ + { + "object_id": "obj_broom", + "label": "broom", + "phrase": "broom", + "color_idx": 1 + }, + { + "object_id": "obj_dustpan", + "label": "dustpan", + "phrase": "dustpan", + "color_idx": 3 + } + ] +} \ No newline at end of file diff --git a/episodes/019fc1c8-035c-7aa0-897d-8eb89e7a9317/openego_sidecar.json b/episodes/019fc1c8-035c-7aa0-897d-8eb89e7a9317/openego_sidecar.json new file mode 100644 index 0000000000000000000000000000000000000000..9d773ec470962bb4862375e87484707fe0562616 --- /dev/null +++ b/episodes/019fc1c8-035c-7aa0-897d-8eb89e7a9317/openego_sidecar.json @@ -0,0 +1,17286 @@ +{ + "actions": [ + { + "actors": [ + "left_hand" + ], + "end_timestamp": 4.5, + "extensions": { + "actor_source": "human", + "object_source": "human", + "span_id": "s1", + "span_source": "human", + "vlm_confidence": "high", + "vlm_evidence": "The dustpan rests on the striped towel; the left hand takes hold of its handle. The brush has not yet entered frame.", + "vlm_grounded": true, + "vlm_object_candidates": [ + { + "evidence": "broom enters frame held by hand", + "label": "broom", + "role": "tool", + "track": true + }, + { + "evidence": "hand holds broom", + "label": "hand", + "role": "other", + "track": true + }, + { + "evidence": "dustpan is held by other hand", + "label": "dustpan", + "role": "container", + "track": true + } + ] + }, + "label": "grasp dustpan on towel", + "narration_uncertain": false, + "objects": [ + "dustpan" + ], + "start_timestamp": 0.0 + }, + { + "actors": [ + "both_hands" + ], + "end_timestamp": 9.0, + "extensions": { + "actor_source": "contact", + "object_source": "human", + "span_id": "s2", + "span_source": "human", + "vlm_confidence": "high", + "vlm_evidence": "Broom pushes crumpled paper pieces into the dustpan.", + "vlm_grounded": true, + "vlm_object_candidates": [ + { + "evidence": "crumpled paper pieces are moved", + "label": "paper", + "role": "workpiece", + "track": true + }, + { + "evidence": "broom sweeps the paper", + "label": "broom", + "role": "tool", + "track": true + }, + { + "evidence": "dustpan collects the paper", + "label": "dustpan", + "role": "container", + "track": true + } + ] + }, + "label": "sweep debris into dustpan", + "narration_uncertain": false, + "objects": [ + "debris" + ], + "start_timestamp": 4.5 + }, + { + "actors": [ + "right_hand" + ], + "end_timestamp": 11.533, + "extensions": { + "actor_source": "human", + "object_source": "human", + "span_id": "s3", + "span_source": "human", + "vlm_confidence": "high", + "vlm_evidence": "The hand lifts the brush and carries it away; the dustpan is left in place with the debris in it.", + "vlm_grounded": true, + "vlm_object_candidates": [ + { + "evidence": "broom moves out of frame", + "label": "broom", + "role": "tool", + "track": true + }, + { + "evidence": "hand holding broom moves out of frame", + "label": "hand", + "role": "other", + "track": true + } + ] + }, + "label": "move brush away from dustpan", + "narration_uncertain": false, + "objects": [ + "brush" + ], + "start_timestamp": 9.0 + } + ], + "annotation_metadata": { + "annotator_id": null, + "auto_annotated_fields": [ + "actions_draft", + "hamer", + "hand_mask", + "mediapipe", + "object_geometry", + "object_segmentation", + "rtmpose", + "whisper" + ], + "extensions": { + "annotator_params": { + "hamer": { + "parameters": { + "bbox_source": "sam3_mask", + "checkpoint": "hamer.ckpt", + "checkpoint_sha256": "e5cc06f294d88a92", + "mano_model": "MANO_RIGHT", + "mano_sha256": "45d60aa3b27ef910", + "mask_box_pad": 0.1, + "model": "hamer_mano21", + "rescale_factor": 2.0, + "source_camera_world_pose_sha256": "56970b610ef8ec6bfddd0304ce05a06850eb04ec49026db28aa16b02f85869fa", + "source_hand_mask_sha256": "853f49ab7e3c4daf74f467f8d540a76a4376bd9f55f5b6b35472decee26f2277", + "source_mediapipe_sha256": "f0609e5e710129833ccd6e2920e2505de33e0357564cbc7181f832261f4f2603" + }, + "producer_version": "0.6.0" + }, + "hand_mask": { + "parameters": { + "apply_oversize_flag": true, + "chunk_size": 60, + "hand_seed_source": "agent_mask_tracker", + "hand_tracker_seed": "60c549f834348754", + "max_frames": null, + "model": "facebook/sam3", + "n_obj_slots": 2, + "one_slot_per_prompt": true, + "post_proc": "kernels", + "prompts": [ + "left hand", + "right hand" + ], + "slot_selection": "agent_hand_mask_tracker", + "start_frame": 0 + }, + "producer_version": "0.4.0" + }, + "mediapipe": { + "parameters": { + "hand_model": "hand_landmarker_float16_v1", + "min_hand_detection_confidence": 0.6, + "min_hand_presence_confidence": 0.5, + "min_tracking_confidence": 0.6, + "num_hands": 2, + "pose_model": "pose_landmarker_full_float16_v1", + "roi_box_pad": 0.1, + "roi_seed": "sam3_hand_mask", + "running_mode": "video", + "source_hand_mask_sha256": "853f49ab7e3c4daf74f467f8d540a76a4376bd9f55f5b6b35472decee26f2277", + "use_sam3_roi": true + }, + "producer_version": "0.4.0" + }, + "object_geometry": { + "parameters": { + "max_cloud_points": 4096, + "model": "object_geometry_scaffold", + "pose_source": "object_geometry_scaffold", + "source_camera_pose_sha256": "56970b610ef8ec6bfddd0304ce05a06850eb04ec49026db28aa16b02f85869fa", + "source_depth_sha256": "e7c6071b63d0ac2220056e335b32a2538ed6951e58d5f4a524bb5817ca726ae4", + "source_object_mask_sha256": "fa89260121a893419425355f4cb1f8117d6c6b04a6d47deb0d9b3f77a7bdca31" + }, + "producer_version": "0.1.1" + }, + "object_segmentation": { + "parameters": { + "agent_tracker_seed": "05ba051d75f502ad", + "apply_body_fabric_filter": true, + "chunk_size": 60, + "max_frames": null, + "model": "facebook/sam3", + "n_obj_slots": 6, + "one_slot_per_prompt": true, + "phase_plan": "ac7d6dcbddacb325", + "post_proc": "kernels", + "prompts": [ + "clothing being folded", + "clothing between hands", + "folded cloth", + "clothing", + "cloth", + "fabric" + ], + "seed_source": "agent_tracker", + "slot_selection": "agent_mask_tracker", + "start_frame": 0, + "stride": 1, + "task_id": "sweep" + }, + "producer_version": "0.8.0" + }, + "whisper": { + "parameters": { + "device": "cpu", + "language": "en", + "model_size": "base", + "no_speech_prob_drop": 0.6, + "vad_filter": true, + "word_timestamps": true + }, + "producer_version": "0.2.0" + } + }, + "assembly": { + "assembled_at": "2026-08-02T14:58:28.449647+00:00", + "contact_source": "recomputed_from_disk", + "from_disk": [ + "hand_mask.npz", + "object_mask.npz", + "whisper.json" + ], + "hand_depth_clip": { + "clip_near_reference_m": 0.272, + "depth_source": "record3d_lidar", + "n_components_evaluated": 503, + "n_components_removed": 2, + "n_frames": 346, + "n_frames_touched": 2, + "n_frames_with_depth": 249, + "n_object_protected": 61, + "object_adjacency_gate": "on", + "params": { + "label_stride": 1, + "max_plane_rms_m": 0.03, + "max_surface_offset_m": 0.02, + "min_measured_frac": 0.5, + "min_measured_px": 12, + "min_separation_m": 0.15, + "surface_ring_cells": 3 + }, + "removed": [ + { + "n_measured": 869, + "plane_rms_m": 0.0011, + "ref_z_m": 0.272, + "row": 53, + "separation_m": 0.416, + "slot": 0, + "surface_offset_m": 0.0012, + "z_med_m": 0.688 + }, + { + "n_measured": 536, + "plane_rms_m": 0.0077, + "ref_z_m": 0.272, + "row": 298, + "separation_m": 0.5405, + "slot": 0, + "surface_offset_m": 0.0199, + "z_med_m": 0.8125 + } + ], + "status": "applied" + }, + "hand_identity_fix": { + "basis": "mediapipe_crop_label", + "handedness_source": "sam3_slot", + "n_frames": 346, + "n_frames_evaluated": 0, + "n_frames_swapped": 0, + "params": { + "fps": 30.0, + "median_k": 5, + "min_assoc_margin": 0.25, + "min_conf": 0.7, + "min_kp_in_mask": 0.5, + "min_run_frames": 15 + }, + "reason": "no frame cleared the association + confidence gates", + "status": "no_evidence" + }, + "hand_mask_corrections": { + "file": "hand_mask_corrections.npz", + "n_components_removed": 2, + "n_frames_swapped": 0, + "path": "hand_mask_corrections.npz", + "raw_channel": "hand_mask.npz:masks (byte-unchanged)", + "version": "0.1.0" + }, + "transcript_empty": "whisper.json_present_but_empty_or_unreadable", + "transcript_source": "none", + "transcript_source_pref": "auto" + }, + "camera": { + "device_model": "record3d_iphone", + "intrinsics_note": "REAL per-frame ARKit intrinsics from a Record3D capture; the inline 3\u00d73 is the per-element median of the measured matrices (NOT a focal-fraction heuristic).", + "intrinsics_source": "record3d_arkit", + "pose_source": "arkit" + }, + "object_roles": { + "objects": [ + { + "default_role": "tool", + "object_id": "obj_broom" + }, + { + "default_role": "container", + "object_id": "obj_dustpan" + } + ], + "phase_roles": [ + { + "interaction_role": "container", + "object_id": "obj_dustpan", + "phase_id": 0 + }, + { + "interaction_role": "container", + "object_id": "obj_dustpan", + "phase_id": 1 + }, + { + "interaction_role": "tool", + "object_id": "obj_broom", + "phase_id": 2 + }, + { + "interaction_role": "container", + "object_id": "obj_dustpan", + "phase_id": 2 + }, + { + "interaction_role": "tool", + "object_id": "obj_broom", + "phase_id": 3 + }, + { + "interaction_role": "container", + "object_id": "obj_dustpan", + "phase_id": 3 + } + ], + "primary_object_id": null, + "source": "phase_plan_v0.2", + "version": "0.1.0" + }, + "quality_gates": { + "all_passed": true, + "validated_at": "2026-08-10T13:38:39+00:00", + "gates": [ + { + "name": "json_schema", + "passed": true, + "value": "ok", + "threshold": "validates", + "detail": "" + }, + { + "name": "frames_with_hands_pct", + "passed": true, + "value": 99.2, + "threshold": ">= 5% [class=sweep]", + "detail": "presence-conditioned over the actor's active span [51..299] = 249/346 frames (raw all-frames = 71.39%); shipped channel = raw \u2295 hand_mask_corrections" + }, + { + "name": "audio_snr_db", + "passed": true, + "value": null, + "threshold": ">= 5 dB", + "detail": "silent or near-silent" + }, + { + "name": "transcript_density", + "passed": true, + "value": 0.0, + "threshold": ">= 0.5 wps", + "detail": "silent clip" + }, + { + "name": "hand_mask_coverage_pct", + "passed": true, + "value": 1.832, + "threshold": ">= 1%", + "detail": "" + }, + { + "name": "phase_plan_windowing", + "passed": true, + "value": "phase_plan_multi", + "threshold": "slot_selection == phase_plan_multi", + "detail": "" + }, + { + "name": "object_mask_coverage_pct", + "passed": true, + "value": 2.971, + "threshold": ">= 0.5% (per present object) [class=sweep]", + "detail": "per-object (present-frame) coverage: obj_broom=2.971%, obj_dustpan=4.994%" + }, + { + "name": "hand_mask_area_floor_left", + "passed": true, + "value": 2.7281, + "threshold": ">= 0.20% (median, per hand)", + "detail": "" + }, + { + "name": "hand_mask_area_floor_right", + "passed": true, + "value": 3.3397, + "threshold": ">= 0.20% (median, per hand)", + "detail": "" + }, + { + "name": "hand_mask_lr_asymmetry", + "passed": true, + "value": 0.8169, + "threshold": "min/max >= 0.20", + "detail": "" + }, + { + "name": "hand_slot_merge", + "passed": true, + "value": 0, + "threshold": "< 5 consecutive frames with L\u2229R IoU > 0.5", + "detail": "" + }, + { + "name": "object_track_truncated", + "passed": true, + "value": 0, + "threshold": "no tracked object ends while a hand still holds it", + "detail": "" + }, + { + "name": "actor_mirror_consistency", + "passed": true, + "value": 0, + "threshold": "every hierarchy span's actor_kind == its action's actors[0]", + "detail": "" + } + ] + } + }, + "manually_annotated_fields": [], + "models": { + "hamer": null, + "mediapipe": "0.10.35", + "sam2": null, + "whisper": "1.2.1" + }, + "pipeline_version": "0.2.0", + "qa_reviewer_id": "[redacted]", + "qa_score": 5, + "source_experiment": "v0pipeline" + }, + "audio_path": "019fc1c8-035c-7aa0-897d-8eb89e7a9317.wav", + "camera_calibration": { + "ego": { + "fps": 30.0, + "intrinsics": [ + [ + 1468.97509765625, + 0.0, + 695.2431640625 + ], + [ + 0.0, + 1468.97509765625, + 974.8775634765625 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics_path": null, + "resolution": [ + 1440, + 1920 + ] + }, + "overhead": null + }, + "camera_rig_id": "rig_manila_iphone12pro_chest", + "date_collected": "2026-08-02", + "duration_seconds": 11.533333333333333, + "environment_id": "home_table_pretrip", + "episode_id": "EM1-D4-E06", + "extensions": { + "camera_world_pose": { + "n_frames": 346, + "path": "camera_pose.npz", + "pose_source": "arkit", + "tracking_conf_mean": 1.0 + }, + "depth": { + "confidence_levels": "0=low,1=medium,2=high", + "depth_resolution": [ + 256, + 192 + ], + "depth_source": "record3d_lidar", + "n_frames": 346, + "path": "depth.npz" + }, + "hand_object_contact": { + "confirm_dist_m": 0.05, + "contact_dist_m": 0.03, + "contact_provenance_note": "per-hand 'contact_from_measured_joint' marks whether the joint that drove the contact was depth-MEASURED (depth_fill==0) vs a bone-length/temporal PRIOR-extrapolated point. Spec \u00a79.9: only ~65% of fingertips are depth-valid, so a prior-filled-joint contact is NOT a measurement (rule #7) \u2014 branch on this flag, don't trust the bool alone.", + "debounce": { + "adjacency_dilate_px": 16, + "assert_frames": 12, + "contact_off_m": 0.025, + "contact_on_m": 0.015, + "far_release_confirm_s": 0.25, + "far_release_frames": 25, + "fsm_states": [ + "OPEN", + "CLOSING", + "CLOSED", + "OPENING" + ], + "gate_2d_available": true, + "gate_2d_frames_blocked": 42, + "gate_2d_frames_evaluated": 406, + "gate_2d_metric": "mask_adjacency", + "grasp_onsets": { + "left": [ + 73 + ], + "right": [ + 147, + 191, + 261 + ] + }, + "median_window_frames": 5, + "nan_policy": "freeze_hold", + "note": "P4-C2 median pre-filter (NOT EMA) \u2192 P4-C3 Schmitt hysteresis (HOLD in the [on,off] dead-band) \u2192 P4-C4 asymmetric min-dwell (short assert / longer release) \u2192 P4-C5 4-state grasp FSM (edge-triggered, one onset + one release per grasp). A NaN distance never ASSERTS a contact (a depth dropout cannot fabricate a grasp) and \u2014 nan_policy=freeze_hold, CONTACT-OCC-2 \u2014 never RELEASES one: a NaN frame holds the committed state and freezes the pending dwell, so only MEASURED open evidence releases a grasp (occlusion of any length bridges; the OCC-1 validity flag marks those frames not-measurable). A 2D-gate block is enforced separately + harder upstream (contact_3d post-debounce override forces every blocked frame open).", + "release_frames": 15, + "tail_release": { + "channels": [ + { + "cut_frame": 299, + "frames_released": 46, + "hand": "left", + "object_index": 1, + "object_present_frac": 1.0, + "reason": "hand absent from the cut to the end of the clip (never returns, so the freeze is unresolved) while the object stayed tracked", + "released_from_frame": 300, + "tail_frames": 46 + } + ], + "min_tail_frames": 5, + "n_channels_released": 1, + "object_present_frac": 0.8, + "rule": "a freeze that reaches the last frame with the hand absent to the end (never returns) and the object still tracked is closed at the last hand-present frame \u2014 an unresolved freeze is not a bridge. Mid-clip occlusion is untouched (CONTACT-OCC-2)." + }, + "version": "1.1" + }, + "debounce_fps": 30.0, + "debounce_note": "LID3D-7: per_hand_contact is the DEBOUNCED bool \u2014 P4-C1 valid-depth score (a bone-prior-imputed fingertip never votes) AND-gated on the 2D SAM3 hand\u2229object overlap, P4-C2 median pre-filter, P4-C3 Schmitt hysteresis (HOLD in the [contact_on_m, contact_off_m] dead-band), P4-C4 asymmetric min-dwell, P4-C5 grasp FSM. contact_strength + grasp_fsm_state are additive; raw min_dist_m is the un-debounced firewall channel.", + "detected_object": "broom", + "direct_contact_shape": [ + 346, + 2, + 2 + ], + "hold_dist_m": 0.12, + "joints_source": "hamer_2d_depth", + "mask_2d": { + "metric": "iou+border_adjacency", + "n_frames_in_contact": 0, + "object_ids": [ + "obj_broom", + "obj_dustpan" + ], + "objects": [ + { + "n_frames_adjacent": 130, + "n_frames_in_contact": 0, + "n_frames_scored": 138, + "n_present_frames": 138, + "object_id": "obj_broom", + "per_frame": [ + { + "frame": 135, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 136, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 137, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 138, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": false + }, + { + "frame": 139, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": false + }, + { + "frame": 140, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": false + }, + { + "frame": 141, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": false + }, + { + "frame": 142, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": false + }, + { + "frame": 143, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": false + }, + { + "frame": 144, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": false + }, + { + "frame": 145, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": false + }, + { + "frame": 146, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": false + }, + { + "frame": 147, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": false + }, + { + "frame": 148, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": false + }, + { + "frame": 149, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": false + }, + { + "frame": 150, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": false + }, + { + "frame": 151, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": false + }, + { + "frame": 152, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": false + }, + { + "frame": 153, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": false + }, + { + "frame": 154, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": false + }, + { + "frame": 155, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": false + }, + { + "frame": 156, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": false + }, + { + "frame": 157, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": false + }, + { + "frame": 158, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": false + }, + { + "frame": 159, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": false + }, + { + "frame": 160, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + 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"right_in_contact": false + }, + { + "frame": 345, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + } + ], + "per_primitive": [ + { + "end_timestamp": 1.5, + "in_contact_object": null, + "on_which_hand": "none", + "on_which_hand_adjacency": "none", + "primitive_index": 0, + "start_timestamp": 0.0 + }, + { + "end_timestamp": 4.5, + "in_contact_object": "broom", + "on_which_hand": "none", + "on_which_hand_adjacency": "left", + "primitive_index": 1, + "start_timestamp": 1.5 + }, + { + "end_timestamp": 9.0, + "in_contact_object": "broom", + "on_which_hand": "none", + "on_which_hand_adjacency": "both", + "primitive_index": 2, + "start_timestamp": 4.5 + }, + { + "end_timestamp": 11.533, + "in_contact_object": "broom", + "on_which_hand": "none", + "on_which_hand_adjacency": "left", + "primitive_index": 3, + "start_timestamp": 9.0 + } + ] + } + ], + "per_primitive": [ + { + "end_timestamp": 1.5, + "in_contact_object": null, + "on_which_hand": "none", + "on_which_hand_adjacency": "none", + "primitive_index": 0, + "start_timestamp": 0.0 + }, + { + "end_timestamp": 4.5, + "in_contact_object": "broom", + "on_which_hand": "none", + "on_which_hand_adjacency": "left", + "primitive_index": 1, + "start_timestamp": 1.5 + }, + { + "end_timestamp": 9.0, + "in_contact_object": "broom", + "on_which_hand": "none", + "on_which_hand_adjacency": "both", + "primitive_index": 2, + "start_timestamp": 4.5 + }, + { + "end_timestamp": 11.533, + "in_contact_object": "broom", + "on_which_hand": "none", + "on_which_hand_adjacency": "both", + "primitive_index": 3, + "start_timestamp": 9.0 + } + ] + }, + "metric": "3d_proximity", + "n_contacts_from_measured_joint": 348, + "n_contacts_from_prior_filled_joint": 5, + "n_frames": 346, + "n_frames_in_contact": 227, + "n_objects": 2, + "note": "Upgraded from 2D IoU/adjacency to 3D PROXIMITY (lidar3d P3) + debounced (Phase 4 LID3D-7): per hand per frame, the min 3D distance between hand_joints_3d.npz joints_world (valid-depth joints only) and the object_mask surface back-projected to world via depth + camera_pose, then median + hysteresis + dwell + FSM. 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"OPEN", + "right_in_contact": false, + "right_min_dist_m": null + }, + { + "frame": 340, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 341, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 342, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 343, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 344, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 345, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + } + ], + "scene_union_reduction": "any(per_hand_object_contact, axis=2)", + "threshold_note": "LID3D-17 A4: per_hand_contact = DEBOUNCED (mask-ADJACENCY gate AND (nearest joint depth-measured ? proximity<=contact_dist_m : trust adjacency)). VALIDATED on two hand-labeled holdouts \u2014 A4 hits F1 0.92-0.96 vs 0.31-0.68 for the old overlap-gated proximity (the overlap gate vetoed 57-82% of real ego contact: a grasping hand is IN FRONT of the object so the masks abut without sharing pixels). contact_dist_m (3cm) is consulted only for the ~9% of depth-MEASURED fingertips; an occluded tip trusts the mask adjacency. Dossier: research/2026-06-25_hand_object_contact_sota.md.", + "threshold_validated": true, + "version": "0.4.3" + }, + "object_geometry": { + "classified_by": "label_keyword_heuristic", + "note": "Per-object metric mask-cloud (centroid_world + extent_m, meters) back-projected from object_mask via depth + camera_pose. Deformable/cloth objects get this cloud ONLY (6-DoF is structurally ill-defined \u2192 cloth_degraded). Rigid objects carry the metric extent but their 6-DoF pose is rigid_deferred (no model-free engine built \u2014 license+GPU gated, P2-3). classified_by is a LEXICAL keyword heuristic, NOT a learned classifier.", + "objects": [ + { + "centroid_world": [ + -1.2920682430267334, + 0.723661482334137, + 0.7304682731628418 + ], + "classified_by": "label_keyword_heuristic", + "extent_m": [ + 0.4917880594730377, + 0.8301023244857788, + 0.4890889823436737 + ], + "is_deformable": false, + "label": "broom", + "n_frames_with_cloud": 138, + "n_present_frames": 138, + "object_id": "obj_broom", + "pose_status": "rigid_deferred" + }, + { + "centroid_world": [ + -1.0885447263717651, + 0.7704451680183411, + 0.8253193497657776 + ], + "classified_by": "label_keyword_heuristic", + "extent_m": [ + 0.1744231879711151, + 0.19028131663799286, + 0.10496912151575089 + ], + "is_deformable": false, + "label": "dustpan", + "n_frames_with_cloud": 346, + "n_present_frames": 346, + "object_id": "obj_dustpan", + "pose_status": "rigid_deferred" + } + ], + "source": "object_geometry_scaffold", + "version": "0.1.0" + }, + "object_object_contact": { + "adjacency_px": 8, + "debounce": { + "assert_frames": 3, + "fps": 30.0, + "median_window_frames": 5, + "release_frames": 6 + }, + "metric": "visible_mask_adjacency+surface_proximity", + "n_frames": 346, + "n_pair_contact_cells": 25, + "npz_path": "object_object_contact.npz", + "object_ids": [ + "obj_broom", + "obj_dustpan" + ], + "pair_dist_m": 0.02, + "provenance": "contact_from_measured_surface=true means both visible object masks yielded LiDAR surface points and proximity confirmed contact; false contact is supported by visible-mask adjacency only", + "version": "0.1.0" + }, + "object_pose": { + "objects": [ + { + "n_present_frames": 138, + "obj_T_world_is_placeholder": true, + "object_id": "obj_broom", + "pose_status": "rigid_deferred" + }, + { + "n_present_frames": 346, + "obj_T_world_is_placeholder": true, + "object_id": "obj_dustpan", + "pose_status": "rigid_deferred" + } + ], + "path": "object_pose.npz", + "pose_source": "object_geometry_scaffold", + "status_legend": { + "cloth_degraded": "deformable object \u2014 NO 6-DoF (ill-defined); metric mask-cloud in extensions.object_geometry", + "rigid_deferred": "rigid object \u2014 6-DoF DEFERRED (no model-free engine built; license+GPU gated). obj_T_world is an identity placeholder; trust pose_status, not the matrix." + }, + "version": "0.1.0" + }, + "phase_plan_windowing": { + "n_phases": 4, + "slot_selection": "phase_plan_multi", + "windowed": true + }, + "studio": { + "review_state": { + "history": [ + { + "action": "submit", + "at": "2026-08-09T15:18:50.416008+00:00", + "by": "reviewer", + "from": "draft", + "to": "in_review" + }, + { + "action": "approve", + "at": "2026-08-09T15:18:52.314377+00:00", + "by": "reviewer", + "from": "in_review", + "qa_score": 5, + "to": "approved" + } + ], + "qa_score": 5, + "reviewer_id": "reviewer", + "status": "approved", + "updated_at": "2026-08-09T15:18:52.314377+00:00" + }, + "reviewed_steps": [ + "keysteps" + ], + "verified_frames": { + "0": true, + "100": true, + "1000": true, + "10000": true, + "10033": true, + "10067": true, + "10100": true, + "10133": true, + "10167": true, + "10200": true, + "10233": true, + "10267": true, + "10300": true, + "1033": true, + "10333": true, + "10367": true, + "10400": true, + "10433": true, + "10467": true, + "10500": true, + "10533": true, + "10567": true, + "10600": true, + "10633": true, + "10667": true, + "1067": true, + "10700": true, + "10733": true, + "10767": true, + "10800": true, + "10833": true, + "10867": true, + "10900": true, + "10933": true, + "10967": true, + "1100": true, + "11000": true, + "11033": true, + "11067": true, + "11100": true, + "11133": true, + "11167": true, + "11200": true, + "11233": true, + "11267": true, + "11300": true, + "1133": true, + "11333": true, + "11367": true, + "11400": true, + "11433": true, + "11467": true, + "11500": 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"left_hand", + "confidence": "high", + "end_time": 4.5, + "evidence": "The dustpan rests on the striped towel; the left hand takes hold of its handle. The brush has not yet entered frame.", + "grounded": true, + "label": "grasp dustpan on towel", + "object": "dustpan", + "object_candidates": [ + { + "evidence": "broom enters frame held by hand", + "label": "broom", + "role": "tool", + "track": true + }, + { + "evidence": "hand holds broom", + "label": "hand", + "role": "other", + "track": true + }, + { + "evidence": "dustpan is held by other hand", + "label": "dustpan", + "role": "container", + "track": true + } + ], + "span_id": "s1", + "span_source": "human", + "start_time": 0.0 + } + ], + "start_time": 0.0, + "sub_goal": "sweep paper into dustpan" + }, + { + "end_time": 9.0, + "is_essential": true, + "keystep_ref": 1, + "label": "sweep debris into dustpan", + "node_id": "e2", + "spans": [ + { + "action_ref": 1, + "actor_kind": "both_hands", + "confidence": "high", + "end_time": 9.0, + "evidence": "Broom pushes crumpled paper pieces into the dustpan.", + "grounded": true, + "label": "sweep debris into dustpan", + "object": "debris", + "object_candidates": [ + { + "evidence": "crumpled paper pieces are moved", + "label": "paper", + "role": "workpiece", + "track": true + }, + { + "evidence": "broom sweeps the paper", + "label": "broom", + "role": "tool", + "track": true + }, + { + "evidence": "dustpan collects the paper", + "label": "dustpan", + "role": "container", + "track": true + } + ], + "span_id": "s2", + "span_source": "human", + "start_time": 4.5 + } + ], + "start_time": 4.5, + "sub_goal": "sweep paper into dustpan" + }, + { + "end_time": 11.533, + "is_essential": true, + "keystep_ref": 2, + "label": "move brush away from dustpan", + "node_id": "e3", + "spans": [ + { + "action_ref": 2, + "actor_kind": "right_hand", + "confidence": "high", + "end_time": 11.533, + "evidence": "The hand lifts the brush and carries it away; the dustpan is left in place with the debris in it.", + "grounded": true, + "label": "move brush away from dustpan", + "object": "brush", + "object_candidates": [ + { + "evidence": "broom moves out of frame", + "label": "broom", + "role": "tool", + "track": true + }, + { + "evidence": "hand holding broom moves out of frame", + "label": "hand", + "role": "other", + "track": true + } + ], + "span_id": "s3", + "span_source": "human", + "start_time": 9.0 + } + ], + "start_time": 9.0, + "sub_goal": "sweep paper into dustpan" + } + ], + "span_source": "vlm", + "task_goal": "sweep paper into dustpan", + "task_mismatch": false, + "task_mismatch_reason": "", + "tracking_mode_proposal": { + "mode": "phase_plan_multi", + "object_labels": [ + "dustpan", + "broom", + "paper" + ], + "reason": "Multiple objects (dustpan, broom, paper) are manipulated and interact throughout the clip, requiring individual tracking.; excluded body part(s) from the object roster: hand (hands are a separate stream, never a tracked object)" + }, + "version": "0.1.0", + "vlm_goal": "sweep paper into dustpan", + "vlm_model": "gemini-2.5-flash" + }, + "visibility": { + "hand_occlusion": { + "n_frames": 346, + "n_left_occluded": 6, + "n_right_occluded": 6, + "note": "A hand-occluded frame means the hand mask is absent while the object is present and the hand is present nearby \u2014 MediaPipe keypoints there are low-trust (the flag GATES them; keypoints are not re-run).", + "per_frame": [ + { + "frame": 0, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 1, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 2, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 3, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 4, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 5, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 6, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 7, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 8, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 9, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 10, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 11, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 12, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 13, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 14, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 15, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 16, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 17, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 18, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 19, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 20, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 21, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 22, + 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\u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth grid, untouched); observation.images.ego is 512x384 \u2014 ONE uniform downscale of the native RGB, so ego is EXACTLY 2x the depth grid: ego[y, x], mask[y, x] and depth[y//2, x//2] are the same ray. Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "depth_resolution_hw": [ + 256, + 192 + ], + "ego_obs_resolution_hw": [ + 512, + 384 + ], + "ego_to_depth_scale": 2.0, + "raster_rotation": null, + "display_hint": null, + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 1 quarter-turn(s); gravity-verified at export)", + "rgb_native_resolution_hw": [ + 1920, + 1440 + ], + "depth_output_unit_default": "mm (LeRobot depth_output_unit default; pass --dataset.depth_output_unit m to load metres)", + "raw_depth_reference": "openego_sidecar.json + data/annotations//depth.npz (lossless)", + "arkit_rgb_intrinsics_3x3": [ + [ + 1471.743896484375, + 0.0, + 696.0511474609375 + ], + [ + 0.0, + 1471.743896484375, + 975.2701416015625 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics_frame": "native raster", + "depth_intrinsics_3x3": [ + [ + 196.23251953125, + 0.0, + 92.80681966145833 + ], + [ + 0.0, + 196.23251953125, + 130.03601888020833 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "depth_intrinsics_scale_xy": [ + 0.13333333333333333, + 0.13333333333333333 + ], + "intrinsics_source": "record3d_arkit (median of per-frame, via chokepoint)" +} \ No newline at end of file diff --git a/episodes/019fc1c9-3a11-7372-9833-b0ee6a16730b/hand_object_contact.npz b/episodes/019fc1c9-3a11-7372-9833-b0ee6a16730b/hand_object_contact.npz new file mode 100644 index 0000000000000000000000000000000000000000..3439415451b8a17b844ac7f65ecca9cf54c9802f --- /dev/null +++ b/episodes/019fc1c9-3a11-7372-9833-b0ee6a16730b/hand_object_contact.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e9a46d79ef2591d2e42ceca2871b2f12051e22e1f20cc37d82cfd963edd3d43b +size 9829 diff --git a/episodes/019fc1c9-3a11-7372-9833-b0ee6a16730b/language_spans.json b/episodes/019fc1c9-3a11-7372-9833-b0ee6a16730b/language_spans.json new file mode 100644 index 0000000000000000000000000000000000000000..4d8811c532349044760daf6756144d73bcbf53b5 --- /dev/null +++ b/episodes/019fc1c9-3a11-7372-9833-b0ee6a16730b/language_spans.json @@ -0,0 +1,73 @@ +{ + "task": "sweep", + "n_spans": 3, + "n_keysteps": 3, + "spans": [ + { + "start_s": 0.0, + "end_s": 4.5, + "label": "place dustpan on towel", + "objects": [ + "dustpan" + ], + "actors": [ + "left_hand" + ], + "source": "human", + "confidence": "high", + "grounded": true, + "evidence": "A hand places and holds the dustpan steady on the blue and white striped towel." + }, + { + "start_s": 4.5, + "end_s": 9.5, + "label": "sweep debris into dustpan", + "objects": [ + "debris" + ], + "actors": [ + "both_hands" + ], + "source": "human", + "confidence": "high", + "grounded": true, + "evidence": "A brush sweeps crumpled white paper from the towel into the dustpan." + }, + { + "start_s": 9.5, + "end_s": 11.533, + "label": "move brush away from dustpan", + "objects": [ + "brush" + ], + "actors": [ + "right_hand" + ], + "source": "human", + "confidence": "low", + "grounded": false, + "evidence": "The brush is drawn away; the dustpan rests on the towel holding the swept paper." + } + ], + "keysteps": [ + { + "start_s": 0.0, + "end_s": 4.5, + "description": "position dustpan", + "essential": true + }, + { + "start_s": 4.5, + "end_s": 9.5, + "description": "sweep paper", + "essential": true + }, + { + "start_s": 9.5, + "end_s": 11.533, + "description": "collect paper", + "essential": true + } + ], + "note": "Time-aligned sub-step language \u2014 the VLM-partitioned action `spans` (label + objects + actors + VLM evidence/confidence/grounded) and the coarser `keysteps`. This is a RIDER, not per-frame: the LeRobot `task` column stays the static high-level goal so it never flips frame-to-frame; use these spans for language-conditioned / sub-goal training by joining on the `timestamp` (seconds). A span with `grounded=false` or a low `confidence` is an honest low-trust label \u2014 filter accordingly." +} \ No newline at end of file diff --git a/episodes/019fc1c9-3a11-7372-9833-b0ee6a16730b/object_mask.npz b/episodes/019fc1c9-3a11-7372-9833-b0ee6a16730b/object_mask.npz new file mode 100644 index 0000000000000000000000000000000000000000..fc5a69c7f577976511caaefe055fd375f8509a5f --- /dev/null +++ b/episodes/019fc1c9-3a11-7372-9833-b0ee6a16730b/object_mask.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:19d347f3c9c703f0573be2641f8e39e812d5808a79eefab1fa5c581e3640c60f +size 3272001 diff --git a/episodes/019fc1c9-3a11-7372-9833-b0ee6a16730b/object_object_contact.npz b/episodes/019fc1c9-3a11-7372-9833-b0ee6a16730b/object_object_contact.npz new file mode 100644 index 0000000000000000000000000000000000000000..559b7be476f9f30b65ac228e8162ae25909b5697 --- /dev/null +++ b/episodes/019fc1c9-3a11-7372-9833-b0ee6a16730b/object_object_contact.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cde20a36b724fbb393e3aa53a94c8975426ad8b1d10ee3efa5cf16a51720caf8 +size 2897 diff --git a/episodes/019fc1c9-3a11-7372-9833-b0ee6a16730b/object_registry.json b/episodes/019fc1c9-3a11-7372-9833-b0ee6a16730b/object_registry.json new file mode 100644 index 0000000000000000000000000000000000000000..e34b9332be5a068541168ca0d621c0123faf5443 --- /dev/null +++ b/episodes/019fc1c9-3a11-7372-9833-b0ee6a16730b/object_registry.json @@ -0,0 +1,17 @@ +{ + "version": "0.1.0", + "objects": [ + { + "object_id": "obj_broom", + "label": "broom", + "phrase": "broom", + "color_idx": 1 + }, + { + "object_id": "obj_dustpan", + "label": "dustpan", + "phrase": "dustpan", + "color_idx": 3 + } + ] +} \ No newline at end of file diff --git a/episodes/019fc1c9-3a11-7372-9833-b0ee6a16730b/openego_sidecar.json b/episodes/019fc1c9-3a11-7372-9833-b0ee6a16730b/openego_sidecar.json new file mode 100644 index 0000000000000000000000000000000000000000..2caefde279339de1e47a237065a1280188a049bd --- /dev/null +++ b/episodes/019fc1c9-3a11-7372-9833-b0ee6a16730b/openego_sidecar.json @@ -0,0 +1,17374 @@ +{ + "actions": [ + { + "actors": [ + "left_hand" + ], + "end_timestamp": 4.5, + "extensions": { + "actor_source": "contact", + "object_source": "human", + "span_id": "s0", + "span_source": "human", + "vlm_confidence": "high", + "vlm_evidence": "A hand places and holds the dustpan steady on the blue and white striped towel.", + "vlm_grounded": true, + "vlm_object_candidates": [ + { + "evidence": "Hand holds dustpan steady on towel.", + "label": "dustpan", + "role": "container", + "track": true + }, + { + "evidence": "Dustpan is placed on the towel.", + "label": "towel", + "role": "fixture", + "track": false + }, + { + "evidence": "Hand holds the dustpan.", + "label": "hand", + "role": "other", + "track": true + } + ] + }, + "label": "place dustpan on towel", + "narration_uncertain": false, + "objects": [ + "dustpan" + ], + "start_timestamp": 0.0 + }, + { + "actors": [ + "both_hands" + ], + "end_timestamp": 9.5, + "extensions": { + "actor_source": "contact", + "object_source": "human", + "span_id": "s1", + "span_source": "human", + "vlm_confidence": "high", + "vlm_evidence": "A brush sweeps crumpled white paper from the towel into the dustpan.", + "vlm_grounded": true, + "vlm_object_candidates": [ + { + "evidence": "Crumpled paper is being swept.", + "label": "paper", + "role": "workpiece", + "track": true + }, + { + "evidence": "Brush is used to sweep the paper.", + "label": "brush", + "role": "tool", + "track": true + }, + { + "evidence": "Paper is swept into the dustpan.", + "label": "dustpan", + "role": "destination", + "track": true + }, + { + "evidence": "Paper is swept from the towel.", + "label": "towel", + "role": "fixture", + "track": false + } + ] + }, + "label": "sweep debris into dustpan", + "narration_uncertain": false, + "objects": [ + "debris" + ], + "start_timestamp": 4.5 + }, + { + "actors": [ + "right_hand" + ], + "end_timestamp": 11.533, + "extensions": { + "actor_source": "human", + "object_source": "human", + "span_id": "s2", + "span_source": "human", + "vlm_confidence": "low", + "vlm_evidence": "The brush is drawn away; the dustpan rests on the towel holding the swept paper.", + "vlm_grounded": false, + "vlm_object_candidates": [ + { + "evidence": "All paper is now inside the dustpan.", + "label": "paper", + "role": "workpiece", + "track": true + }, + { + "evidence": "Dustpan holds the collected paper.", + "label": "dustpan", + "role": "container", + "track": true + }, + { + "evidence": "Hand still holds the dustpan.", + "label": "hand", + "role": "other", + "track": false + } + ] + }, + "label": "move brush away from dustpan", + "narration_uncertain": false, + "objects": [ + "brush" + ], + "start_timestamp": 9.5 + } + ], + "annotation_metadata": { + "annotator_id": null, + "auto_annotated_fields": [ + "actions_draft", + "hamer", + "hand_mask", + "mediapipe", + "object_geometry", + "object_segmentation", + "rtmpose", + "whisper" + ], + "extensions": { + "annotator_params": { + "hamer": { + "parameters": { + "bbox_source": "sam3_mask", + "checkpoint": "hamer.ckpt", + "checkpoint_sha256": "e5cc06f294d88a92", + "mano_model": "MANO_RIGHT", + "mano_sha256": "45d60aa3b27ef910", + "mask_box_pad": 0.1, + "model": "hamer_mano21", + "rescale_factor": 2.0, + "source_camera_world_pose_sha256": "36c81d0c222aa19ed5f46d39a1140bbe301f0c700f35b3133e2527179cec5fbb", + "source_hand_mask_sha256": "81d216bb0c1189542e18d9e791c75711fa02bb720a7004035f2270665481c48f", + "source_mediapipe_sha256": "0618bc67f20dfc346a270eb08eccb5627a98637818f87daf1db72fa0d1412c58" + }, + "producer_version": "0.6.0" + }, + "hand_mask": { + "parameters": { + "apply_oversize_flag": true, + "chunk_size": 60, + "hand_seed_source": "agent_mask_tracker", + "hand_tracker_seed": "5e096d1e3aeb24eb", + "max_frames": null, + "model": "facebook/sam3", + "n_obj_slots": 2, + "one_slot_per_prompt": true, + "post_proc": "kernels", + "prompts": [ + "left hand", + "right hand" + ], + "slot_selection": "agent_hand_mask_tracker", + "start_frame": 0 + }, + "producer_version": "0.4.0" + }, + "mediapipe": { + "parameters": { + "hand_model": "hand_landmarker_float16_v1", + "min_hand_detection_confidence": 0.6, + "min_hand_presence_confidence": 0.5, + "min_tracking_confidence": 0.6, + "num_hands": 2, + "pose_model": "pose_landmarker_full_float16_v1", + "roi_box_pad": 0.1, + "roi_seed": "sam3_hand_mask", + "running_mode": "video", + "source_hand_mask_sha256": "81d216bb0c1189542e18d9e791c75711fa02bb720a7004035f2270665481c48f", + "use_sam3_roi": true + }, + "producer_version": "0.4.0" + }, + "object_geometry": { + "parameters": { + "max_cloud_points": 4096, + "model": "object_geometry_scaffold", + "pose_source": "object_geometry_scaffold", + "source_camera_pose_sha256": "36c81d0c222aa19ed5f46d39a1140bbe301f0c700f35b3133e2527179cec5fbb", + "source_depth_sha256": "14c829d1ba5cc256ec6da798ff68ba4a72ebad507fa4f2ff453bf2f513491b7e", + "source_object_mask_sha256": "19d347f3c9c703f0573be2641f8e39e812d5808a79eefab1fa5c581e3640c60f" + }, + "producer_version": "0.1.1" + }, + "object_segmentation": { + "parameters": { + "agent_tracker_seed": "bbf4ef6d4662aee7", + "apply_body_fabric_filter": true, + "chunk_size": 60, + "max_frames": null, + "model": "facebook/sam3", + "n_obj_slots": 6, + "one_slot_per_prompt": true, + "phase_plan": "1d6236a20dd75611", + "post_proc": "kernels", + "prompts": [ + "clothing being folded", + "clothing between hands", + "folded cloth", + "clothing", + "cloth", + "fabric" + ], + "seed_source": "agent_tracker", + "slot_selection": "agent_mask_tracker", + "start_frame": 0, + "stride": 1, + "task_id": "sweep" + }, + "producer_version": "0.8.0" + }, + "whisper": { + "parameters": { + "device": "cpu", + "language": "en", + "model_size": "base", + "no_speech_prob_drop": 0.6, + "vad_filter": true, + "word_timestamps": true + }, + "producer_version": "0.2.0" + } + }, + "assembly": { + "assembled_at": "2026-08-02T14:58:57.700336+00:00", + "contact_source": "recomputed_from_disk", + "from_disk": [ + "hand_mask.npz", + "object_mask.npz", + "whisper.json" + ], + "hand_depth_clip": { + "clip_near_reference_m": 0.2218, + "depth_source": "record3d_lidar", + "n_components_evaluated": 612, + "n_components_removed": 3, + "n_frames": 346, + "n_frames_touched": 2, + "n_frames_with_depth": 258, + "n_object_protected": 225, + "object_adjacency_gate": "on", + "params": { + "label_stride": 1, + "max_plane_rms_m": 0.03, + "max_surface_offset_m": 0.02, + "min_measured_frac": 0.5, + "min_measured_px": 12, + "min_separation_m": 0.15, + "surface_ring_cells": 3 + }, + "removed": [ + { + "n_measured": 180, + "plane_rms_m": 0.0018, + "ref_z_m": 0.2218, + "row": 48, + "separation_m": 0.2126, + "slot": 0, + "surface_offset_m": 0.0012, + "z_med_m": 0.4343 + }, + { + "n_measured": 140, + "plane_rms_m": 0.0089, + "ref_z_m": 0.2218, + "row": 51, + "separation_m": 1.6698, + "slot": 0, + "surface_offset_m": 0.009, + "z_med_m": 1.8916 + }, + { + "n_measured": 88, + "plane_rms_m": 0.0121, + "ref_z_m": 0.2218, + "row": 51, + "separation_m": 1.6386, + "slot": 1, + "surface_offset_m": 0.0193, + "z_med_m": 1.8604 + } + ], + "status": "applied" + }, + "hand_identity_fix": { + "basis": "mediapipe_crop_label", + "calibrated_slot0_label": "left", + "calibration": "seed_anchored_head", + "clip_majority_slot0_label": "left", + "evidence_ambiguity_frac": 0.9913, + "handedness_source": "sam3_slot", + "majority_agrees_with_seed": true, + "n_frames": 346, + "n_frames_disagreeing": 0, + "n_frames_evaluated": 3, + "n_frames_swapped": 0, + "n_runs_swapped": 0, + "params": { + "fps": 30.0, + "median_k": 5, + "min_assoc_margin": 0.25, + "min_conf": 0.7, + "min_kp_in_mask": 0.5, + "min_run_frames": 15 + }, + "reason": "only 3/346 frames (1%) cleared the association + confidence gates (need >= 30%) \u2014 too thin for a clip-wide identity claim", + "runs": [], + "status": "insufficient_evidence" + }, + "hand_mask_corrections": { + "file": "hand_mask_corrections.npz", + "n_components_removed": 3, + "n_frames_swapped": 0, + "path": "hand_mask_corrections.npz", + "raw_channel": "hand_mask.npz:masks (byte-unchanged)", + "version": "0.1.0" + }, + "transcript_empty": "whisper.json_present_but_empty_or_unreadable", + "transcript_source": "none", + "transcript_source_pref": "auto" + }, + "camera": { + "device_model": "record3d_iphone", + "intrinsics_note": "REAL per-frame ARKit intrinsics from a Record3D capture; the inline 3\u00d73 is the per-element median of the measured matrices (NOT a focal-fraction heuristic).", + "intrinsics_source": "record3d_arkit", + "pose_source": "arkit" + }, + "object_roles": { + "objects": [ + { + "default_role": "tool", + "object_id": "obj_broom" + }, + { + "default_role": "container", + "object_id": "obj_dustpan" + } + ], + "phase_roles": [ + { + "interaction_role": "container", + "object_id": "obj_dustpan", + "phase_id": 0 + }, + { + "interaction_role": "tool", + "object_id": "obj_broom", + "phase_id": 1 + }, + { + "interaction_role": "container", + "object_id": "obj_dustpan", + "phase_id": 1 + }, + { + "interaction_role": "tool", + "object_id": "obj_broom", + "phase_id": 2 + }, + { + "interaction_role": "container", + "object_id": "obj_dustpan", + "phase_id": 2 + } + ], + "primary_object_id": null, + "source": "phase_plan_v0.2", + "version": "0.1.0" + }, + "quality_gates": { + "all_passed": true, + "validated_at": "2026-08-10T13:38:18+00:00", + "gates": [ + { + "name": "json_schema", + "passed": true, + "value": "ok", + "threshold": "validates", + "detail": "" + }, + { + "name": "frames_with_hands_pct", + "passed": true, + "value": 100.0, + "threshold": ">= 5% [class=sweep]", + "detail": "presence-conditioned over the actor's active span [49..305] = 257/346 frames (raw all-frames = 74.28%); shipped channel = raw \u2295 hand_mask_corrections" + }, + { + "name": "audio_snr_db", + "passed": true, + "value": null, + "threshold": ">= 5 dB", + "detail": "silent or near-silent" + }, + { + "name": "transcript_density", + "passed": true, + "value": 0.0, + "threshold": ">= 0.5 wps", + "detail": "silent clip" + }, + { + "name": "hand_mask_coverage_pct", + "passed": true, + "value": 2.588, + "threshold": ">= 1%", + "detail": "" + }, + { + "name": "phase_plan_windowing", + "passed": true, + "value": "phase_plan_multi", + "threshold": "slot_selection == phase_plan_multi", + "detail": "" + }, + { + "name": "object_mask_coverage_pct", + "passed": true, + "value": 2.357, + "threshold": ">= 0.5% (per present object) [class=sweep]", + "detail": "per-object (present-frame) coverage: obj_broom=2.357%, obj_dustpan=5.593%" + }, + { + "name": "hand_mask_area_floor_left", + "passed": true, + "value": 3.3284, + "threshold": ">= 0.20% (median, per hand)", + "detail": "" + }, + { + "name": "hand_mask_area_floor_right", + "passed": true, + "value": 4.6213, + "threshold": ">= 0.20% (median, per hand)", + "detail": "" + }, + { + "name": "hand_mask_lr_asymmetry", + "passed": true, + "value": 0.7202, + "threshold": "min/max >= 0.20", + "detail": "" + }, + { + "name": "hand_slot_merge", + "passed": true, + "value": 0, + "threshold": "< 5 consecutive frames with L\u2229R IoU > 0.5", + "detail": "" + }, + { + "name": "object_track_truncated", + "passed": true, + "value": 0, + "threshold": "no tracked object ends while a hand still holds it", + "detail": "" + }, + { + "name": "actor_mirror_consistency", + "passed": true, + "value": 0, + "threshold": "every hierarchy span's actor_kind == its action's actors[0]", + "detail": "" + } + ] + } + }, + "manually_annotated_fields": [], + "models": { + "hamer": null, + "mediapipe": "0.10.35", + "sam2": null, + "whisper": "1.2.1" + }, + "pipeline_version": "0.2.0", + "qa_reviewer_id": "[redacted]", + "qa_score": 5, + "source_experiment": "v0pipeline" + }, + "audio_path": "019fc1c9-3a11-7372-9833-b0ee6a16730b.wav", + "camera_calibration": { + "ego": { + "fps": 30.0, + "intrinsics": [ + [ + 1471.743896484375, + 0.0, + 696.0511474609375 + ], + [ + 0.0, + 1471.743896484375, + 975.2701416015625 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics_path": null, + "resolution": [ + 1440, + 1920 + ] + }, + "overhead": null + }, + "camera_rig_id": "rig_manila_iphone12pro_chest", + "date_collected": "2026-08-02", + "duration_seconds": 11.533333333333333, + "environment_id": "home_table_pretrip", + "episode_id": "EM1-D4-E06", + "extensions": { + "camera_world_pose": { + "n_frames": 346, + "path": "camera_pose.npz", + "pose_source": "arkit", + "tracking_conf_mean": 1.0 + }, + "depth": { + "confidence_levels": "0=low,1=medium,2=high", + "depth_resolution": [ + 256, + 192 + ], + "depth_source": "record3d_lidar", + "n_frames": 346, + "path": "depth.npz" + }, + "hand_object_contact": { + "confirm_dist_m": 0.05, + "contact_dist_m": 0.03, + "contact_provenance_note": "per-hand 'contact_from_measured_joint' marks whether the joint that drove the contact was depth-MEASURED (depth_fill==0) vs a bone-length/temporal PRIOR-extrapolated point. Spec \u00a79.9: only ~65% of fingertips are depth-valid, so a prior-filled-joint contact is NOT a measurement (rule #7) \u2014 branch on this flag, don't trust the bool alone.", + "debounce": { + "adjacency_dilate_px": 16, + "assert_frames": 12, + "contact_off_m": 0.025, + "contact_on_m": 0.015, + "far_release_confirm_s": 0.25, + "far_release_frames": 84, + "fsm_states": [ + "OPEN", + "CLOSING", + "CLOSED", + "OPENING" + ], + "gate_2d_available": true, + "gate_2d_frames_blocked": 29, + "gate_2d_frames_evaluated": 433, + "gate_2d_metric": "mask_adjacency", + "grasp_onsets": { + "left": [ + 65, + 293 + ], + "right": [ + 144, + 146, + 189, + 254, + 302 + ] + }, + "median_window_frames": 5, + "nan_policy": "freeze_hold", + "note": "P4-C2 median pre-filter (NOT EMA) \u2192 P4-C3 Schmitt hysteresis (HOLD in the [on,off] dead-band) \u2192 P4-C4 asymmetric min-dwell (short assert / longer release) \u2192 P4-C5 4-state grasp FSM (edge-triggered, one onset + one release per grasp). A NaN distance never ASSERTS a contact (a depth dropout cannot fabricate a grasp) and \u2014 nan_policy=freeze_hold, CONTACT-OCC-2 \u2014 never RELEASES one: a NaN frame holds the committed state and freezes the pending dwell, so only MEASURED open evidence releases a grasp (occlusion of any length bridges; the OCC-1 validity flag marks those frames not-measurable). A 2D-gate block is enforced separately + harder upstream (contact_3d post-debounce override forces every blocked frame open).", + "release_frames": 15, + "tail_release": { + "channels": [ + { + "cut_frame": 305, + "frames_released": 40, + "hand": "left", + "object_index": 1, + "object_present_frac": 1.0, + "reason": "hand absent from the cut to the end of the clip (never returns, so the freeze is unresolved) while the object stayed tracked", + "released_from_frame": 306, + "tail_frames": 40 + } + ], + "min_tail_frames": 5, + "n_channels_released": 1, + "object_present_frac": 0.8, + "rule": "a freeze that reaches the last frame with the hand absent to the end (never returns) and the object still tracked is closed at the last hand-present frame \u2014 an unresolved freeze is not a bridge. Mid-clip occlusion is untouched (CONTACT-OCC-2)." + }, + "version": "1.1" + }, + "debounce_fps": 30.0, + "debounce_note": "LID3D-7: per_hand_contact is the DEBOUNCED bool \u2014 P4-C1 valid-depth score (a bone-prior-imputed fingertip never votes) AND-gated on the 2D SAM3 hand\u2229object overlap, P4-C2 median pre-filter, P4-C3 Schmitt hysteresis (HOLD in the [contact_on_m, contact_off_m] dead-band), P4-C4 asymmetric min-dwell, P4-C5 grasp FSM. contact_strength + grasp_fsm_state are additive; raw min_dist_m is the un-debounced firewall channel.", + "detected_object": "broom", + "direct_contact_shape": [ + 346, + 2, + 2 + ], + "hold_dist_m": 0.12, + "joints_source": "hamer_2d_depth", + "mask_2d": { + "metric": "iou+border_adjacency", + "n_frames_in_contact": 1, + "object_ids": [ + "obj_broom", + "obj_dustpan" + ], + "objects": [ + { + "n_frames_adjacent": 146, + "n_frames_in_contact": 5, + "n_frames_scored": 148, + "n_present_frames": 148, + "object_id": "obj_broom", + "per_frame": [ + { 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+ "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": false + }, + { + "frame": 141, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": true + }, + { + "frame": 142, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": true + }, + { + "frame": 143, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": true + }, + { + "frame": 144, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": true + }, + { + "frame": 146, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": false + }, + { + "frame": 147, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": false + }, + { + "frame": 148, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": false + }, + { + "frame": 149, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": false + }, + { + "frame": 150, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": false + }, + { + "frame": 151, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + 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VALIDATED on two hand-labeled holdouts \u2014 A4 hits F1 0.92-0.96 vs 0.31-0.68 for the old overlap-gated proximity (the overlap gate vetoed 57-82% of real ego contact: a grasping hand is IN FRONT of the object so the masks abut without sharing pixels). contact_dist_m (3cm) is consulted only for the ~9% of depth-MEASURED fingertips; an occluded tip trusts the mask adjacency. Dossier: research/2026-06-25_hand_object_contact_sota.md.", + "threshold_validated": true, + "version": "0.4.3" + }, + "object_geometry": { + "classified_by": "label_keyword_heuristic", + "note": "Per-object metric mask-cloud (centroid_world + extent_m, meters) back-projected from object_mask via depth + camera_pose. Deformable/cloth objects get this cloud ONLY (6-DoF is structurally ill-defined \u2192 cloth_degraded). Rigid objects carry the metric extent but their 6-DoF pose is rigid_deferred (no model-free engine built \u2014 license+GPU gated, P2-3). classified_by is a LEXICAL keyword heuristic, NOT a learned classifier.", + "objects": [ + { + "centroid_world": [ + -1.2381494045257568, + 0.6639747023582458, + 0.7124791741371155 + ], + "classified_by": "label_keyword_heuristic", + "extent_m": [ + 0.20905335247516632, + 0.4822796881198883, + 0.2991068959236145 + ], + "is_deformable": false, + "label": "broom", + "n_frames_with_cloud": 148, + "n_present_frames": 148, + "object_id": "obj_broom", + "pose_status": "rigid_deferred" + }, + { + "centroid_world": [ + -1.0988446474075317, + 0.7264277935028076, + 0.8068519234657288 + ], + "classified_by": "label_keyword_heuristic", + "extent_m": [ + 0.1698104739189148, + 0.18900984525680542, + 0.10316489636898041 + ], + "is_deformable": false, + "label": "dustpan", + "n_frames_with_cloud": 344, + "n_present_frames": 344, + "object_id": "obj_dustpan", + "pose_status": "rigid_deferred" + } + ], + "source": "object_geometry_scaffold", + "version": "0.1.0" + }, + "object_object_contact": { + "adjacency_px": 8, + "debounce": { + "assert_frames": 3, + "fps": 30.0, + "median_window_frames": 5, + "release_frames": 6 + }, + "metric": "visible_mask_adjacency+surface_proximity", + "n_frames": 346, + "n_pair_contact_cells": 61, + "npz_path": "object_object_contact.npz", + "object_ids": [ + "obj_broom", + "obj_dustpan" + ], + "pair_dist_m": 0.02, + "provenance": "contact_from_measured_surface=true means both visible object masks yielded LiDAR surface points and proximity confirmed contact; false contact is supported by visible-mask adjacency only", + "version": "0.1.0" + }, + "object_pose": { + "objects": [ + { + "n_present_frames": 148, + "obj_T_world_is_placeholder": true, + "object_id": "obj_broom", + "pose_status": "rigid_deferred" + }, + { + "n_present_frames": 344, + "obj_T_world_is_placeholder": true, + "object_id": "obj_dustpan", + "pose_status": "rigid_deferred" + } + ], + "path": "object_pose.npz", + "pose_source": "object_geometry_scaffold", + "status_legend": { + "cloth_degraded": "deformable object \u2014 NO 6-DoF (ill-defined); metric mask-cloud in extensions.object_geometry", + "rigid_deferred": "rigid object \u2014 6-DoF DEFERRED (no model-free engine built; license+GPU gated). obj_T_world is an identity placeholder; trust pose_status, not the matrix." + }, + "version": "0.1.0" + }, + "phase_plan_windowing": { + "n_phases": 3, + "slot_selection": "phase_plan_multi", + "windowed": true + }, + "studio": { + "review_state": { + "history": [ + { + "action": "submit", + "at": "2026-08-09T15:13:02.444458+00:00", + "by": "reviewer", + "from": "draft", + "to": "in_review" + }, + { + "action": "approve", + "at": "2026-08-09T15:13:21.739471+00:00", + "by": "reviewer", + "from": "in_review", + "qa_score": 5, + "to": "approved" + } + ], + "qa_score": 5, + "reviewer_id": "reviewer", + "status": "approved", + 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0000000000000000000000000000000000000000..23892b70c8e3b6c25743492cfacc0cb11b82bbee --- /dev/null +++ b/episodes/019fc1ca-727a-79a3-89f6-054b6a5ce283/depth_geometry.json @@ -0,0 +1,62 @@ +{ + "sensor": "iphone_lidar_arkit", + "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth grid, untouched); observation.images.ego is 512x384 \u2014 ONE uniform downscale of the native RGB, so ego is EXACTLY 2x the depth grid: ego[y, x], mask[y, x] and depth[y//2, x//2] are the same ray. Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "depth_resolution_hw": [ + 256, + 192 + ], + "ego_obs_resolution_hw": [ + 512, + 384 + ], + "ego_to_depth_scale": 2.0, + "raster_rotation": null, + "display_hint": null, + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 1 quarter-turn(s); gravity-verified at export)", + "rgb_native_resolution_hw": [ + 1920, + 1440 + ], + "depth_output_unit_default": "mm (LeRobot depth_output_unit default; pass --dataset.depth_output_unit m to load metres)", + "raw_depth_reference": "openego_sidecar.json + data/annotations//depth.npz (lossless)", + "arkit_rgb_intrinsics_3x3": [ + [ + 1470.0235595703125, + 0.0, + 696.7894897460938 + ], + [ + 0.0, + 1470.0235595703125, + 973.8063354492188 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics_frame": "native raster", + "depth_intrinsics_3x3": [ + [ + 196.00314127604167, + 0.0, + 92.90526529947917 + ], + [ + 0.0, + 196.00314127604167, + 129.8408447265625 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "depth_intrinsics_scale_xy": [ + 0.13333333333333333, + 0.13333333333333333 + ], + "intrinsics_source": "record3d_arkit (median of per-frame, via chokepoint)" +} \ No newline at end of file diff --git a/episodes/019fc1ca-727a-79a3-89f6-054b6a5ce283/hand_object_contact.npz b/episodes/019fc1ca-727a-79a3-89f6-054b6a5ce283/hand_object_contact.npz new file mode 100644 index 0000000000000000000000000000000000000000..706bfef009447ee50d91be8d27d8ae1cedbdccff --- /dev/null +++ b/episodes/019fc1ca-727a-79a3-89f6-054b6a5ce283/hand_object_contact.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a85aecb1e3acd990c516c7f8328c0e5ad9117777504c0e6889b0b0209df047d4 +size 7472 diff --git a/episodes/019fc1ca-727a-79a3-89f6-054b6a5ce283/language_spans.json b/episodes/019fc1ca-727a-79a3-89f6-054b6a5ce283/language_spans.json new file mode 100644 index 0000000000000000000000000000000000000000..0b1ed341942e6072779dd65ded59ea7d6012d160 --- /dev/null +++ b/episodes/019fc1ca-727a-79a3-89f6-054b6a5ce283/language_spans.json @@ -0,0 +1,73 @@ +{ + "task": "sweep", + "n_spans": 3, + "n_keysteps": 3, + "spans": [ + { + "start_s": 0.0, + "end_s": 4.5, + "label": "place dustpan on table", + "objects": [ + "dustpan" + ], + "actors": [ + "left_hand" + ], + "source": "vlm", + "confidence": "low", + "grounded": false, + "evidence": "Hand brings white dustpan into frame and sets it on the black table." + }, + { + "start_s": 4.5, + "end_s": 11.0, + "label": "sweep debris into dustpan", + "objects": [ + "debris" + ], + "actors": [ + "both_hands" + ], + "source": "human", + "confidence": "high", + "grounded": true, + "evidence": "Brush pushes crumpled white tissues across the table surface into the dustpan." + }, + { + "start_s": 11.0, + "end_s": 13.435, + "label": "move brush away from dustpan", + "objects": [ + "brush" + ], + "actors": [ + "both_hands" + ], + "source": "human", + "confidence": "low", + "grounded": false, + "evidence": "The brush is lifted away; the dustpan stays on the table holding the swept tissues." + } + ], + "keysteps": [ + { + "start_s": 0.0, + "end_s": 4.5, + "description": "place dustpan on table", + "essential": true + }, + { + "start_s": 4.5, + "end_s": 11.0, + "description": "sweep tissues into dustpan", + "essential": true + }, + { + "start_s": 11.0, + "end_s": 13.435, + "description": "remove tools from table", + "essential": true + } + ], + "note": "Time-aligned sub-step language \u2014 the VLM-partitioned action `spans` (label + objects + actors + VLM evidence/confidence/grounded) and the coarser `keysteps`. This is a RIDER, not per-frame: the LeRobot `task` column stays the static high-level goal so it never flips frame-to-frame; use these spans for language-conditioned / sub-goal training by joining on the `timestamp` (seconds). A span with `grounded=false` or a low `confidence` is an honest low-trust label \u2014 filter accordingly." +} \ No newline at end of file diff --git a/episodes/019fc1ca-727a-79a3-89f6-054b6a5ce283/object_mask.npz b/episodes/019fc1ca-727a-79a3-89f6-054b6a5ce283/object_mask.npz new file mode 100644 index 0000000000000000000000000000000000000000..31c50d1af63f78928c426786fd8a0ef1b8c96d54 --- /dev/null +++ b/episodes/019fc1ca-727a-79a3-89f6-054b6a5ce283/object_mask.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:67af5258a90377835e7a794c1e5632b2b32434d1d795abab05649dab689924a2 +size 1939595 diff --git a/episodes/019fc1ca-727a-79a3-89f6-054b6a5ce283/object_object_contact.npz b/episodes/019fc1ca-727a-79a3-89f6-054b6a5ce283/object_object_contact.npz new file mode 100644 index 0000000000000000000000000000000000000000..ea262e401a98c0f07a9e703a729875d0c5df4510 --- /dev/null +++ b/episodes/019fc1ca-727a-79a3-89f6-054b6a5ce283/object_object_contact.npz @@ -0,0 +1,3 @@ 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"n_frames_evaluated": 0, + "n_frames_swapped": 0, + "params": { + "fps": 14.9611, + "median_k": 5, + "min_assoc_margin": 0.25, + "min_conf": 0.7, + "min_kp_in_mask": 0.5, + "min_run_frames": 8 + }, + "reason": "no frame cleared the association + confidence gates", + "status": "no_evidence" + }, + "hand_mask_corrections": { + "file": "hand_mask_corrections.npz", + "n_components_removed": 1, + "n_frames_swapped": 0, + "path": "hand_mask_corrections.npz", + "raw_channel": "hand_mask.npz:masks (byte-unchanged)", + "version": "0.1.0" + }, + "transcript_empty": "whisper.json_present_but_empty_or_unreadable", + "transcript_source": "none", + "transcript_source_pref": "auto" + }, + "camera": { + "device_model": "record3d_iphone", + "intrinsics_note": "REAL per-frame ARKit intrinsics from a Record3D capture; the inline 3\u00d73 is the per-element median of the measured matrices (NOT a focal-fraction heuristic).", + "intrinsics_source": "record3d_arkit", + "pose_source": "arkit" + }, + "object_roles": { + "objects": [ + { + "default_role": "tool", + "object_id": "obj_broom" + }, + { + "default_role": "container", + "object_id": "obj_dustpan" + } + ], + "phase_roles": [ + { + "interaction_role": "container", + "object_id": "obj_dustpan", + "phase_id": 0 + }, + { + "interaction_role": "tool", + "object_id": "obj_broom", + "phase_id": 1 + }, + { + "interaction_role": "container", + "object_id": "obj_dustpan", + "phase_id": 1 + }, + { + "interaction_role": "tool", + "object_id": "obj_broom", + "phase_id": 2 + }, + { + "interaction_role": "container", + "object_id": "obj_dustpan", + "phase_id": 2 + } + ], + "primary_object_id": null, + "source": "phase_plan_v0.2", + "version": "0.1.0" + }, + "quality_gates": { + "all_passed": true, + "validated_at": "2026-08-10T13:37:53+00:00", + "gates": [ + { + "name": "json_schema", + "passed": true, + "value": "ok", + "threshold": "validates", + "detail": "" + }, + { + "name": "frames_with_hands_pct", + "passed": true, + "value": 100.0, + "threshold": ">= 5% [class=sweep]", + "detail": "presence-conditioned over the actor's active span [26..184] = 159/201 frames (raw all-frames = 79.10%); shipped channel = raw \u2295 hand_mask_corrections" + }, + { + "name": "audio_snr_db", + "passed": true, + "value": null, + "threshold": ">= 5 dB", + "detail": "silent or near-silent" + }, + { + "name": "transcript_density", + "passed": true, + "value": 0.0, + "threshold": ">= 0.5 wps", + "detail": "silent clip" + }, + { + "name": "hand_mask_coverage_pct", + "passed": true, + "value": 2.367, + "threshold": ">= 1%", + "detail": "" + }, + { + "name": "phase_plan_windowing", + "passed": true, + "value": "phase_plan_multi", + "threshold": "slot_selection == phase_plan_multi", + "detail": "" + }, + { + "name": "object_mask_coverage_pct", + "passed": true, + "value": 3.281, + "threshold": ">= 0.5% (per present object) [class=sweep]", + "detail": "per-object (present-frame) coverage: obj_broom=3.281%, obj_dustpan=4.592%" + }, + { + "name": "hand_mask_area_floor_left", + "passed": true, + "value": 2.7742, + "threshold": ">= 0.20% (median, per hand)", + "detail": "" + }, + { + "name": "hand_mask_area_floor_right", + "passed": true, + "value": 3.9317, + "threshold": ">= 0.20% (median, per hand)", + "detail": "" + }, + { + "name": "hand_mask_lr_asymmetry", + "passed": true, + "value": 0.7056, + "threshold": "min/max >= 0.20", + "detail": "" + }, + { + "name": "hand_slot_merge", + "passed": true, + "value": 0, + "threshold": "< 5 consecutive frames with L\u2229R IoU > 0.5", + "detail": "" + }, + { + "name": "object_track_truncated", + "passed": true, + "value": 0, + "threshold": "no tracked object ends while a hand still holds it", + "detail": "" + }, + { + "name": "actor_mirror_consistency", + "passed": true, + "value": 0, + "threshold": "every hierarchy span's actor_kind == its action's actors[0]", + "detail": "" + } + ] + } + }, + "manually_annotated_fields": [], + "models": { + "hamer": null, + "mediapipe": "0.10.35", + "sam2": null, + "whisper": "1.2.1" + }, + "pipeline_version": "0.2.0", + "qa_reviewer_id": "[redacted]", + "qa_score": 5, + "source_experiment": "v0pipeline" + }, + "audio_path": "019fc1ca-727a-79a3-89f6-054b6a5ce283.wav", + "camera_calibration": { + "ego": { + "fps": 14.9611, + "intrinsics": [ + [ + 1470.0235595703125, + 0.0, + 696.7894897460938 + ], + [ + 0.0, + 1470.0235595703125, + 973.8063354492188 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics_path": null, + "resolution": [ + 1440, + 1920 + ] + }, + "overhead": null + }, + "camera_rig_id": "rig_manila_iphone12pro_chest", + "date_collected": "2026-08-02", + "duration_seconds": 13.43488329841406, + "environment_id": "home_table_pretrip", + "episode_id": "EM1-D4-E06", + "extensions": { + "camera_world_pose": { + "n_frames": 201, + "path": "camera_pose.npz", + "pose_source": "arkit", + "tracking_conf_mean": 1.0 + }, + "depth": { + "confidence_levels": "0=low,1=medium,2=high", + "depth_resolution": [ + 256, + 192 + ], + "depth_source": "record3d_lidar", + "n_frames": 201, + "path": "depth.npz" + }, + "hand_object_contact": { + "confirm_dist_m": 0.05, + "contact_dist_m": 0.03, + "contact_provenance_note": "per-hand 'contact_from_measured_joint' marks whether the joint that drove the contact was depth-MEASURED (depth_fill==0) vs a bone-length/temporal PRIOR-extrapolated point. Spec \u00a79.9: only ~65% of fingertips are depth-valid, so a prior-filled-joint contact is NOT a measurement (rule #7) \u2014 branch on this flag, don't trust the bool alone.", + "debounce": { + "adjacency_dilate_px": 16, + "assert_frames": 6, + "contact_off_m": 0.025, + "contact_on_m": 0.015, + "far_release_confirm_s": 0.25, + "far_release_frames": 7, + "fsm_states": [ + "OPEN", + "CLOSING", + "CLOSED", + "OPENING" + ], + "gate_2d_available": true, + "gate_2d_frames_blocked": 10, + "gate_2d_frames_evaluated": 270, + "gate_2d_metric": "mask_adjacency", + "grasp_onsets": { + "left": [ + 29, + 172 + ], + "right": [ + 76 + ] + }, + "median_window_frames": 5, + "nan_policy": "freeze_hold", + "note": "P4-C2 median pre-filter (NOT EMA) \u2192 P4-C3 Schmitt hysteresis (HOLD in the [on,off] dead-band) \u2192 P4-C4 asymmetric min-dwell (short assert / longer release) \u2192 P4-C5 4-state grasp FSM (edge-triggered, one onset + one release per grasp). A NaN distance never ASSERTS a contact (a depth dropout cannot fabricate a grasp) and \u2014 nan_policy=freeze_hold, CONTACT-OCC-2 \u2014 never RELEASES one: a NaN frame holds the committed state and freezes the pending dwell, so only MEASURED open evidence releases a grasp (occlusion of any length bridges; the OCC-1 validity flag marks those frames not-measurable). A 2D-gate block is enforced separately + harder upstream (contact_3d post-debounce override forces every blocked frame open).", + "release_frames": 7, + "tail_release": { + "channels": [ + { + "cut_frame": 184, + "frames_released": 16, + "hand": "left", + "object_index": 1, + "object_present_frac": 1.0, + "reason": "hand absent from the cut to the end of the clip (never returns, so the freeze is unresolved) while the object stayed tracked", + "released_from_frame": 185, + "tail_frames": 16 + } + ], + "min_tail_frames": 5, + "n_channels_released": 1, + "object_present_frac": 0.8, + "rule": "a freeze that reaches the last frame with the hand absent to the end (never returns) and the object still tracked is closed at the last hand-present frame \u2014 an unresolved freeze is not a bridge. Mid-clip occlusion is untouched (CONTACT-OCC-2)." + }, + "version": "1.1" + }, + "debounce_fps": 14.9611, + "debounce_note": "LID3D-7: per_hand_contact is the DEBOUNCED bool \u2014 P4-C1 valid-depth score (a bone-prior-imputed fingertip never votes) AND-gated on the 2D SAM3 hand\u2229object overlap, P4-C2 median pre-filter, P4-C3 Schmitt hysteresis (HOLD in the [contact_on_m, contact_off_m] dead-band), P4-C4 asymmetric min-dwell, P4-C5 grasp FSM. contact_strength + grasp_fsm_state are additive; raw min_dist_m is the un-debounced firewall channel.", + "detected_object": "broom", + "direct_contact_shape": [ + 201, + 2, + 2 + ], + "hold_dist_m": 0.12, + "joints_source": "hamer_2d_depth", + "mask_2d": { + "metric": "iou+border_adjacency", + "n_frames_in_contact": 0, + "object_ids": [ + "obj_broom", + "obj_dustpan" + ], + "objects": [ + { + "n_frames_adjacent": 109, + "n_frames_in_contact": 1, + "n_frames_scored": 113, + "n_present_frames": 113, + "object_id": "obj_broom", + "per_frame": [ 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"inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 200, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + } + ], + "per_primitive": [ + { + "end_timestamp": 4.5, + "in_contact_object": "broom", + "on_which_hand": "none", + "on_which_hand_adjacency": "left", + "primitive_index": 0, + "start_timestamp": 0.0 + }, + { + "end_timestamp": 11.0, + "in_contact_object": "broom", + "on_which_hand": "none", + "on_which_hand_adjacency": "left", + "primitive_index": 1, + "start_timestamp": 4.5 + }, + { + "end_timestamp": 13.435, + "in_contact_object": "broom", + "on_which_hand": "none", + "on_which_hand_adjacency": "left", + "primitive_index": 2, + "start_timestamp": 11.0 + } + ] + } + ], + "per_primitive": [ + { + "end_timestamp": 4.5, + "in_contact_object": "broom", + 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"right_min_dist_m": null + } + ], + "scene_union_reduction": "any(per_hand_object_contact, axis=2)", + "threshold_note": "LID3D-17 A4: per_hand_contact = DEBOUNCED (mask-ADJACENCY gate AND (nearest joint depth-measured ? proximity<=contact_dist_m : trust adjacency)). VALIDATED on two hand-labeled holdouts \u2014 A4 hits F1 0.92-0.96 vs 0.31-0.68 for the old overlap-gated proximity (the overlap gate vetoed 57-82% of real ego contact: a grasping hand is IN FRONT of the object so the masks abut without sharing pixels). contact_dist_m (3cm) is consulted only for the ~9% of depth-MEASURED fingertips; an occluded tip trusts the mask adjacency. Dossier: research/2026-06-25_hand_object_contact_sota.md.", + "threshold_validated": true, + "version": "0.4.3" + }, + "object_geometry": { + "classified_by": "label_keyword_heuristic", + "note": "Per-object metric mask-cloud (centroid_world + extent_m, meters) back-projected from object_mask via depth + camera_pose. Deformable/cloth objects get this cloud ONLY (6-DoF is structurally ill-defined \u2192 cloth_degraded). Rigid objects carry the metric extent but their 6-DoF pose is rigid_deferred (no model-free engine built \u2014 license+GPU gated, P2-3). classified_by is a LEXICAL keyword heuristic, NOT a learned classifier.", + "objects": [ + { + "centroid_world": [ + -1.2671517133712769, + 0.7848129868507385, + 0.8469129800796509 + ], + "classified_by": "label_keyword_heuristic", + "extent_m": [ + 0.2816298007965088, + 0.490606427192688, + 0.2952372431755066 + ], + "is_deformable": false, + "label": "broom", + "n_frames_with_cloud": 113, + "n_present_frames": 113, + "object_id": "obj_broom", + "pose_status": "rigid_deferred" + }, + { + "centroid_world": [ + -1.0771089792251587, + 0.8375771045684814, + 0.9588069319725037 + ], + "classified_by": "label_keyword_heuristic", + "extent_m": [ + 0.17372311651706696, + 0.18372979760169983, + 0.08653867244720459 + ], + "is_deformable": false, + "label": "dustpan", + "n_frames_with_cloud": 194, + "n_present_frames": 194, + "object_id": "obj_dustpan", + "pose_status": "rigid_deferred" + } + ], + "source": "object_geometry_scaffold", + "version": "0.1.0" + }, + "object_object_contact": { + "adjacency_px": 8, + "debounce": { + "assert_frames": 1, + "fps": 14.9611, + "median_window_frames": 3, + "release_frames": 3 + }, + "metric": "visible_mask_adjacency+surface_proximity", + "n_frames": 201, + "n_pair_contact_cells": 35, + "npz_path": "object_object_contact.npz", + "object_ids": [ + "obj_broom", + "obj_dustpan" + ], + "pair_dist_m": 0.02, + "provenance": "contact_from_measured_surface=true means both visible object masks yielded LiDAR surface points and proximity confirmed contact; false contact is supported by visible-mask adjacency only", + "version": "0.1.0" + }, + "object_pose": { + "objects": [ + { + "n_present_frames": 113, + "obj_T_world_is_placeholder": true, + "object_id": "obj_broom", + "pose_status": "rigid_deferred" + }, + { + "n_present_frames": 194, + "obj_T_world_is_placeholder": true, + "object_id": "obj_dustpan", + "pose_status": "rigid_deferred" + } + ], + "path": "object_pose.npz", + "pose_source": "object_geometry_scaffold", + "status_legend": { + "cloth_degraded": "deformable object \u2014 NO 6-DoF (ill-defined); metric mask-cloud in extensions.object_geometry", + "rigid_deferred": "rigid object \u2014 6-DoF DEFERRED (no model-free engine built; license+GPU gated). obj_T_world is an identity placeholder; trust pose_status, not the matrix." + }, + "version": "0.1.0" + }, + "phase_plan_windowing": { + "n_phases": 3, + "slot_selection": "phase_plan_multi", + "windowed": true + }, + "studio": { + "review_state": { + "history": [ + { + "action": "submit", + "at": "2026-08-09T15:15:58.156262+00:00", + "by": "reviewer", + "from": "draft", + "to": "in_review" + }, + { + "action": "approve", + "at": "2026-08-09T15:16:00.689345+00:00", + "by": "reviewer", + "from": "in_review", + "qa_score": 5, + "to": "approved" + } + ], + "qa_score": 5, + "reviewer_id": "reviewer", + "status": "approved", + 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+ "end_time": 4.5, + "is_essential": true, + "keystep_timing_source": "human", + "start_time": 0.0, + "step_description": "place dustpan on table", + "step_id": 0, + "step_name": "place dustpan on table", + "step_unique_id": 16901799417723 + }, + { + "best_view": "ego", + "end_time": 11.0, + "is_essential": true, + "keystep_timing_source": "human", + "start_time": 4.5, + "step_description": "sweep tissues into dustpan", + "step_id": 1, + "step_name": "sweep debris into dustpan", + "step_unique_id": 207485693041723 + }, + { + "best_view": "ego", + "end_time": 13.435, + "is_essential": true, + "keystep_timing_source": "human", + "start_time": 11.0, + "step_description": "remove tools from table", + "step_id": 2, + "step_name": "move brush away from dustpan", + "step_unique_id": 195589858225670 + } + ], + "object_segmentation": { + "detected_class": "broom", + "detection_score": null, + "frame_rate": null, + "n_frames": 201, + "n_objects": 2, + "objects": [ + { + "label": "broom", + "n_frames_present": 113, + "object_id": "obj_broom", + "phrase": "broom" + }, + { + "label": "dustpan", + "n_frames_present": 194, + "object_id": "obj_dustpan", + "phrase": "dustpan" + } + ], + "seed_source": "agent_tracker", + "source": "sam3" + }, + "object_segmentation_path": "object_mask.npz", + "participant_id": "M3", + "recovery_events": [], + "success_status": "success", + "task_id": "sweep", + "task_label": "sweep", + "transcript_path": null, + "views": { + "ego": "019fc1ca-727a-79a3-89f6-054b6a5ce283.mp4", + "overhead": null + } +} \ No newline at end of file diff --git a/episodes/019fc1cd-270e-7253-9c58-d78525e76e65/contact_corrections.npz b/episodes/019fc1cd-270e-7253-9c58-d78525e76e65/contact_corrections.npz new file mode 100644 index 0000000000000000000000000000000000000000..1f845fcbe95376524121d7502311e4130fc2f5f0 --- /dev/null +++ b/episodes/019fc1cd-270e-7253-9c58-d78525e76e65/contact_corrections.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:daf83f67ff9e830733f6415610ad94649bb9f4a9be1ccfcfb042acf67950581e +size 2164 diff --git a/episodes/019fc1cd-270e-7253-9c58-d78525e76e65/depth_geometry.json b/episodes/019fc1cd-270e-7253-9c58-d78525e76e65/depth_geometry.json new file mode 100644 index 0000000000000000000000000000000000000000..fa9da48c4817a5231571839664f0c74d2798df55 --- /dev/null +++ b/episodes/019fc1cd-270e-7253-9c58-d78525e76e65/depth_geometry.json @@ -0,0 +1,62 @@ +{ + "sensor": "iphone_lidar_arkit", + "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth grid, untouched); observation.images.ego is 512x384 \u2014 ONE uniform downscale of the native RGB, so ego is EXACTLY 2x the depth grid: ego[y, x], mask[y, x] and depth[y//2, x//2] are the same ray. Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "depth_resolution_hw": [ + 256, + 192 + ], + "ego_obs_resolution_hw": [ + 512, + 384 + ], + "ego_to_depth_scale": 2.0, + "raster_rotation": "ccw90", + "display_hint": "rotate 90\u00b0 CW to view upright", + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 0 quarter-turn(s); gravity-verified at export)", + "rgb_native_resolution_hw": [ + 1440, + 1920 + ], + "depth_output_unit_default": "mm (LeRobot depth_output_unit default; pass --dataset.depth_output_unit m to load metres)", + "raw_depth_reference": "openego_sidecar.json + data/annotations//depth.npz (lossless)", + "arkit_rgb_intrinsics_3x3": [ + [ + 1470.480224609375, + 0.0, + 746.924560546875 + ], + [ + 0.0, + 1470.480224609375, + 950.9381713867188 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics_frame": "shipped raster (post-rotation)", + "depth_intrinsics_3x3": [ + [ + 196.06402994791665, + 0.0, + 99.58994140625 + ], + [ + 0.0, + 196.06402994791665, + 126.79175618489583 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "depth_intrinsics_scale_xy": [ + 0.13333333333333333, + 0.13333333333333333 + ], + "intrinsics_source": "record3d_arkit (median of per-frame, via chokepoint)" +} \ No newline at end of file diff --git a/episodes/019fc1cd-270e-7253-9c58-d78525e76e65/hand_object_contact.npz b/episodes/019fc1cd-270e-7253-9c58-d78525e76e65/hand_object_contact.npz new file mode 100644 index 0000000000000000000000000000000000000000..387f710a868cc5e4bab6e619dcfcb0fc90ec0107 --- /dev/null +++ b/episodes/019fc1cd-270e-7253-9c58-d78525e76e65/hand_object_contact.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64f2d4bff1919dd6350248d2febe5f21b825b7819d4910cdfc2ddc2791f57bbe +size 8970 diff --git a/episodes/019fbdfa-6dbd-7c90-938b-c476032bab5b/language_spans.json b/episodes/019fc1cd-270e-7253-9c58-d78525e76e65/language_spans.json similarity index 50% rename from episodes/019fbdfa-6dbd-7c90-938b-c476032bab5b/language_spans.json rename to episodes/019fc1cd-270e-7253-9c58-d78525e76e65/language_spans.json index 820d5eb5d2cc7456a3c5295c16e369cc6e83464c..dc0558548d1055a3015fb7da4acdde1c915ef943 100644 --- a/episodes/019fbdfa-6dbd-7c90-938b-c476032bab5b/language_spans.json +++ b/episodes/019fc1cd-270e-7253-9c58-d78525e76e65/language_spans.json @@ -5,40 +5,40 @@ "spans": [ { "start_s": 0.0, - "end_s": 9.0, - "label": "fold cloth into rectangle", + "end_s": 5.5, + "label": "stretch shorts out", "objects": [ - "cloth" + "shorts" ], "actors": [ "both_hands" ], "source": "human", - "confidence": null, - "grounded": null, - "evidence": "Hands fold the cloth into a rectangle." + "confidence": "high", + "grounded": true, + "evidence": "Hands enter, pick up the shorts, and spread them out flat." }, { - "start_s": 9.0, - "end_s": 13.5, - "label": "fold cloth into rectangle", + "start_s": 5.5, + "end_s": 8.6, + "label": "fold shorts lengthwise", "objects": [ - "cloth" + "shorts" ], "actors": [ "both_hands" ], "source": "human", - "confidence": null, - "grounded": null, - "evidence": "Hands fold the cloth into a rectangle a second time." + "confidence": "high", + "grounded": true, + "evidence": "Hands bring the legs together, folding the shorts lengthwise while holding them up." }, { - "start_s": 13.5, - "end_s": 17.5, - "label": "fold cloth into rectangle", + "start_s": 8.6, + "end_s": 10.0, + "label": "fold shorts widthwise", "objects": [ - "cloth" + "shorts" ], "actors": [ "both_hands" @@ -46,47 +46,47 @@ "source": "human", "confidence": null, "grounded": null, - "evidence": "Hands fold the cloth into a rectangle a third time." + "evidence": "Shorts are lowered to the table and folded in half widthwise into a compact bundle." }, { - "start_s": 17.5, - "end_s": 20.183, - "label": "leave cloth on table", + "start_s": 10.0, + "end_s": 12.3, + "label": "place shorts on table", "objects": [ - "cloth" + "shorts" ], "actors": [ "both_hands" ], - "source": "human", - "confidence": null, - "grounded": null, - "evidence": "Hands release the folded cloth on the table and move out of frame." + "source": "vlm", + "confidence": "low", + "grounded": false, + "evidence": "Hands lower the neatly folded shorts onto the table surface." } ], "keysteps": [ { "start_s": 0.0, - "end_s": 9.0, - "description": "fold cloth into rectangle", + "end_s": 5.5, + "description": "stretch shorts out", "essential": true }, { - "start_s": 9.0, - "end_s": 13.5, - "description": "fold cloth into rectangle", + "start_s": 5.5, + "end_s": 8.6, + "description": "fold shorts lengthwise", "essential": true }, { - "start_s": 13.5, - "end_s": 17.5, - "description": "fold cloth into rectangle", + "start_s": 8.6, + "end_s": 10.0, + "description": "fold shorts widthwise", "essential": true }, { - "start_s": 17.5, - "end_s": 20.183, - "description": "leave cloth on table", + "start_s": 10.0, + "end_s": 12.3, + "description": "place shorts on table", "essential": true } ], diff --git a/episodes/019fc1cd-270e-7253-9c58-d78525e76e65/object_mask.npz b/episodes/019fc1cd-270e-7253-9c58-d78525e76e65/object_mask.npz new file mode 100644 index 0000000000000000000000000000000000000000..086a2c0db43e1ad8730ec60d1cc62fde3b243361 --- /dev/null +++ b/episodes/019fc1cd-270e-7253-9c58-d78525e76e65/object_mask.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06eaae49c71e4ec8a86347cbdc36ca34174f3ccbfbee42575c87cff76550059d +size 2861387 diff --git a/episodes/019fc1cd-270e-7253-9c58-d78525e76e65/openego_sidecar.json b/episodes/019fc1cd-270e-7253-9c58-d78525e76e65/openego_sidecar.json new file mode 100644 index 0000000000000000000000000000000000000000..ac86bccf5213ab752617f8d330dbe47775cacc87 --- /dev/null +++ b/episodes/019fc1cd-270e-7253-9c58-d78525e76e65/openego_sidecar.json @@ -0,0 +1,15045 @@ +{ + "actions": [ + { + "actors": [ + "both_hands" + ], + "end_timestamp": 5.5, + "extensions": { + "actor_source": "contact", + "object_source": "vlm", + "span_id": "s1", + "span_source": "human", + "vlm_confidence": "high", + "vlm_evidence": "Hands enter, pick up the shorts, and spread them out flat.", + "vlm_grounded": true, + "vlm_object_candidates": [ + { + "evidence": "Hands pick up and spread the crumpled shorts.", + "label": "shorts", + "role": "workpiece", + "track": true + }, + { + "evidence": "Hands grasp and manipulate the shorts to unfold them.", + "label": "hands", + "role": "tool", + "track": true + }, + { + "evidence": "Table provides a surface for unfolding the shorts.", + "label": "table", + "role": "fixture", + "track": false + } + ] + }, + "label": "stretch shorts out", + "narration_uncertain": false, + "objects": [ + "shorts" + ], + "start_timestamp": 0.0 + }, + { + "actors": [ + "both_hands" + ], + "end_timestamp": 8.6, + "extensions": { + "actor_source": "contact", + "object_source": "vlm", + "span_id": "s2", + "span_source": "human", + "vlm_confidence": "high", + "vlm_evidence": "Hands bring the legs together, folding the shorts lengthwise while holding them up.", + "vlm_grounded": true, + "vlm_object_candidates": [ + { + "evidence": "Hands manipulate the shorts into a compact, folded shape.", + "label": "shorts", + "role": "workpiece", + "track": true + }, + { + "evidence": "Hands perform the folding actions on the shorts.", + "label": "hands", + "role": "tool", + "track": true + }, + { + "evidence": "Table provides a surface for folding the shorts.", + "label": "table", + "role": "fixture", + "track": false + } + ] + }, + "label": "fold shorts lengthwise", + "narration_uncertain": false, + "objects": [ + "shorts" + ], + "start_timestamp": 5.5 + }, + { + "actors": [ + "both_hands" + ], + "end_timestamp": 10.0, + "extensions": { + "actor_source": "human", + "object_source": "human", + "span_id": "h9d2c32dd", + "span_source": "human", + "vlm_evidence": "Shorts are lowered to the table and folded in half widthwise into a compact bundle." + }, + "label": "fold shorts widthwise", + "narration_uncertain": false, + "objects": [ + "shorts" + ], + "start_timestamp": 8.6 + }, + { + "actors": [ + "both_hands" + ], + "end_timestamp": 12.3, + "extensions": { + "actor_source": "contact", + "object_source": "vlm", + "span_id": "s3", + "span_source": "vlm", + "vlm_confidence": "low", + "vlm_evidence": "Hands lower the neatly folded shorts onto the table surface.", + "vlm_grounded": false, + "vlm_object_candidates": [ + { + "evidence": "The folded shorts are lowered and placed on the table.", + "label": "shorts", + "role": "workpiece", + "track": true + }, + { + "evidence": "Hands gently place the folded shorts down.", + "label": "hands", + "role": "tool", + "track": true + }, + { + "evidence": "Table is the final resting place for the folded shorts.", + "label": "table", + "role": "destination", + "track": false + } + ] + }, + "label": "place shorts on table", + "narration_uncertain": false, + "objects": [ + "shorts" + ], + "start_timestamp": 10.0 + } + ], + "annotation_metadata": { + "annotator_id": null, + "auto_annotated_fields": [ + "actions_draft", + "hamer", + "hand_mask", + "mediapipe", + "object_geometry", + "object_segmentation", + "rtmpose", + "whisper" + ], + "extensions": { + "annotator_params": { + "hamer": { + "parameters": { + "bbox_source": "sam3_mask", + "checkpoint": "hamer.ckpt", + "checkpoint_sha256": "e5cc06f294d88a92", + "mano_model": "MANO_RIGHT", + "mano_sha256": "45d60aa3b27ef910", + "mask_box_pad": 0.1, + "model": "hamer_mano21", + "rescale_factor": 2.0, + "source_hand_mask_sha256": "e7c1e12ed39ed0652c87920aae09e54b146187ab6d7dc5c3d9cb33a93fd5a5fe", + "source_mediapipe_sha256": "29b458b5da065e9f64437a6a1b8d70c6c4e70876f02e374dc9f055d9e36f4510" + }, + "producer_version": "0.6.0" + }, + "hand_mask": { + "parameters": { + "apply_oversize_flag": true, + "chunk_size": 60, + "hand_seed_source": "agent_mask_tracker", + "hand_tracker_seed": "04c67315d8cc40bd", + "max_frames": null, + "model": "facebook/sam3", + "n_obj_slots": 2, + "one_slot_per_prompt": true, + "post_proc": "kernels", + "prompts": [ + "left hand", + "right hand" + ], + "slot_selection": "agent_hand_mask_tracker", + "start_frame": 0 + }, + "producer_version": "0.4.0" + }, + "mediapipe": { + "parameters": { + "hand_model": "hand_landmarker_float16_v1", + "min_hand_detection_confidence": 0.6, + "min_hand_presence_confidence": 0.5, + "min_tracking_confidence": 0.6, + "num_hands": 2, + "pose_model": "pose_landmarker_full_float16_v1", + "roi_box_pad": 0.1, + "roi_seed": "sam3_hand_mask", + "running_mode": "video", + "source_hand_mask_sha256": "e7c1e12ed39ed0652c87920aae09e54b146187ab6d7dc5c3d9cb33a93fd5a5fe", + "use_sam3_roi": true + }, + "producer_version": "0.4.0" + }, + "object_geometry": { + "parameters": { + "max_cloud_points": 4096, + "model": "object_geometry_scaffold", + "pose_source": "object_geometry_scaffold", + "source_camera_pose_sha256": "642b8f2b00bc7dca9b01028f2dd3acf2f454d47c37ec1050add0c58e9e7ea818", + "source_depth_sha256": "a70aba5bb6273d66746a917b75ea9e0f5a0d49ef77c708ed82947ff6572cac2a", + "source_object_mask_sha256": "06eaae49c71e4ec8a86347cbdc36ca34174f3ccbfbee42575c87cff76550059d" + }, + "producer_version": "0.1.1" + }, + "object_segmentation": { + "parameters": { + "agent_tracker_seed": "6cf6165b14763c7c", + "apply_body_fabric_filter": true, + "chunk_size": 60, + "max_frames": null, + "model": "facebook/sam3", + "n_obj_slots": 6, + "one_slot_per_prompt": true, + "post_proc": "kernels", + "prompts": [ + "clothing being folded", + "clothing between hands", + "folded cloth", + "clothing", + "cloth", + "fabric" + ], + "seed_source": "agent_tracker", + "slot_selection": "agent_mask_tracker", + "start_frame": 0, + "stride": 1, + "task_id": "fold_laundry" + }, + "producer_version": "0.8.0" + }, + "whisper": { + "parameters": { + "device": "cpu", + "language": "en", + "model_size": "base", + "no_speech_prob_drop": 0.6, + "vad_filter": true, + "word_timestamps": true + }, + "producer_version": "0.2.0" + } + }, + "assembly": { + "assembled_at": "2026-08-02T14:53:05.381117+00:00", + "contact_source": "recomputed_from_disk", + "from_disk": [ + "hand_mask.npz", + "object_mask.npz", + "whisper.json" + ], + "hand_depth_clip": { + "clip_near_reference_m": 0.3266, + "depth_source": "record3d_lidar", + "n_components_evaluated": 937, + "n_components_removed": 1, + "n_frames": 369, + "n_frames_touched": 1, + "n_frames_with_depth": 291, + "n_object_protected": 48, + "object_adjacency_gate": "on", + "params": { + "label_stride": 1, + "max_plane_rms_m": 0.03, + "max_surface_offset_m": 0.02, + "min_measured_frac": 0.5, + "min_measured_px": 12, + "min_separation_m": 0.15, + "surface_ring_cells": 3 + }, + "removed": [ + { + "n_measured": 121, + "plane_rms_m": 0.0016, + "ref_z_m": 0.2517, + "row": 60, + "separation_m": 0.6082, + "slot": 1, + "surface_offset_m": 0.001, + "z_med_m": 0.8599 + } + ], + "status": "applied" + }, + "hand_identity_fix": { + "basis": "mediapipe_crop_label", + "calibrated_slot0_label": "left", + "calibration": "seed_anchored_head", + "clip_majority_slot0_label": "left", + "evidence_ambiguity_frac": 0.813, + "handedness_source": "sam3_slot", + "majority_agrees_with_seed": true, + "n_frames": 369, + "n_frames_disagreeing": 1, + "n_frames_evaluated": 69, + "n_frames_swapped": 0, + "n_runs_swapped": 0, + "params": { + "fps": 30.0, + "median_k": 5, + "min_assoc_margin": 0.25, + "min_conf": 0.7, + "min_kp_in_mask": 0.5, + "min_run_frames": 15 + }, + "reason": "only 69/369 frames (19%) cleared the association + confidence gates (need >= 30%) \u2014 too thin for a clip-wide identity claim", + "runs": [], + "status": "insufficient_evidence" + }, + "hand_mask_corrections": { + "file": "hand_mask_corrections.npz", + "n_components_removed": 1, + "n_frames_swapped": 0, + "path": "hand_mask_corrections.npz", + "raw_channel": "hand_mask.npz:masks (byte-unchanged)", + "version": "0.1.0" + }, + "transcript_empty": "whisper.json_present_but_empty_or_unreadable", + "transcript_source": "none", + "transcript_source_pref": "auto" + }, + "camera": { + "device_model": "record3d_iphone", + "intrinsics_note": "REAL per-frame ARKit intrinsics from a Record3D capture; the inline 3\u00d73 is the per-element median of the measured matrices (NOT a focal-fraction heuristic).", + "intrinsics_source": "record3d_arkit", + "pose_source": "arkit" + }, + "quality_gates": { + "all_passed": true, + "validated_at": "2026-08-10T13:37:47+00:00", + "gates": [ + { + "name": "json_schema", + "passed": true, + "value": "ok", + "threshold": "validates", + "detail": "" + }, + { + "name": "frames_with_hands_pct", + "passed": true, + "value": 100.0, + "threshold": ">= 30% [class=GLOBAL]", + "detail": "presence-conditioned over the actor's active span [53..343] = 291/369 frames (raw all-frames = 78.86%); shipped channel = raw \u2295 hand_mask_corrections" + }, + { + "name": "audio_snr_db", + "passed": true, + "value": null, + "threshold": ">= 5 dB", + "detail": "silent or near-silent" + }, + { + "name": "transcript_density", + "passed": true, + "value": 0.0, + "threshold": ">= 0.5 wps", + "detail": "silent clip" + }, + { + "name": "hand_mask_coverage_pct", + "passed": true, + "value": 2.593, + "threshold": ">= 1%", + "detail": "" + }, + { + "name": "phase_plan_windowing", + "passed": true, + "value": "not_requested", + "threshold": "phase plan absent \u2014 skipped", + "detail": "" + }, + { + "name": "object_mask_coverage_pct", + "passed": true, + "value": 14.793, + "threshold": ">= 1% (per present object) [class=GLOBAL]", + "detail": "" + }, + { + "name": "hand_mask_area_floor_left", + "passed": true, + "value": 3.1077, + "threshold": ">= 0.20% (median, per hand)", + "detail": "" + }, + { + "name": "hand_mask_area_floor_right", + "passed": true, + "value": 3.2761, + "threshold": ">= 0.20% (median, per hand)", + "detail": "" + }, + { + "name": "hand_mask_lr_asymmetry", + "passed": true, + "value": 0.9486, + "threshold": "min/max >= 0.20", + "detail": "" + }, + { + "name": "hand_slot_merge", + "passed": true, + "value": 0, + "threshold": "< 5 consecutive frames with L\u2229R IoU > 0.5", + "detail": "" + }, + { + "name": "object_track_truncated", + "passed": true, + "value": 0, + "threshold": "no tracked object ends while a hand still holds it", + "detail": "" + }, + { + "name": "actor_mirror_consistency", + "passed": true, + "value": 0, + "threshold": "every hierarchy span's actor_kind == its action's actors[0]", + "detail": "" + } + ] + } + }, + "manually_annotated_fields": [], + "models": { + "hamer": null, + "mediapipe": "0.10.35", + "sam2": null, + "whisper": "1.2.1" + }, + "pipeline_version": "0.2.0", + "qa_reviewer_id": "[redacted]", + "qa_score": 5, + "source_experiment": "v0pipeline" + }, + "audio_path": "019fc1cd-270e-7253-9c58-d78525e76e65.wav", + "camera_calibration": { + "ego": { + "fps": 30.0, + "intrinsics": [ + [ + 1470.480224609375, + 0.0, + 968.0618286132812 + ], + [ + 0.0, + 1470.480224609375, + 746.924560546875 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics_path": null, + "resolution": [ + 1920, + 1440 + ] + }, + "overhead": null + }, + "camera_rig_id": "rig_manila_iphone12pro_chest", + "date_collected": "2026-08-02", + "duration_seconds": 12.3, + "environment_id": "home_table_pretrip", + "episode_id": "EM1-D4-E13", + "extensions": { + "camera_world_pose": { + "n_frames": 369, + "path": "camera_pose.npz", + "pose_source": "arkit", + "tracking_conf_mean": 1.0 + }, + "depth": { + "confidence_levels": "0=low,1=medium,2=high", + "depth_resolution": [ + 192, + 256 + ], + "depth_source": "record3d_lidar", + "n_frames": 369, + "path": "depth.npz" + }, + "hand_object_contact": { + "confirm_dist_m": 0.05, + "contact_dist_m": 0.03, + "contact_provenance_note": "per-hand 'contact_from_measured_joint' marks whether the joint that drove the contact was depth-MEASURED (depth_fill==0) vs a bone-length/temporal PRIOR-extrapolated point. Spec \u00a79.9: only ~65% of fingertips are depth-valid, so a prior-filled-joint contact is NOT a measurement (rule #7) \u2014 branch on this flag, don't trust the bool alone.", + "debounce": { + "adjacency_dilate_px": 16, + "assert_frames": 12, + "contact_off_m": 0.025, + "contact_on_m": 0.015, + "far_release_confirm_s": 0.25, + "far_release_frames": 0, + "fsm_states": [ + "OPEN", + "CLOSING", + "CLOSED", + "OPENING" + ], + "gate_2d_available": true, + "gate_2d_frames_blocked": 15, + "gate_2d_frames_evaluated": 573, + "gate_2d_metric": "mask_adjacency", + "grasp_onsets": { + "left": [ + 69 + ], + "right": [ + 74 + ] + }, + "median_window_frames": 5, + "nan_policy": "freeze_hold", + "note": "P4-C2 median pre-filter (NOT EMA) \u2192 P4-C3 Schmitt hysteresis (HOLD in the [on,off] dead-band) \u2192 P4-C4 asymmetric min-dwell (short assert / longer release) \u2192 P4-C5 4-state grasp FSM (edge-triggered, one onset + one release per grasp). A NaN distance never ASSERTS a contact (a depth dropout cannot fabricate a grasp) and \u2014 nan_policy=freeze_hold, CONTACT-OCC-2 \u2014 never RELEASES one: a NaN frame holds the committed state and freezes the pending dwell, so only MEASURED open evidence releases a grasp (occlusion of any length bridges; the OCC-1 validity flag marks those frames not-measurable). A 2D-gate block is enforced separately + harder upstream (contact_3d post-debounce override forces every blocked frame open).", + "release_frames": 15, + "tail_release": { + "channels": [ + { + "cut_frame": 343, + "frames_released": 25, + "hand": "left", + "object_index": 0, + "object_present_frac": 1.0, + "reason": "hand absent from the cut to the end of the clip (never returns, so the freeze is unresolved) while the object stayed tracked", + "released_from_frame": 344, + "tail_frames": 25 + }, + { + "cut_frame": 341, + "frames_released": 27, + "hand": "right", + "object_index": 0, + "object_present_frac": 1.0, + "reason": "hand absent from the cut to the end of the clip (never returns, so the freeze is unresolved) while the object stayed tracked", + "released_from_frame": 342, + "tail_frames": 27 + } + ], + "min_tail_frames": 5, + "n_channels_released": 2, + "object_present_frac": 0.8, + "rule": "a freeze that reaches the last frame with the hand absent to the end (never returns) and the object still tracked is closed at the last hand-present frame \u2014 an unresolved freeze is not a bridge. Mid-clip occlusion is untouched (CONTACT-OCC-2)." + }, + "version": "1.1" + }, + "debounce_fps": 30.0, + "debounce_note": "LID3D-7: per_hand_contact is the DEBOUNCED bool \u2014 P4-C1 valid-depth score (a bone-prior-imputed fingertip never votes) AND-gated on the 2D SAM3 hand\u2229object overlap, P4-C2 median pre-filter, P4-C3 Schmitt hysteresis (HOLD in the [contact_on_m, contact_off_m] dead-band), P4-C4 asymmetric min-dwell, P4-C5 grasp FSM. contact_strength + grasp_fsm_state are additive; raw min_dist_m is the un-debounced firewall channel.", + "detected_object": "cloth", + "direct_contact_shape": [ + 369, + 2, + 1 + ], + "hold_dist_m": 0.12, + "joints_source": "hamer_2d_depth", + "mask_2d": { + "metric": "iou+border_adjacency", + "n_frames_in_contact": 4, + "object_ids": [ + "1" + ], + "objects": [ + { + "n_frames_adjacent": 282, + "n_frames_in_contact": 4, + "n_frames_scored": 369, + "n_present_frames": 369, + "object_id": "1", + "per_frame": [ + { + "frame": 0, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 1, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 2, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 3, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 4, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 5, + "left_adjacent": 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369, + "n_frames_in_contact": 275, + "n_objects": 1, + "note": "Upgraded from 2D IoU/adjacency to 3D PROXIMITY (lidar3d P3) + debounced (Phase 4 LID3D-7): per hand per frame, the min 3D distance between hand_joints_3d.npz joints_world (valid-depth joints only) and the object_mask surface back-projected to world via depth + camera_pose, then median + hysteresis + dwell + FSM. 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"right_min_dist_m": null + }, + { + "frame": 360, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 361, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 362, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 363, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 364, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 365, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 366, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 367, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 368, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + } + ], + "scene_union_reduction": "any(per_hand_object_contact, axis=2)", + "threshold_note": "LID3D-17 A4: per_hand_contact = DEBOUNCED (mask-ADJACENCY gate AND (nearest joint depth-measured ? proximity<=contact_dist_m : trust adjacency)). VALIDATED on two hand-labeled holdouts \u2014 A4 hits F1 0.92-0.96 vs 0.31-0.68 for the old overlap-gated proximity (the overlap gate vetoed 57-82% of real ego contact: a grasping hand is IN FRONT of the object so the masks abut without sharing pixels). contact_dist_m (3cm) is consulted only for the ~9% of depth-MEASURED fingertips; an occluded tip trusts the mask adjacency. Dossier: research/2026-06-25_hand_object_contact_sota.md.", + "threshold_validated": true, + "version": "0.4.3" + }, + "studio": { + "review_state": { + "history": [ + { + "action": "submit", + "at": "2026-08-09T14:25:51.192424+00:00", + "by": "reviewer", + "from": "draft", + "to": "in_review" + }, + { + "action": "approve", + "at": "2026-08-09T14:25:55.727276+00:00", + "by": "reviewer", + "from": "in_review", + "qa_score": 5, + "to": "approved" + } + ], + "qa_score": 5, + "reviewer_id": "reviewer", + "status": "approved", + "updated_at": "2026-08-09T14:25:55.727276+00:00" + }, + "reviewed_steps": [ + "keysteps" + ], + "verified_frames": { + "0": true, + "100": true, + "1000": true, + "10000": true, + "10033": true, + "10067": true, + "10100": true, + "10133": true, + "10167": true, + "10200": true, + "10233": true, + "10267": true, + "10300": true, + "1033": true, + "10333": true, + "10367": true, + "10400": true, + "10433": true, + "10467": true, + "10500": true, + "10533": true, + 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true, + "8867": true, + "8900": true, + "8933": true, + "8967": true, + "900": true, + "9000": true, + "9033": true, + "9067": true, + "9100": true, + "9133": true, + "9167": true, + "9200": true, + "9233": true, + "9267": true, + "9300": true, + "933": true, + "9333": true, + "9367": true, + "9400": true, + "9433": true, + "9467": true, + "9500": true, + "9533": true, + "9567": true, + "9600": true, + "9633": true, + "9667": true, + "967": true, + "9700": true, + "9733": true, + "9767": true, + "9800": true, + "9833": true, + "9867": true, + "9900": true, + "9933": true, + "9967": true + } + }, + "task_hierarchy": { + "coverage_complete": true, + "goal_echoed_task": true, + "goal_source": "vlm", + "grounding_checked": true, + "nodes": [ + { + "end_time": 5.5, + "is_essential": true, + "keystep_ref": 0, + "label": "stretch shorts out", + "node_id": "e1", + "spans": [ + { + "action_ref": 0, + "actor_kind": "both_hands", + "confidence": "high", + "end_time": 5.5, + "evidence": "Hands enter, pick up the shorts, and spread them out flat.", + "grounded": true, + "label": "stretch shorts out", + "object": "shorts", + "object_candidates": [ + { + "evidence": "Hands pick up and spread the crumpled shorts.", + "label": "shorts", + "role": "workpiece", + "track": true + }, + { + "evidence": "Hands grasp and manipulate the shorts to unfold them.", + "label": "hands", + "role": "tool", + "track": true + }, + { + "evidence": "Table provides a surface for unfolding the shorts.", + "label": "table", + "role": "fixture", + "track": false + } + ], + "span_id": "s1", + "span_source": "human", + "start_time": 0.0 + } + ], + "start_time": 0.0, + "sub_goal": "fold_laundry" + }, + { + "end_time": 8.6, + "is_essential": true, + "keystep_ref": 1, + "label": "fold shorts lengthwise", + "node_id": "e2", + "spans": [ + { + "action_ref": 1, + "actor_kind": "both_hands", + "confidence": "high", + "end_time": 8.6, + "evidence": "Hands bring the legs together, folding the shorts lengthwise while holding them up.", + "grounded": true, + "label": "fold shorts lengthwise", + "object": "shorts", + "object_candidates": [ + { + "evidence": "Hands manipulate the shorts into a compact, folded shape.", + "label": "shorts", + "role": "workpiece", + "track": true + }, + { + "evidence": "Hands perform the folding actions on the shorts.", + "label": "hands", + "role": "tool", + "track": true + }, + { + "evidence": "Table provides a surface for folding the shorts.", + "label": "table", + "role": "fixture", + "track": false + } + ], + "span_id": "s2", + "span_source": "human", + "start_time": 5.5 + } + ], + "start_time": 5.5, + "sub_goal": "fold_laundry" + }, + { + "end_time": 10.0, + "is_essential": true, + "keystep_ref": 2, + "label": "fold shorts widthwise", + "node_id": "eh9d2c32dd", + "spans": [ + { + "action_ref": 2, + "actor_kind": "both_hands", + "confidence": "high", + "end_time": 10.0, + "evidence": "Shorts are lowered to the table and folded in half widthwise into a compact bundle.", + "grounded": true, + "label": "fold shorts widthwise", + "object": "shorts", + "object_candidates": [], + "span_id": "h9d2c32dd", + "span_source": "human", + "start_time": 8.6 + } + ], + "start_time": 8.6 + }, + { + "end_time": 12.3, + "is_essential": true, + "keystep_ref": 3, + "label": "place shorts on table", + "node_id": "e3", + "spans": [ + { + "action_ref": 3, + "actor_kind": "both_hands", + "confidence": "low", + "end_time": 12.3, + "evidence": "Hands lower the neatly folded shorts onto the table surface.", + "grounded": false, + "label": "place shorts on table", + "object": "shorts", + "object_candidates": [ + { + "evidence": "The folded shorts are lowered and placed on the table.", + "label": "shorts", + "role": "workpiece", + "track": true + }, + { + "evidence": "Hands gently place the folded shorts down.", + "label": "hands", + "role": "tool", + "track": true + }, + { + "evidence": "Table is the final resting place for the folded shorts.", + "label": "table", + "role": "destination", + "track": false + } + ], + "span_id": "s3", + "start_time": 10.0 + } + ], + "start_time": 10.0, + "sub_goal": "fold_laundry" + } + ], + "span_source": "vlm", + "task_goal": "fold_laundry", + "task_mismatch": false, + "task_mismatch_reason": "", + "tracking_mode_proposal": { + "mode": "review", + "object_labels": [ + "shorts" + ], + "reason": "Both the shorts (workpiece) and the hands (tool) are actively manipulated and require independent tracking throughout the clip.; excluded body part(s) from the object roster: hands (hands are a separate stream, never a tracked object)" + }, + "version": "0.1.0", + "vlm_goal": "fold_laundry", + "vlm_model": "gemini-2.5-flash" + }, + "visibility": { + "hand_occlusion": { + "n_frames": 369, + "n_left_occluded": 6, + "n_right_occluded": 6, + "note": "A hand-occluded frame means the hand mask is absent while the object is present and the hand is present nearby \u2014 MediaPipe keypoints there are low-trust (the flag GATES them; keypoints are not re-run).", + "per_frame": [ + { + "frame": 0, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 1, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 2, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 3, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 4, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 5, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 6, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 7, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 8, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 9, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 10, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 11, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 12, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 13, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 14, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 15, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 16, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 17, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 18, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 19, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 20, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 21, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 22, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 23, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 24, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 25, + "left_occluded": false, + 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Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "depth_resolution_hw": [ + 256, + 192 + ], + "ego_obs_resolution_hw": [ + 512, + 384 + ], + "ego_to_depth_scale": 2.0, + "raster_rotation": null, + "display_hint": null, + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 1 quarter-turn(s); gravity-verified at export)", + "rgb_native_resolution_hw": [ + 1920, + 1440 + ], + "depth_output_unit_default": "mm (LeRobot depth_output_unit default; pass --dataset.depth_output_unit m to load metres)", + "raw_depth_reference": "openego_sidecar.json + data/annotations//depth.npz (lossless)", + "arkit_rgb_intrinsics_3x3": [ + [ + 1470.8642578125, + 0.0, + 694.2161865234375 + ], + [ + 0.0, + 1470.8642578125, + 966.6913452148438 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics_frame": "native raster", + "depth_intrinsics_3x3": [ + [ + 196.115234375, + 0.0, + 92.562158203125 + ], + [ + 0.0, + 196.115234375, + 128.89217936197917 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "depth_intrinsics_scale_xy": [ + 0.13333333333333333, + 0.13333333333333333 + ], + "intrinsics_source": "record3d_arkit (median of per-frame, via chokepoint)" +} \ No newline at end of file diff --git a/episodes/019fc1ce-600a-74a1-a6fe-f039b19a391a/hand_object_contact.npz b/episodes/019fc1ce-600a-74a1-a6fe-f039b19a391a/hand_object_contact.npz new file mode 100644 index 0000000000000000000000000000000000000000..36da41ffaa84d0b07ecb2b8b4ae3bb79373b61de --- /dev/null +++ b/episodes/019fc1ce-600a-74a1-a6fe-f039b19a391a/hand_object_contact.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d9245e2a139cdb40cc3322f10774e5c453c0cbfdadc0958de052f05d627cea3 +size 9934 diff --git a/episodes/019fb7c0-1159-7242-9c36-bcac261ec817/language_spans.json b/episodes/019fc1ce-600a-74a1-a6fe-f039b19a391a/language_spans.json similarity index 53% rename from episodes/019fb7c0-1159-7242-9c36-bcac261ec817/language_spans.json rename to episodes/019fc1ce-600a-74a1-a6fe-f039b19a391a/language_spans.json index 06a63464633d1e5633c27981112abf4672f56a78..e35be332ded1b52d68713dcabf66cce0f9a70692 100644 --- a/episodes/019fb7c0-1159-7242-9c36-bcac261ec817/language_spans.json +++ b/episodes/019fc1ce-600a-74a1-a6fe-f039b19a391a/language_spans.json @@ -5,25 +5,25 @@ "spans": [ { "start_s": 0.0, - "end_s": 19.0, - "label": "fold plaid fabric lengthwise", + "end_s": 6.5, + "label": "stretch shorts out", "objects": [ - "plaid fabric" + "shorts" ], "actors": [ "both_hands" ], - "source": "vlm", + "source": "human", "confidence": "high", "grounded": true, - "evidence": "Hands are seen carefully folding the plaid fabric along its length." + "evidence": "Hands enter frame, grasp the shorts, and spread them out on the table." }, { - "start_s": 19.0, - "end_s": 23.0, - "label": "smooth folded fabric", + "start_s": 6.5, + "end_s": 8.5, + "label": "fold shorts lengthwise", "objects": [ - "folded fabric" + "shorts" ], "actors": [ "both_hands" @@ -31,29 +31,29 @@ "source": "vlm", "confidence": "high", "grounded": true, - "evidence": "Hands press down and move across the partially folded plaid fabric to smooth it." + "evidence": "Hands bring one side of the shorts over to the other, folding them in half lengthwise." }, { - "start_s": 23.0, - "end_s": 29.5, - "label": "fold folded fabric again", + "start_s": 8.5, + "end_s": 11.5, + "label": "fold shorts widthwise", "objects": [ - "folded fabric" + "shorts" ], "actors": [ "both_hands" ], - "source": "vlm", + "source": "human", "confidence": "high", "grounded": true, - "evidence": "Hands pick up and fold the already folded plaid fabric into a smaller rectangle." + "evidence": "Hands fold the shorts in half widthwise into a compact rectangle." }, { - "start_s": 29.5, - "end_s": 33.4, - "label": "place folded fabric on surface", + "start_s": 11.5, + "end_s": 13.633, + "label": "place shorts on table", "objects": [ - "folded fabric" + "shorts" ], "actors": [ "both_hands" @@ -61,32 +61,32 @@ "source": "vlm", "confidence": "high", "grounded": true, - "evidence": "Hands move the compactly folded plaid fabric and set it down on the patterned surface." + "evidence": "Hands set the neatly folded shorts down on the black marble-patterned table." } ], "keysteps": [ { "start_s": 0.0, - "end_s": 19.0, - "description": "fold plaid fabric lengthwise", + "end_s": 6.5, + "description": "unfold shorts on table", "essential": true }, { - "start_s": 19, - "end_s": 23.0, - "description": "smooth folded fabric", + "start_s": 6.5, + "end_s": 8.5, + "description": "fold shorts lengthwise", "essential": true }, { - "start_s": 23.0, - "end_s": 29.5, - "description": "fold folded fabric again", + "start_s": 8.5, + "end_s": 11.5, + "description": "fold shorts into rectangle", "essential": true }, { - "start_s": 29.5, - "end_s": 33.4, - "description": "place folded fabric on surface", + "start_s": 11.5, + "end_s": 13.633, + "description": "place shorts on table", "essential": true } ], diff --git a/episodes/019fc1ce-600a-74a1-a6fe-f039b19a391a/object_mask.npz b/episodes/019fc1ce-600a-74a1-a6fe-f039b19a391a/object_mask.npz new file mode 100644 index 0000000000000000000000000000000000000000..95c269bd378adf506fe1db96f5a94a7f825a3130 --- /dev/null +++ b/episodes/019fc1ce-600a-74a1-a6fe-f039b19a391a/object_mask.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68c90168f5d9da9dac4f94387445f2670e74161478de6c40aeb8089b025c5fa6 +size 3290765 diff --git a/episodes/019fc1ce-600a-74a1-a6fe-f039b19a391a/openego_sidecar.json b/episodes/019fc1ce-600a-74a1-a6fe-f039b19a391a/openego_sidecar.json new file mode 100644 index 0000000000000000000000000000000000000000..2bba25c0f28e1e0e832b3eba47d6478b5a8cada4 --- /dev/null +++ b/episodes/019fc1ce-600a-74a1-a6fe-f039b19a391a/openego_sidecar.json @@ -0,0 +1,16570 @@ +{ + "actions": [ + { + "actors": [ + "both_hands" + ], + "end_timestamp": 6.5, + "extensions": { + "actor_source": "contact", + "object_source": "vlm", + "span_id": "s0", + "span_source": "human", + "vlm_confidence": "high", + "vlm_evidence": "Hands enter frame, grasp the shorts, and spread them out on the table.", + "vlm_grounded": true, + "vlm_object_candidates": [ + { + "evidence": "The patterned shorts are being unfolded.", + "label": "shorts", + "role": "workpiece", + "track": true + }, + { + "evidence": "Hands are manipulating the shorts to unfold them.", + "label": "hands", + "role": "tool", + "track": true + } + ] + }, + "label": "stretch shorts out", + "narration_uncertain": false, + "objects": [ + "shorts" + ], + "start_timestamp": 0.0 + }, + { + "actors": [ + "both_hands" + ], + "end_timestamp": 8.5, + "extensions": { + "actor_source": "contact", + "object_source": "vlm", + "span_id": "s1", + "span_source": "vlm", + "vlm_confidence": "high", + "vlm_evidence": "Hands bring one side of the shorts over to the other, folding them in half lengthwise.", + "vlm_grounded": true, + "vlm_object_candidates": [ + { + "evidence": "The shorts are being folded in half lengthwise.", + "label": "shorts", + "role": "workpiece", + "track": true + }, + { + "evidence": "Hands are performing the lengthwise fold.", + "label": "hands", + "role": "tool", + "track": true + } + ] + }, + "label": "fold shorts lengthwise", + "narration_uncertain": false, + "objects": [ + "shorts" + ], + "start_timestamp": 6.5 + }, + { + "actors": [ + "both_hands" + ], + "end_timestamp": 11.5, + "extensions": { + "actor_source": "contact", + "object_source": "vlm", + "span_id": "s2", + "span_source": "human", + "vlm_confidence": "high", + "vlm_evidence": "Hands fold the shorts in half widthwise into a compact rectangle.", + "vlm_grounded": true, + "vlm_object_candidates": [ + { + "evidence": "The shorts are being folded into a compact rectangle.", + "label": "shorts", + "role": "workpiece", + "track": true + }, + { + "evidence": "Hands are performing the folding action.", + "label": "hands", + "role": "tool", + "track": true + } + ] + }, + "label": "fold shorts widthwise", + "narration_uncertain": false, + "objects": [ + "shorts" + ], + "start_timestamp": 8.5 + }, + { + "actors": [ + "both_hands" + ], + "end_timestamp": 13.633, + "extensions": { + "actor_source": "contact", + "object_source": "vlm", + "span_id": "s3", + "span_source": "vlm", + "vlm_confidence": "high", + "vlm_evidence": "Hands set the neatly folded shorts down on the black marble-patterned table.", + "vlm_grounded": true, + "vlm_object_candidates": [ + { + "evidence": "The folded shorts are being placed.", + "label": "shorts", + "role": "workpiece", + "track": true + }, + { + "evidence": "Hands are placing the folded shorts.", + "label": "hands", + "role": "tool", + "track": true + }, + { + "evidence": "The shorts are placed on the table.", + "label": "table", + "role": "destination", + "track": false + } + ] + }, + "label": "place shorts on table", + "narration_uncertain": false, + "objects": [ + "shorts" + ], + "start_timestamp": 11.5 + } + ], + "annotation_metadata": { + "annotator_id": null, + "auto_annotated_fields": [ + "actions_draft", + "hamer", + "hand_mask", + "mediapipe", + "object_geometry", + "object_segmentation", + "rtmpose", + "whisper" + ], + "extensions": { + "annotator_params": { + "hamer": { + "parameters": { + "bbox_source": "sam3_mask", + "checkpoint": "hamer.ckpt", + "checkpoint_sha256": "e5cc06f294d88a92", + "mano_model": "MANO_RIGHT", + "mano_sha256": "45d60aa3b27ef910", + "mask_box_pad": 0.1, + "model": "hamer_mano21", + "rescale_factor": 2.0, + "source_hand_mask_sha256": "2274847a37c857db1ea0ffc4a278edc68aaa3922bcc038e38bb95b57ba3a99d2", + "source_mediapipe_sha256": "450fcf5e9d7927298f855804276c351b1da9941a0f7fffa8376a1468b6ea5109" + }, + "producer_version": "0.6.0" + }, + "hand_mask": { + "parameters": { + "apply_oversize_flag": true, + "chunk_size": 60, + "hand_seed_source": "agent_mask_tracker", + "hand_tracker_seed": "c2775712db7d3145", + "max_frames": null, + "model": "facebook/sam3", + "n_obj_slots": 2, + "one_slot_per_prompt": true, + "post_proc": "kernels", + "prompts": [ + "left hand", + "right hand" + ], + "slot_selection": "agent_hand_mask_tracker", + "start_frame": 0 + }, + "producer_version": "0.4.0" + }, + "mediapipe": { + "parameters": { + "hand_model": "hand_landmarker_float16_v1", + "min_hand_detection_confidence": 0.6, + "min_hand_presence_confidence": 0.5, + "min_tracking_confidence": 0.6, + "num_hands": 2, + "pose_model": "pose_landmarker_full_float16_v1", + "roi_box_pad": 0.1, + "roi_seed": "sam3_hand_mask", + "running_mode": "video", + "source_hand_mask_sha256": "2274847a37c857db1ea0ffc4a278edc68aaa3922bcc038e38bb95b57ba3a99d2", + "use_sam3_roi": true + }, + "producer_version": "0.4.0" + }, + "object_geometry": { + "parameters": { + "max_cloud_points": 4096, + "model": "object_geometry_scaffold", + "pose_source": "object_geometry_scaffold", + "source_camera_pose_sha256": "6f95a37eb3606fd26212a498f1a6d054beb0e3eeeb9ed2367ea1062778c26020", + "source_depth_sha256": "0dddd386cd7c6918b90a354f36b2a9a9d64fb523de1ec20701ddf37c8df5b10d", + "source_object_mask_sha256": "68c90168f5d9da9dac4f94387445f2670e74161478de6c40aeb8089b025c5fa6" + }, + "producer_version": "0.1.1" + }, + "object_segmentation": { + "parameters": { + "agent_tracker_seed": "ab355a34813cccf7", + "apply_body_fabric_filter": true, + "chunk_size": 60, + "max_frames": null, + "model": "facebook/sam3", + "n_obj_slots": 6, + "one_slot_per_prompt": true, + "post_proc": "kernels", + "prompts": [ + "clothing being folded", + "clothing between hands", + "folded cloth", + "clothing", + "cloth", + "fabric" + ], + "seed_source": "agent_tracker", + "slot_selection": "agent_mask_tracker", + "start_frame": 0, + "stride": 1, + "task_id": "fold_laundry" + }, + "producer_version": "0.8.0" + }, + "whisper": { + "parameters": { + "device": "cpu", + "language": "en", + "model_size": "base", + "no_speech_prob_drop": 0.6, + "vad_filter": true, + "word_timestamps": true + }, + "producer_version": "0.2.0" + } + }, + "assembly": { + "assembled_at": "2026-08-02T15:09:49.562020+00:00", + "contact_source": "recomputed_from_disk", + "from_disk": [ + "hand_mask.npz", + "object_mask.npz", + "whisper.json" + ], + "hand_depth_clip": { + "clip_near_reference_m": 0.3429, + "depth_source": "record3d_lidar", + "n_components_evaluated": 952, + "n_components_removed": 1, + "n_frames": 409, + "n_frames_touched": 1, + "n_frames_with_depth": 348, + "n_object_protected": 16, + "object_adjacency_gate": "on", + "params": { + "label_stride": 1, + "max_plane_rms_m": 0.03, + "max_surface_offset_m": 0.02, + "min_measured_frac": 0.5, + "min_measured_px": 12, + "min_separation_m": 0.15, + "surface_ring_cells": 3 + }, + "removed": [ + { + "n_measured": 1911, + "plane_rms_m": 0.0076, + "ref_z_m": 0.3429, + "row": 371, + "separation_m": 0.1689, + "slot": 1, + "surface_offset_m": 0.0118, + "z_med_m": 0.5117 + } + ], + "status": "applied" + }, + "hand_identity_fix": { + "basis": "mediapipe_crop_label", + "calibrated_slot0_label": "left", + "calibration": "seed_anchored_head", + "clip_majority_slot0_label": "left", + "evidence_ambiguity_frac": 0.7237, + "handedness_source": "sam3_slot", + "majority_agrees_with_seed": true, + "n_frames": 409, + "n_frames_disagreeing": 1, + "n_frames_evaluated": 113, + "n_frames_swapped": 0, + "n_runs_swapped": 0, + "params": { + "fps": 30.0, + "median_k": 5, + "min_assoc_margin": 0.25, + "min_conf": 0.7, + "min_kp_in_mask": 0.5, + "min_run_frames": 15 + }, + "reason": "only 113/409 frames (28%) cleared the association + confidence gates (need >= 30%) \u2014 too thin for a clip-wide identity claim", + "runs": [], + "status": "insufficient_evidence" + }, + "hand_mask_corrections": { + "file": "hand_mask_corrections.npz", + "n_components_removed": 1, + "n_frames_swapped": 0, + "path": "hand_mask_corrections.npz", + "raw_channel": "hand_mask.npz:masks (byte-unchanged)", + "version": "0.1.0" + }, + "transcript_empty": "whisper.json_present_but_empty_or_unreadable", + "transcript_source": "none", + "transcript_source_pref": "auto" + }, + "camera": { + "device_model": "record3d_iphone", + "intrinsics_note": "REAL per-frame ARKit intrinsics from a Record3D capture; the inline 3\u00d73 is the per-element median of the measured matrices (NOT a focal-fraction heuristic).", + "intrinsics_source": "record3d_arkit", + "pose_source": "arkit" + }, + "quality_gates": { + "all_passed": true, + "validated_at": "2026-08-10T13:37:38+00:00", + "gates": [ + { + "name": "json_schema", + "passed": true, + "value": "ok", + "threshold": "validates", + "detail": "" + }, + { + "name": "frames_with_hands_pct", + "passed": true, + "value": 100.0, + "threshold": ">= 30% [class=GLOBAL]", + "detail": "presence-conditioned over the actor's active span [28..375] = 348/409 frames (raw all-frames = 85.09%); shipped channel = raw \u2295 hand_mask_corrections" + }, + { + "name": "audio_snr_db", + "passed": true, + "value": null, + "threshold": ">= 5 dB", + "detail": "silent or near-silent" + }, + { + "name": "transcript_density", + "passed": true, + "value": 0.0, + "threshold": ">= 0.5 wps", + "detail": "silent clip" + }, + { + "name": "hand_mask_coverage_pct", + "passed": true, + "value": 2.789, + "threshold": ">= 1%", + "detail": "" + }, + { + "name": "phase_plan_windowing", + "passed": true, + "value": "not_requested", + "threshold": "phase plan absent \u2014 skipped", + "detail": "" + }, + { + "name": "object_mask_coverage_pct", + "passed": true, + "value": 12.681, + "threshold": ">= 1% (per present object) [class=GLOBAL]", + "detail": "" + }, + { + "name": "hand_mask_area_floor_left", + "passed": true, + "value": 3.214, + "threshold": ">= 0.20% (median, per hand)", + "detail": "" + }, + { + "name": "hand_mask_area_floor_right", + "passed": true, + "value": 3.3043, + "threshold": ">= 0.20% (median, per hand)", + "detail": "" + }, + { + "name": "hand_mask_lr_asymmetry", + "passed": true, + "value": 0.9727, + "threshold": "min/max >= 0.20", + "detail": "" + }, + { + "name": "hand_slot_merge", + "passed": true, + "value": 0, + "threshold": "< 5 consecutive frames with L\u2229R IoU > 0.5", + "detail": "" + }, + { + "name": "object_track_truncated", + "passed": true, + "value": 0, + "threshold": "no tracked object ends while a hand still holds it", + "detail": "" + }, + { + "name": "actor_mirror_consistency", + "passed": true, + "value": 0, + "threshold": "every hierarchy span's actor_kind == its action's actors[0]", + "detail": "" + } + ] + } + }, + "manually_annotated_fields": [], + "models": { + "hamer": null, + "mediapipe": "0.10.35", + "sam2": null, + "whisper": "1.2.1" + }, + "pipeline_version": "0.2.0", + "qa_reviewer_id": "[redacted]", + "qa_score": 5, + "source_experiment": "v0pipeline" + }, + "audio_path": "019fc1ce-600a-74a1-a6fe-f039b19a391a.wav", + "camera_calibration": { + "ego": { + "fps": 30.0, + "intrinsics": [ + [ + 1470.8642578125, + 0.0, + 694.2161865234375 + ], + [ + 0.0, + 1470.8642578125, + 966.6913452148438 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics_path": null, + "resolution": [ + 1440, + 1920 + ] + }, + "overhead": null + }, + "camera_rig_id": "rig_manila_iphone12pro_chest", + "date_collected": "2026-08-02", + "duration_seconds": 13.633333333333333, + "environment_id": "home_table_pretrip", + "episode_id": "EM1-D4-E13", + "extensions": { + "camera_world_pose": { + "n_frames": 409, + "path": "camera_pose.npz", + "pose_source": "arkit", + "tracking_conf_mean": 1.0 + }, + "depth": { + "confidence_levels": "0=low,1=medium,2=high", + "depth_resolution": [ + 256, + 192 + ], + "depth_source": "record3d_lidar", + "n_frames": 409, + "path": "depth.npz" + }, + "hand_object_contact": { + "confirm_dist_m": 0.05, + "contact_dist_m": 0.03, + "contact_provenance_note": "per-hand 'contact_from_measured_joint' marks whether the joint that drove the contact was depth-MEASURED (depth_fill==0) vs a bone-length/temporal PRIOR-extrapolated point. Spec \u00a79.9: only ~65% of fingertips are depth-valid, so a prior-filled-joint contact is NOT a measurement (rule #7) \u2014 branch on this flag, don't trust the bool alone.", + "debounce": { + "adjacency_dilate_px": 16, + "assert_frames": 12, + "contact_off_m": 0.025, + "contact_on_m": 0.015, + "far_release_confirm_s": 0.25, + "far_release_frames": 0, + "fsm_states": [ + "OPEN", + "CLOSING", + "CLOSED", + "OPENING" + ], + "gate_2d_available": true, + "gate_2d_frames_blocked": 16, + "gate_2d_frames_evaluated": 688, + "gate_2d_metric": "mask_adjacency", + "grasp_onsets": { + "left": [ + 47 + ], + "right": [ + 50 + ] + }, + "median_window_frames": 5, + "nan_policy": "freeze_hold", + "note": "P4-C2 median pre-filter (NOT EMA) \u2192 P4-C3 Schmitt hysteresis (HOLD in the [on,off] dead-band) \u2192 P4-C4 asymmetric min-dwell (short assert / longer release) \u2192 P4-C5 4-state grasp FSM (edge-triggered, one onset + one release per grasp). A NaN distance never ASSERTS a contact (a depth dropout cannot fabricate a grasp) and \u2014 nan_policy=freeze_hold, CONTACT-OCC-2 \u2014 never RELEASES one: a NaN frame holds the committed state and freezes the pending dwell, so only MEASURED open evidence releases a grasp (occlusion of any length bridges; the OCC-1 validity flag marks those frames not-measurable). A 2D-gate block is enforced separately + harder upstream (contact_3d post-debounce override forces every blocked frame open).", + "release_frames": 15, + "tail_release": { + "channels": [ + { + "cut_frame": 375, + "frames_released": 33, + "hand": "left", + "object_index": 0, + "object_present_frac": 1.0, + "reason": "hand absent from the cut to the end of the clip (never returns, so the freeze is unresolved) while the object stayed tracked", + "released_from_frame": 376, + "tail_frames": 33 + }, + { + "cut_frame": 373, + "frames_released": 35, + "hand": "right", + "object_index": 0, + "object_present_frac": 1.0, + "reason": "hand absent from the cut to the end of the clip (never returns, so the freeze is unresolved) while the object stayed tracked", + "released_from_frame": 374, + "tail_frames": 35 + } + ], + "min_tail_frames": 5, + "n_channels_released": 2, + "object_present_frac": 0.8, + "rule": "a freeze that reaches the last frame with the hand absent to the end (never returns) and the object still tracked is closed at the last hand-present frame \u2014 an unresolved freeze is not a bridge. Mid-clip occlusion is untouched (CONTACT-OCC-2)." + }, + "version": "1.1" + }, + "debounce_fps": 30.0, + "debounce_note": "LID3D-7: per_hand_contact is the DEBOUNCED bool \u2014 P4-C1 valid-depth score (a bone-prior-imputed fingertip never votes) AND-gated on the 2D SAM3 hand\u2229object overlap, P4-C2 median pre-filter, P4-C3 Schmitt hysteresis (HOLD in the [contact_on_m, contact_off_m] dead-band), P4-C4 asymmetric min-dwell, P4-C5 grasp FSM. contact_strength + grasp_fsm_state are additive; raw min_dist_m is the un-debounced firewall channel.", + "detected_object": "shorts", + "direct_contact_shape": [ + 409, + 2, + 1 + ], + "hold_dist_m": 0.12, + "joints_source": "hamer_2d_depth", + "mask_2d": { + "metric": "iou+border_adjacency", + "n_frames_in_contact": 0, + "object_ids": [ + "1" + ], + "objects": [ + { + "n_frames_adjacent": 337, + "n_frames_in_contact": 0, + "n_frames_scored": 409, + "n_present_frames": 409, + "object_id": "1", + "per_frame": [ + { + "frame": 0, + 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VALIDATED on two hand-labeled holdouts \u2014 A4 hits F1 0.92-0.96 vs 0.31-0.68 for the old overlap-gated proximity (the overlap gate vetoed 57-82% of real ego contact: a grasping hand is IN FRONT of the object so the masks abut without sharing pixels). contact_dist_m (3cm) is consulted only for the ~9% of depth-MEASURED fingertips; an occluded tip trusts the mask adjacency. Dossier: research/2026-06-25_hand_object_contact_sota.md.", + "threshold_validated": true, + "version": "0.4.3" + }, + "studio": { + "review_state": { + "history": [ + { + "action": "submit", + "at": "2026-08-09T13:43:58.121832+00:00", + "by": "reviewer", + "from": "draft", + "to": "in_review" + }, + { + "action": "approve", + "at": "2026-08-09T13:44:57.608091+00:00", + "by": "reviewer", + "from": "in_review", + "qa_score": 5, + "to": "approved" + } + ], + "qa_score": 5, + "reviewer_id": "reviewer", + "status": "approved", + "updated_at": "2026-08-09T13:44:57.608091+00:00" + }, + "reviewed_steps": [ + "keysteps" + ], + "verified_frames": { + "0": true, + "100": true, + "1000": true, + "10000": true, + "10033": true, + "10067": true, + "10100": true, + "10133": true, + "10167": true, + "10200": true, + "10233": true, + "10267": true, + "10300": true, + "1033": true, + "10333": true, + "10367": true, + "10400": true, + "10433": true, + "10467": true, + "10500": true, + "10533": true, + 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are manipulating the shorts to unfold them.", + "label": "hands", + "role": "tool", + "track": true + } + ], + "span_id": "s0", + "span_source": "human", + "start_time": 0.0 + } + ], + "start_time": 0.0, + "sub_goal": "fold laundry" + }, + { + "end_time": 8.5, + "is_essential": true, + "keystep_ref": 1, + "label": "fold shorts lengthwise", + "node_id": "e1", + "spans": [ + { + "action_ref": 1, + "actor_kind": "both_hands", + "confidence": "high", + "end_time": 8.5, + "evidence": "Hands bring one side of the shorts over to the other, folding them in half lengthwise.", + "grounded": true, + "label": "fold shorts lengthwise", + "object": "shorts", + "object_candidates": [ + { + "evidence": "The shorts are being folded in half lengthwise.", + "label": "shorts", + "role": "workpiece", + "track": true + }, + { + "evidence": "Hands are performing the lengthwise fold.", + "label": "hands", + "role": "tool", + "track": true + } + ], + "span_id": "s1", + "start_time": 6.5 + } + ], + "start_time": 6.5, + "sub_goal": "fold laundry" + }, + { + "end_time": 11.5, + "is_essential": true, + "keystep_ref": 2, + "label": "fold shorts widthwise", + "node_id": "e2", + "spans": [ + { + "action_ref": 2, + "actor_kind": "both_hands", + "confidence": "high", + "end_time": 11.5, + "evidence": "Hands fold the shorts in half widthwise into a compact rectangle.", + "grounded": true, + "label": "fold shorts widthwise", + "object": "shorts", + "object_candidates": [ + { + "evidence": "The shorts are being folded into a compact rectangle.", + "label": "shorts", + "role": "workpiece", + "track": true + }, + { + "evidence": "Hands are performing the folding action.", + "label": "hands", + "role": "tool", + "track": true + } + ], + "span_id": "s2", + "span_source": "human", + "start_time": 8.5 + } + ], + "start_time": 8.5, + "sub_goal": "fold laundry" + }, + { + "end_time": 13.633, + "is_essential": true, + "keystep_ref": 3, + "label": "place shorts on table", + "node_id": "e3", + "spans": [ + { + "action_ref": 3, + "actor_kind": "both_hands", + "confidence": "high", + "end_time": 13.633, + "evidence": "Hands set the neatly folded shorts down on the black marble-patterned table.", + "grounded": true, + "label": "place shorts on table", + "object": "shorts", + "object_candidates": [ + { + "evidence": "The folded shorts are being placed.", + "label": "shorts", + "role": "workpiece", + "track": true + }, + { + "evidence": "Hands are placing the folded shorts.", + "label": "hands", + "role": "tool", + "track": true + }, + { + "evidence": "The shorts are placed on the table.", + "label": "table", + "role": "destination", + "track": false + } + ], + "span_id": "s3", + "start_time": 11.5 + } + ], + "start_time": 11.5, + "sub_goal": "fold laundry" + } + ], + "span_source": "vlm", + "task_goal": "fold laundry", + "task_mismatch": false, + "task_mismatch_reason": "", + "tracking_mode_proposal": { + "mode": "review", + "object_labels": [ + "shorts" + ], + "reason": "The shorts are manipulated by hands, undergoing multiple folding steps. Tracking both hands and the shorts would provide good signal.; excluded body part(s) from the object roster: hands (hands are a separate stream, never a tracked object)" + }, + "version": "0.1.0", + "vlm_goal": "fold laundry", + "vlm_model": "gemini-2.5-flash" + }, + "visibility": { + "hand_occlusion": { + "n_frames": 409, + "n_left_occluded": 6, + "n_right_occluded": 6, + "note": "A hand-occluded frame means the hand mask is absent while the object is present and the hand is present nearby \u2014 MediaPipe keypoints there are low-trust (the flag GATES them; keypoints are not re-run).", + "per_frame": [ + { + "frame": 0, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 1, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 2, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 3, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 4, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 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"state": "visible" + }, + { + "confidence": 1.0, + "frame": 406, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 407, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 408, + "state": "visible" + } + ], + "scene_level_union": true, + "version": "0.2" + }, + "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": 409, + "source": "hamer", + "world_frame_available": false + }, + "hand_pose_path": "hamer.npz", + "hand_segmentation": { + "frame_rate": null, + "n_frames": 409, + "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", + "end_time": 6.5, + "is_essential": true, + "keystep_timing_source": "human", + "start_time": 0.0, + "step_description": "unfold shorts on table", + "step_id": 0, + "step_name": "stretch shorts out", + "step_unique_id": 2191387116819 + }, + { + "best_view": "ego", + "end_time": 8.5, + "is_essential": true, + "keystep_timing_source": "human", + "start_time": 6.5, + "step_description": "fold shorts lengthwise", + "step_id": 1, + "step_name": "fold shorts lengthwise", + "step_unique_id": 186216014222780 + }, + { + "best_view": "ego", + "end_time": 11.5, + "is_essential": true, + "keystep_timing_source": "human", + "start_time": 8.5, + "step_description": "fold shorts into rectangle", + "step_id": 2, + "step_name": "fold shorts widthwise", + "step_unique_id": 106564956343095 + }, + { + "best_view": "ego", + "end_time": 13.633, + "is_essential": true, + "keystep_timing_source": "human", + "start_time": 11.5, + "step_description": "place shorts on table", + "step_id": 3, + "step_name": "place shorts on table", + "step_unique_id": 168841084719690 + } + ], + "object_segmentation": { + "detected_class": "shorts", + "detection_score": null, + "frame_rate": null, + "n_frames": 409, + "n_objects": 1, + "objects": [], + "seed_source": "agent_tracker", + "source": "sam3" + }, + "object_segmentation_path": "object_mask.npz", + "participant_id": "M3", + "recovery_events": [], + "success_status": "success", + "task_id": "fold_laundry", + "task_label": "fold_laundry", + "transcript_path": null, + "views": { + "ego": "019fc1ce-600a-74a1-a6fe-f039b19a391a.mp4", + "overhead": null + } +} \ No newline at end of file diff --git a/episodes/019fc1cf-8569-7a31-a1b4-9675cfc6406e/contact_corrections.npz b/episodes/019fc1cf-8569-7a31-a1b4-9675cfc6406e/contact_corrections.npz new file mode 100644 index 0000000000000000000000000000000000000000..8718cb56c0b2eb57fdc0e31e3a36f8c77e5b4605 --- /dev/null +++ b/episodes/019fc1cf-8569-7a31-a1b4-9675cfc6406e/contact_corrections.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:695d8f8d14f4b453a529a132d8bf7593489f9c2af1ec19dd89c993f37b0c27be +size 2145 diff --git a/episodes/019fc1cf-8569-7a31-a1b4-9675cfc6406e/depth_geometry.json b/episodes/019fc1cf-8569-7a31-a1b4-9675cfc6406e/depth_geometry.json new file mode 100644 index 0000000000000000000000000000000000000000..4618e72ce447ca8aff5ee403e843628f37b4625e --- /dev/null +++ b/episodes/019fc1cf-8569-7a31-a1b4-9675cfc6406e/depth_geometry.json @@ -0,0 +1,62 @@ +{ + "sensor": "iphone_lidar_arkit", + "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth grid, untouched); observation.images.ego is 512x384 \u2014 ONE uniform downscale of the native RGB, so ego is EXACTLY 2x the depth grid: ego[y, x], mask[y, x] and depth[y//2, x//2] are the same ray. Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "depth_resolution_hw": [ + 256, + 192 + ], + "ego_obs_resolution_hw": [ + 512, + 384 + ], + "ego_to_depth_scale": 2.0, + "raster_rotation": "ccw90", + "display_hint": "rotate 90\u00b0 CW to view upright", + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 0 quarter-turn(s); gravity-verified at export)", + "rgb_native_resolution_hw": [ + 1440, + 1920 + ], + "depth_output_unit_default": "mm (LeRobot depth_output_unit default; pass --dataset.depth_output_unit m to load metres)", + "raw_depth_reference": "openego_sidecar.json + data/annotations//depth.npz (lossless)", + "arkit_rgb_intrinsics_3x3": [ + [ + 1470.9266357421875, + 0.0, + 746.793701171875 + ], + [ + 0.0, + 1470.9266357421875, + 951.21630859375 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics_frame": "shipped raster (post-rotation)", + "depth_intrinsics_3x3": [ + [ + 196.12355143229166, + 0.0, + 99.57249348958334 + ], + [ + 0.0, + 196.12355143229166, + 126.82884114583334 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "depth_intrinsics_scale_xy": [ + 0.13333333333333333, + 0.13333333333333333 + ], + "intrinsics_source": "record3d_arkit (median of per-frame, via chokepoint)" +} \ No newline at end of file diff --git a/episodes/019fc1cf-8569-7a31-a1b4-9675cfc6406e/hand_object_contact.npz b/episodes/019fc1cf-8569-7a31-a1b4-9675cfc6406e/hand_object_contact.npz new file mode 100644 index 0000000000000000000000000000000000000000..b2aa0697c29d99d0aa0cf6b6e2a188da5cf3fdd2 --- /dev/null +++ b/episodes/019fc1cf-8569-7a31-a1b4-9675cfc6406e/hand_object_contact.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de03bd97a0a0b54e334abbe52bc72756144392813b5f4e58e3d7cce94dc16725 +size 8888 diff --git a/episodes/019fb6db-ff4d-7f00-a9ae-58c76698a120/language_spans.json b/episodes/019fc1cf-8569-7a31-a1b4-9675cfc6406e/language_spans.json similarity index 51% rename from episodes/019fb6db-ff4d-7f00-a9ae-58c76698a120/language_spans.json rename to episodes/019fc1cf-8569-7a31-a1b4-9675cfc6406e/language_spans.json index 2418b7911fdbdc33a947749ddd0e53e605b2a572..1161fce52688c1f7c085dbec44341bbe0c01ca9a 100644 --- a/episodes/019fb6db-ff4d-7f00-a9ae-58c76698a120/language_spans.json +++ b/episodes/019fc1cf-8569-7a31-a1b4-9675cfc6406e/language_spans.json @@ -1,12 +1,12 @@ { "task": "fold_laundry", - "n_spans": 5, + "n_spans": 4, "n_keysteps": 3, "spans": [ { "start_s": 0.0, - "end_s": 1.5, - "label": "Observe shorts on blanket", + "end_s": 3.5, + "label": "pick up shorts from table", "objects": [ "shorts" ], @@ -16,57 +16,42 @@ "source": "vlm", "confidence": "high", "grounded": true, - "evidence": "Pink striped shorts are visible lying on a patterned blanket." + "evidence": "Hands enter frame, grasp the shorts, and lift them from the table, then stretch them out." }, { - "start_s": 1.5, - "end_s": 9.5, - "label": "Fold shorts lengthwise", + "start_s": 3.5, + "end_s": 6.5, + "label": "fold shorts lengthwise", "objects": [ "shorts" ], "actors": [ "both_hands" ], - "source": "vlm", - "confidence": "low", - "grounded": false, - "evidence": "Hands enter frame and begin to fold the shorts along their length." - }, - { - "start_s": 9.5, - "end_s": 17.0, - "label": "Roll shorts from bottom to top", - "objects": [ - "shorts" - ], - "actors": [ - "both_hands" - ], - "source": "vlm", + "source": "human", "confidence": "high", "grounded": true, - "evidence": "Hands roll the folded shorts upwards from the bottom towards the waistband." + "evidence": "Hands bring one side of the shorts over to meet the other side, folding them lengthwise." }, { - "start_s": 17.0, - "end_s": 21.5, - "label": "Adjust rolled shorts on blanket", + "start_s": 6.5, + "end_s": 9.5, + "label": "fold shorts widthwise", "objects": [ "shorts" ], "actors": [ "both_hands" ], - "source": "vlm", + "source": "human", "confidence": "high", "grounded": true, - "evidence": "Hands pat and adjust the shape of the neatly rolled shorts on the blanket." + "evidence": "Hands bring one end of the already folded shorts over to meet the other end, making them more compact." }, { - "start_s": 21.5, - "end_s": 23.667, - "label": "Place shorts on blanket", + "start_s": 9.5, + "end_s": 11.667, + "label": "place shorts on table", "objects": [ "shorts" ], @@ -74,28 +59,28 @@ "both_hands" ], "source": "vlm", - "confidence": "low", - "grounded": false, - "evidence": "Hands release the folded shorts, leaving them on the blanket." + "confidence": "high", + "grounded": true, + "evidence": "Hands lower the compactly folded shorts onto the black marble-patterned table surface." } ], "keysteps": [ { "start_s": 0.0, - "end_s": 1.5, - "description": "initial state", + "end_s": 3.5, + "description": "pick up shorts from table", "essential": true }, { - "start_s": 1.5, - "end_s": 21.5, - "description": "folding process", + "start_s": 3.5, + "end_s": 9.5, + "description": "fold shorts", "essential": true }, { - "start_s": 21.543439030678012, - "end_s": 23.667, - "description": "final placement", + "start_s": 9.5, + "end_s": 11.667, + "description": "place shorts on table", "essential": true } ], diff --git a/episodes/019fc1cf-8569-7a31-a1b4-9675cfc6406e/object_mask.npz b/episodes/019fc1cf-8569-7a31-a1b4-9675cfc6406e/object_mask.npz new file mode 100644 index 0000000000000000000000000000000000000000..3ff40c2c80a70175524b6c054227e765acbae18f --- /dev/null +++ b/episodes/019fc1cf-8569-7a31-a1b4-9675cfc6406e/object_mask.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8bca6a0ebde4e3d3d1a5940291605551d3e32dc1c6dd4ac758a57e623e1e78b +size 2584345 diff --git a/episodes/019fb7c6-01ed-7ca3-aa35-11b87a8a8402/openego_sidecar.json b/episodes/019fc1cf-8569-7a31-a1b4-9675cfc6406e/openego_sidecar.json similarity index 74% rename from episodes/019fb7c6-01ed-7ca3-aa35-11b87a8a8402/openego_sidecar.json rename to episodes/019fc1cf-8569-7a31-a1b4-9675cfc6406e/openego_sidecar.json index e2b73b301bc2791f3943080c2b121d497c330469..ead033d39b41dd20056eb2aa773fc5a0ec4d780b 100644 --- a/episodes/019fb7c6-01ed-7ca3-aa35-11b87a8a8402/openego_sidecar.json +++ b/episodes/019fc1cf-8569-7a31-a1b4-9675cfc6406e/openego_sidecar.json @@ -4,103 +4,129 @@ "actors": [ "both_hands" ], - "end_timestamp": 6.0, + "end_timestamp": 3.5, "extensions": { "actor_source": "contact", "object_source": "vlm", + "span_id": "s0", "span_source": "vlm", "vlm_confidence": "high", - "vlm_evidence": "Hands grasp jar and lid, lid rotates and separates from jar.", + "vlm_evidence": "Hands enter frame, grasp the shorts, and lift them from the table, then stretch them out.", "vlm_grounded": true, "vlm_object_candidates": [ { - "evidence": "lid rotates and separates from jar", - "label": "lid", + "evidence": "hands grasp and lift the shorts", + "label": "shorts", "role": "workpiece", "track": true }, { - "evidence": "jar is held by hand and remains on surface", - "label": "jar", - "role": "container", - "track": true + "evidence": "shorts are resting on the table", + "label": "table", + "role": "fixture", + "track": false } ] }, - "label": "unscrew lid from jar", + "label": "pick up shorts from table", "narration_uncertain": false, "objects": [ - "lid" + "shorts" ], "start_timestamp": 0.0 }, { "actors": [ - "right_hand" + "both_hands" ], - "end_timestamp": 8.0, + "end_timestamp": 6.5, "extensions": { "actor_source": "contact", "object_source": "vlm", - "span_source": "vlm", + "span_id": "s1", + "span_source": "human", "vlm_confidence": "high", - "vlm_evidence": "The right hand lowers the lid onto the table surface beside the jar.", + "vlm_evidence": "Hands bring one side of the shorts over to meet the other side, folding them lengthwise.", "vlm_grounded": true, "vlm_object_candidates": [ { - "evidence": "lid moves into the jar", - "label": "lid", + "evidence": "hands manipulate the shorts to fold them", + "label": "shorts", "role": "workpiece", "track": true - }, + } + ] + }, + "label": "fold shorts lengthwise", + "narration_uncertain": false, + "objects": [ + "shorts" + ], + "start_timestamp": 3.5 + }, + { + "actors": [ + "both_hands" + ], + "end_timestamp": 9.5, + "extensions": { + "actor_source": "contact", + "object_source": "vlm", + "span_id": "s2", + "span_source": "human", + "vlm_confidence": "high", + "vlm_evidence": "Hands bring one end of the already folded shorts over to meet the other end, making them more compact.", + "vlm_grounded": true, + "vlm_object_candidates": [ { - "evidence": "jar remains stationary and receives the lid", - "label": "jar", - "role": "container", + "evidence": "hands manipulate the shorts to fold them again", + "label": "shorts", + "role": "workpiece", "track": true } ] }, - "label": "place lid on table", + "label": "fold shorts widthwise", "narration_uncertain": false, "objects": [ - "lid" + "shorts" ], - "start_timestamp": 6.0 + "start_timestamp": 6.5 }, { "actors": [ - "right_hand" + "both_hands" ], - "end_timestamp": 10.5, + "end_timestamp": 11.667, "extensions": { "actor_source": "contact", "object_source": "vlm", + "span_id": "s3", "span_source": "vlm", "vlm_confidence": "high", - "vlm_evidence": "The lid rests on the table next to the jar; both are left stationary as the right hand withdraws.", + "vlm_evidence": "Hands lower the compactly folded shorts onto the black marble-patterned table surface.", "vlm_grounded": true, "vlm_object_candidates": [ { - "evidence": "jar remains stationary on the surface", - "label": "jar", + "evidence": "hands release the folded shorts onto the table", + "label": "shorts", "role": "workpiece", "track": true }, { - "evidence": "lid remains stationary inside the jar", - "label": "lid", - "role": "workpiece", - "track": true + "evidence": "shorts are placed on the table", + "label": "table", + "role": "destination", + "track": false } ] }, - "label": "leave lid and jar on table", + "label": "place shorts on table", "narration_uncertain": false, "objects": [ - "jar" + "shorts" ], - "start_timestamp": 8.0 + "start_timestamp": 9.5 } ], "annotation_metadata": { @@ -127,8 +153,8 @@ "mask_box_pad": 0.1, "model": "hamer_mano21", "rescale_factor": 2.0, - "source_hand_mask_sha256": "55dadbb5aaddb4501007a7dcf6c7323d03510d588d857a382b28c1099d64662f", - "source_mediapipe_sha256": "953e0a9bd37641a184a75a778a0a4f2aeb5ea1d4d2f25ae896dc2c4788341661" + "source_hand_mask_sha256": "3610f240ae4942f05f17ea524b2687e5d9adadd2253395fcf5cea0516f3d365a", + "source_mediapipe_sha256": "e69fb36e4e07236ad8ce3dd4d64edf5a0deafa366b3a80576027001551d1205e" }, "producer_version": "0.6.0" }, @@ -137,7 +163,7 @@ "apply_oversize_flag": true, "chunk_size": 60, "hand_seed_source": "agent_mask_tracker", - "hand_tracker_seed": "5c778c2798ef4791", + "hand_tracker_seed": "26fad0edc654e050", "max_frames": null, "model": "facebook/sam3", "n_obj_slots": 2, @@ -163,7 +189,7 @@ "roi_box_pad": 0.1, "roi_seed": "sam3_hand_mask", "running_mode": "video", - "source_hand_mask_sha256": "55dadbb5aaddb4501007a7dcf6c7323d03510d588d857a382b28c1099d64662f", + "source_hand_mask_sha256": "3610f240ae4942f05f17ea524b2687e5d9adadd2253395fcf5cea0516f3d365a", "use_sam3_roi": true }, "producer_version": "0.4.0" @@ -173,15 +199,15 @@ "max_cloud_points": 4096, "model": "object_geometry_scaffold", "pose_source": "object_geometry_scaffold", - "source_camera_pose_sha256": "c9c9ef81e68d0c873fed76954fa5747751ed47308357c6d9ccd14252cf5e8cd5", - "source_depth_sha256": "ff556daca8f8a2ed51f95ad3df194830ba4558224b6da1d7c393bdc262667e01", - "source_object_mask_sha256": "5f93cc2355b15de1f6bbf43e228b5a077b21914add4424d46481e337e120bc35" + "source_camera_pose_sha256": "c7b729f7db8f8eb7f940fb25a0840c185c3c9177fca42a003e884a982dbc734e", + "source_depth_sha256": "939b186ac754732bae3245fb42c6fccfffd5ccb8c7cf34bca80a47ec15da2a6d", + "source_object_mask_sha256": "e8bca6a0ebde4e3d3d1a5940291605551d3e32dc1c6dd4ac758a57e623e1e78b" }, "producer_version": "0.1.1" }, "object_segmentation": { "parameters": { - "agent_tracker_seed": "7f0bd33a5719bb86", + "agent_tracker_seed": "e1b67808f9783229", "apply_body_fabric_filter": true, "chunk_size": 60, "max_frames": null, @@ -201,7 +227,7 @@ "slot_selection": "agent_mask_tracker", "start_frame": 0, "stride": 1, - "task_id": "jar_open_close" + "task_id": "fold_laundry" }, "producer_version": "0.8.0" }, @@ -218,7 +244,7 @@ } }, "assembly": { - "assembled_at": "2026-07-31T11:51:30.541713+00:00", + "assembled_at": "2026-08-02T15:09:01.835188+00:00", "contact_source": "recomputed_from_disk", "from_disk": [ "hand_mask.npz", @@ -226,14 +252,14 @@ "whisper.json" ], "hand_depth_clip": { - "clip_near_reference_m": 0.2918, + "clip_near_reference_m": 0.3247, "depth_source": "record3d_lidar", - "n_components_evaluated": 612, - "n_components_removed": 34, - "n_frames": 315, - "n_frames_touched": 33, - "n_frames_with_depth": 208, - "n_object_protected": 84, + "n_components_evaluated": 735, + "n_components_removed": 1, + "n_frames": 350, + "n_frames_touched": 1, + "n_frames_with_depth": 285, + "n_object_protected": 58, "object_adjacency_gate": "on", "params": { "label_stride": 1, @@ -246,324 +272,14 @@ }, "removed": [ { - "n_measured": 56, - "plane_rms_m": 0.0005, - "ref_z_m": 0.2918, - "row": 25, - "separation_m": 0.6342, - "slot": 0, - "surface_offset_m": 0.0004, - "z_med_m": 0.926 - }, - { - "n_measured": 218, - "plane_rms_m": 0.0103, - "ref_z_m": 0.2918, - "row": 61, - "separation_m": 0.4636, - "slot": 1, - "surface_offset_m": 0.0124, - "z_med_m": 0.7554 - }, - { - "n_measured": 48, - "plane_rms_m": 0.0025, - "ref_z_m": 0.2918, - "row": 61, - "separation_m": 0.4899, + "n_measured": 44, + "plane_rms_m": 0.0008, + "ref_z_m": 0.2612, + "row": 40, + "separation_m": 0.615, "slot": 1, - "surface_offset_m": 0.0013, - "z_med_m": 0.7817 - }, - { - "n_measured": 36, - "plane_rms_m": 0.0024, - "ref_z_m": 0.2918, - "row": 184, - "separation_m": 0.2497, - "slot": 0, - "surface_offset_m": 0.0068, - "z_med_m": 0.5415 - }, - { - "n_measured": 48, - "plane_rms_m": 0.0033, - "ref_z_m": 0.2918, - "row": 185, - "separation_m": 0.2111, - "slot": 0, - "surface_offset_m": 0.0056, - "z_med_m": 0.5029 - }, - { - "n_measured": 47, - "plane_rms_m": 0.0033, - "ref_z_m": 0.2918, - "row": 186, - "separation_m": 0.1867, - "slot": 0, - "surface_offset_m": 0.0055, - "z_med_m": 0.4785 - }, - { - "n_measured": 49, - "plane_rms_m": 0.0031, - "ref_z_m": 0.2918, - "row": 187, - "separation_m": 0.2473, - "slot": 0, - "surface_offset_m": 0.0035, - "z_med_m": 0.5391 - }, - { - "n_measured": 52, - "plane_rms_m": 0.003, - "ref_z_m": 0.2918, - "row": 188, - "separation_m": 0.2409, - "slot": 0, - "surface_offset_m": 0.0036, - "z_med_m": 0.5327 - }, - { - "n_measured": 49, - "plane_rms_m": 0.0044, - "ref_z_m": 0.2918, - "row": 189, - "separation_m": 0.2282, - "slot": 0, - "surface_offset_m": 0.004, - "z_med_m": 0.52 - }, - { - "n_measured": 49, - "plane_rms_m": 0.0029, - "ref_z_m": 0.2918, - "row": 190, - "separation_m": 0.2038, - "slot": 0, - "surface_offset_m": 0.0078, - "z_med_m": 0.4956 - }, - { - "n_measured": 51, - "plane_rms_m": 0.0021, - "ref_z_m": 0.2918, - "row": 191, - "separation_m": 0.1994, - "slot": 0, - "surface_offset_m": 0.0059, - "z_med_m": 0.4912 - }, - { - "n_measured": 49, - "plane_rms_m": 0.0028, - "ref_z_m": 0.2918, - "row": 192, - "separation_m": 0.1899, - "slot": 0, - "surface_offset_m": 0.0068, - "z_med_m": 0.4817 - }, - { - "n_measured": 48, - "plane_rms_m": 0.0016, - "ref_z_m": 0.2918, - "row": 193, - "separation_m": 0.1957, - "slot": 0, - "surface_offset_m": 0.0053, - "z_med_m": 0.4875 - }, - { - "n_measured": 53, - "plane_rms_m": 0.0044, - "ref_z_m": 0.2918, - "row": 194, - "separation_m": 0.1933, - "slot": 0, - "surface_offset_m": 0.0068, - "z_med_m": 0.4851 - }, - { - "n_measured": 53, - "plane_rms_m": 0.0035, - "ref_z_m": 0.2918, - "row": 195, - "separation_m": 0.1852, - "slot": 0, - "surface_offset_m": 0.0057, - "z_med_m": 0.4771 - }, - { - "n_measured": 55, - "plane_rms_m": 0.0024, - "ref_z_m": 0.2918, - "row": 196, - "separation_m": 0.2145, - "slot": 0, - "surface_offset_m": 0.0026, - "z_med_m": 0.5063 - }, - { - "n_measured": 56, - "plane_rms_m": 0.0014, - "ref_z_m": 0.2918, - "row": 197, - "separation_m": 0.2126, - "slot": 0, - "surface_offset_m": 0.0024, - "z_med_m": 0.5044 - }, - { - "n_measured": 52, - "plane_rms_m": 0.0015, - "ref_z_m": 0.2918, - "row": 198, - "separation_m": 0.2307, - "slot": 0, - "surface_offset_m": 0.0029, - "z_med_m": 0.5225 - }, - { - "n_measured": 54, - "plane_rms_m": 0.0017, - "ref_z_m": 0.2918, - "row": 199, - "separation_m": 0.218, - "slot": 0, - "surface_offset_m": 0.0027, - "z_med_m": 0.5098 - }, - { - "n_measured": 48, - "plane_rms_m": 0.0022, - "ref_z_m": 0.2918, - "row": 200, - "separation_m": 0.2541, - "slot": 0, - "surface_offset_m": 0.0032, - "z_med_m": 0.5459 - }, - { - "n_measured": 53, - "plane_rms_m": 0.0015, - "ref_z_m": 0.2918, - "row": 201, - "separation_m": 0.2502, - "slot": 0, - "surface_offset_m": 0.0044, - "z_med_m": 0.542 - }, - { - "n_measured": 55, - "plane_rms_m": 0.0015, - "ref_z_m": 0.2918, - "row": 202, - "separation_m": 0.186, - "slot": 0, - "surface_offset_m": 0.0034, - "z_med_m": 0.4778 - }, - { - "n_measured": 57, - "plane_rms_m": 0.0013, - "ref_z_m": 0.2918, - "row": 203, - "separation_m": 0.1948, - "slot": 0, - "surface_offset_m": 0.0031, - "z_med_m": 0.4866 - }, - { - "n_measured": 55, - "plane_rms_m": 0.0022, - "ref_z_m": 0.2918, - "row": 204, - "separation_m": 0.1796, - "slot": 0, - "surface_offset_m": 0.0057, - "z_med_m": 0.4714 - }, - { - "n_measured": 57, - "plane_rms_m": 0.002, - "ref_z_m": 0.2918, - "row": 205, - "separation_m": 0.1855, - "slot": 0, - "surface_offset_m": 0.0048, - "z_med_m": 0.4773 - }, - { - "n_measured": 57, - "plane_rms_m": 0.0034, - "ref_z_m": 0.2918, - "row": 206, - "separation_m": 0.1762, - "slot": 0, - "surface_offset_m": 0.0068, - "z_med_m": 0.468 - }, - { - "n_measured": 58, - "plane_rms_m": 0.0022, - "ref_z_m": 0.2918, - "row": 207, - "separation_m": 0.1817, - "slot": 0, - "surface_offset_m": 0.0072, - "z_med_m": 0.4735 - }, - { - "n_measured": 58, - "plane_rms_m": 0.003, - "ref_z_m": 0.2918, - "row": 208, - "separation_m": 0.1848, - "slot": 0, - "surface_offset_m": 0.0084, - "z_med_m": 0.4766 - }, - { - "n_measured": 54, - "plane_rms_m": 0.0018, - "ref_z_m": 0.2918, - "row": 209, - "separation_m": 0.1891, - "slot": 0, - "surface_offset_m": 0.0062, - "z_med_m": 0.481 - }, - { - "n_measured": 52, - "plane_rms_m": 0.0015, - "ref_z_m": 0.2918, - "row": 210, - "separation_m": 0.1894, - "slot": 0, - "surface_offset_m": 0.0043, - "z_med_m": 0.4812 - }, - { - "n_measured": 55, - "plane_rms_m": 0.0015, - "ref_z_m": 0.2918, - "row": 211, - "separation_m": 0.1904, - "slot": 0, - "surface_offset_m": 0.0044, - "z_med_m": 0.4822 - }, - { - "n_measured": 57, - "plane_rms_m": 0.0015, - "ref_z_m": 0.2918, - "row": 212, - "separation_m": 0.2033, - "slot": 0, - "surface_offset_m": 0.002, - "z_med_m": 0.4951 + "surface_offset_m": 0.0017, + "z_med_m": 0.8762 } ], "status": "applied" @@ -573,12 +289,12 @@ "calibrated_slot0_label": "left", "calibration": "seed_anchored_head", "clip_majority_slot0_label": "left", - "evidence_ambiguity_frac": 0.9905, + "evidence_ambiguity_frac": 0.7971, "handedness_source": "sam3_slot", "majority_agrees_with_seed": true, - "n_frames": 315, - "n_frames_disagreeing": 1, - "n_frames_evaluated": 3, + "n_frames": 350, + "n_frames_disagreeing": 0, + "n_frames_evaluated": 71, "n_frames_swapped": 0, "n_runs_swapped": 0, "params": { @@ -589,13 +305,13 @@ "min_kp_in_mask": 0.5, "min_run_frames": 15 }, - "reason": "only 3/315 frames (1%) cleared the association + confidence gates (need >= 30%) \u2014 too thin for a clip-wide identity claim", + "reason": "only 71/350 frames (20%) cleared the association + confidence gates (need >= 30%) \u2014 too thin for a clip-wide identity claim", "runs": [], "status": "insufficient_evidence" }, "hand_mask_corrections": { "file": "hand_mask_corrections.npz", - "n_components_removed": 34, + "n_components_removed": 1, "n_frames_swapped": 0, "path": "hand_mask_corrections.npz", "raw_channel": "hand_mask.npz:masks (byte-unchanged)", @@ -613,79 +329,100 @@ }, "quality_gates": { "all_passed": true, + "validated_at": "2026-08-10T13:37:30+00:00", "gates": [ { - "detail": "", "name": "json_schema", "passed": true, + "value": "ok", "threshold": "validates", - "value": "ok" + "detail": "" }, { - "detail": "presence-conditioned over the actor's active span [67..258] = 192/315 frames (raw all-frames = 58.41%)", "name": "frames_with_hands_pct", "passed": true, + "value": 100.0, "threshold": ">= 30% [class=GLOBAL]", - "value": 95.83 + "detail": "presence-conditioned over the actor's active span [31..315] = 285/350 frames (raw all-frames = 81.43%); shipped channel = raw \u2295 hand_mask_corrections" }, { - "detail": "silent or near-silent", "name": "audio_snr_db", "passed": true, + "value": null, "threshold": ">= 5 dB", - "value": null + "detail": "silent or near-silent" }, { - "detail": "silent clip", "name": "transcript_density", "passed": true, + "value": 0.0, "threshold": ">= 0.5 wps", - "value": 0.0 + "detail": "silent clip" }, { - "detail": "", "name": "hand_mask_coverage_pct", "passed": true, + "value": 2.544, "threshold": ">= 1%", - "value": 2.336 + "detail": "" }, { - "detail": "", "name": "phase_plan_windowing", "passed": true, + "value": "not_requested", "threshold": "phase plan absent \u2014 skipped", - "value": "not_requested" + "detail": "" }, { - "detail": "", "name": "object_mask_coverage_pct", "passed": true, + "value": 13.194, "threshold": ">= 1% (per present object) [class=GLOBAL]", - "value": 1.047 + "detail": "" }, { - "detail": "", "name": "hand_mask_area_floor_left", "passed": true, + "value": 3.1663, "threshold": ">= 0.20% (median, per hand)", - "value": 2.7861 + "detail": "" }, { - "detail": "", "name": "hand_mask_area_floor_right", "passed": true, + "value": 3.1058, "threshold": ">= 0.20% (median, per hand)", - "value": 4.558 + "detail": "" }, { - "detail": "", "name": "hand_mask_lr_asymmetry", "passed": true, + "value": 0.9809, "threshold": "min/max >= 0.20", - "value": 0.6113 + "detail": "" + }, + { + "name": "hand_slot_merge", + "passed": true, + "value": 0, + "threshold": "< 5 consecutive frames with L\u2229R IoU > 0.5", + "detail": "" + }, + { + "name": "object_track_truncated", + "passed": true, + "value": 0, + "threshold": "no tracked object ends while a hand still holds it", + "detail": "" + }, + { + "name": "actor_mirror_consistency", + "passed": true, + "value": 0, + "threshold": "every hierarchy span's actor_kind == its action's actors[0]", + "detail": "" } - ], - "validated_at": "2026-07-31T11:51:45+00:00" + ] } }, "manually_annotated_fields": [], @@ -700,20 +437,20 @@ "qa_score": 5, "source_experiment": "v0pipeline" }, - "audio_path": "019fb7c6-01ed-7ca3-aa35-11b87a8a8402.wav", + "audio_path": "019fc1cf-8569-7a31-a1b4-9675cfc6406e.wav", "camera_calibration": { "ego": { "fps": 30.0, "intrinsics": [ [ - 1471.289794921875, + 1470.9266357421875, 0.0, - 698.3892822265625 + 967.78369140625 ], [ 0.0, - 1471.289794921875, - 971.0726318359375 + 1470.9266357421875, + 746.793701171875 ], [ 0.0, @@ -723,20 +460,20 @@ ], "intrinsics_path": null, "resolution": [ - 1440, - 1920 + 1920, + 1440 ] }, "overhead": null }, "camera_rig_id": "rig_manila_iphone12pro_chest", - "date_collected": "2026-07-31", - "duration_seconds": 10.5, + "date_collected": "2026-08-02", + "duration_seconds": 11.666666666666666, "environment_id": "home_table_pretrip", - "episode_id": "EM1-D3-E03", + "episode_id": "EM1-D4-E13", "extensions": { "camera_world_pose": { - "n_frames": 315, + "n_frames": 350, "path": "camera_pose.npz", "pose_source": "arkit", "tracking_conf_mean": 1.0 @@ -744,11 +481,11 @@ "depth": { "confidence_levels": "0=low,1=medium,2=high", "depth_resolution": [ - 256, - 192 + 192, + 256 ], "depth_source": "record3d_lidar", - "n_frames": 315, + "n_frames": 350, "path": "depth.npz" }, "hand_object_contact": { @@ -769,27 +506,56 @@ "OPENING" ], "gate_2d_available": true, - "gate_2d_frames_blocked": 78, - "gate_2d_frames_evaluated": 408, + "gate_2d_frames_blocked": 19, + "gate_2d_frames_evaluated": 558, "gate_2d_metric": "mask_adjacency", "grasp_onsets": { "left": [ - 90 + 49 ], "right": [ - 82 + 60 ] }, "median_window_frames": 5, - "note": "P4-C2 median pre-filter (NOT EMA) \u2192 P4-C3 Schmitt hysteresis (HOLD in the [on,off] dead-band) \u2192 P4-C4 asymmetric min-dwell (short assert / longer release) \u2192 P4-C5 4-state grasp FSM (edge-triggered, one onset + one release per grasp). A NaN distance wants-OPEN at the instantaneous Schmitt level (a depth dropout never ASSERTS a contact), but the median + release-dwell HOLD a held grasp across a TRANSIENT NaN dropout (a sustained NaN run releases). A 2D-gate block is enforced separately + harder upstream (contact_3d post-debounce override forces every blocked frame open).", + "nan_policy": "freeze_hold", + "note": "P4-C2 median pre-filter (NOT EMA) \u2192 P4-C3 Schmitt hysteresis (HOLD in the [on,off] dead-band) \u2192 P4-C4 asymmetric min-dwell (short assert / longer release) \u2192 P4-C5 4-state grasp FSM (edge-triggered, one onset + one release per grasp). A NaN distance never ASSERTS a contact (a depth dropout cannot fabricate a grasp) and \u2014 nan_policy=freeze_hold, CONTACT-OCC-2 \u2014 never RELEASES one: a NaN frame holds the committed state and freezes the pending dwell, so only MEASURED open evidence releases a grasp (occlusion of any length bridges; the OCC-1 validity flag marks those frames not-measurable). A 2D-gate block is enforced separately + harder upstream (contact_3d post-debounce override forces every blocked frame open).", "release_frames": 15, - "version": "1.0" + "tail_release": { + "channels": [ + { + "cut_frame": 315, + "frames_released": 34, + "hand": "left", + "object_index": 0, + "object_present_frac": 1.0, + "reason": "hand absent from the cut to the end of the clip (never returns, so the freeze is unresolved) while the object stayed tracked", + "released_from_frame": 316, + "tail_frames": 34 + }, + { + "cut_frame": 312, + "frames_released": 37, + "hand": "right", + "object_index": 0, + "object_present_frac": 1.0, + "reason": "hand absent from the cut to the end of the clip (never returns, so the freeze is unresolved) while the object stayed tracked", + "released_from_frame": 313, + "tail_frames": 37 + } + ], + "min_tail_frames": 5, + "n_channels_released": 2, + "object_present_frac": 0.8, + "rule": "a freeze that reaches the last frame with the hand absent to the end (never returns) and the object still tracked is closed at the last hand-present frame \u2014 an unresolved freeze is not a bridge. Mid-clip occlusion is untouched (CONTACT-OCC-2)." + }, + "version": "1.1" }, "debounce_fps": 30.0, "debounce_note": "LID3D-7: per_hand_contact is the DEBOUNCED bool \u2014 P4-C1 valid-depth score (a bone-prior-imputed fingertip never votes) AND-gated on the 2D SAM3 hand\u2229object overlap, P4-C2 median pre-filter, P4-C3 Schmitt hysteresis (HOLD in the [contact_on_m, contact_off_m] dead-band), P4-C4 asymmetric min-dwell, P4-C5 grasp FSM. contact_strength + grasp_fsm_state are additive; raw min_dist_m is the un-debounced firewall channel.", - "detected_object": "lid", + "detected_object": "shorts", "direct_contact_shape": [ - 315, + 350, 2, 1 ], @@ -803,10 +569,10 @@ ], "objects": [ { - "n_frames_adjacent": 184, + "n_frames_adjacent": 274, "n_frames_in_contact": 0, - "n_frames_scored": 315, - "n_present_frames": 315, + "n_frames_scored": 350, + "n_present_frames": 350, "object_id": "1", "per_frame": [ { @@ -1135,8 +901,8 @@ }, { "frame": 36, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": false, "right_escape": "inconclusive", @@ -1144,8 +910,8 @@ }, { "frame": 37, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": false, "right_escape": "inconclusive", @@ -1153,8 +919,8 @@ }, { "frame": 38, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": false, "right_escape": "inconclusive", @@ -1162,8 +928,8 @@ }, { "frame": 39, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": false, "right_escape": "inconclusive", @@ -1171,8 +937,8 @@ }, { "frame": 40, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": false, "right_escape": "inconclusive", @@ -1180,8 +946,8 @@ }, { "frame": 41, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": false, "right_escape": "inconclusive", @@ -1189,8 +955,8 @@ }, { "frame": 42, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": false, "right_escape": "inconclusive", @@ -1198,8 +964,8 @@ }, { "frame": 43, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": false, "right_escape": "inconclusive", @@ -1207,8 +973,8 @@ }, { "frame": 44, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": false, "right_escape": "inconclusive", @@ -1216,200 +982,200 @@ }, { "frame": 45, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 46, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 47, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 48, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 49, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 50, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 51, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 52, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 53, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 54, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 55, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 56, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 57, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 58, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 59, - "left_adjacent": false, - "left_escape": "inconclusive", - "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 60, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 61, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 62, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 63, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 64, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 65, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 66, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -1417,8 +1183,8 @@ "left_adjacent": true, "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -1426,8 +1192,8 @@ "left_adjacent": true, "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -1435,8 +1201,8 @@ "left_adjacent": true, "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -1444,8 +1210,8 @@ "left_adjacent": true, "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -1495,8 +1261,8 @@ }, { "frame": 76, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1504,8 +1270,8 @@ }, { "frame": 77, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1513,8 +1279,8 @@ }, { "frame": 78, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1522,8 +1288,8 @@ }, { "frame": 79, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2449,8 +2215,8 @@ }, { "frame": 182, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2458,8 +2224,8 @@ }, { "frame": 183, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2467,8 +2233,8 @@ }, { "frame": 184, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2476,8 +2242,8 @@ }, { "frame": 185, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2485,8 +2251,8 @@ }, { "frame": 186, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2494,8 +2260,8 @@ }, { "frame": 187, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2503,8 +2269,8 @@ }, { "frame": 188, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2512,8 +2278,8 @@ }, { "frame": 189, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2521,8 +2287,8 @@ }, { "frame": 190, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2530,8 +2296,8 @@ }, { "frame": 191, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2539,8 +2305,8 @@ }, { "frame": 192, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2548,8 +2314,8 @@ }, { "frame": 193, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2557,8 +2323,8 @@ }, { "frame": 194, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2566,8 +2332,8 @@ }, { "frame": 195, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2575,8 +2341,8 @@ }, { "frame": 196, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2584,8 +2350,8 @@ }, { "frame": 197, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2593,8 +2359,8 @@ }, { "frame": 198, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2602,8 +2368,8 @@ }, { "frame": 199, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2611,8 +2377,8 @@ }, { "frame": 200, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2620,8 +2386,8 @@ }, { "frame": 201, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2629,8 +2395,8 @@ }, { "frame": 202, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2638,8 +2404,8 @@ }, { "frame": 203, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2647,8 +2413,8 @@ }, { "frame": 204, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2656,8 +2422,8 @@ }, { "frame": 205, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2665,8 +2431,8 @@ }, { "frame": 206, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2674,8 +2440,8 @@ }, { "frame": 207, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2683,8 +2449,8 @@ }, { "frame": 208, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2692,8 +2458,8 @@ }, { "frame": 209, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2701,8 +2467,8 @@ }, { "frame": 210, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2710,8 +2476,8 @@ }, { "frame": 211, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2719,8 +2485,8 @@ }, { "frame": 212, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2728,8 +2494,8 @@ }, { "frame": 213, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2737,8 +2503,8 @@ }, { "frame": 214, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2746,8 +2512,8 @@ }, { "frame": 215, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2755,8 +2521,8 @@ }, { "frame": 216, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2983,8 +2749,8 @@ "left_adjacent": true, "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -2992,8 +2758,8 @@ "left_adjacent": true, "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -3001,8 +2767,8 @@ "left_adjacent": true, "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -3010,8 +2776,8 @@ "left_adjacent": true, "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -3019,8 +2785,8 @@ "left_adjacent": true, "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -3028,8 +2794,8 @@ "left_adjacent": true, "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -3037,8 +2803,8 @@ "left_adjacent": true, "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -3055,23 +2821,23 @@ "left_adjacent": true, "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 250, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 251, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3079,447 +2845,528 @@ }, { "frame": 252, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 253, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 254, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 255, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 256, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 257, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 258, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 259, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 260, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 261, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 262, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 263, - "left_adjacent": false, 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"none", + "right_in_contact": false + }, + { + "frame": 306, + "left_adjacent": true, + "left_escape": "none", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": false + }, + { + "frame": 307, + "left_adjacent": true, + "left_escape": "none", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": false + }, + { + "frame": 308, + "left_adjacent": true, + "left_escape": "none", + "left_in_contact": false, + "right_adjacent": true, + "right_escape": "none", + "right_in_contact": false + }, + { + "frame": 309, + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": false, "right_escape": "inconclusive", "right_in_contact": false }, { - "frame": 301, + "frame": 310, "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, @@ -3528,7 +3375,7 @@ "right_in_contact": false }, { - "frame": 302, + "frame": 311, "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, @@ -3537,7 +3384,7 @@ "right_in_contact": false }, { - "frame": 303, + "frame": 312, "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, @@ -3546,7 +3393,7 @@ "right_in_contact": false }, { - "frame": 304, + "frame": 313, "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, @@ -3555,7 +3402,7 @@ "right_in_contact": false }, { - "frame": 305, + "frame": 314, "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, @@ -3564,7 +3411,7 @@ "right_in_contact": false }, { - "frame": 306, + "frame": 315, "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, @@ -3573,7 +3420,7 @@ "right_in_contact": false }, { - "frame": 307, + "frame": 316, "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, @@ -3582,7 +3429,7 @@ "right_in_contact": false }, { - "frame": 308, + "frame": 317, "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, @@ -3591,7 +3438,7 @@ "right_in_contact": false }, { - "frame": 309, + "frame": 318, "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, @@ -3600,7 +3447,7 @@ "right_in_contact": false }, { - "frame": 310, + "frame": 319, "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, @@ -3609,7 +3456,7 @@ "right_in_contact": false }, { - "frame": 311, + "frame": 320, "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, @@ -3618,7 +3465,7 @@ "right_in_contact": false }, { - "frame": 312, + "frame": 321, "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, @@ -3627,7 +3474,7 @@ "right_in_contact": false }, { - "frame": 313, + "frame": 322, "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, @@ -3636,75 +3483,325 @@ "right_in_contact": false }, { - "frame": 314, + "frame": 323, "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": false, "right_escape": "inconclusive", "right_in_contact": false - } + }, + { + "frame": 324, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 325, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 326, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 327, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 328, + "left_adjacent": false, + 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343, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 344, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 345, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 346, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 347, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 348, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 349, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + } ], "per_primitive": [ { - "end_timestamp": 6.0, - "in_contact_object": "lid", + "end_timestamp": 3.5, + "in_contact_object": "shorts", "on_which_hand": "none", "on_which_hand_adjacency": "both", "primitive_index": 0, "start_timestamp": 0.0 }, { - "end_timestamp": 8.0, - "in_contact_object": "lid", + "end_timestamp": 6.5, + "in_contact_object": "shorts", "on_which_hand": "none", "on_which_hand_adjacency": "both", "primitive_index": 1, - "start_timestamp": 6.0 + "start_timestamp": 3.5 }, { - "end_timestamp": 10.5, - "in_contact_object": "lid", + "end_timestamp": 9.5, + "in_contact_object": "shorts", "on_which_hand": "none", "on_which_hand_adjacency": "both", "primitive_index": 2, - "start_timestamp": 8.0 + "start_timestamp": 6.5 + }, + { + "end_timestamp": 11.667, + "in_contact_object": "shorts", + "on_which_hand": "none", + "on_which_hand_adjacency": "both", + "primitive_index": 3, + "start_timestamp": 9.5 } ] } ], "per_primitive": [ { - "end_timestamp": 6.0, - "in_contact_object": "lid", + "end_timestamp": 3.5, + "in_contact_object": "shorts", "on_which_hand": "none", "on_which_hand_adjacency": "both", "primitive_index": 0, "start_timestamp": 0.0 }, { - "end_timestamp": 8.0, - "in_contact_object": "lid", + "end_timestamp": 6.5, + "in_contact_object": "shorts", "on_which_hand": "none", "on_which_hand_adjacency": "both", "primitive_index": 1, - "start_timestamp": 6.0 + "start_timestamp": 3.5 }, { - "end_timestamp": 10.5, - "in_contact_object": "lid", + "end_timestamp": 9.5, + "in_contact_object": "shorts", "on_which_hand": "none", "on_which_hand_adjacency": "both", "primitive_index": 2, - "start_timestamp": 8.0 + "start_timestamp": 6.5 + }, + { + "end_timestamp": 11.667, + "in_contact_object": "shorts", + "on_which_hand": "none", + "on_which_hand_adjacency": "both", + "primitive_index": 3, + "start_timestamp": 9.5 } ] }, "metric": "3d_proximity", - "n_contacts_from_measured_joint": 287, - "n_contacts_from_prior_filled_joint": 6, - "n_frames": 315, - "n_frames_in_contact": 185, + "n_contacts_from_measured_joint": 520, + "n_contacts_from_prior_filled_joint": 0, + "n_frames": 350, + "n_frames_in_contact": 267, "n_objects": 1, "note": "Upgraded from 2D IoU/adjacency to 3D PROXIMITY (lidar3d P3) + debounced (Phase 4 LID3D-7): per hand per frame, the min 3D distance between hand_joints_3d.npz joints_world (valid-depth joints only) and the object_mask surface back-projected to world via depth + camera_pose, then median + hysteresis + dwell + FSM. The frozen hand_object_contact.npz carries the debounced per-hand contact bool + min_dist_m + grasp_state + contact_strength + grasp_fsm_state.", "npz_path": "hand_object_contact.npz", @@ -4121,7 +4218,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.1185, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -4134,7 +4231,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.15037, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -4147,7 +4244,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.27429, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -4160,7 +4257,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.34164, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -4173,7 +4270,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.35235, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -4186,7 +4283,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.02176, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -4199,7 +4296,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.3194, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -4209,10 +4306,10 @@ { "frame": 38, "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": 0.19222, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -4222,10 +4319,10 @@ { "frame": 39, "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": 0.00502, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -4235,782 +4332,782 @@ { "frame": 40, "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": 0.00295, "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": 0.3978 }, { "frame": 41, "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": 0.01714, "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": 0.22708 }, { "frame": 42, "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": 0.01126, "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": 0.14424 }, { "frame": 43, "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": 0.00989, "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": 0.08995 }, { "frame": 44, "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": 0.02305, "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": 0.04965 }, { "frame": 45, "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": 0.01092, "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": 0.1632 }, { "frame": 46, "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": 0.01459, "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": 0.06566 }, { "frame": 47, "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": 0.01308, "right_contact_from_measured_joint": false, - "right_contact_strength": 0.0, + "right_contact_strength": 0.5, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.12946 }, { "frame": 48, "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": 0.01407, "right_contact_from_measured_joint": false, - "right_contact_strength": 0.0, + "right_contact_strength": 0.5, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.05356 }, { "frame": 49, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": null, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSING", + "left_in_contact": true, + "left_min_dist_m": 0.01599, "right_contact_from_measured_joint": false, - "right_contact_strength": 0.0, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.01968 }, { "frame": 50, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": null, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.00129, "right_contact_from_measured_joint": false, - "right_contact_strength": 0.0, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.01407 }, { "frame": 51, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": null, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.00656, "right_contact_from_measured_joint": false, - "right_contact_strength": 0.0, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.00951 }, { "frame": 52, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": null, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.00903, "right_contact_from_measured_joint": false, - "right_contact_strength": 0.0, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.0081 }, { "frame": 53, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": null, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.01283, "right_contact_from_measured_joint": false, - "right_contact_strength": 0.0, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.00493 }, { "frame": 54, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": null, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.00183, "right_contact_from_measured_joint": false, - "right_contact_strength": 0.0, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.00503 }, { "frame": 55, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": null, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.00913, "right_contact_from_measured_joint": false, - "right_contact_strength": 0.0, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.00583 }, { "frame": 56, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": 0.30002, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.00483, "right_contact_from_measured_joint": false, - "right_contact_strength": 0.0, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.01005 }, { "frame": 57, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": 0.27224, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.00656, "right_contact_from_measured_joint": false, - "right_contact_strength": 0.0, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.00559 }, { "frame": 58, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": 0.25198, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.00578, "right_contact_from_measured_joint": false, - "right_contact_strength": 0.0, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.00732 }, { "frame": 59, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": 0.19382, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + 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"right_min_dist_m": 0.00504 }, { "frame": 61, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": 0.17517, - "right_contact_from_measured_joint": false, - "right_contact_strength": 0.0, - "right_grasp_fsm_state": "OPEN", - "right_in_contact": false, - "right_min_dist_m": 0.46652 + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.00482, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.00293 }, { "frame": 62, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": 0.09253, - "right_contact_from_measured_joint": false, - "right_contact_strength": 0.0, - "right_grasp_fsm_state": "OPEN", - "right_in_contact": false, - "right_min_dist_m": 0.19782 + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.00476, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.003 }, { "frame": 63, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": 0.11804, - "right_contact_from_measured_joint": false, - "right_contact_strength": 0.0, - "right_grasp_fsm_state": "OPEN", - "right_in_contact": false, - "right_min_dist_m": 0.17584 + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.00785, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.00422 }, { "frame": 64, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": 0.14496, - "right_contact_from_measured_joint": false, - "right_contact_strength": 0.0, - "right_grasp_fsm_state": "OPEN", - "right_in_contact": false, - "right_min_dist_m": 0.15889 + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.00364, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.00479 }, { "frame": 65, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - 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"left_min_dist_m": 0.00517, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.00916 + }, + { + "frame": 98, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.00696, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.00646 + }, + { + "frame": 99, "left_contact_from_measured_joint": true, "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0061, + "left_min_dist_m": 0.00637, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01427 + "right_min_dist_m": 0.0036 }, { "frame": 100, @@ -5018,12 +5115,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00794, + "left_min_dist_m": 0.00677, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01182 + "right_min_dist_m": 0.00586 }, { "frame": 101, @@ -5031,12 +5128,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00808, + "left_min_dist_m": 0.00631, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00489 + "right_min_dist_m": 0.00404 }, { "frame": 102, @@ -5044,12 +5141,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01324, + "left_min_dist_m": 0.00614, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00855 + "right_min_dist_m": 0.00749 }, { "frame": 103, @@ -5057,12 +5154,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01119, + "left_min_dist_m": 0.00448, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00439 + "right_min_dist_m": 0.01376 }, { "frame": 104, @@ -5070,12 +5167,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01377, + "left_min_dist_m": 0.00463, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00678 + "right_min_dist_m": 0.00435 }, { "frame": 105, @@ -5083,12 +5180,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01541, + "left_min_dist_m": 0.00866, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00617 + "right_min_dist_m": 0.00906 }, { "frame": 106, @@ -5096,12 +5193,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01527, + "left_min_dist_m": 0.00516, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00289 + "right_min_dist_m": 0.00953 }, { "frame": 107, @@ -5109,12 +5206,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01457, + "left_min_dist_m": 0.00591, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00651 + "right_min_dist_m": 0.01514 }, { "frame": 108, @@ -5122,12 +5219,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01348, + "left_min_dist_m": 0.00737, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00309 + "right_min_dist_m": 0.0088 }, { "frame": 109, @@ -5135,12 +5232,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0145, + "left_min_dist_m": 0.0097, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00644 + "right_min_dist_m": 0.01287 }, { "frame": 110, @@ -5148,12 +5245,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01242, + "left_min_dist_m": 0.0093, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00564 + "right_min_dist_m": 0.00562 }, { "frame": 111, @@ -5161,12 +5258,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01546, + "left_min_dist_m": 0.00708, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00298 + "right_min_dist_m": 0.00589 }, { "frame": 112, @@ -5174,12 +5271,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01425, + "left_min_dist_m": 0.00618, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01196 + "right_min_dist_m": 0.01249 }, { "frame": 113, @@ -5187,12 +5284,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0113, + "left_min_dist_m": 0.0037, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00299 + "right_min_dist_m": 0.00654 }, { "frame": 114, @@ -5200,12 +5297,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01063, + "left_min_dist_m": 0.00673, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01003 + "right_min_dist_m": 0.00876 }, { "frame": 115, @@ -5213,12 +5310,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01061, + "left_min_dist_m": 0.00483, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01212 + "right_min_dist_m": 0.00509 }, { "frame": 116, @@ -5226,12 +5323,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01082, + "left_min_dist_m": 0.00773, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01017 + "right_min_dist_m": 0.0049 }, { "frame": 117, @@ -5239,12 +5336,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00759, + "left_min_dist_m": 0.00772, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00459 + "right_min_dist_m": 0.00984 }, { "frame": 118, @@ -5252,12 +5349,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00465, + "left_min_dist_m": 0.00356, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00435 + "right_min_dist_m": 0.00987 }, { "frame": 119, @@ -5265,12 +5362,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01159, + "left_min_dist_m": 0.00352, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00374 + "right_min_dist_m": 0.01033 }, { "frame": 120, @@ -5278,12 +5375,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01869, + "left_min_dist_m": 0.01212, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01026 + "right_min_dist_m": 0.00657 }, { "frame": 121, @@ -5291,12 +5388,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01292, + "left_min_dist_m": 0.0033, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00698 + "right_min_dist_m": 0.00553 }, { "frame": 122, @@ -5304,12 +5401,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01651, + "left_min_dist_m": 0.00797, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0132 + "right_min_dist_m": 0.01099 }, { "frame": 123, @@ -5317,12 +5414,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01021, + "left_min_dist_m": 0.00661, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01917 + "right_min_dist_m": 0.00744 }, { "frame": 124, @@ -5330,12 +5427,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01037, + "left_min_dist_m": 0.00748, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0134 + "right_min_dist_m": 0.0119 }, { "frame": 125, @@ -5343,12 +5440,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01572, + "left_min_dist_m": 0.00994, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01858 + "right_min_dist_m": 0.00575 }, { "frame": 126, @@ -5356,12 +5453,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01215, + "left_min_dist_m": 0.00855, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01643 + "right_min_dist_m": 0.00662 }, { "frame": 127, @@ -5369,12 +5466,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0124, + "left_min_dist_m": 0.00329, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01788 + "right_min_dist_m": 0.0072 }, { "frame": 128, @@ -5382,12 +5479,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01303, + "left_min_dist_m": 0.00488, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01441 + "right_min_dist_m": 0.00594 }, { "frame": 129, @@ -5395,12 +5492,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00979, + "left_min_dist_m": 0.0102, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01353 + "right_min_dist_m": 0.01195 }, { "frame": 130, @@ -5408,12 +5505,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00965, + "left_min_dist_m": 0.00811, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01113 + "right_min_dist_m": 0.00696 }, { "frame": 131, @@ -5421,12 +5518,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00664, + "left_min_dist_m": 0.00451, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00929 + "right_min_dist_m": 0.00753 }, { "frame": 132, @@ -5434,12 +5531,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00761, + "left_min_dist_m": 0.0063, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01317 + "right_min_dist_m": 0.00436 }, { "frame": 133, @@ -5447,12 +5544,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01333, + "left_min_dist_m": 0.00376, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01188 + "right_min_dist_m": 0.00909 }, { "frame": 134, @@ -5460,12 +5557,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0142, + "left_min_dist_m": 0.00382, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01366 + "right_min_dist_m": 0.00644 }, { "frame": 135, @@ -5473,12 +5570,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01591, + "left_min_dist_m": 0.00495, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00675 + "right_min_dist_m": 0.00524 }, { "frame": 136, @@ -5486,12 +5583,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01849, + "left_min_dist_m": 0.00383, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00673 + "right_min_dist_m": 0.00659 }, { "frame": 137, @@ -5499,12 +5596,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02413, + "left_min_dist_m": 0.00433, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0096 + "right_min_dist_m": 0.00537 }, { "frame": 138, @@ -5512,12 +5609,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01718, + "left_min_dist_m": 0.00169, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0023 + "right_min_dist_m": 0.00259 }, { "frame": 139, @@ -5525,12 +5622,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01708, + "left_min_dist_m": 0.00422, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00448 + "right_min_dist_m": 0.00743 }, { "frame": 140, @@ -5538,12 +5635,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01404, + "left_min_dist_m": 0.00477, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00719 + "right_min_dist_m": 0.00425 }, { "frame": 141, @@ -5551,12 +5648,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0035, + "left_min_dist_m": 0.00424, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00576 + "right_min_dist_m": 0.0051 }, { "frame": 142, @@ -5564,12 +5661,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00984, + "left_min_dist_m": 0.0039, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00922 + "right_min_dist_m": 0.00677 }, { "frame": 143, @@ -5577,12 +5674,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00524, + "left_min_dist_m": 0.00829, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00451 + "right_min_dist_m": 0.01288 }, { "frame": 144, @@ -5590,12 +5687,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00632, + "left_min_dist_m": 0.00742, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00436 + "right_min_dist_m": 0.00979 }, { "frame": 145, @@ -5603,12 +5700,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00916, + "left_min_dist_m": 0.00567, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00404 + "right_min_dist_m": 0.00573 }, { "frame": 146, @@ -5616,12 +5713,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00653, + "left_min_dist_m": 0.00268, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00314 + "right_min_dist_m": 0.00626 }, { "frame": 147, @@ -5629,12 +5726,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00781, + "left_min_dist_m": 0.00321, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00455 + "right_min_dist_m": 0.02222 }, { "frame": 148, @@ -5642,12 +5739,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00456, + "left_min_dist_m": 0.00254, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00433 + "right_min_dist_m": 0.00739 }, { "frame": 149, @@ -5655,12 +5752,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00446, + "left_min_dist_m": 0.00539, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0106 + "right_min_dist_m": 0.01369 }, { "frame": 150, @@ -5668,12 +5765,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.015, + "left_min_dist_m": 0.00446, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01007 + "right_min_dist_m": 0.01694 }, { "frame": 151, @@ -5681,12 +5778,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01163, + "left_min_dist_m": 0.01138, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01583 + "right_min_dist_m": 0.02225 }, { "frame": 152, @@ -5694,12 +5791,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00953, + "left_min_dist_m": 0.0026, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01208 + "right_min_dist_m": 0.01967 }, { "frame": 153, @@ -5707,12 +5804,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01148, + "left_min_dist_m": 0.00364, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01472 + "right_min_dist_m": 0.02106 }, { "frame": 154, @@ -5720,12 +5817,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01112, + "left_min_dist_m": 0.00198, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01492 + "right_min_dist_m": 0.00908 }, { "frame": 155, @@ -5733,12 +5830,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01509, + "left_min_dist_m": 0.00385, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01287 + "right_min_dist_m": 0.01281 }, { "frame": 156, @@ -5746,12 +5843,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00733, + "left_min_dist_m": 0.00353, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01389 + "right_min_dist_m": 0.01436 }, { "frame": 157, @@ -5759,12 +5856,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00796, + "left_min_dist_m": 0.0053, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01043 + "right_min_dist_m": 0.01741 }, { "frame": 158, @@ -5772,12 +5869,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01005, + "left_min_dist_m": 0.00815, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00944 + "right_min_dist_m": 0.02351 }, { "frame": 159, @@ -5785,12 +5882,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00748, + "left_min_dist_m": 0.00988, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00991 + "right_min_dist_m": 0.01179 }, { "frame": 160, @@ -5798,12 +5895,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00687, + "left_min_dist_m": 0.00401, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00826 + "right_min_dist_m": 0.00806 }, { "frame": 161, @@ -5811,12 +5908,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01785, + "left_min_dist_m": 0.00462, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0131 + "right_min_dist_m": 0.00774 }, { "frame": 162, @@ -5824,12 +5921,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01585, + "left_min_dist_m": 0.00368, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01084 + "right_min_dist_m": 0.00525 }, { "frame": 163, @@ -5837,12 +5934,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00831, + "left_min_dist_m": 0.0048, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00565 + "right_min_dist_m": 0.00964 }, { "frame": 164, @@ -5850,12 +5947,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01558, + "left_min_dist_m": 0.00842, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01676 + "right_min_dist_m": 0.00618 }, { "frame": 165, @@ -5863,12 +5960,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0173, + "left_min_dist_m": 0.00424, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0052 + "right_min_dist_m": 0.0023 }, { "frame": 166, @@ -5876,12 +5973,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0128, + "left_min_dist_m": 0.00514, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00569 + "right_min_dist_m": 0.00604 }, { "frame": 167, @@ -5889,12 +5986,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01766, + "left_min_dist_m": 0.00584, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00846 + "right_min_dist_m": 0.00659 }, { "frame": 168, @@ -5902,12 +5999,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01469, + "left_min_dist_m": 0.00962, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00436 + "right_min_dist_m": 0.00669 }, { "frame": 169, @@ -5915,12 +6012,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01279, + "left_min_dist_m": 0.00796, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.006 + "right_min_dist_m": 0.00576 }, { "frame": 170, @@ -5928,12 +6025,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00892, + "left_min_dist_m": 0.00667, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00699 + "right_min_dist_m": 0.0053 }, { "frame": 171, @@ -5941,12 +6038,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00809, + "left_min_dist_m": 0.00569, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00428 + "right_min_dist_m": 0.00488 }, { "frame": 172, @@ -5954,12 +6051,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01408, + "left_min_dist_m": 0.00483, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0114 + "right_min_dist_m": 0.0053 }, { "frame": 173, @@ -5967,12 +6064,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00894, + "left_min_dist_m": 0.00659, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00461 + "right_min_dist_m": 0.00632 }, { "frame": 174, @@ -5980,12 +6077,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0175, + "left_min_dist_m": 0.00581, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00988 + "right_min_dist_m": 0.0087 }, { "frame": 175, @@ -5993,12 +6090,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01553, + "left_min_dist_m": 0.00423, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00803 + "right_min_dist_m": 0.00425 }, { "frame": 176, @@ -6006,12 +6103,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01579, + "left_min_dist_m": 0.00543, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01128 + "right_min_dist_m": 0.00539 }, { "frame": 177, @@ -6019,12 +6116,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01623, + "left_min_dist_m": 0.0028, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01063 + "right_min_dist_m": 0.00382 }, { "frame": 178, @@ -6032,12 +6129,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02835, + "left_min_dist_m": 0.00557, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01091 + "right_min_dist_m": 0.00747 }, { "frame": 179, @@ -6045,12 +6142,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02907, + "left_min_dist_m": 0.00652, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01115 + "right_min_dist_m": 0.00785 }, { "frame": 180, @@ -6058,12 +6155,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01222, + "left_min_dist_m": 0.00733, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00652 + "right_min_dist_m": 0.00374 }, { "frame": 181, @@ -6071,12 +6168,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.03145, + "left_min_dist_m": 0.00775, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01006 + "right_min_dist_m": 0.00254 }, { "frame": 182, @@ -6084,12 +6181,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.03689, + "left_min_dist_m": 0.00684, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00339 + "right_min_dist_m": 0.00665 }, { "frame": 183, @@ -6097,1255 +6194,1710 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02951, + "left_min_dist_m": 0.00495, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00621 + "right_min_dist_m": 0.00454 }, { "frame": 184, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.05885, + "left_min_dist_m": 0.00518, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": 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"right_in_contact": true, + "right_min_dist_m": 0.00884 + }, + { + "frame": 298, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.00889, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.00938 + }, + { + "frame": 299, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.01013, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.0083 + }, + { + "frame": 300, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.00403, + 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- "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": null, - "right_contact_from_measured_joint": false, - "right_contact_strength": 0.0, - "right_grasp_fsm_state": "OPENING", - "right_in_contact": false, - "right_min_dist_m": null + "right_min_dist_m": 0.0031 }, { - "frame": 268, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "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 + "frame": 303, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.01246, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.00429 }, { - "frame": 269, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "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 + "frame": 304, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.01563, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.00959 }, { - "frame": 270, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "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 + "frame": 305, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.01213, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.01674 }, { - "frame": 271, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "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 + "frame": 306, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.01223, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.01199 }, { - "frame": 272, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "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 + "frame": 307, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.02326, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.0139 }, { - "frame": 273, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "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 + "frame": 308, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.01966, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.01713 }, { - "frame": 274, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "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 + "frame": 309, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.02482, + "right_contact_from_measured_joint": true, + "right_contact_strength": 0.5, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.07074 }, { - "frame": 275, - "left_contact_from_measured_joint": false, + "frame": 310, + "left_contact_from_measured_joint": true, "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": null, - "right_contact_from_measured_joint": false, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.07657, + "right_contact_from_measured_joint": true, "right_contact_strength": 0.0, - "right_grasp_fsm_state": "OPEN", - "right_in_contact": false, - "right_min_dist_m": null + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.09972 }, { - "frame": 276, - "left_contact_from_measured_joint": false, + "frame": 311, + "left_contact_from_measured_joint": true, "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": null, - "right_contact_from_measured_joint": false, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.14953, + "right_contact_from_measured_joint": true, "right_contact_strength": 0.0, - "right_grasp_fsm_state": "OPEN", - "right_in_contact": false, - "right_min_dist_m": null + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.15832 }, { - "frame": 277, - "left_contact_from_measured_joint": false, + "frame": 312, + "left_contact_from_measured_joint": true, "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": null, - "right_contact_from_measured_joint": false, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.1356, + "right_contact_from_measured_joint": true, "right_contact_strength": 0.0, - "right_grasp_fsm_state": "OPEN", - "right_in_contact": false, - "right_min_dist_m": null + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.20233 }, { - "frame": 278, - "left_contact_from_measured_joint": false, + "frame": 313, + "left_contact_from_measured_joint": true, "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": null, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.23094, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, - "right_grasp_fsm_state": "OPEN", + "right_grasp_fsm_state": "OPENING", "right_in_contact": false, "right_min_dist_m": null }, { - "frame": 279, - "left_contact_from_measured_joint": false, + "frame": 314, + "left_contact_from_measured_joint": true, "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": null, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.24902, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -7353,12 +7905,12 @@ "right_min_dist_m": null }, { - "frame": 280, - "left_contact_from_measured_joint": false, + "frame": 315, + "left_contact_from_measured_joint": true, "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": null, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.38774, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -7366,10 +7918,10 @@ "right_min_dist_m": null }, { - "frame": 281, + "frame": 316, "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": null, "right_contact_from_measured_joint": false, @@ -7379,7 +7931,7 @@ "right_min_dist_m": null }, { - "frame": 282, + "frame": 317, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7392,7 +7944,7 @@ "right_min_dist_m": null }, { - "frame": 283, + "frame": 318, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7405,7 +7957,7 @@ "right_min_dist_m": null }, { - "frame": 284, + "frame": 319, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7418,7 +7970,7 @@ "right_min_dist_m": null }, { - "frame": 285, + "frame": 320, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7431,7 +7983,7 @@ "right_min_dist_m": null }, { - "frame": 286, + "frame": 321, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7444,7 +7996,7 @@ "right_min_dist_m": null }, { - "frame": 287, + "frame": 322, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7457,7 +8009,7 @@ "right_min_dist_m": null }, { - "frame": 288, + "frame": 323, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7470,7 +8022,7 @@ "right_min_dist_m": null }, { - "frame": 289, + "frame": 324, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7483,7 +8035,7 @@ "right_min_dist_m": null }, { - "frame": 290, + "frame": 325, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7496,7 +8048,7 @@ "right_min_dist_m": null }, { - "frame": 291, + "frame": 326, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7509,7 +8061,7 @@ "right_min_dist_m": null }, { - "frame": 292, + "frame": 327, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7522,7 +8074,7 @@ "right_min_dist_m": null }, { - "frame": 293, + "frame": 328, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7535,7 +8087,7 @@ "right_min_dist_m": null }, { - "frame": 294, + "frame": 329, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7548,7 +8100,7 @@ "right_min_dist_m": null }, { - "frame": 295, + "frame": 330, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7561,7 +8113,7 @@ "right_min_dist_m": null }, { - "frame": 296, + "frame": 331, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7574,7 +8126,7 @@ "right_min_dist_m": null }, { - "frame": 297, + "frame": 332, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7587,7 +8139,7 @@ "right_min_dist_m": null }, { - "frame": 298, + "frame": 333, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7600,7 +8152,7 @@ "right_min_dist_m": null }, { - "frame": 299, + "frame": 334, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7613,7 +8165,7 @@ "right_min_dist_m": null }, { - "frame": 300, + "frame": 335, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7626,7 +8178,7 @@ "right_min_dist_m": null }, { - "frame": 301, + "frame": 336, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7639,7 +8191,7 @@ "right_min_dist_m": null }, { - "frame": 302, + "frame": 337, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7652,7 +8204,7 @@ "right_min_dist_m": null }, { - "frame": 303, + "frame": 338, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7665,7 +8217,7 @@ "right_min_dist_m": null }, { - "frame": 304, + "frame": 339, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7678,7 +8230,7 @@ "right_min_dist_m": null }, { - "frame": 305, + "frame": 340, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7691,7 +8243,7 @@ "right_min_dist_m": null }, { - "frame": 306, + "frame": 341, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7704,7 +8256,7 @@ "right_min_dist_m": null }, { - "frame": 307, + "frame": 342, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7717,7 +8269,7 @@ "right_min_dist_m": null }, { - "frame": 308, + "frame": 343, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7730,7 +8282,7 @@ "right_min_dist_m": null }, { - "frame": 309, + "frame": 344, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7743,7 +8295,7 @@ "right_min_dist_m": null }, { - "frame": 310, + "frame": 345, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7756,7 +8308,7 @@ "right_min_dist_m": null }, { - "frame": 311, + "frame": 346, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7769,7 +8321,7 @@ "right_min_dist_m": null }, { - "frame": 312, + "frame": 347, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7782,7 +8334,7 @@ "right_min_dist_m": null }, { - "frame": 313, + "frame": 348, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7795,7 +8347,7 @@ "right_min_dist_m": null }, { - "frame": 314, + "frame": 349, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7811,21 +8363,21 @@ "scene_union_reduction": "any(per_hand_object_contact, axis=2)", "threshold_note": "LID3D-17 A4: per_hand_contact = DEBOUNCED (mask-ADJACENCY gate AND (nearest joint depth-measured ? proximity<=contact_dist_m : trust adjacency)). VALIDATED on two hand-labeled holdouts \u2014 A4 hits F1 0.92-0.96 vs 0.31-0.68 for the old overlap-gated proximity (the overlap gate vetoed 57-82% of real ego contact: a grasping hand is IN FRONT of the object so the masks abut without sharing pixels). contact_dist_m (3cm) is consulted only for the ~9% of depth-MEASURED fingertips; an occluded tip trusts the mask adjacency. Dossier: research/2026-06-25_hand_object_contact_sota.md.", "threshold_validated": true, - "version": "0.4.0" + "version": "0.4.3" }, "studio": { "review_state": { "history": [ { "action": "submit", - "at": "2026-08-01T06:50:20.494960+00:00", + "at": "2026-08-09T13:40:12.827983+00:00", "by": "reviewer", "from": "draft", "to": "in_review" }, { "action": "approve", - "at": "2026-08-01T06:50:23.098722+00:00", + "at": "2026-08-09T13:40:15.379846+00:00", "by": "reviewer", "from": "in_review", "qa_score": 5, @@ -7835,13 +8387,109 @@ "qa_score": 5, "reviewer_id": "reviewer", "status": "approved", - "updated_at": "2026-08-01T06:50:23.098722+00:00" + "updated_at": "2026-08-09T13:40:15.379846+00:00" }, "reviewed_steps": [ - "keysteps", - "verify" + "keysteps" ], "verified_frames": { + "0": true, + "100": true, + "1000": true, + "10000": true, + "10033": true, + "10067": true, + "10100": true, + "10133": true, + "10167": true, + "10200": true, + "10233": true, + "10267": true, + "10300": true, + "1033": true, + "10333": true, + "10367": true, + "10400": true, + "10433": true, + "10467": true, + "10500": true, + "10533": true, + "10567": true, + "10600": true, + "10633": true, + "10667": true, + "1067": true, + "10700": true, + "10733": true, + "10767": true, + "10800": true, + "10833": true, + "10867": true, + "10900": true, + "10933": true, + "10967": true, + "1100": true, + "11000": true, + "11033": true, + "11067": true, + "11100": true, + "11133": true, + "11167": true, + "11200": true, + "11233": true, + "11267": true, + "11300": true, + "1133": true, + "11333": true, + "11367": true, + "11400": true, + "11433": true, + "11467": true, + "11500": true, + "11533": true, + "11567": true, + "11600": true, + "11633": true, + "1167": true, + "1200": true, + "1233": true, + "1267": true, + "1300": true, + "133": true, + "1333": true, + "1367": true, + "1400": true, + "1433": true, + "1467": true, + "1500": true, + "1533": true, + "1567": true, + "1600": true, + "1633": true, + "1667": true, + "167": true, + "1700": true, + "1733": true, + "1767": true, + "1800": true, + "1833": true, + "1867": true, + "1900": true, + "1933": true, + "1967": true, + "200": true, + "2000": true, + "2033": true, + "2067": true, + "2100": true, + "2133": true, + "2167": true, + "2200": true, + "2233": true, + "2267": true, + "2300": true, + "233": true, + "2333": true, "2367": true, "2400": true, "2433": true, @@ -7852,6 +8500,7 @@ "2600": true, "2633": true, "2667": true, + "267": true, "2700": true, "2733": true, "2767": true, @@ -7861,6 +8510,7 @@ "2900": true, "2933": true, "2967": true, + "300": true, "3000": true, "3033": true, "3067": true, @@ -7870,12 +8520,23 @@ "3200": true, "3233": true, "3267": true, + "33": true, "3300": true, + "333": true, "3333": true, "3367": true, "3400": true, "3433": true, "3467": true, + "3500": true, + "3533": true, + "3567": true, + "3600": true, + "3633": true, + "3667": true, + "367": true, + "3700": true, + "3733": true, "3767": true, "3800": true, "3833": true, @@ -7883,6 +8544,7 @@ "3900": true, "3933": true, "3967": true, + "400": true, "4000": true, "4033": true, "4067": true, @@ -7893,19 +8555,40 @@ "4233": true, "4267": true, "4300": true, + "433": true, "4333": true, "4367": true, "4400": true, "4433": true, "4467": true, + "4500": true, + "4533": true, + "4567": true, + "4600": true, + "4633": true, + "4667": true, + "467": true, + "4700": true, + "4733": true, + "4767": true, + "4800": true, + "4833": true, + "4867": true, + "4900": true, + "4933": true, "4967": true, + "500": true, "5000": true, "5033": true, "5067": true, "5100": true, "5133": true, "5167": true, + "5200": true, + "5233": true, + "5267": true, "5300": true, + "533": true, "5333": true, "5367": true, "5400": true, @@ -7917,6 +8600,7 @@ "5600": true, "5633": true, "5667": true, + "567": true, "5700": true, "5733": true, "5767": true, @@ -7926,6 +8610,7 @@ "5900": true, "5933": true, "5967": true, + "600": true, "6000": true, "6033": true, "6067": true, @@ -7936,6 +8621,7 @@ "6233": true, "6267": true, "6300": true, + "633": true, "6333": true, "6367": true, "6400": true, @@ -7947,6 +8633,8 @@ "6600": true, "6633": true, "6667": true, + "667": true, + "67": true, "6700": true, "6733": true, "6767": true, @@ -7956,6 +8644,7 @@ "6900": true, "6933": true, "6967": true, + "700": true, "7000": true, "7033": true, "7067": true, @@ -7966,7 +8655,29 @@ "7233": true, "7267": true, "7300": true, + "733": true, "7333": true, + "7367": true, + "7400": true, + "7433": true, + "7467": true, + "7500": true, + "7533": true, + "7567": true, + "7600": true, + "7633": true, + "7667": true, + "767": true, + "7700": true, + "7733": true, + "7767": true, + "7800": true, + "7833": true, + "7867": true, + "7900": true, + "7933": true, + "7967": true, + "800": true, "8000": true, "8033": true, "8067": true, @@ -7974,129 +8685,219 @@ "8133": true, "8167": true, "8200": true, + "8233": true, + "8267": true, + "8300": true, + "833": true, + "8333": true, "8367": true, "8400": true, "8433": true, "8467": true, - "8500": true + "8500": true, + "8533": true, + "8567": true, + "8600": true, + "8633": true, + "8667": true, + "867": true, + "8700": true, + "8733": true, + "8767": true, + "8800": true, + "8833": true, + "8867": true, + "8900": true, + "8933": true, + "8967": true, + "900": true, + "9000": true, + "9033": true, + "9067": true, + "9100": true, + "9133": true, + "9167": true, + "9200": true, + "9233": true, + "9267": true, + "9300": true, + "933": true, + "9333": true, + "9367": true, + "9400": true, + "9433": true, + "9467": true, + "9500": true, + "9533": true, + "9567": true, + "9600": true, + "9633": true, + "9667": true, + "967": true, + "9700": true, + "9733": true, + "9767": true, + "9800": true, + "9833": true, + "9867": true, + "9900": true, + "9933": true, + "9967": true } }, "task_hierarchy": { "coverage_complete": true, - "goal_echoed_task": false, + "goal_echoed_task": true, "goal_source": "vlm", "grounding_checked": true, "nodes": [ { - "end_time": 10.5, + "end_time": 3.5, "is_essential": true, "keystep_ref": 0, - "label": "open jar", + "label": "pick up shorts from table", "node_id": "e0", "spans": [ { "action_ref": 0, "actor_kind": "both_hands", "confidence": "high", - "end_time": 6.0, - "evidence": "Hands grasp jar and lid, lid rotates and separates from jar.", + "end_time": 3.5, + "evidence": "Hands enter frame, grasp the shorts, and lift them from the table, then stretch them out.", "grounded": true, - "label": "unscrew lid from jar", - "object": "lid", + "label": "pick up shorts from table", + "object": "shorts", "object_candidates": [ { - "evidence": "lid rotates and separates from jar", - "label": "lid", + "evidence": "hands grasp and lift the shorts", + "label": "shorts", "role": "workpiece", "track": true }, { - "evidence": "jar is held by hand and remains on surface", - "label": "jar", - "role": "container", - "track": true + "evidence": "shorts are resting on the table", + "label": "table", + "role": "fixture", + "track": false } ], "span_id": "s0", "start_time": 0.0 - }, + } + ], + "start_time": 0.0, + "sub_goal": null + }, + { + "end_time": 9.5, + "is_essential": true, + "keystep_ref": 1, + "label": "fold shorts", + "node_id": "e1", + "spans": [ { "action_ref": 1, - "actor_kind": "right_hand", + "actor_kind": "both_hands", "confidence": "high", - "end_time": 8.0, - "evidence": "The right hand lowers the lid onto the table surface beside the jar.", + "end_time": 6.5, + "evidence": "Hands bring one side of the shorts over to meet the other side, folding them lengthwise.", "grounded": true, - "label": "place lid on table", - "object": "lid", + "label": "fold shorts lengthwise", + "object": "shorts", "object_candidates": [ { - "evidence": "lid moves into the jar", - "label": "lid", + "evidence": "hands manipulate the shorts to fold them", + "label": "shorts", "role": "workpiece", "track": true - }, - { - "evidence": "jar remains stationary and receives the lid", - "label": "jar", - "role": "container", - "track": true } ], "span_id": "s1", - "start_time": 6.0 + "span_source": "human", + "start_time": 3.5 }, { "action_ref": 2, - "actor_kind": "right_hand", + "actor_kind": "both_hands", "confidence": "high", - "end_time": 10.5, - "evidence": "The lid rests on the table next to the jar; both are left stationary as the right hand withdraws.", + "end_time": 9.5, + "evidence": "Hands bring one end of the already folded shorts over to meet the other end, making them more compact.", "grounded": true, - "label": "leave lid and jar on table", - "object": "jar", + "label": "fold shorts widthwise", + "object": "shorts", "object_candidates": [ { - "evidence": "jar remains stationary on the surface", - "label": "jar", + "evidence": "hands manipulate the shorts to fold them again", + "label": "shorts", "role": "workpiece", "track": true - }, + } + ], + "span_id": "s2", + "span_source": "human", + "start_time": 6.5 + } + ], + "start_time": 3.5, + "sub_goal": null + }, + { + "end_time": 11.667, + "is_essential": true, + "keystep_ref": 2, + "label": "place shorts on table", + "node_id": "e2", + "spans": [ + { + "action_ref": 3, + "actor_kind": "both_hands", + "confidence": "high", + "end_time": 11.667, + "evidence": "Hands lower the compactly folded shorts onto the black marble-patterned table surface.", + "grounded": true, + "label": "place shorts on table", + "object": "shorts", + "object_candidates": [ { - "evidence": "lid remains stationary inside the jar", - "label": "lid", + "evidence": "hands release the folded shorts onto the table", + "label": "shorts", "role": "workpiece", "track": true + }, + { + "evidence": "shorts are placed on the table", + "label": "table", + "role": "destination", + "track": false } ], - "span_id": "s2", - "start_time": 8.0 + "span_id": "s3", + "start_time": 9.5 } ], - "start_time": 0.0, + "start_time": 9.5, "sub_goal": null } ], "span_source": "vlm", - "task_goal": "open jar and place lid inside", + "task_goal": "fold laundry", "task_mismatch": false, "task_mismatch_reason": "", "tracking_mode_proposal": { - "mode": "phase_plan_multi", + "mode": "single_object", "object_labels": [ - "lid", - "jar" + "shorts" ], - "reason": "The jar and its lid are separately manipulated and their relative positions change." + "reason": "The task focuses on the transformation of a single item of clothing (shorts) through folding." }, "version": "0.1.0", - "vlm_goal": "open jar and place lid inside", + "vlm_goal": "fold laundry", "vlm_model": "gemini-2.5-flash" }, "visibility": { "hand_occlusion": { - "n_frames": 315, - "n_left_occluded": 12, + "n_frames": 350, + "n_left_occluded": 6, "n_right_occluded": 6, "note": "A hand-occluded frame means the hand mask is absent while the object is present and the hand is present nearby \u2014 MediaPipe keypoints there are low-trust (the flag GATES them; keypoints are not re-run).", "per_frame": [ @@ -8212,17 +9013,17 @@ }, { "frame": 22, - "left_occluded": true, + "left_occluded": false, "right_occluded": false }, { "frame": 23, - "left_occluded": true, + "left_occluded": false, "right_occluded": false }, { "frame": 24, - "left_occluded": true, + "left_occluded": false, "right_occluded": false }, { @@ -8232,12 +9033,12 @@ }, { "frame": 26, - "left_occluded": true, + "left_occluded": false, "right_occluded": false }, { "frame": 27, - "left_occluded": true, + "left_occluded": false, "right_occluded": false }, { @@ -8247,12 +9048,12 @@ }, { "frame": 29, - "left_occluded": false, + "left_occluded": true, "right_occluded": false }, { "frame": 30, - "left_occluded": false, + "left_occluded": true, "right_occluded": false }, { @@ -8288,17 +9089,17 @@ { "frame": 37, "left_occluded": false, - "right_occluded": false + "right_occluded": true }, { "frame": 38, "left_occluded": false, - "right_occluded": false + "right_occluded": true }, { "frame": 39, "left_occluded": false, - "right_occluded": false + "right_occluded": true }, { "frame": 40, @@ -8367,17 +9168,17 @@ }, { "frame": 53, - "left_occluded": true, + "left_occluded": false, "right_occluded": false }, { "frame": 54, - "left_occluded": true, + "left_occluded": false, "right_occluded": false }, { "frame": 55, - "left_occluded": true, + "left_occluded": false, "right_occluded": false }, { @@ -8393,17 +9194,17 @@ { "frame": 58, "left_occluded": false, - "right_occluded": true + "right_occluded": false }, { "frame": 59, "left_occluded": false, - "right_occluded": true + "right_occluded": false }, { "frame": 60, "left_occluded": false, - "right_occluded": true + "right_occluded": false }, { "frame": 61, @@ -9408,270 +10209,445 @@ { "frame": 261, "left_occluded": false, - "right_occluded": true + "right_occluded": false }, { "frame": 262, "left_occluded": false, - "right_occluded": true + "right_occluded": false }, { "frame": 263, - "left_occluded": true, - "right_occluded": true + "left_occluded": false, + "right_occluded": false }, { "frame": 264, - "left_occluded": true, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 265, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 266, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 267, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 268, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 269, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 270, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 271, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 272, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 273, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 274, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 275, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 276, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 277, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 278, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 279, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 280, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 281, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 282, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 283, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 284, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 285, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 286, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 287, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 288, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 289, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 290, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 291, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 292, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 293, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 294, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 295, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 296, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 297, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 298, + "left_occluded": false, "right_occluded": false }, { - "frame": 265, - "left_occluded": true, + "frame": 299, + "left_occluded": false, "right_occluded": false }, { - "frame": 266, + "frame": 300, "left_occluded": false, "right_occluded": false }, { - "frame": 267, + "frame": 301, "left_occluded": false, "right_occluded": false }, { - "frame": 268, + "frame": 302, "left_occluded": false, "right_occluded": false }, { - "frame": 269, + "frame": 303, "left_occluded": false, "right_occluded": false }, { - "frame": 270, + "frame": 304, "left_occluded": false, "right_occluded": false }, { - "frame": 271, + "frame": 305, "left_occluded": false, "right_occluded": false }, { - "frame": 272, + "frame": 306, "left_occluded": false, "right_occluded": false }, { - "frame": 273, + "frame": 307, "left_occluded": false, "right_occluded": false }, { - "frame": 274, + "frame": 308, "left_occluded": false, "right_occluded": false }, { - "frame": 275, + "frame": 309, "left_occluded": false, "right_occluded": false }, { - "frame": 276, + "frame": 310, "left_occluded": false, "right_occluded": false }, { - "frame": 277, + "frame": 311, "left_occluded": false, "right_occluded": false }, { - "frame": 278, + "frame": 312, "left_occluded": false, "right_occluded": false }, { - "frame": 279, + "frame": 313, "left_occluded": false, - "right_occluded": false + 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"0": "left", @@ -12888,21 +14214,43 @@ "keysteps": [ { "best_view": "ego", - "end_time": 10.5, + "end_time": 3.5, "is_essential": true, "keystep_timing_source": "human", "start_time": 0.0, - "step_description": "open jar", + "step_description": "pick up shorts from table", "step_id": 0, - "step_name": "open jar", - "step_unique_id": 118962304826628 + "step_name": "pick up shorts from table", + "step_unique_id": 126890222011191 + }, + { + "best_view": "ego", + "end_time": 9.5, + "is_essential": true, + "keystep_timing_source": "human", + "start_time": 3.5, + "step_description": "fold shorts", + "step_id": 1, + "step_name": "fold shorts", + "step_unique_id": 5180608659632 + }, + { + "best_view": "ego", + "end_time": 11.667, + "is_essential": true, + "keystep_timing_source": "human", + "start_time": 9.5, + "step_description": "place shorts on table", + "step_id": 2, + "step_name": "place shorts on table", + "step_unique_id": 168841084719690 } ], "object_segmentation": { - "detected_class": "lid", + "detected_class": "shorts", "detection_score": null, "frame_rate": null, - "n_frames": 315, + "n_frames": 350, "n_objects": 1, "objects": [], "seed_source": "agent_tracker", @@ -12912,11 +14260,11 @@ "participant_id": "M3", "recovery_events": [], "success_status": "success", - "task_id": "jar_open_close", - "task_label": "jar_open_close", + "task_id": "fold_laundry", + "task_label": "fold_laundry", "transcript_path": null, "views": { - "ego": "019fb7c6-01ed-7ca3-aa35-11b87a8a8402.mp4", + "ego": "019fc1cf-8569-7a31-a1b4-9675cfc6406e.mp4", "overhead": null } } \ No newline at end of file diff --git a/episodes/019fc1d0-a295-7b91-a54d-9180e2e55923/contact_corrections.npz b/episodes/019fc1d0-a295-7b91-a54d-9180e2e55923/contact_corrections.npz new file mode 100644 index 0000000000000000000000000000000000000000..5fb5eb84e8ffdd2da81e7cf0490e44179fd26f28 --- /dev/null +++ b/episodes/019fc1d0-a295-7b91-a54d-9180e2e55923/contact_corrections.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4fe6115549f0e2015ecea68ca9a5a103e9caba2c9daf91222bd8046e91274088 +size 2095 diff --git a/episodes/019fc1d0-a295-7b91-a54d-9180e2e55923/depth_geometry.json b/episodes/019fc1d0-a295-7b91-a54d-9180e2e55923/depth_geometry.json new file mode 100644 index 0000000000000000000000000000000000000000..fb90a5707b621088be296b612d12596a659963ef --- /dev/null +++ b/episodes/019fc1d0-a295-7b91-a54d-9180e2e55923/depth_geometry.json @@ -0,0 +1,62 @@ +{ + "sensor": "iphone_lidar_arkit", + "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth grid, untouched); observation.images.ego is 512x384 \u2014 ONE uniform downscale of the native RGB, so ego is EXACTLY 2x the depth grid: ego[y, x], mask[y, x] and depth[y//2, x//2] are the same ray. Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "depth_resolution_hw": [ + 256, + 192 + ], + "ego_obs_resolution_hw": [ + 512, + 384 + ], + "ego_to_depth_scale": 2.0, + "raster_rotation": "ccw90", + "display_hint": "rotate 90\u00b0 CW to view upright", + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 0 quarter-turn(s); gravity-verified at export)", + "rgb_native_resolution_hw": [ + 1440, + 1920 + ], + "depth_output_unit_default": "mm (LeRobot depth_output_unit default; pass --dataset.depth_output_unit m to load metres)", + "raw_depth_reference": "openego_sidecar.json + data/annotations//depth.npz (lossless)", + "arkit_rgb_intrinsics_3x3": [ + [ + 1471.3521728515625, + 0.0, + 746.9730224609375 + ], + [ + 0.0, + 1471.3521728515625, + 951.58642578125 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics_frame": "shipped raster (post-rotation)", + "depth_intrinsics_3x3": [ + [ + 196.18028971354167, + 0.0, + 99.59640299479166 + ], + [ + 0.0, + 196.18028971354167, + 126.87819010416666 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "depth_intrinsics_scale_xy": [ + 0.13333333333333333, + 0.13333333333333333 + ], + "intrinsics_source": "record3d_arkit (median of per-frame, via chokepoint)" +} \ No newline at end of file diff --git a/episodes/019fc1d0-a295-7b91-a54d-9180e2e55923/hand_object_contact.npz b/episodes/019fc1d0-a295-7b91-a54d-9180e2e55923/hand_object_contact.npz new file mode 100644 index 0000000000000000000000000000000000000000..ed74dd8bf230df95f50f328602778b467f178db7 --- /dev/null +++ b/episodes/019fc1d0-a295-7b91-a54d-9180e2e55923/hand_object_contact.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4bd7d60998a24fac0c6939338a326c750c949c8b3db466db8ef5fdde8fe7756e +size 8748 diff --git a/episodes/019fc1d0-a295-7b91-a54d-9180e2e55923/language_spans.json b/episodes/019fc1d0-a295-7b91-a54d-9180e2e55923/language_spans.json new file mode 100644 index 0000000000000000000000000000000000000000..b00bf321ca8309a28d9b71b91fd4e768ac839daf --- /dev/null +++ b/episodes/019fc1d0-a295-7b91-a54d-9180e2e55923/language_spans.json @@ -0,0 +1,88 @@ +{ + "task": "fold_laundry", + "n_spans": 4, + "n_keysteps": 3, + "spans": [ + { + "start_s": 0.0, + "end_s": 4.5, + "label": "stretch shorts out", + "objects": [ + "shorts" + ], + "actors": [ + "both_hands" + ], + "source": "vlm", + "confidence": "high", + "grounded": true, + "evidence": "Hands grasp the shorts and pull them horizontally to full width." + }, + { + "start_s": 4.5, + "end_s": 6.5, + "label": "fold shorts lengthwise", + "objects": [ + "shorts" + ], + "actors": [ + "both_hands" + ], + "source": "vlm", + "confidence": "high", + "grounded": true, + "evidence": "Hands bring the two long edges of the shorts together." + }, + { + "start_s": 6.5, + "end_s": 8.5, + "label": "fold shorts widthwise", + "objects": [ + "shorts" + ], + "actors": [ + "both_hands" + ], + "source": "vlm", + "confidence": "high", + "grounded": true, + "evidence": "Hands bring the top and bottom edges of the already folded shorts together." + }, + { + "start_s": 8.5, + "end_s": 11.767, + "label": "flatten shorts on table", + "objects": [ + "shorts" + ], + "actors": [ + "both_hands" + ], + "source": "human", + "confidence": "high", + "grounded": true, + "evidence": "Both palms press and smooth the folded shorts flat against the table." + } + ], + "keysteps": [ + { + "start_s": 0.0, + "end_s": 4.5, + "description": "stretch shorts out", + "essential": true + }, + { + "start_s": 4.5, + "end_s": 8.5, + "description": "fold shorts", + "essential": true + }, + { + "start_s": 8.5, + "end_s": 11.767, + "description": "flatten shorts on table", + "essential": true + } + ], + "note": "Time-aligned sub-step language \u2014 the VLM-partitioned action `spans` (label + objects + actors + VLM evidence/confidence/grounded) and the coarser `keysteps`. This is a RIDER, not per-frame: the LeRobot `task` column stays the static high-level goal so it never flips frame-to-frame; use these spans for language-conditioned / sub-goal training by joining on the `timestamp` (seconds). A span with `grounded=false` or a low `confidence` is an honest low-trust label \u2014 filter accordingly." +} \ No newline at end of file diff --git a/episodes/019fc1d0-a295-7b91-a54d-9180e2e55923/object_mask.npz b/episodes/019fc1d0-a295-7b91-a54d-9180e2e55923/object_mask.npz new file mode 100644 index 0000000000000000000000000000000000000000..f0e6c33da1e708369274b72c16cf02e09f45dc07 --- /dev/null +++ b/episodes/019fc1d0-a295-7b91-a54d-9180e2e55923/object_mask.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f11891f3b0b921a35f665e441f457449f6a94e2ead5721a9aebce21f15834509 +size 2893495 diff --git a/episodes/019fbc1c-81a7-7921-9bd2-aa8973f2959b/openego_sidecar.json b/episodes/019fc1d0-a295-7b91-a54d-9180e2e55923/openego_sidecar.json similarity index 84% rename from episodes/019fbc1c-81a7-7921-9bd2-aa8973f2959b/openego_sidecar.json rename to episodes/019fc1d0-a295-7b91-a54d-9180e2e55923/openego_sidecar.json index 68ee3b44136a6d69799dd532402ccc39d0cf0da9..6e44e557a796cba899d8df02f1c665cabd5899cd 100644 --- a/episodes/019fbc1c-81a7-7921-9bd2-aa8973f2959b/openego_sidecar.json +++ b/episodes/019fc1d0-a295-7b91-a54d-9180e2e55923/openego_sidecar.json @@ -4,109 +4,129 @@ "actors": [ "both_hands" ], - "end_timestamp": 7.0, + "end_timestamp": 4.5, "extensions": { "actor_source": "contact", "object_source": "vlm", + "span_id": "s0", "span_source": "vlm", "vlm_confidence": "high", - "vlm_evidence": "Hands grasp jar and lid, lid rotates and separates from jar opening.", + "vlm_evidence": "Hands grasp the shorts and pull them horizontally to full width.", "vlm_grounded": true, "vlm_object_candidates": [ { - "evidence": "Jar is held by one hand while lid is unscrewed.", - "label": "jar", + "evidence": "hands grasp and pull the shorts", + "label": "shorts", "role": "workpiece", "track": true }, { - "evidence": "Lid is grasped and rotated off the jar.", - "label": "lid", - "role": "workpiece", - "track": true + "evidence": "shorts are initially on the table", + "label": "table", + "role": "fixture", + "track": false } ] }, - "label": "unscrew lid from jar", + "label": "stretch shorts out", "narration_uncertain": false, "objects": [ - "lid" + "shorts" ], "start_timestamp": 0.0 }, { "actors": [ - "right_hand" + "both_hands" ], - "end_timestamp": 9.0, + "end_timestamp": 6.5, "extensions": { "actor_source": "contact", "object_source": "vlm", + "span_id": "s1", "span_source": "vlm", "vlm_confidence": "high", - "vlm_evidence": "Hand lifts and moves the lid away from the jar opening.", + "vlm_evidence": "Hands bring the two long edges of the shorts together.", "vlm_grounded": true, "vlm_object_candidates": [ { - "evidence": "Lid is held and moved away from the jar.", - "label": "lid", + "evidence": "hands fold the shorts lengthwise", + "label": "shorts", "role": "workpiece", "track": true - }, - { - "evidence": "Jar remains stationary on the surface.", - "label": "jar", - "role": "container", - "track": false } ] }, - "label": "move lid from jar", + "label": "fold shorts lengthwise", "narration_uncertain": false, "objects": [ - "lid" + "shorts" ], - "start_timestamp": 7.0 + "start_timestamp": 4.5 }, { "actors": [ - "right_hand" + "both_hands" ], - "end_timestamp": 11.2, + "end_timestamp": 8.5, "extensions": { "actor_source": "contact", "object_source": "vlm", + "span_id": "s2", "span_source": "vlm", "vlm_confidence": "high", - "vlm_evidence": "Hand lowers the lid onto the wooden surface next to the jar.", + "vlm_evidence": "Hands bring the top and bottom edges of the already folded shorts together.", "vlm_grounded": true, "vlm_object_candidates": [ { - "evidence": "Lid is placed down on the surface.", - "label": "lid", + "evidence": "hands fold the shorts widthwise", + "label": "shorts", "role": "workpiece", "track": true - }, + } + ] + }, + "label": "fold shorts widthwise", + "narration_uncertain": false, + "objects": [ + "shorts" + ], + "start_timestamp": 6.5 + }, + { + "actors": [ + "both_hands" + ], + "end_timestamp": 11.767, + "extensions": { + "actor_source": "contact", + "object_source": "human", + "span_id": "s3", + "span_source": "human", + "vlm_confidence": "high", + "vlm_evidence": "Both palms press and smooth the folded shorts flat against the table.", + "vlm_grounded": true, + "vlm_object_candidates": [ { - "evidence": "Jar remains stationary on the surface.", - "label": "jar", - "role": "container", - "track": false + "evidence": "hands release the shorts onto the table", + "label": "shorts", + "role": "workpiece", + "track": true }, { - "evidence": "Lid is placed onto the wooden surface.", - "label": "surface", + "evidence": "the shorts are placed on the table", + "label": "table", "role": "destination", "track": false } ] }, - "label": "place lid on surface", + "label": "flatten shorts on table", "narration_uncertain": false, "objects": [ - "lid" + "shorts" ], - "start_timestamp": 9.0 + "start_timestamp": 8.5 } ], "annotation_metadata": { @@ -133,8 +153,8 @@ "mask_box_pad": 0.1, "model": "hamer_mano21", "rescale_factor": 2.0, - "source_hand_mask_sha256": "64ae2611382ab122237dc90adcb0bc7e0feaac59e9ee7788406b91bb5aa96554", - "source_mediapipe_sha256": "1eda17f3da68f13d88c75c784afef384db77eb30ca9b28d3ae2743ff3f484590" + "source_hand_mask_sha256": "2ee9798bcae3b329b477d466108506421117f17142b3ea3cae221cc494b66600", + "source_mediapipe_sha256": "0a86406de1da18362ac92479be93f0670d7068cc23da49b180321ce580e11f99" }, "producer_version": "0.6.0" }, @@ -143,7 +163,7 @@ "apply_oversize_flag": true, "chunk_size": 60, "hand_seed_source": "agent_mask_tracker", - "hand_tracker_seed": "093130f0573a7f48", + "hand_tracker_seed": "75e061b759c3855d", "max_frames": null, "model": "facebook/sam3", "n_obj_slots": 2, @@ -169,7 +189,7 @@ "roi_box_pad": 0.1, "roi_seed": "sam3_hand_mask", "running_mode": "video", - "source_hand_mask_sha256": "64ae2611382ab122237dc90adcb0bc7e0feaac59e9ee7788406b91bb5aa96554", + "source_hand_mask_sha256": "2ee9798bcae3b329b477d466108506421117f17142b3ea3cae221cc494b66600", "use_sam3_roi": true }, "producer_version": "0.4.0" @@ -179,15 +199,15 @@ "max_cloud_points": 4096, "model": "object_geometry_scaffold", "pose_source": "object_geometry_scaffold", - "source_camera_pose_sha256": "289eaddec4ec3f9cbdafd7b64e3f3c78ed25152445b263205e77c49b3a9dbd58", - "source_depth_sha256": "4cc87766ab1914b05c59e670454f8afe2a46813c60ec82e5ba14085d6847a535", - "source_object_mask_sha256": "3fe7f8ee752937f1b3600b4ada883c4334954d2958899029ab58cb9a62d26c4d" + "source_camera_pose_sha256": "7e3b01f0b621e2b513d1e64e8b5c0acb3ac6c968dbd8bf12d03ee919a2160806", + "source_depth_sha256": "094c6744e3f75bb52252adf2e6f2a9e10da15c99ff9e67c71694bb53dd034c30", + "source_object_mask_sha256": "f11891f3b0b921a35f665e441f457449f6a94e2ead5721a9aebce21f15834509" }, "producer_version": "0.1.1" }, "object_segmentation": { "parameters": { - "agent_tracker_seed": "ce07fdb25ee95aa5", + "agent_tracker_seed": "187f6beea241a0f8", "apply_body_fabric_filter": true, "chunk_size": 60, "max_frames": null, @@ -207,7 +227,7 @@ "slot_selection": "agent_mask_tracker", "start_frame": 0, "stride": 1, - "task_id": "jar_open_close" + "task_id": "fold_laundry" }, "producer_version": "0.8.0" }, @@ -224,7 +244,7 @@ } }, "assembly": { - "assembled_at": "2026-08-01T15:24:18.136087+00:00", + "assembled_at": "2026-08-02T15:08:44.264590+00:00", "contact_source": "recomputed_from_disk", "from_disk": [ "hand_mask.npz", @@ -232,14 +252,14 @@ "whisper.json" ], "hand_depth_clip": { - "clip_near_reference_m": 0.2892, + "clip_near_reference_m": 0.3338, "depth_source": "record3d_lidar", - "n_components_evaluated": 663, - "n_components_removed": 8, - "n_frames": 336, - "n_frames_touched": 6, - "n_frames_with_depth": 260, - "n_object_protected": 6, + "n_components_evaluated": 648, + "n_components_removed": 2, + "n_frames": 353, + "n_frames_touched": 2, + "n_frames_with_depth": 279, + "n_object_protected": 8, "object_adjacency_gate": "on", "params": { "label_stride": 1, @@ -252,84 +272,24 @@ }, "removed": [ { - "n_measured": 52, - "plane_rms_m": 0.001, - "ref_z_m": 0.2892, - "row": 34, - "separation_m": 0.2657, - "slot": 0, - "surface_offset_m": 0.0029, - "z_med_m": 0.5549 - }, - { - "n_measured": 260, - "plane_rms_m": 0.0015, - "ref_z_m": 0.2892, - "row": 35, - "separation_m": 0.2781, - "slot": 0, - "surface_offset_m": 0.0028, - "z_med_m": 0.5674 - }, - { - "n_measured": 691, - "plane_rms_m": 0.0091, - "ref_z_m": 0.2892, - "row": 37, - "separation_m": 0.1949, - "slot": 0, - "surface_offset_m": 0.0137, - "z_med_m": 0.4841 - }, - { - "n_measured": 80, - "plane_rms_m": 0.0005, - "ref_z_m": 0.2892, - "row": 37, - "separation_m": 0.1907, - "slot": 0, - "surface_offset_m": 0.0003, - "z_med_m": 0.48 - }, - { - "n_measured": 47, - "plane_rms_m": 0.0023, - "ref_z_m": 0.2892, - "row": 40, - "separation_m": 0.3992, - "slot": 1, - "surface_offset_m": 0.0016, - "z_med_m": 0.6885 - }, - { - "n_measured": 17, - "plane_rms_m": 0.0005, - "ref_z_m": 0.2892, - "row": 40, - "separation_m": 0.345, - "slot": 1, - "surface_offset_m": 0.001, - "z_med_m": 0.6343 - }, - { - "n_measured": 259, + "n_measured": 340, "plane_rms_m": 0.0054, - "ref_z_m": 0.2776, - "row": 288, - "separation_m": 0.4319, + "ref_z_m": 0.3093, + "row": 44, + "separation_m": 0.2874, "slot": 1, - "surface_offset_m": 0.0194, - "z_med_m": 0.7095 + "surface_offset_m": 0.0117, + "z_med_m": 0.5967 }, { - "n_measured": 470, - "plane_rms_m": 0.0072, - "ref_z_m": 0.2892, - "row": 292, - "separation_m": 0.2459, - "slot": 0, - "surface_offset_m": 0.0041, - "z_med_m": 0.5352 + "n_measured": 2082, + "plane_rms_m": 0.0126, + "ref_z_m": 0.3338, + "row": 314, + "separation_m": 0.228, + "slot": 1, + "surface_offset_m": 0.0144, + "z_med_m": 0.5618 } ], "status": "applied" @@ -339,12 +299,12 @@ "calibrated_slot0_label": "left", "calibration": "seed_anchored_head", "clip_majority_slot0_label": "left", - "evidence_ambiguity_frac": 0.9851, + "evidence_ambiguity_frac": 0.813, "handedness_source": "sam3_slot", "majority_agrees_with_seed": true, - "n_frames": 336, + "n_frames": 353, "n_frames_disagreeing": 0, - "n_frames_evaluated": 5, + "n_frames_evaluated": 66, "n_frames_swapped": 0, "n_runs_swapped": 0, "params": { @@ -355,13 +315,13 @@ "min_kp_in_mask": 0.5, "min_run_frames": 15 }, - "reason": "only 5/336 frames (1%) cleared the association + confidence gates (need >= 30%) \u2014 too thin for a clip-wide identity claim", + "reason": "only 66/353 frames (19%) cleared the association + confidence gates (need >= 30%) \u2014 too thin for a clip-wide identity claim", "runs": [], "status": "insufficient_evidence" }, "hand_mask_corrections": { "file": "hand_mask_corrections.npz", - "n_components_removed": 8, + "n_components_removed": 2, "n_frames_swapped": 0, "path": "hand_mask_corrections.npz", "raw_channel": "hand_mask.npz:masks (byte-unchanged)", @@ -378,8 +338,8 @@ "pose_source": "arkit" }, "quality_gates": { - "all_passed": false, - "validated_at": "2026-08-01T16:28:23+00:00", + "all_passed": true, + "validated_at": "2026-08-10T13:37:23+00:00", "gates": [ { "name": "json_schema", @@ -391,9 +351,9 @@ { "name": "frames_with_hands_pct", "passed": true, - "value": 96.4, + "value": 100.0, "threshold": ">= 30% [class=GLOBAL]", - "detail": "presence-conditioned over the actor's active span [40..289] = 250/336 frames (raw all-frames = 71.73%)" + "detail": "presence-conditioned over the actor's active span [40..318] = 279/353 frames (raw all-frames = 79.04%); shipped channel = raw \u2295 hand_mask_corrections" }, { "name": "audio_snr_db", @@ -412,7 +372,7 @@ { "name": "hand_mask_coverage_pct", "passed": true, - "value": 2.903, + "value": 2.645, "threshold": ">= 1%", "detail": "" }, @@ -426,28 +386,28 @@ { "name": "object_mask_coverage_pct", "passed": true, - "value": 1.155, + "value": 16.827, "threshold": ">= 1% (per present object) [class=GLOBAL]", "detail": "" }, { "name": "hand_mask_area_floor_left", "passed": true, - "value": 2.9033, + "value": 3.176, "threshold": ">= 0.20% (median, per hand)", "detail": "" }, { "name": "hand_mask_area_floor_right", "passed": true, - "value": 4.7494, + "value": 3.3204, "threshold": ">= 0.20% (median, per hand)", "detail": "" }, { "name": "hand_mask_lr_asymmetry", "passed": true, - "value": 0.6113, + "value": 0.9565, "threshold": "min/max >= 0.20", "detail": "" }, @@ -459,11 +419,18 @@ "detail": "" }, { - "name": "multi_object_roster", - "passed": false, - "value": 1, - "threshold": "tracks >= 2 objects [jar, lid]", - "detail": "task 'jar_open_close' is a declared multi-object class but this capture tracks 1 object(s). Re-seed it through the two-object flow (expected: jar, lid) \u2014 a single-object track makes the non-tracked object's hand read as contacting the tracked one." + "name": "object_track_truncated", + "passed": true, + "value": 0, + "threshold": "no tracked object ends while a hand still holds it", + "detail": "" + }, + { + "name": "actor_mirror_consistency", + "passed": true, + "value": 0, + "threshold": "every hierarchy span's actor_kind == its action's actors[0]", + "detail": "" } ] } @@ -480,20 +447,20 @@ "qa_score": 5, "source_experiment": "v0pipeline" }, - "audio_path": "019fbc1c-81a7-7921-9bd2-aa8973f2959b.wav", + "audio_path": "019fc1d0-a295-7b91-a54d-9180e2e55923.wav", "camera_calibration": { "ego": { "fps": 30.0, "intrinsics": [ [ - 1473.6409912109375, + 1471.3521728515625, 0.0, - 699.9765014648438 + 967.41357421875 ], [ 0.0, - 1473.6409912109375, - 970.9853515625 + 1471.3521728515625, + 746.9730224609375 ], [ 0.0, @@ -503,20 +470,20 @@ ], "intrinsics_path": null, "resolution": [ - 1440, - 1920 + 1920, + 1440 ] }, "overhead": null }, "camera_rig_id": "rig_manila_iphone12pro_chest", - "date_collected": "2026-08-01", - "duration_seconds": 11.2, + "date_collected": "2026-08-02", + "duration_seconds": 11.766666666666667, "environment_id": "home_table_pretrip", - "episode_id": "EM1-D3-E03", + "episode_id": "EM1-D4-E13", "extensions": { "camera_world_pose": { - "n_frames": 336, + "n_frames": 353, "path": "camera_pose.npz", "pose_source": "arkit", "tracking_conf_mean": 1.0 @@ -524,11 +491,11 @@ "depth": { "confidence_levels": "0=low,1=medium,2=high", "depth_resolution": [ - 256, - 192 + 192, + 256 ], "depth_source": "record3d_lidar", - "n_frames": 336, + "n_frames": 353, "path": "depth.npz" }, "hand_object_contact": { @@ -541,7 +508,7 @@ "contact_off_m": 0.025, "contact_on_m": 0.015, "far_release_confirm_s": 0.25, - "far_release_frames": 8, + "far_release_frames": 0, "fsm_states": [ "OPEN", "CLOSING", @@ -549,16 +516,15 @@ "OPENING" ], "gate_2d_available": true, - "gate_2d_frames_blocked": 92, - "gate_2d_frames_evaluated": 509, + "gate_2d_frames_blocked": 24, + "gate_2d_frames_evaluated": 552, "gate_2d_metric": "mask_adjacency", "grasp_onsets": { "left": [ - 63, - 253 + 62 ], "right": [ - 63 + 62 ] }, "median_window_frames": 5, @@ -568,24 +534,24 @@ "tail_release": { "channels": [ { - "cut_frame": 293, - "frames_released": 42, + "cut_frame": 318, + "frames_released": 34, "hand": "left", "object_index": 0, "object_present_frac": 1.0, "reason": "hand absent from the cut to the end of the clip (never returns, so the freeze is unresolved) while the object stayed tracked", - "released_from_frame": 294, - "tail_frames": 42 + "released_from_frame": 319, + "tail_frames": 34 }, { - "cut_frame": 288, - "frames_released": 47, + "cut_frame": 316, + "frames_released": 36, "hand": "right", "object_index": 0, "object_present_frac": 1.0, "reason": "hand absent from the cut to the end of the clip (never returns, so the freeze is unresolved) while the object stayed tracked", - "released_from_frame": 289, - "tail_frames": 47 + "released_from_frame": 317, + "tail_frames": 36 } ], "min_tail_frames": 5, @@ -597,24 +563,14 @@ }, "debounce_fps": 30.0, "debounce_note": "LID3D-7: per_hand_contact is the DEBOUNCED bool \u2014 P4-C1 valid-depth score (a bone-prior-imputed fingertip never votes) AND-gated on the 2D SAM3 hand\u2229object overlap, P4-C2 median pre-filter, P4-C3 Schmitt hysteresis (HOLD in the [contact_on_m, contact_off_m] dead-band), P4-C4 asymmetric min-dwell, P4-C5 grasp FSM. contact_strength + grasp_fsm_state are additive; raw min_dist_m is the un-debounced firewall channel.", - "detected_object": "lid", + "detected_object": "shorts", "direct_contact_shape": [ - 336, + 353, 2, 1 ], "hold_dist_m": 0.12, "joints_source": "hamer_2d_depth", - "manual_contact_trim": { - "applied_at": "2026-08-02T00:00:46", - "raw_measurements_untouched": [ - "min_dist_m", - "per_hand_object_min_dist_m" - ], - "reason": "founder review 2026-08-01: the LEFT hand never touches the tracked LID \u2014 it grips the JAR the lid sits on. Measured left\u2192lid median 24 mm / min 3 mm, so 3D proximity cannot separate the two adjacent objects (the ACTOR-2 shape; the real fix is tracking the jar as a second object). Channel removed by operator instruction; raw min_dist_m preserved (rule #7).", - "removed_channel": "left", - "warning": "MANUAL \u2014 an assembly re-touch regenerates the npz and DROPS this." - }, "mask_2d": { "metric": "iou+border_adjacency", "n_frames_in_contact": 0, @@ -623,10 +579,10 @@ ], "objects": [ { - "n_frames_adjacent": 234, + "n_frames_adjacent": 265, "n_frames_in_contact": 0, - "n_frames_scored": 336, - "n_present_frames": 336, + "n_frames_scored": 353, + "n_present_frames": 353, "object_id": "1", "per_frame": [ { @@ -1084,8 +1040,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -1093,14 +1049,14 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 52, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2089,8 +2045,8 @@ }, { "frame": 162, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2098,8 +2054,8 @@ }, { "frame": 163, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2107,8 +2063,8 @@ }, { "frame": 164, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2116,8 +2072,8 @@ }, { "frame": 165, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2125,8 +2081,8 @@ }, { "frame": 166, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2134,8 +2090,8 @@ }, { "frame": 167, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2143,8 +2099,8 @@ }, { "frame": 168, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2152,8 +2108,8 @@ }, { "frame": 169, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2161,8 +2117,8 @@ }, { "frame": 170, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2170,8 +2126,8 @@ }, { "frame": 171, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2179,8 +2135,8 @@ }, { "frame": 172, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2458,8 +2414,8 @@ }, { "frame": 203, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2467,8 +2423,8 @@ }, { "frame": 204, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2476,8 +2432,8 @@ }, { "frame": 205, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2485,8 +2441,8 @@ }, { "frame": 206, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2494,8 +2450,8 @@ }, { "frame": 207, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2503,8 +2459,8 @@ }, { "frame": 208, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2512,8 +2468,8 @@ }, { "frame": 209, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2521,8 +2477,8 @@ }, { "frame": 210, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2530,8 +2486,8 @@ }, { "frame": 211, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2539,8 +2495,8 @@ }, { "frame": 212, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2548,8 +2504,8 @@ }, { "frame": 213, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2557,8 +2513,8 @@ }, { "frame": 214, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2566,8 +2522,8 @@ }, { "frame": 215, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2575,8 +2531,8 @@ }, { "frame": 216, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2584,8 +2540,8 @@ }, { "frame": 217, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2593,8 +2549,8 @@ }, { "frame": 218, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2602,8 +2558,8 @@ }, { "frame": 219, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2611,8 +2567,8 @@ }, { "frame": 220, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2620,8 +2576,8 @@ }, { "frame": 221, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2629,8 +2585,8 @@ }, { "frame": 222, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2638,8 +2594,8 @@ }, { "frame": 223, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2647,8 +2603,8 @@ }, { "frame": 224, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2656,8 +2612,8 @@ }, { "frame": 225, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2665,8 +2621,8 @@ }, { "frame": 226, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2674,8 +2630,8 @@ }, { "frame": 227, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2683,8 +2639,8 @@ }, { "frame": 228, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2692,8 +2648,8 @@ }, { "frame": 229, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2701,8 +2657,8 @@ }, { "frame": 230, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2710,8 +2666,8 @@ }, { "frame": 231, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2719,8 +2675,8 @@ }, { "frame": 232, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2728,8 +2684,8 @@ }, { "frame": 233, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2737,8 +2693,8 @@ }, { "frame": 234, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2746,8 +2702,8 @@ }, { "frame": 235, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2755,8 +2711,8 @@ }, { "frame": 236, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2764,8 +2720,8 @@ }, { "frame": 237, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2773,8 +2729,8 @@ }, { "frame": 238, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2782,17 +2738,17 @@ }, { "frame": 239, - "left_adjacent": false, - "left_escape": "inconclusive", - "left_in_contact": false, + "left_adjacent": true, + "left_escape": "none", + "left_in_contact": false, "right_adjacent": true, "right_escape": "none", "right_in_contact": false }, { "frame": 240, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2800,8 +2756,8 @@ }, { "frame": 241, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2809,8 +2765,8 @@ }, { "frame": 242, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2818,8 +2774,8 @@ }, { "frame": 243, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3091,8 +3047,8 @@ "left_adjacent": true, "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -3100,8 +3056,8 @@ "left_adjacent": true, "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -3109,8 +3065,8 @@ "left_adjacent": true, "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -3118,8 +3074,8 @@ "left_adjacent": true, "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -3127,8 +3083,8 @@ "left_adjacent": true, "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -3154,8 +3110,8 @@ "left_adjacent": true, "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -3163,8 +3119,8 @@ "left_adjacent": true, "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -3172,8 +3128,8 @@ "left_adjacent": true, "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -3181,8 +3137,8 @@ "left_adjacent": true, "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -3190,8 +3146,8 @@ "left_adjacent": true, "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -3199,266 +3155,266 @@ "left_adjacent": true, "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 286, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 287, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 288, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 289, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 290, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 291, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 292, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 293, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 294, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 295, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 296, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 297, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 298, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 299, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 300, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 301, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 302, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 303, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 304, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 305, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 306, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 307, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 308, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 309, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 310, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 311, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 312, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 313, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 314, - "left_adjacent": false, - "left_escape": "inconclusive", + "left_adjacent": true, + "left_escape": "none", "left_in_contact": false, "right_adjacent": false, "right_escape": "inconclusive", @@ -3652,68 +3608,253 @@ "right_adjacent": false, "right_escape": "inconclusive", "right_in_contact": false + }, + { + "frame": 336, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 337, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 338, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 339, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 340, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 341, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 342, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 343, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 344, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 345, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 346, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 347, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 348, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 349, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 350, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 351, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 352, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false } ], "per_primitive": [ { - "end_timestamp": 7.0, - "in_contact_object": "lid", + "end_timestamp": 4.5, + "in_contact_object": "shorts", "on_which_hand": "none", "on_which_hand_adjacency": "both", "primitive_index": 0, "start_timestamp": 0.0 }, { - "end_timestamp": 9.0, - "in_contact_object": "lid", + "end_timestamp": 6.5, + "in_contact_object": "shorts", "on_which_hand": "none", "on_which_hand_adjacency": "both", "primitive_index": 1, - "start_timestamp": 7.0 + "start_timestamp": 4.5 }, { - "end_timestamp": 11.2, - "in_contact_object": "lid", + "end_timestamp": 8.5, + "in_contact_object": "shorts", "on_which_hand": "none", "on_which_hand_adjacency": "both", "primitive_index": 2, - "start_timestamp": 9.0 + "start_timestamp": 6.5 + }, + { + "end_timestamp": 10.0, + "in_contact_object": "shorts", + "on_which_hand": "none", + "on_which_hand_adjacency": "both", + "primitive_index": 3, + "start_timestamp": 8.5 + }, + { + "end_timestamp": 11.767, + "in_contact_object": "shorts", + "on_which_hand": "none", + "on_which_hand_adjacency": "both", + "primitive_index": 4, + "start_timestamp": 10.0 } ] } ], "per_primitive": [ { - "end_timestamp": 7.0, - "in_contact_object": "lid", + "end_timestamp": 4.5, + "in_contact_object": "shorts", "on_which_hand": "none", "on_which_hand_adjacency": "both", "primitive_index": 0, "start_timestamp": 0.0 }, { - "end_timestamp": 9.0, - "in_contact_object": "lid", + "end_timestamp": 6.5, + "in_contact_object": "shorts", "on_which_hand": "none", "on_which_hand_adjacency": "both", "primitive_index": 1, - "start_timestamp": 7.0 + "start_timestamp": 4.5 }, { - "end_timestamp": 11.2, - "in_contact_object": "lid", + "end_timestamp": 8.5, + "in_contact_object": "shorts", "on_which_hand": "none", "on_which_hand_adjacency": "both", "primitive_index": 2, - "start_timestamp": 9.0 + "start_timestamp": 6.5 + }, + { + "end_timestamp": 10.0, + "in_contact_object": "shorts", + "on_which_hand": "none", + "on_which_hand_adjacency": "both", + "primitive_index": 3, + "start_timestamp": 8.5 + }, + { + "end_timestamp": 11.767, + "in_contact_object": "shorts", + "on_which_hand": "none", + "on_which_hand_adjacency": "both", + "primitive_index": 4, + "start_timestamp": 10.0 } ] }, "metric": "3d_proximity", - "n_contacts_from_measured_joint": 226, - "n_contacts_from_prior_filled_joint": 0, - "n_frames": 336, - "n_frames_in_contact": 226, + "n_contacts_from_measured_joint": 511, + "n_contacts_from_prior_filled_joint": 1, + "n_frames": 353, + "n_frames_in_contact": 257, "n_objects": 1, "note": "Upgraded from 2D IoU/adjacency to 3D PROXIMITY (lidar3d P3) + debounced (Phase 4 LID3D-7): per hand per frame, the min 3D distance between hand_joints_3d.npz joints_world (valid-depth joints only) and the object_mask surface back-projected to world via depth + camera_pose, then median + hysteresis + dwell + FSM. The frozen hand_object_contact.npz carries the debounced per-hand contact bool + min_dist_m + grasp_state + contact_strength + grasp_fsm_state.", "npz_path": "hand_object_contact.npz", @@ -4169,7 +4310,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.36718, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -4182,7 +4323,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.29814, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -4195,7 +4336,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.1876, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -4208,7 +4349,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.21486, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -4221,7 +4362,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.1815, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -4234,7 +4375,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.15471, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -4247,12 +4388,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.13824, + "left_min_dist_m": 1.82735, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.40234 + "right_min_dist_m": null }, { "frame": 41, @@ -4260,12 +4401,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.12298, + "left_min_dist_m": 1.52222, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.15552 + "right_min_dist_m": null }, { "frame": 42, @@ -4273,12 +4414,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.10506, + "left_min_dist_m": 0.38168, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.13006 + "right_min_dist_m": null }, { "frame": 43, @@ -4286,12 +4427,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.08445, + "left_min_dist_m": 0.38667, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.1235 + "right_min_dist_m": null }, { "frame": 44, @@ -4299,12 +4440,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.07719, + "left_min_dist_m": 0.23869, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.10111 + "right_min_dist_m": null }, { "frame": 45, @@ -4312,12 +4453,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.07356, + "left_min_dist_m": 0.20214, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.09277 + "right_min_dist_m": 0.12337 }, { "frame": 46, @@ -4325,12 +4466,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.05006, + "left_min_dist_m": 0.16073, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.0804 + "right_min_dist_m": 0.17395 }, { "frame": 47, @@ -4338,12 +4479,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.05638, + "left_min_dist_m": 0.10685, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.06985 + "right_min_dist_m": 0.18236 }, { "frame": 48, @@ -4351,12 +4492,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.03897, + "left_min_dist_m": 0.10562, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.06941 + "right_min_dist_m": 0.17374 }, { "frame": 49, @@ -4364,12 +4505,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.03177, + "left_min_dist_m": 0.11278, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.058 + "right_min_dist_m": 0.07459 }, { "frame": 50, @@ -4377,25 +4518,25 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.0415, + "left_min_dist_m": 0.09877, "right_contact_from_measured_joint": false, - "right_contact_strength": 0.0, + "right_contact_strength": 0.5, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.04647 + "right_min_dist_m": 0.04764 }, { "frame": 51, "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": 0.03745, + "left_min_dist_m": 0.03187, "right_contact_from_measured_joint": false, - "right_contact_strength": 0.0, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.04397 + "right_min_dist_m": 0.03918 }, { "frame": 52, @@ -4403,12 +4544,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.02747, + "left_min_dist_m": 0.02637, "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.02683 + "right_min_dist_m": 0.05367 }, { "frame": 53, @@ -4416,12 +4557,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.00853, + "left_min_dist_m": 0.0163, "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.01126 + "right_min_dist_m": 0.01611 }, { "frame": 54, @@ -4429,12 +4570,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.00375, + "left_min_dist_m": 0.01661, "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.0127 + "right_min_dist_m": 0.00948 }, { "frame": 55, @@ -4442,12 +4583,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.01705, + "left_min_dist_m": 0.02212, "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.01489 + "right_min_dist_m": 0.00702 }, { "frame": 56, @@ -4455,12 +4596,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.01561, + "left_min_dist_m": 0.00793, "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.01565 + "right_min_dist_m": 0.0191 }, { "frame": 57, @@ -4468,12 +4609,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.01524, + "left_min_dist_m": 0.01257, "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.01853 + "right_min_dist_m": 0.00888 }, { "frame": 58, @@ -4481,12 +4622,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.00912, + "left_min_dist_m": 0.00686, "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.02313 + "right_min_dist_m": 0.01664 }, { "frame": 59, @@ -4494,12 +4635,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.01015, + "left_min_dist_m": 0.01058, "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.02067 + "right_min_dist_m": 0.02439 }, { "frame": 60, @@ -4507,12 +4648,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.00882, + "left_min_dist_m": 0.01112, "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.0078 + "right_min_dist_m": 0.01108 }, { "frame": 61, @@ -4520,38 +4661,38 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.0112, + "left_min_dist_m": 0.00504, "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.00654 + "right_min_dist_m": 0.01942 }, { "frame": 62, - "left_contact_from_measured_joint": false, + "left_contact_from_measured_joint": true, "left_contact_strength": 1.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": 0.00429, - "right_contact_from_measured_joint": false, + "left_grasp_fsm_state": "CLOSING", + "left_in_contact": true, + "left_min_dist_m": 0.00761, + "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "OPEN", - "right_in_contact": false, - "right_min_dist_m": 0.00882 + "right_grasp_fsm_state": "CLOSING", + "right_in_contact": true, + "right_min_dist_m": 0.00769 }, { "frame": 63, "left_contact_from_measured_joint": true, "left_contact_strength": 1.0, - "left_grasp_fsm_state": "CLOSING", + "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00474, + "left_min_dist_m": 0.00867, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSING", + "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00324 + "right_min_dist_m": 0.01419 }, { "frame": 64, @@ -4559,12 +4700,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01129, + "left_min_dist_m": 0.00695, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00603 + "right_min_dist_m": 0.01424 }, { "frame": 65, @@ -4572,12 +4713,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01357, + "left_min_dist_m": 0.00696, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00626 + "right_min_dist_m": 0.00794 }, { "frame": 66, @@ -4585,12 +4726,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02635, + "left_min_dist_m": 0.00743, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00482 + "right_min_dist_m": 0.01585 }, { "frame": 67, @@ -4598,12 +4739,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.026, + "left_min_dist_m": 0.00794, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00428 + "right_min_dist_m": 0.01243 }, { "frame": 68, @@ -4611,12 +4752,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02691, + "left_min_dist_m": 0.0094, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00515 + "right_min_dist_m": 0.01513 }, { "frame": 69, @@ -4624,12 +4765,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02515, + "left_min_dist_m": 0.00668, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00507 + "right_min_dist_m": 0.01687 }, { "frame": 70, @@ -4637,12 +4778,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02649, + "left_min_dist_m": 0.0093, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00325 + "right_min_dist_m": 0.01891 }, { "frame": 71, @@ -4650,12 +4791,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01827, + "left_min_dist_m": 0.00954, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00215 + "right_min_dist_m": 0.02241 }, { "frame": 72, @@ -4663,12 +4804,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02857, + "left_min_dist_m": 0.00581, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00287 + "right_min_dist_m": 0.01358 }, { "frame": 73, @@ -4676,12 +4817,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01567, + "left_min_dist_m": 0.00577, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0028 + "right_min_dist_m": 0.01575 }, { "frame": 74, @@ -4689,12 +4830,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01548, + "left_min_dist_m": 0.00831, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00698 + "right_min_dist_m": 0.01103 }, { "frame": 75, @@ -4702,12 +4843,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02877, + "left_min_dist_m": 0.00631, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00648 + "right_min_dist_m": 0.00647 }, { "frame": 76, @@ -4715,12 +4856,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02973, + "left_min_dist_m": 0.00414, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00828 + "right_min_dist_m": 0.00936 }, { "frame": 77, @@ -4728,12 +4869,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0222, + "left_min_dist_m": 0.00791, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01145 + "right_min_dist_m": 0.00744 }, { "frame": 78, @@ -4741,12 +4882,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02645, + "left_min_dist_m": 0.00518, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01634 + "right_min_dist_m": 0.00495 }, { "frame": 79, @@ -4754,12 +4895,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02643, + "left_min_dist_m": 0.00728, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01122 + "right_min_dist_m": 0.00514 }, { "frame": 80, @@ -4767,12 +4908,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02547, + "left_min_dist_m": 0.00544, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01315 + "right_min_dist_m": 0.008 }, { "frame": 81, @@ -4780,12 +4921,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02471, + "left_min_dist_m": 0.00598, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0113 + "right_min_dist_m": 0.0083 }, { "frame": 82, @@ -4793,12 +4934,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02292, + "left_min_dist_m": 0.00858, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00947 + "right_min_dist_m": 0.0071 }, { "frame": 83, @@ -4806,12 +4947,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02128, + "left_min_dist_m": 0.00807, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00754 + "right_min_dist_m": 0.00578 }, { "frame": 84, @@ -4819,12 +4960,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01505, + "left_min_dist_m": 0.01265, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01461 + "right_min_dist_m": 0.00462 }, { "frame": 85, @@ -4832,12 +4973,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0286, + "left_min_dist_m": 0.00933, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00971 + "right_min_dist_m": 0.01068 }, { "frame": 86, @@ -4845,12 +4986,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.03195, + "left_min_dist_m": 0.00686, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00564 + "right_min_dist_m": 0.01129 }, { "frame": 87, @@ -4858,12 +4999,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0272, + "left_min_dist_m": 0.00608, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00875 + "right_min_dist_m": 0.01366 }, { "frame": 88, @@ -4871,12 +5012,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02915, + "left_min_dist_m": 0.01534, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00308 + "right_min_dist_m": 0.01831 }, { "frame": 89, @@ -4884,12 +5025,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.03126, + "left_min_dist_m": 0.00537, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00732 + "right_min_dist_m": 0.00721 }, { "frame": 90, @@ -4897,12 +5038,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01846, + "left_min_dist_m": 0.00654, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00583 + "right_min_dist_m": 0.00561 }, { "frame": 91, @@ -4910,12 +5051,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01572, + "left_min_dist_m": 0.01115, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00848 + "right_min_dist_m": 0.00929 }, { "frame": 92, @@ -4923,12 +5064,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.03357, + "left_min_dist_m": 0.00734, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01111 + "right_min_dist_m": 0.00572 }, { "frame": 93, @@ -4936,12 +5077,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01634, + "left_min_dist_m": 0.00485, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01102 + "right_min_dist_m": 0.00858 }, { "frame": 94, @@ -4949,12 +5090,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01553, + "left_min_dist_m": 0.01017, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00736 + "right_min_dist_m": 0.0051 }, { "frame": 95, @@ -4962,12 +5103,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01639, + "left_min_dist_m": 0.00396, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00329 + "right_min_dist_m": 0.00379 }, { "frame": 96, @@ -4975,12 +5116,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0223, + "left_min_dist_m": 0.00796, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0012 + "right_min_dist_m": 0.01547 }, { "frame": 97, @@ -4988,12 +5129,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0217, + "left_min_dist_m": 0.00443, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00355 + "right_min_dist_m": 0.00742 }, { "frame": 98, @@ -5001,12 +5142,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02168, + "left_min_dist_m": 0.00514, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00787 + "right_min_dist_m": 0.0037 }, { "frame": 99, @@ -5014,12 +5155,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0173, + "left_min_dist_m": 0.00534, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00631 + "right_min_dist_m": 0.00648 }, { "frame": 100, @@ -5027,12 +5168,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01756, + "left_min_dist_m": 0.00222, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00595 + "right_min_dist_m": 0.00618 }, { "frame": 101, @@ -5040,12 +5181,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0194, + "left_min_dist_m": 0.00472, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00764 + "right_min_dist_m": 0.00635 }, { "frame": 102, @@ -5053,12 +5194,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01968, + "left_min_dist_m": 0.00664, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01001 + "right_min_dist_m": 0.00353 }, { "frame": 103, @@ -5066,12 +5207,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02068, + "left_min_dist_m": 0.00545, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01554 + "right_min_dist_m": 0.00596 }, { "frame": 104, @@ -5079,12 +5220,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0205, + "left_min_dist_m": 0.00689, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01771 + "right_min_dist_m": 0.00725 }, { "frame": 105, @@ -5092,12 +5233,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00757, + "left_min_dist_m": 0.00825, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01258 + "right_min_dist_m": 0.00632 }, { "frame": 106, @@ -5105,12 +5246,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01361, + "left_min_dist_m": 0.00751, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01087 + "right_min_dist_m": 0.00492 }, { "frame": 107, @@ -5118,12 +5259,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01469, + "left_min_dist_m": 0.00865, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01586 + "right_min_dist_m": 0.00673 }, { "frame": 108, @@ -5131,12 +5272,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02241, + "left_min_dist_m": 0.00514, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01811 + "right_min_dist_m": 0.00992 }, { "frame": 109, @@ -5144,12 +5285,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02038, + "left_min_dist_m": 0.00621, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0184 + "right_min_dist_m": 0.00485 }, { "frame": 110, @@ -5157,12 +5298,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0197, + "left_min_dist_m": 0.00583, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01076 + "right_min_dist_m": 0.0078 }, { "frame": 111, @@ -5170,12 +5311,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00994, + "left_min_dist_m": 0.00693, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01091 + "right_min_dist_m": 0.00485 }, { "frame": 112, @@ -5183,12 +5324,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01937, + "left_min_dist_m": 0.00673, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00985 + "right_min_dist_m": 0.00529 }, { "frame": 113, @@ -5196,12 +5337,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01838, + "left_min_dist_m": 0.0066, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00981 + "right_min_dist_m": 0.00401 }, { "frame": 114, @@ -5209,12 +5350,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01794, + "left_min_dist_m": 0.00529, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00999 + "right_min_dist_m": 0.00347 }, { "frame": 115, @@ -5222,12 +5363,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01789, + "left_min_dist_m": 0.00651, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0112 + "right_min_dist_m": 0.01561 }, { "frame": 116, @@ -5235,12 +5376,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01679, + "left_min_dist_m": 0.00691, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01203 + "right_min_dist_m": 0.00655 }, { "frame": 117, @@ -5248,12 +5389,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0181, + "left_min_dist_m": 0.00616, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00617 + "right_min_dist_m": 0.00367 }, { "frame": 118, @@ -5261,12 +5402,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01731, + "left_min_dist_m": 0.01114, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01063 + "right_min_dist_m": 0.01574 }, { "frame": 119, @@ -5274,12 +5415,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01951, + "left_min_dist_m": 0.00913, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01544 + "right_min_dist_m": 0.0042 }, { "frame": 120, @@ -5287,12 +5428,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01745, + "left_min_dist_m": 0.0077, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01409 + "right_min_dist_m": 0.00727 }, { "frame": 121, @@ -5300,12 +5441,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02007, + "left_min_dist_m": 0.00606, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01602 + "right_min_dist_m": 0.00806 }, { "frame": 122, @@ -5313,12 +5454,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01882, + "left_min_dist_m": 0.00705, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01425 + "right_min_dist_m": 0.01382 }, { "frame": 123, @@ -5326,12 +5467,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01879, + "left_min_dist_m": 0.00514, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00803 + "right_min_dist_m": 0.01319 }, { "frame": 124, @@ -5339,12 +5480,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01469, + "left_min_dist_m": 0.00895, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00722 + "right_min_dist_m": 0.01345 }, { "frame": 125, @@ -5352,12 +5493,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01388, + "left_min_dist_m": 0.00503, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00645 + "right_min_dist_m": 0.0136 }, { "frame": 126, @@ -5365,12 +5506,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01835, + "left_min_dist_m": 0.00585, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00405 + "right_min_dist_m": 0.00257 }, { "frame": 127, @@ -5378,12 +5519,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01846, + "left_min_dist_m": 0.0071, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0112 + "right_min_dist_m": 0.00792 }, { "frame": 128, @@ -5391,12 +5532,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00324, + "left_min_dist_m": 0.00494, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01171 + "right_min_dist_m": 0.01016 }, { "frame": 129, @@ -5404,12 +5545,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01635, + "left_min_dist_m": 0.00362, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01078 + "right_min_dist_m": 0.00796 }, { "frame": 130, @@ -5417,12 +5558,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01528, + "left_min_dist_m": 0.00406, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01072 + "right_min_dist_m": 0.01209 }, { "frame": 131, @@ -5430,12 +5571,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0146, + "left_min_dist_m": 0.00512, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00294 + "right_min_dist_m": 0.01178 }, { "frame": 132, @@ -5443,12 +5584,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01521, + "left_min_dist_m": 0.00406, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0109 + "right_min_dist_m": 0.00722 }, { "frame": 133, @@ -5456,12 +5597,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02204, + "left_min_dist_m": 0.00562, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00404 + "right_min_dist_m": 0.00705 }, { "frame": 134, @@ -5469,12 +5610,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01551, + "left_min_dist_m": 0.00285, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00639 + "right_min_dist_m": 0.00622 }, { "frame": 135, @@ -5482,12 +5623,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01644, + "left_min_dist_m": 0.00314, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00622 + "right_min_dist_m": 0.0037 }, { "frame": 136, @@ -5495,12 +5636,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00624, + "left_min_dist_m": 0.0083, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00572 + "right_min_dist_m": 0.00615 }, { "frame": 137, @@ -5508,12 +5649,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01995, + "left_min_dist_m": 0.00717, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00799 + "right_min_dist_m": 0.01075 }, { "frame": 138, @@ -5521,12 +5662,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02004, + "left_min_dist_m": 0.00548, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01618 + "right_min_dist_m": 0.00815 }, { "frame": 139, @@ -5534,12 +5675,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01628, + "left_min_dist_m": 0.00838, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01009 + "right_min_dist_m": 0.00548 }, { "frame": 140, @@ -5547,12 +5688,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02648, + "left_min_dist_m": 0.00646, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01654 + "right_min_dist_m": 0.00514 }, { "frame": 141, @@ -5560,12 +5701,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02306, + "left_min_dist_m": 0.00768, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.02088 + "right_min_dist_m": 0.00878 }, { "frame": 142, @@ -5573,12 +5714,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02528, + "left_min_dist_m": 0.00577, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01719 + "right_min_dist_m": 0.00575 }, { "frame": 143, @@ -5586,12 +5727,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02771, + "left_min_dist_m": 0.00468, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0178 + "right_min_dist_m": 0.007 }, { "frame": 144, @@ -5599,12 +5740,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.03082, + "left_min_dist_m": 0.0052, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01708 + "right_min_dist_m": 0.00794 }, { "frame": 145, @@ -5612,12 +5753,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02831, + "left_min_dist_m": 0.0075, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01312 + "right_min_dist_m": 0.01333 }, { "frame": 146, @@ -5625,12 +5766,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02676, + "left_min_dist_m": 0.00802, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01084 + "right_min_dist_m": 0.01023 }, { "frame": 147, @@ -5638,12 +5779,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02021, + "left_min_dist_m": 0.0046, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01254 + "right_min_dist_m": 0.01586 }, { "frame": 148, @@ -5651,12 +5792,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01655, + "left_min_dist_m": 0.00404, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01046 + "right_min_dist_m": 0.00353 }, { "frame": 149, @@ -5664,12 +5805,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02376, + "left_min_dist_m": 0.00766, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01089 + "right_min_dist_m": 0.0038 }, { "frame": 150, @@ -5677,12 +5818,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0231, + "left_min_dist_m": 0.00629, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01255 + "right_min_dist_m": 0.00949 }, { "frame": 151, @@ -5690,12 +5831,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02216, + "left_min_dist_m": 0.01142, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01187 + "right_min_dist_m": 0.00331 }, { "frame": 152, @@ -5703,12 +5844,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02352, + "left_min_dist_m": 0.00754, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01424 + "right_min_dist_m": 0.00554 }, { "frame": 153, @@ -5716,12 +5857,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02136, + "left_min_dist_m": 0.00826, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01079 + "right_min_dist_m": 0.00618 }, { "frame": 154, @@ -5729,12 +5870,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02293, + "left_min_dist_m": 0.00492, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01902 + "right_min_dist_m": 0.00916 }, { "frame": 155, @@ -5742,12 +5883,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01839, + "left_min_dist_m": 0.00571, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00498 + "right_min_dist_m": 0.00427 }, { "frame": 156, @@ -5755,12 +5896,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01944, + "left_min_dist_m": 0.00608, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01111 + "right_min_dist_m": 0.01234 }, { "frame": 157, @@ -5768,12 +5909,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0205, + "left_min_dist_m": 0.0057, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01292 + "right_min_dist_m": 0.00609 }, { "frame": 158, @@ -5781,12 +5922,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0184, + "left_min_dist_m": 0.00333, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01334 + "right_min_dist_m": 0.00334 }, { "frame": 159, @@ -5794,12 +5935,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02149, + "left_min_dist_m": 0.00545, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00782 + "right_min_dist_m": 0.00402 }, { "frame": 160, @@ -5807,12 +5948,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01868, + "left_min_dist_m": 0.01497, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01365 + "right_min_dist_m": 0.0053 }, { "frame": 161, @@ -5820,12 +5961,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0214, + "left_min_dist_m": 0.00818, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01379 + "right_min_dist_m": 0.00462 }, { "frame": 162, @@ -5833,12 +5974,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02303, + "left_min_dist_m": 0.00705, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01067 + "right_min_dist_m": 0.00321 }, { "frame": 163, @@ -5846,12 +5987,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01935, + "left_min_dist_m": 0.00481, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00997 + "right_min_dist_m": 0.00404 }, { "frame": 164, @@ -5859,90 +6000,90 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01928, + "left_min_dist_m": 0.0033, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0023 + "right_min_dist_m": 0.00357 }, { "frame": 165, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02012, + "left_min_dist_m": 0.00662, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00274 + "right_min_dist_m": 0.00769 }, { "frame": 166, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01863, + "left_min_dist_m": 0.0044, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0088 + "right_min_dist_m": 0.01514 }, { "frame": 167, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02205, + "left_min_dist_m": 0.00206, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00551 + "right_min_dist_m": 0.01336 }, { "frame": 168, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01835, + "left_min_dist_m": 0.00905, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00335 + "right_min_dist_m": 0.02013 }, { "frame": 169, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02092, + "left_min_dist_m": 0.00159, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00391 + "right_min_dist_m": 0.0105 }, { "frame": 170, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02037, + "left_min_dist_m": 0.00643, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.002 + "right_min_dist_m": 0.01249 }, { "frame": 171, @@ -5950,12 +6091,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02063, + "left_min_dist_m": 0.00343, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00345 + "right_min_dist_m": 0.02099 }, { "frame": 172, @@ -5963,12 +6104,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02187, + "left_min_dist_m": 0.00578, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00822 + "right_min_dist_m": 0.00328 }, { "frame": 173, @@ -5976,12 +6117,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02089, + "left_min_dist_m": 0.00411, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0083 + "right_min_dist_m": 0.00704 }, { "frame": 174, @@ -5989,12 +6130,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02007, + "left_min_dist_m": 0.00441, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0068 + "right_min_dist_m": 0.0056 }, { "frame": 175, @@ -6002,12 +6143,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02009, + "left_min_dist_m": 0.0048, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00507 + "right_min_dist_m": 0.00509 }, { "frame": 176, @@ -6015,12 +6156,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02012, + "left_min_dist_m": 0.00528, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01614 + "right_min_dist_m": 0.01574 }, { "frame": 177, @@ -6028,12 +6169,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01833, + "left_min_dist_m": 0.00482, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01128 + "right_min_dist_m": 0.02212 }, { "frame": 178, @@ -6041,12 +6182,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02383, + "left_min_dist_m": 0.00523, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01119 + "right_min_dist_m": 0.01223 }, { "frame": 179, @@ -6054,12 +6195,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01931, + "left_min_dist_m": 0.00507, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.02017 + "right_min_dist_m": 0.01015 }, { "frame": 180, @@ -6067,12 +6208,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0216, + "left_min_dist_m": 0.00213, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01138 + "right_min_dist_m": 0.00723 }, { "frame": 181, @@ -6080,12 +6221,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01892, + "left_min_dist_m": 0.00564, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01479 + "right_min_dist_m": 0.00622 }, { "frame": 182, @@ -6093,12 +6234,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0256, + "left_min_dist_m": 0.00562, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01531 + "right_min_dist_m": 0.00955 }, { "frame": 183, @@ -6106,12 +6247,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.03138, + "left_min_dist_m": 0.00685, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01085 + "right_min_dist_m": 0.00675 }, { "frame": 184, @@ -6119,12 +6260,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01619, + "left_min_dist_m": 0.00573, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01653 + "right_min_dist_m": 0.00729 }, { "frame": 185, @@ -6132,12 +6273,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01558, + "left_min_dist_m": 0.00829, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01674 + "right_min_dist_m": 0.00462 }, { "frame": 186, @@ -6145,12 +6286,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01733, + "left_min_dist_m": 0.00624, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01545 + "right_min_dist_m": 0.0026 }, { "frame": 187, @@ -6158,12 +6299,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02252, + "left_min_dist_m": 0.0053, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01457 + "right_min_dist_m": 0.0032 }, { "frame": 188, @@ -6171,12 +6312,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02221, + "left_min_dist_m": 0.00599, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01284 + "right_min_dist_m": 0.00631 }, { "frame": 189, @@ -6184,12 +6325,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02012, + "left_min_dist_m": 0.00228, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01419 + "right_min_dist_m": 0.00568 }, { "frame": 190, @@ -6197,12 +6338,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02511, + "left_min_dist_m": 0.00354, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0144 + "right_min_dist_m": 0.00723 }, { "frame": 191, @@ -6210,12 +6351,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02266, + "left_min_dist_m": 0.00415, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00518 + "right_min_dist_m": 0.0076 }, { "frame": 192, @@ -6223,12 +6364,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02449, + "left_min_dist_m": 0.00397, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00644 + "right_min_dist_m": 0.00286 }, { "frame": 193, @@ -6236,12 +6377,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01997, + "left_min_dist_m": 0.00508, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01103 + "right_min_dist_m": 0.00275 }, { "frame": 194, @@ -6249,12 +6390,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02214, + "left_min_dist_m": 0.00793, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00748 + "right_min_dist_m": 0.00705 }, { "frame": 195, @@ -6262,12 +6403,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0201, + "left_min_dist_m": 0.00465, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01184 + "right_min_dist_m": 0.00614 }, { "frame": 196, @@ -6275,12 +6416,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0199, + "left_min_dist_m": 0.00287, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01118 + "right_min_dist_m": 0.00286 }, { "frame": 197, @@ -6288,12 +6429,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02085, + "left_min_dist_m": 0.0089, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00885 + "right_min_dist_m": 0.00605 }, { "frame": 198, @@ -6301,12 +6442,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02035, + "left_min_dist_m": 0.00369, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00858 + "right_min_dist_m": 0.00689 }, { "frame": 199, @@ -6314,12 +6455,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02099, + "left_min_dist_m": 0.00518, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00807 + "right_min_dist_m": 0.00814 }, { "frame": 200, @@ -6327,12 +6468,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02451, + "left_min_dist_m": 0.00741, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01164 + "right_min_dist_m": 0.00511 }, { "frame": 201, @@ -6340,12 +6481,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02396, + "left_min_dist_m": 0.00451, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01007 + "right_min_dist_m": 0.00805 }, { "frame": 202, @@ -6353,12 +6494,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.03964, + "left_min_dist_m": 0.00564, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00756 + "right_min_dist_m": 0.01107 }, { "frame": 203, @@ -6366,12 +6507,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.03449, + "left_min_dist_m": 0.00547, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01042 + "right_min_dist_m": 0.01168 }, { "frame": 204, @@ -6379,649 +6520,649 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02749, + "left_min_dist_m": 0.00848, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00762 + "right_min_dist_m": 0.00784 }, { "frame": 205, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02866, + "left_min_dist_m": 0.00374, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00411 + "right_min_dist_m": 0.00871 }, { "frame": 206, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.04488, + "left_min_dist_m": 0.00383, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00625 + "right_min_dist_m": 0.00709 }, { "frame": 207, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.04435, + "left_min_dist_m": 0.00493, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00938 + "right_min_dist_m": 0.00785 }, { "frame": 208, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.03529, + "left_min_dist_m": 0.00438, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00512 + "right_min_dist_m": 0.00701 }, { "frame": 209, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.05418, + "left_min_dist_m": 0.00306, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01012 + "right_min_dist_m": 0.00888 }, { "frame": 210, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.05824, + "left_min_dist_m": 0.00383, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01148 + "right_min_dist_m": 0.00783 }, { "frame": 211, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.06142, + "left_min_dist_m": 0.00762, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.004 + "right_min_dist_m": 0.00446 }, { "frame": 212, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0625, + "left_min_dist_m": 0.0077, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00949 + "right_min_dist_m": 0.00572 }, { "frame": 213, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.05648, + "left_min_dist_m": 0.00706, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01021 + "right_min_dist_m": 0.00278 }, { "frame": 214, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.06887, + "left_min_dist_m": 0.0066, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00681 + "right_min_dist_m": 0.00408 }, { "frame": 215, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.07167, + "left_min_dist_m": 0.00287, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01122 + "right_min_dist_m": 0.00648 }, { "frame": 216, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.07796, + "left_min_dist_m": 0.00532, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00779 + "right_min_dist_m": 0.00642 }, { "frame": 217, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.08066, + "left_min_dist_m": 0.00358, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0083 + "right_min_dist_m": 0.00519 }, { "frame": 218, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.08283, + "left_min_dist_m": 0.00919, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00836 + "right_min_dist_m": 0.00478 }, { "frame": 219, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPENING", - "left_in_contact": false, - "left_min_dist_m": 0.06815, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.00484, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00712 + "right_min_dist_m": 0.00625 }, { "frame": 220, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": 0.07065, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.00558, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00844 + "right_min_dist_m": 0.00906 }, { "frame": 221, - 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"left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": 0.03794, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.00616, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01065 + "right_min_dist_m": 0.00308 }, { "frame": 253, "left_contact_from_measured_joint": true, "left_contact_strength": 1.0, - "left_grasp_fsm_state": "CLOSING", + "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02566, + "left_min_dist_m": 0.00583, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00664 + "right_min_dist_m": 0.00463 }, { "frame": 254, @@ -7029,12 +7170,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.03271, + "left_min_dist_m": 0.01026, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01034 + "right_min_dist_m": 0.00573 }, { "frame": 255, @@ -7042,12 +7183,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.04426, + "left_min_dist_m": 0.01091, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01118 + "right_min_dist_m": 0.00857 }, { "frame": 256, @@ -7055,12 +7196,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.04347, + "left_min_dist_m": 0.01039, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00437 + "right_min_dist_m": 0.00492 }, { "frame": 257, @@ -7068,12 +7209,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.04386, + "left_min_dist_m": 0.0095, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01109 + "right_min_dist_m": 0.00452 }, { "frame": 258, @@ -7081,12 +7222,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0388, + "left_min_dist_m": 0.01054, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01036 + "right_min_dist_m": 0.00744 }, { "frame": 259, @@ -7094,12 +7235,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0261, + "left_min_dist_m": 0.00563, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00952 + "right_min_dist_m": 0.00823 }, { "frame": 260, @@ -7107,12 +7248,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02743, + "left_min_dist_m": 0.00533, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01205 + "right_min_dist_m": 0.00794 }, { "frame": 261, @@ -7120,12 +7261,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02641, + "left_min_dist_m": 0.00323, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01087 + "right_min_dist_m": 0.00414 }, { "frame": 262, @@ -7133,12 +7274,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02501, + "left_min_dist_m": 0.00503, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00935 + "right_min_dist_m": 0.00383 }, { "frame": 263, @@ -7146,12 +7287,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02547, + "left_min_dist_m": 0.00492, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00975 + "right_min_dist_m": 0.00794 }, { "frame": 264, @@ -7159,12 +7300,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.03262, + "left_min_dist_m": 0.00643, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00771 + "right_min_dist_m": 0.00707 }, { "frame": 265, @@ -7172,12 +7313,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.04869, + "left_min_dist_m": 0.00529, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01001 + "right_min_dist_m": 0.00504 }, { "frame": 266, @@ -7185,12 +7326,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.04007, + "left_min_dist_m": 0.00414, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00647 + "right_min_dist_m": 0.00707 }, { "frame": 267, @@ -7198,12 +7339,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.03144, + "left_min_dist_m": 0.00725, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00705 + "right_min_dist_m": 0.00741 }, { "frame": 268, @@ -7211,12 +7352,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02157, + "left_min_dist_m": 0.00429, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00385 + "right_min_dist_m": 0.00699 }, { "frame": 269, @@ -7224,12 +7365,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02258, + "left_min_dist_m": 0.0044, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00535 + "right_min_dist_m": 0.00681 }, { "frame": 270, @@ -7237,12 +7378,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.03993, + "left_min_dist_m": 0.01051, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.02224 + "right_min_dist_m": 0.00437 }, { "frame": 271, @@ -7250,12 +7391,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.03607, + "left_min_dist_m": 0.00424, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.02673 + "right_min_dist_m": 0.00628 }, { "frame": 272, @@ -7263,12 +7404,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02687, + "left_min_dist_m": 0.01193, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.03888 + "right_min_dist_m": 0.00782 }, { "frame": 273, @@ -7276,12 +7417,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02733, + "left_min_dist_m": 0.01175, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.03915 + "right_min_dist_m": 0.00834 }, { "frame": 274, @@ -7289,12 +7430,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.03763, + "left_min_dist_m": 0.01315, "right_contact_from_measured_joint": true, - "right_contact_strength": 0.0, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.04513 + "right_min_dist_m": 0.00716 }, { "frame": 275, @@ -7302,12 +7443,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01418, + "left_min_dist_m": 0.00203, "right_contact_from_measured_joint": true, - "right_contact_strength": 0.0, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.04565 + "right_min_dist_m": 0.01048 }, { "frame": 276, @@ -7315,12 +7456,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01128, + "left_min_dist_m": 0.01346, "right_contact_from_measured_joint": true, - "right_contact_strength": 0.0, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.03651 + "right_min_dist_m": 0.00744 }, { "frame": 277, @@ -7328,12 +7469,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02622, + "left_min_dist_m": 0.00499, "right_contact_from_measured_joint": true, - "right_contact_strength": 0.5, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.06287 + "right_min_dist_m": 0.00785 }, { "frame": 278, @@ -7341,12 +7482,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0327, + "left_min_dist_m": 0.00266, "right_contact_from_measured_joint": true, - "right_contact_strength": 0.5, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00639 + "right_min_dist_m": 0.00467 }, { "frame": 279, @@ -7354,189 +7495,514 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0268, + "left_min_dist_m": 0.00614, "right_contact_from_measured_joint": true, - "right_contact_strength": 0.5, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.00736 + }, + { + "frame": 280, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.00411, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.00831 + }, + { + "frame": 281, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.00429, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.00491 + }, + { + "frame": 282, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.00295, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.00836 + }, + { + "frame": 283, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.00603, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.00466 + }, + { + "frame": 284, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.00654, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.0085 + }, + { + "frame": 285, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.01452, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.01009 + }, + { + "frame": 286, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.00833, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.01058 + }, + { + "frame": 287, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.0117, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.0141 + }, + { + "frame": 288, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.01181, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.00508 + }, + { + "frame": 289, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.01158, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.00509 + }, + { + "frame": 290, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.00324, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.00229 + }, + { + "frame": 291, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.00325, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.00472 + }, + { + "frame": 292, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.00528, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.00461 + }, + { + "frame": 293, + "left_contact_from_measured_joint": 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"right_in_contact": true, + "right_min_dist_m": 0.00252 + }, + { + "frame": 296, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.01372, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.00477 + }, + { + "frame": 297, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.01346, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.01128 + }, + { + "frame": 298, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.01504, + 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0.00502 + }, + { + "frame": 304, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.00402, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01783 + "right_min_dist_m": 0.00723 }, { - "frame": 280, + "frame": 305, "left_contact_from_measured_joint": true, "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02148, + "left_min_dist_m": 0.00486, "right_contact_from_measured_joint": true, - "right_contact_strength": 0.0, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0465 + "right_min_dist_m": 0.00514 }, { - "frame": 281, + "frame": 306, "left_contact_from_measured_joint": true, "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02446, + "left_min_dist_m": 0.00328, "right_contact_from_measured_joint": true, - "right_contact_strength": 0.0, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.03256 + "right_min_dist_m": 0.0041 }, { - "frame": 282, + "frame": 307, "left_contact_from_measured_joint": true, "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00456, + "left_min_dist_m": 0.01553, "right_contact_from_measured_joint": true, - "right_contact_strength": 0.0, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.08152 + "right_min_dist_m": 0.00423 }, { - "frame": 283, + "frame": 308, "left_contact_from_measured_joint": true, "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00413, + "left_min_dist_m": 0.00457, "right_contact_from_measured_joint": true, - "right_contact_strength": 0.0, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.07604 + "right_min_dist_m": 0.00597 }, { - "frame": 284, + "frame": 309, "left_contact_from_measured_joint": true, "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01063, + "left_min_dist_m": 0.01508, "right_contact_from_measured_joint": true, - "right_contact_strength": 0.0, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.10974 + "right_min_dist_m": 0.00331 }, { - "frame": 285, + "frame": 310, "left_contact_from_measured_joint": true, "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00611, + "left_min_dist_m": 0.01021, "right_contact_from_measured_joint": true, - "right_contact_strength": 0.0, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.13681 + "right_min_dist_m": 0.01011 }, { - "frame": 286, + "frame": 311, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01159, + "left_min_dist_m": 0.00399, "right_contact_from_measured_joint": true, - "right_contact_strength": 0.0, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.18449 + "right_min_dist_m": 0.01384 }, { - "frame": 287, + "frame": 312, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.05097, + "left_min_dist_m": 0.00509, "right_contact_from_measured_joint": true, - "right_contact_strength": 0.0, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.22984 + "right_min_dist_m": 0.01644 }, { - "frame": 288, + "frame": 313, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.08589, + "left_min_dist_m": 0.03047, "right_contact_from_measured_joint": true, - "right_contact_strength": 0.0, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.45593 + "right_min_dist_m": 0.02184 }, { - "frame": 289, + "frame": 314, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.13123, + "left_min_dist_m": 0.01934, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, - "right_grasp_fsm_state": "OPENING", - "right_in_contact": false, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, "right_min_dist_m": null }, { - "frame": 290, + "frame": 315, "left_contact_from_measured_joint": true, "left_contact_strength": 0.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.17947, - "right_contact_from_measured_joint": false, + "left_min_dist_m": 0.11938, + "right_contact_from_measured_joint": true, "right_contact_strength": 0.0, - "right_grasp_fsm_state": "OPEN", - "right_in_contact": false, - "right_min_dist_m": null + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.12039 }, { - "frame": 291, + "frame": 316, "left_contact_from_measured_joint": true, "left_contact_strength": 0.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.14186, - "right_contact_from_measured_joint": false, + "left_min_dist_m": 0.13713, + "right_contact_from_measured_joint": true, "right_contact_strength": 0.0, - "right_grasp_fsm_state": "OPEN", - "right_in_contact": false, - "right_min_dist_m": null + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.16526 }, { - "frame": 292, + "frame": 317, "left_contact_from_measured_joint": true, "left_contact_strength": 0.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.21147, + "left_min_dist_m": 0.2297, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, - "right_grasp_fsm_state": "OPEN", + "right_grasp_fsm_state": "OPENING", "right_in_contact": false, "right_min_dist_m": null }, { - "frame": 293, - "left_contact_from_measured_joint": false, + "frame": 318, + "left_contact_from_measured_joint": true, "left_contact_strength": 0.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": null, + "left_min_dist_m": 0.25773, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -7544,7 +8010,7 @@ "right_min_dist_m": null }, { - "frame": 294, + "frame": 319, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPENING", @@ -7557,111 +8023,7 @@ "right_min_dist_m": null }, { - "frame": 295, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "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 - }, - { - "frame": 296, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "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 - }, - { - "frame": 297, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "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 - }, - { - "frame": 298, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "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 - }, - { - "frame": 299, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "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 - }, - { - "frame": 300, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "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 - }, - { - "frame": 301, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "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 - }, - { - "frame": 302, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "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 - }, - { - "frame": 303, + "frame": 320, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7674,7 +8036,7 @@ "right_min_dist_m": null }, { - "frame": 304, + "frame": 321, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7687,7 +8049,7 @@ "right_min_dist_m": null }, { - "frame": 305, + "frame": 322, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7700,7 +8062,7 @@ "right_min_dist_m": null }, { - "frame": 306, + "frame": 323, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7713,7 +8075,7 @@ "right_min_dist_m": null }, { - "frame": 307, + "frame": 324, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7726,7 +8088,7 @@ "right_min_dist_m": null }, { - "frame": 308, + "frame": 325, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7739,7 +8101,7 @@ "right_min_dist_m": null }, { - "frame": 309, + "frame": 326, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7752,7 +8114,7 @@ "right_min_dist_m": null }, { - "frame": 310, + "frame": 327, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7765,7 +8127,7 @@ "right_min_dist_m": null }, { - "frame": 311, + "frame": 328, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7778,7 +8140,7 @@ "right_min_dist_m": null }, { - "frame": 312, + "frame": 329, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7791,7 +8153,7 @@ "right_min_dist_m": null }, { - "frame": 313, + "frame": 330, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7804,7 +8166,7 @@ "right_min_dist_m": null }, { - "frame": 314, + "frame": 331, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7817,7 +8179,7 @@ "right_min_dist_m": null }, { - "frame": 315, + "frame": 332, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7830,7 +8192,7 @@ "right_min_dist_m": null }, { - "frame": 316, + "frame": 333, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7843,7 +8205,7 @@ "right_min_dist_m": null }, { - "frame": 317, + "frame": 334, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7856,7 +8218,7 @@ "right_min_dist_m": null }, { - "frame": 318, + "frame": 335, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7869,7 +8231,7 @@ "right_min_dist_m": null }, { - "frame": 319, + "frame": 336, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7882,7 +8244,7 @@ "right_min_dist_m": null }, { - "frame": 320, + "frame": 337, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7895,7 +8257,7 @@ "right_min_dist_m": null }, { - "frame": 321, + "frame": 338, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7908,7 +8270,7 @@ "right_min_dist_m": null }, { - "frame": 322, + "frame": 339, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7921,7 +8283,7 @@ "right_min_dist_m": null }, { - "frame": 323, + "frame": 340, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7934,7 +8296,7 @@ "right_min_dist_m": null }, { - "frame": 324, + "frame": 341, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7947,7 +8309,7 @@ "right_min_dist_m": null }, { - "frame": 325, + "frame": 342, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7960,7 +8322,7 @@ "right_min_dist_m": null }, { - "frame": 326, + "frame": 343, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7973,7 +8335,7 @@ "right_min_dist_m": null }, { - "frame": 327, + "frame": 344, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7986,7 +8348,7 @@ "right_min_dist_m": null }, { - "frame": 328, + "frame": 345, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -7999,7 +8361,7 @@ "right_min_dist_m": null }, { - "frame": 329, + "frame": 346, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -8012,7 +8374,7 @@ "right_min_dist_m": null }, { - "frame": 330, + "frame": 347, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -8025,7 +8387,7 @@ "right_min_dist_m": null }, { - "frame": 331, + "frame": 348, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -8038,7 +8400,7 @@ "right_min_dist_m": null }, { - "frame": 332, + "frame": 349, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -8051,7 +8413,7 @@ "right_min_dist_m": null }, { - "frame": 333, + "frame": 350, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -8064,7 +8426,7 @@ "right_min_dist_m": null }, { - "frame": 334, + "frame": 351, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -8077,7 +8439,7 @@ "right_min_dist_m": null }, { - "frame": 335, + "frame": 352, "left_contact_from_measured_joint": false, "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", @@ -8100,14 +8462,14 @@ "history": [ { "action": "submit", - "at": "2026-08-01T16:10:04.580910+00:00", + "at": "2026-08-09T13:36:51.991820+00:00", "by": "reviewer", "from": "draft", "to": "in_review" }, { "action": "approve", - "at": "2026-08-01T16:10:06.733454+00:00", + "at": "2026-08-09T13:36:54.407525+00:00", "by": "reviewer", "from": "in_review", "qa_score": 5, @@ -8117,26 +8479,133 @@ "qa_score": 5, "reviewer_id": "reviewer", "status": "approved", - "updated_at": "2026-08-01T16:10:06.733454+00:00" + "updated_at": "2026-08-09T13:36:54.407525+00:00" }, "reviewed_steps": [ - "keysteps", - "verify" + "keysteps" ], "verified_frames": { + "0": true, + "100": true, + "1000": true, + "10000": true, + "10033": true, + "10067": true, + "10100": true, + "10133": true, + "10167": true, + "10200": true, + "10233": true, + "10267": true, + "10300": true, + "1033": true, + "10333": true, + "10367": true, + "10400": true, + "10433": true, + "10467": true, + "10500": true, + "10533": true, + "10567": true, + "10600": true, + "10633": true, + "10667": true, + "1067": true, + "10700": true, + "10733": true, + "10767": true, + "10800": true, + "10833": true, + "10867": true, + "10900": true, + "10933": true, + "10967": true, + "1100": true, + "11000": true, + "11033": true, + "11067": true, + "11100": true, + "11133": true, + "11167": true, + "11200": true, + "11233": true, + "11267": true, + "11300": true, + "1133": true, + "11333": true, + "11367": true, + "11400": true, + "11433": true, + "11467": true, + "11500": true, + "11533": true, + "11567": true, + "11600": true, + "11633": true, + "11667": true, + "1167": true, + "11700": true, + "11733": true, + "1200": true, + "1233": true, + "1267": true, + "1300": true, + "133": true, + "1333": true, + "1367": true, + "1400": true, + "1433": true, + "1467": true, + "1500": true, "1533": true, "1567": true, "1600": true, "1633": true, "1667": true, + "167": true, + "1700": true, + "1733": true, + "1767": true, + "1800": true, + "1833": true, + "1867": true, + "1900": true, + "1933": true, + "1967": true, + "200": true, + "2000": true, + "2033": true, + "2067": true, + "2100": true, + "2133": true, + "2167": true, "2200": true, "2233": true, + "2267": true, + "2300": true, + "233": true, + "2333": true, + "2367": true, "2400": true, + "2433": true, + "2467": true, + "2500": true, + "2533": true, "2567": true, + "2600": true, + "2633": true, + "2667": true, + "267": true, + "2700": true, + "2733": true, + "2767": true, + "2800": true, + "2833": true, "2867": true, "2900": true, "2933": true, "2967": true, + "300": true, "3000": true, "3033": true, "3067": true, @@ -8146,7 +8615,9 @@ "3200": true, "3233": true, "3267": true, + "33": true, "3300": true, + "333": true, "3333": true, "3367": true, "3400": true, @@ -8158,17 +8629,28 @@ "3600": true, "3633": true, "3667": true, + "367": true, "3700": true, + "3733": true, + "3767": true, + "3800": true, + "3833": true, + "3867": true, "3900": true, "3933": true, "3967": true, + "400": true, "4000": true, "4033": true, "4067": true, "4100": true, "4133": true, "4167": true, + "4200": true, + "4233": true, + "4267": true, "4300": true, + "433": true, "4333": true, "4367": true, "4400": true, @@ -8180,8 +8662,17 @@ "4600": true, "4633": true, "4667": true, + "467": true, "4700": true, + "4733": true, + "4767": true, + "4800": true, + "4833": true, + "4867": true, + "4900": true, + "4933": true, "4967": true, + "500": true, "5000": true, "5033": true, "5067": true, @@ -8192,6 +8683,7 @@ "5233": true, "5267": true, "5300": true, + "533": true, "5333": true, "5367": true, "5400": true, @@ -8203,6 +8695,7 @@ "5600": true, "5633": true, "5667": true, + "567": true, "5700": true, "5733": true, "5767": true, @@ -8212,12 +8705,19 @@ "5900": true, "5933": true, "5967": true, + "600": true, "6000": true, "6033": true, "6067": true, "6100": true, "6133": true, "6167": true, + "6200": true, + "6233": true, + "6267": true, + "6300": true, + "633": true, + "6333": true, "6367": true, "6400": true, "6433": true, @@ -8228,6 +8728,8 @@ "6600": true, "6633": true, "6667": true, + "667": true, + "67": true, "6700": true, "6733": true, "6767": true, @@ -8237,19 +8739,40 @@ "6900": true, "6933": true, "6967": true, + "700": true, + "7000": true, + "7033": true, + "7067": true, "7100": true, "7133": true, "7167": true, "7200": true, "7233": true, + "7267": true, + "7300": true, + "733": true, + "7333": true, + "7367": true, + "7400": true, "7433": true, "7467": true, "7500": true, "7533": true, + "7567": true, + "7600": true, + "7633": true, + "7667": true, + "767": true, + "7700": true, + "7733": true, "7767": true, + "7800": true, + "7833": true, + "7867": true, "7900": true, "7933": true, "7967": true, + "800": true, "8000": true, "8033": true, "8067": true, @@ -8260,18 +8783,29 @@ "8233": true, "8267": true, "8300": true, + "833": true, "8333": true, "8367": true, "8400": true, + "8433": true, + "8467": true, + "8500": true, "8533": true, "8567": true, "8600": true, "8633": true, + "8667": true, + "867": true, + "8700": true, + "8733": true, + "8767": true, + "8800": true, "8833": true, "8867": true, "8900": true, "8933": true, "8967": true, + "900": true, "9000": true, "9033": true, "9067": true, @@ -8282,46 +8816,64 @@ "9233": true, "9267": true, "9300": true, + "933": true, "9333": true, "9367": true, "9400": true, - "9433": true + "9433": true, + "9467": true, + "9500": true, + "9533": true, + "9567": true, + "9600": true, + "9633": true, + "9667": true, + "967": true, + "9700": true, + "9733": true, + "9767": true, + "9800": true, + "9833": true, + "9867": true, + "9900": true, + "9933": true, + "9967": true } }, "task_hierarchy": { "coverage_complete": true, - "goal_echoed_task": false, + "goal_echoed_task": true, "goal_source": "vlm", "grounding_checked": true, "nodes": [ { - "end_time": 7.0, + "end_time": 4.5, "is_essential": true, "keystep_ref": 0, - "label": "unscrew lid from jar", + "label": "stretch shorts out", "node_id": "e0", "spans": [ { "action_ref": 0, "actor_kind": "both_hands", "confidence": "high", - "end_time": 7.0, - "evidence": "Hands grasp jar and lid, lid rotates and separates from jar opening.", + "end_time": 4.5, + "evidence": "Hands grasp the shorts and pull them horizontally to full width.", "grounded": true, - "label": "unscrew lid from jar", - "object": "lid", + "label": "stretch shorts out", + "object": "shorts", "object_candidates": [ { - "evidence": "Jar is held by one hand while lid is unscrewed.", - "label": "jar", + "evidence": "hands grasp and pull the shorts", + "label": "shorts", "role": "workpiece", "track": true }, { - "evidence": "Lid is grasped and rotated off the jar.", - "label": "lid", - "role": "workpiece", - "track": true + "evidence": "shorts are initially on the table", + "label": "table", + "role": "fixture", + "track": false } ], "span_id": "s0", @@ -8332,105 +8884,113 @@ "sub_goal": null }, { - "end_time": 9.0, + "end_time": 8.5, "is_essential": true, "keystep_ref": 1, - "label": "move lid from jar", + "label": "fold shorts", "node_id": "e1", "spans": [ { "action_ref": 1, - "actor_kind": "right_hand", + "actor_kind": "both_hands", "confidence": "high", - "end_time": 9.0, - "evidence": "Hand lifts and moves the lid away from the jar opening.", + "end_time": 6.5, + "evidence": "Hands bring the two long edges of the shorts together.", "grounded": true, - "label": "move lid from jar", - "object": "lid", + "label": "fold shorts lengthwise", + "object": "shorts", "object_candidates": [ { - "evidence": "Lid is held and moved away from the jar.", - "label": "lid", + "evidence": "hands fold the shorts lengthwise", + "label": "shorts", "role": "workpiece", "track": true - }, - { - "evidence": "Jar remains stationary on the surface.", - "label": "jar", - "role": "container", - "track": false } ], "span_id": "s1", - "start_time": 7.0 + "start_time": 4.5 + }, + { + "action_ref": 2, + "actor_kind": "both_hands", + "confidence": "high", + "end_time": 8.5, + "evidence": "Hands bring the top and bottom edges of the already folded shorts together.", + "grounded": true, + "label": "fold shorts widthwise", + "object": "shorts", + "object_candidates": [ + { + "evidence": "hands fold the shorts widthwise", + "label": "shorts", + "role": "workpiece", + "track": true + } + ], + "span_id": "s2", + "start_time": 6.5 } ], - "start_time": 7.0, + "start_time": 4.5, "sub_goal": null }, { - "end_time": 11.2, + "end_time": 11.767, "is_essential": true, "keystep_ref": 2, - "label": "place lid on surface", + "label": "flatten shorts on table", "node_id": "e2", "spans": [ { - "action_ref": 2, - "actor_kind": "right_hand", + "action_ref": 3, + "actor_kind": "both_hands", "confidence": "high", - "end_time": 11.2, - "evidence": "Hand lowers the lid onto the wooden surface next to the jar.", + "end_time": 11.767, + "evidence": "Both palms press and smooth the folded shorts flat against the table.", "grounded": true, - "label": "place lid on surface", - "object": "lid", + "label": "flatten shorts on table", + "object": "shorts", "object_candidates": [ { - "evidence": "Lid is placed down on the surface.", - "label": "lid", + "evidence": "hands release the shorts onto the table", + "label": "shorts", "role": "workpiece", "track": true }, { - "evidence": "Jar remains stationary on the surface.", - "label": "jar", - "role": "container", - "track": false - }, - { - "evidence": "Lid is placed onto the wooden surface.", - "label": "surface", + "evidence": "the shorts are placed on the table", + "label": "table", "role": "destination", "track": false } ], - "span_id": "s2", - "start_time": 9.0 + "span_id": "s3", + "span_source": "human", + "start_time": 8.5 } ], - "start_time": 9.0, + "start_time": 8.5, "sub_goal": null } ], "span_source": "vlm", - "task_goal": "open jar", + "task_goal": "fold laundry", "task_mismatch": false, "task_mismatch_reason": "", "tracking_mode_proposal": { - "mode": "phase_plan_multi", + "mode": "single_object", "object_labels": [ - "jar", - "lid" + "shorts" ], - "reason": "Both the jar and the lid are manipulated independently during the task." + "reason": "Only one object, the shorts, is actively manipulated throughout the clip." }, "version": "0.1.0", - "vlm_goal": "open jar", + "vlm_goal": "fold laundry", "vlm_model": "gemini-2.5-flash" }, "visibility": { "hand_occlusion": { - "n_frames": 336, + "n_frames": 353, "n_left_occluded": 6, "n_right_occluded": 6, "note": "A hand-occluded frame means the hand mask is absent while the object is present and the hand is present nearby \u2014 MediaPipe keypoints there are low-trust (the flag GATES them; keypoints are not re-run).", @@ -8592,17 +9152,17 @@ }, { "frame": 31, - "left_occluded": true, + "left_occluded": false, "right_occluded": false }, { "frame": 32, - "left_occluded": true, + "left_occluded": false, "right_occluded": false }, { "frame": 33, - "left_occluded": true, + "left_occluded": false, "right_occluded": false }, { @@ -8622,18 +9182,18 @@ }, { "frame": 37, - "left_occluded": false, - "right_occluded": true + "left_occluded": true, + "right_occluded": false }, { "frame": 38, - "left_occluded": false, - "right_occluded": true + "left_occluded": true, + "right_occluded": false }, { "frame": 39, - "left_occluded": false, - "right_occluded": true + "left_occluded": true, + "right_occluded": false }, { "frame": 40, @@ -8643,17 +9203,17 @@ { "frame": 41, "left_occluded": false, - "right_occluded": false + "right_occluded": true }, { "frame": 42, "left_occluded": false, - "right_occluded": false + "right_occluded": true }, { "frame": 43, "left_occluded": false, - "right_occluded": false + "right_occluded": true }, { "frame": 44, @@ -9883,17 +10443,17 @@ { "frame": 289, "left_occluded": false, - "right_occluded": true + "right_occluded": false }, { "frame": 290, "left_occluded": false, - "right_occluded": true + "right_occluded": false }, { "frame": 291, "left_occluded": false, - "right_occluded": true + "right_occluded": false }, { "frame": 292, @@ -9907,17 +10467,17 @@ }, { "frame": 294, - "left_occluded": true, + "left_occluded": false, "right_occluded": false }, { "frame": 295, - "left_occluded": true, + "left_occluded": false, "right_occluded": false }, { "frame": 296, - "left_occluded": true, + "left_occluded": false, "right_occluded": false }, { @@ -10023,26 +10583,26 @@ { "frame": 317, "left_occluded": false, - "right_occluded": false + "right_occluded": true }, { "frame": 318, "left_occluded": false, - "right_occluded": false + "right_occluded": true }, { "frame": 319, - "left_occluded": false, - "right_occluded": false + "left_occluded": true, + "right_occluded": true }, { "frame": 320, - "left_occluded": false, + "left_occluded": true, "right_occluded": false }, { "frame": 321, - "left_occluded": false, + "left_occluded": true, "right_occluded": false }, { @@ -10114,6 +10674,91 @@ "frame": 335, "left_occluded": false, "right_occluded": false + }, + { + "frame": 336, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 337, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 338, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 339, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 340, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 341, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 342, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 343, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 344, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 345, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 346, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 347, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 348, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 349, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 350, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 351, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 352, + "left_occluded": false, + "right_occluded": false } ], "version": "0.2", @@ -10122,21 +10767,21 @@ "object": { "conf_threshold": 0.5, "n_absent": 0, - "n_frames": 336, + "n_frames": 353, "n_low_conf": 0, "n_objects": 1, "n_occluded": 0, - "n_visible": 336, + "n_visible": 353, "object_ids": [ "1" ], "objects": [ { "n_absent": 0, - "n_frames": 336, + "n_frames": 353, "n_low_conf": 0, "n_occluded": 0, - "n_visible": 336, + "n_visible": 353, "object_id": "1", "per_frame": [ { @@ -11818,6 +12463,91 @@ "confidence": 1.0, "frame": 335, "state": "visible" + }, + { + "confidence": 1.0, + "frame": 336, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 337, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 338, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 339, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 340, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 341, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 342, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 343, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 344, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 345, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 346, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 347, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 348, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 349, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 350, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 351, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 352, + "state": "visible" } ] } @@ -13502,6 +14232,91 @@ "confidence": 1.0, "frame": 335, "state": "visible" + }, + { + "confidence": 1.0, + "frame": 336, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 337, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 338, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 339, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 340, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 341, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 342, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 343, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 344, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 345, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 346, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 347, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 348, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 349, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 350, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 351, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 352, + "state": "visible" } ], "scene_level_union": true, @@ -13518,14 +14333,14 @@ "frame_rate": null, "has_mano_params": true, "joints_per_hand": 21, - "n_frames": 336, + "n_frames": 353, "source": "hamer", "world_frame_available": false }, "hand_pose_path": "hamer.npz", "hand_segmentation": { "frame_rate": null, - "n_frames": 336, + "n_frames": 353, "n_objects": 2, "obj_id_to_handedness": { "0": "left", @@ -13538,43 +14353,43 @@ "keysteps": [ { "best_view": "ego", - "end_time": 7.0, + "end_time": 4.5, "is_essential": true, "keystep_timing_source": "human", "start_time": 0.0, - "step_description": "unscrew lid from jar", + "step_description": "stretch shorts out", "step_id": 0, - "step_name": "unscrew lid from jar", - "step_unique_id": 55029872085842 + "step_name": "stretch shorts out", + "step_unique_id": 2191387116819 }, { "best_view": "ego", - "end_time": 9.0, + "end_time": 8.5, "is_essential": true, "keystep_timing_source": "human", - "start_time": 7.0, - "step_description": "move lid from jar", + "start_time": 4.5, + "step_description": "fold shorts", "step_id": 1, - "step_name": "move lid from jar", - "step_unique_id": 46414770045216 + "step_name": "fold shorts", + "step_unique_id": 5180608659632 }, { "best_view": "ego", - "end_time": 11.2, + "end_time": 11.767, "is_essential": true, "keystep_timing_source": "human", - "start_time": 9.0, - "step_description": "place lid on surface", + "start_time": 8.5, + "step_description": "flatten shorts on table", "step_id": 2, - "step_name": "place lid on surface", - "step_unique_id": 189686539578320 + "step_name": "flatten shorts on table", + "step_unique_id": 271269009150231 } ], "object_segmentation": { - "detected_class": "lid", + "detected_class": "shorts", "detection_score": null, "frame_rate": null, - "n_frames": 336, + "n_frames": 353, "n_objects": 1, "objects": [], "seed_source": "agent_tracker", @@ -13584,11 +14399,11 @@ "participant_id": "M3", "recovery_events": [], "success_status": "success", - "task_id": "jar_open_close", - "task_label": "jar_open_close", + "task_id": "fold_laundry", + "task_label": "fold_laundry", "transcript_path": null, "views": { - "ego": "019fbc1c-81a7-7921-9bd2-aa8973f2959b.mp4", + "ego": "019fc1d0-a295-7b91-a54d-9180e2e55923.mp4", "overhead": null } } \ No newline at end of file diff --git a/episodes/019fc1d3-0c5f-7123-9b23-2b83958011bc/contact_corrections.npz b/episodes/019fc1d3-0c5f-7123-9b23-2b83958011bc/contact_corrections.npz new file mode 100644 index 0000000000000000000000000000000000000000..b99041700264d018c527c51ca864c2ada695f0e8 --- /dev/null +++ b/episodes/019fc1d3-0c5f-7123-9b23-2b83958011bc/contact_corrections.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:543c8378142351a3a0340f975a0af1aa171ff5e5127090ee0c99eab9eaee0735 +size 2256 diff --git a/episodes/019fc1d3-0c5f-7123-9b23-2b83958011bc/depth_geometry.json b/episodes/019fc1d3-0c5f-7123-9b23-2b83958011bc/depth_geometry.json new file mode 100644 index 0000000000000000000000000000000000000000..7e2b37efd025b4acdbab7fe9115bd577d0db5c0a --- /dev/null +++ b/episodes/019fc1d3-0c5f-7123-9b23-2b83958011bc/depth_geometry.json @@ -0,0 +1,62 @@ +{ + "sensor": "iphone_lidar_arkit", + "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth grid, untouched); observation.images.ego is 512x384 \u2014 ONE uniform downscale of the native RGB, so ego is EXACTLY 2x the depth grid: ego[y, x], mask[y, x] and depth[y//2, x//2] are the same ray. Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "depth_resolution_hw": [ + 256, + 192 + ], + "ego_obs_resolution_hw": [ + 512, + 384 + ], + "ego_to_depth_scale": 2.0, + "raster_rotation": "ccw90", + "display_hint": "rotate 90\u00b0 CW to view upright", + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 0 quarter-turn(s); gravity-verified at export)", + "rgb_native_resolution_hw": [ + 1440, + 1920 + ], + "depth_output_unit_default": "mm (LeRobot depth_output_unit default; pass --dataset.depth_output_unit m to load metres)", + "raw_depth_reference": "openego_sidecar.json + data/annotations//depth.npz (lossless)", + "arkit_rgb_intrinsics_3x3": [ + [ + 1370.4141845703125, + 0.0, + 713.6088256835938 + ], + [ + 0.0, + 1370.4141845703125, + 959.791259765625 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics_frame": "shipped raster (post-rotation)", + "depth_intrinsics_3x3": [ + [ + 182.72189127604167, + 0.0, + 95.14784342447916 + ], + [ + 0.0, + 182.72189127604167, + 127.97216796875 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "depth_intrinsics_scale_xy": [ + 0.13333333333333333, + 0.13333333333333333 + ], + "intrinsics_source": "record3d_arkit (median of per-frame, via chokepoint)" +} \ No newline at end of file diff --git a/episodes/019fc1d3-0c5f-7123-9b23-2b83958011bc/hand_object_contact.npz b/episodes/019fc1d3-0c5f-7123-9b23-2b83958011bc/hand_object_contact.npz new file mode 100644 index 0000000000000000000000000000000000000000..6a8071d60c255ffa85dbb0e8029e79b58e1f7956 --- /dev/null +++ b/episodes/019fc1d3-0c5f-7123-9b23-2b83958011bc/hand_object_contact.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c795a8058d65b534f35f4468dc89a169282b8da30290b4df15358a6eff08d66 +size 17997 diff --git a/episodes/019fc1d3-0c5f-7123-9b23-2b83958011bc/language_spans.json b/episodes/019fc1d3-0c5f-7123-9b23-2b83958011bc/language_spans.json new file mode 100644 index 0000000000000000000000000000000000000000..c59361952c6042dfbce3f183ccd8089dc7950d8e --- /dev/null +++ b/episodes/019fc1d3-0c5f-7123-9b23-2b83958011bc/language_spans.json @@ -0,0 +1,73 @@ +{ + "task": "sweep", + "n_spans": 3, + "n_keysteps": 3, + "spans": [ + { + "start_s": 0.0, + "end_s": 3.5, + "label": "pick up brush and dustpan from table", + "objects": [ + "brush and dustpan" + ], + "actors": [ + "both_hands" + ], + "source": "human", + "confidence": "high", + "grounded": true, + "evidence": "Both hands lift the nested brush and dustpan from the table." + }, + { + "start_s": 3.5, + "end_s": 7.5, + "label": "sweep debris into dustpan", + "objects": [ + "debris" + ], + "actors": [ + "both_hands" + ], + "source": "human", + "confidence": "high", + "grounded": true, + "evidence": "Brush pushes the crumpled object from the table surface into the dustpan." + }, + { + "start_s": 7.5, + "end_s": 11.717, + "label": "place brush and dustpan on table", + "objects": [ + "brush and dustpan" + ], + "actors": [ + "both_hands" + ], + "source": "human", + "confidence": "high", + "grounded": true, + "evidence": "The brush and dustpan are set down together on the table." + } + ], + "keysteps": [ + { + "start_s": 0.0, + "end_s": 3.5, + "description": "grasp brush from table", + "essential": true + }, + { + "start_s": 3.5, + "end_s": 7.5, + "description": "sweep object into dustpan", + "essential": true + }, + { + "start_s": 7.5, + "end_s": 11.717, + "description": "release brush and dustpan", + "essential": true + } + ], + "note": "Time-aligned sub-step language \u2014 the VLM-partitioned action `spans` (label + objects + actors + VLM evidence/confidence/grounded) and the coarser `keysteps`. This is a RIDER, not per-frame: the LeRobot `task` column stays the static high-level goal so it never flips frame-to-frame; use these spans for language-conditioned / sub-goal training by joining on the `timestamp` (seconds). A span with `grounded=false` or a low `confidence` is an honest low-trust label \u2014 filter accordingly." +} \ No newline at end of file diff --git a/episodes/019fc1d3-0c5f-7123-9b23-2b83958011bc/object_mask.npz b/episodes/019fc1d3-0c5f-7123-9b23-2b83958011bc/object_mask.npz new file mode 100644 index 0000000000000000000000000000000000000000..0c1b19563796e08d5d6648b675a8bca281bd3217 --- /dev/null +++ b/episodes/019fc1d3-0c5f-7123-9b23-2b83958011bc/object_mask.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d02862a3951832fcbdd2a4e3e853368723ded7ec86e18c8ec51f3517f9fa14af +size 7515586 diff --git a/episodes/019fc1d3-0c5f-7123-9b23-2b83958011bc/object_object_contact.npz b/episodes/019fc1d3-0c5f-7123-9b23-2b83958011bc/object_object_contact.npz new file mode 100644 index 0000000000000000000000000000000000000000..8a152698b2753e6ebf9d97f0d1a14afcf9f2bf87 --- /dev/null +++ b/episodes/019fc1d3-0c5f-7123-9b23-2b83958011bc/object_object_contact.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aae0a291982ee3cc78920fef196cd30873424341eeb7c435b76568f176dea658 +size 6251 diff --git a/episodes/019fc1d3-0c5f-7123-9b23-2b83958011bc/object_registry.json b/episodes/019fc1d3-0c5f-7123-9b23-2b83958011bc/object_registry.json new file mode 100644 index 0000000000000000000000000000000000000000..98a718966da170db781a4e17cd6d703f4be5d14e --- /dev/null +++ b/episodes/019fc1d3-0c5f-7123-9b23-2b83958011bc/object_registry.json @@ -0,0 +1,17 @@ +{ + "version": "0.1.0", + "objects": [ + { + "object_id": "obj_brush", + "label": "hand brush", + "phrase": "brush", + "color_idx": 1 + }, + { + "object_id": "obj_dustpan", + "label": "dustpan", + "phrase": "dustpan", + "color_idx": 3 + } + ] +} \ No newline at end of file diff --git a/episodes/019fc1d3-0c5f-7123-9b23-2b83958011bc/openego_sidecar.json b/episodes/019fc1d3-0c5f-7123-9b23-2b83958011bc/openego_sidecar.json new file mode 100644 index 0000000000000000000000000000000000000000..fe30403ac50f59c94df183727b6e12851bf59226 --- /dev/null +++ b/episodes/019fc1d3-0c5f-7123-9b23-2b83958011bc/openego_sidecar.json @@ -0,0 +1,37907 @@ +{ + "actions": [ + { + "actors": [ + "both_hands" + ], + "end_timestamp": 3.5, + "extensions": { + "actor_source": "motion", + "object_source": "human", + "span_id": "s0", + "span_source": "human", + "vlm_confidence": "high", + "vlm_evidence": "Both hands lift the nested brush and dustpan from the table.", + "vlm_grounded": true, + "vlm_object_candidates": [ + { + "evidence": "right hand grasps brush", + "label": "brush", + "role": "tool", + "track": true + }, + { + "evidence": "left hand holds dustpan steady", + "label": "dustpan", + "role": "container", + "track": true + }, + { + "evidence": "visible on dustpan, not directly manipulated yet", + "label": "crumpled object", + "role": "workpiece", + "track": false + } + ] + }, + "label": "pick up brush and dustpan from table", + "narration_uncertain": false, + "objects": [ + "brush and dustpan" + ], + "start_timestamp": 0.0 + }, + { + "actors": [ + "both_hands" + ], + "end_timestamp": 7.5, + "extensions": { + "actor_source": "contact", + "object_source": "human", + "span_id": "s1", + "span_source": "human", + "vlm_confidence": "high", + "vlm_evidence": "Brush pushes the crumpled object from the table surface into the dustpan.", + "vlm_grounded": true, + "vlm_object_candidates": [ + { + "evidence": "object is moved by brush", + "label": "crumpled object", + "role": "workpiece", + "track": true + }, + { + "evidence": "brush is actively sweeping the object", + "label": "brush", + "role": "tool", + "track": true + }, + { + "evidence": "object is swept into the dustpan", + "label": "dustpan", + "role": "destination", + "track": true + } + ] + }, + "label": "sweep debris into dustpan", + "narration_uncertain": false, + "objects": [ + "debris" + ], + "start_timestamp": 3.5 + }, + { + "actors": [ + "both_hands" + ], + "end_timestamp": 11.717, + "extensions": { + "actor_source": "contact", + "object_source": "human", + "span_id": "s2", + "span_source": "human", + "vlm_confidence": "high", + "vlm_evidence": "The brush and dustpan are set down together on the table.", + "vlm_grounded": true, + "vlm_object_candidates": [ + { + "evidence": "Both hands release their grip on the brush and dustpan, moving away from the frame.", + "label": "brush and dustpan", + "role": "workpiece", + "track": false + }, + { + "evidence": "right hand releases brush", + "label": "brush", + "role": "tool", + "track": true + }, + { + "evidence": "left hand releases dustpan", + "label": "dustpan", + "role": "container", + "track": true + }, + { + "evidence": "object remains in dustpan", + "label": "crumpled object", + "role": "workpiece", + "track": false + } + ] + }, + "label": "place brush and dustpan on table", + "narration_uncertain": false, + "objects": [ + "brush and dustpan" + ], + "start_timestamp": 7.5 + } + ], + "annotation_metadata": { + "annotator_id": null, + "auto_annotated_fields": [ + "actions_draft", + "hamer", + "hand_mask", + "mediapipe", + "object_geometry", + "object_segmentation", + "rtmpose", + "whisper" + ], + "extensions": { + "annotator_params": { + "hamer": { + "parameters": { + "bbox_source": "sam3_mask", + "checkpoint": "hamer.ckpt", + "checkpoint_sha256": "e5cc06f294d88a92", + "mano_model": "MANO_RIGHT", + "mano_sha256": "45d60aa3b27ef910", + "mask_box_pad": 0.1, + "model": "hamer_mano21", + "rescale_factor": 2.0, + "source_camera_world_pose_sha256": "1a6920a00e9d0f14b33ec1857a6386b1b7256b5734bec4a794cf73df79bce535", + "source_hand_mask_sha256": "b42f184b76df7e2e635ebecdb1eec69eb979d60e3c1a7591b6000660ed07ba23", + "source_mediapipe_sha256": "77ecddda97a41c3845a2c34b9f65fd027bbbe199a3f9b0eb14879a33289f37d9" + }, + "producer_version": "0.6.0" + }, + "hand_mask": { + "parameters": { + "apply_oversize_flag": true, + "chunk_size": 60, + "hand_seed_source": "agent_mask_tracker", + "hand_tracker_seed": "19865daf021d8751", + "max_frames": null, + "model": "facebook/sam3", + "n_obj_slots": 2, + "one_slot_per_prompt": true, + "post_proc": "kernels", + "prompts": [ + "left hand", + "right hand" + ], + "slot_selection": "agent_hand_mask_tracker", + "start_frame": 0 + }, + "producer_version": "0.4.0" + }, + "mediapipe": { + "parameters": { + "hand_model": "hand_landmarker_float16_v1", + "min_hand_detection_confidence": 0.6, + "min_hand_presence_confidence": 0.5, + "min_tracking_confidence": 0.6, + "num_hands": 2, + "pose_model": "pose_landmarker_full_float16_v1", + "roi_box_pad": 0.1, + "roi_seed": "sam3_hand_mask", + "running_mode": "video", + "source_hand_mask_sha256": "b42f184b76df7e2e635ebecdb1eec69eb979d60e3c1a7591b6000660ed07ba23", + "use_sam3_roi": true + }, + "producer_version": "0.4.0" + }, + "object_geometry": { + "parameters": { + "max_cloud_points": 4096, + "model": "object_geometry_scaffold", + "pose_source": "object_geometry_scaffold", + "source_camera_pose_sha256": "1a6920a00e9d0f14b33ec1857a6386b1b7256b5734bec4a794cf73df79bce535", + "source_depth_sha256": "b3eb8d4c2ee4145a85d5486b1ed3144fc6d62e1e258b678a9755c3c33830d953", + "source_object_mask_sha256": "d02862a3951832fcbdd2a4e3e853368723ded7ec86e18c8ec51f3517f9fa14af" + }, + "producer_version": "0.1.1" + }, + "object_segmentation": { + "parameters": { + "agent_tracker_seed": "aa3b32d414861d72", + "apply_body_fabric_filter": true, + "chunk_size": 60, + "max_frames": null, + "model": "facebook/sam3", + "n_obj_slots": 6, + "one_slot_per_prompt": true, + "phase_plan": "19d027f8ce8333b4", + "post_proc": "kernels", + "prompts": [ + "clothing being folded", + "clothing between hands", + "folded cloth", + "clothing", + "cloth", + "fabric" + ], + "seed_source": "agent_tracker", + "slot_selection": "agent_mask_tracker", + "start_frame": 0, + "stride": 1, + "task_id": "sweep" + }, + "producer_version": "0.8.0" + }, + "whisper": { + "parameters": { + "device": "cpu", + "language": "en", + "model_size": "base", + "no_speech_prob_drop": 0.6, + "vad_filter": true, + "word_timestamps": true + }, + "producer_version": "0.2.0" + } + }, + "assembly": { + "assembled_at": "2026-08-02T15:17:18.879881+00:00", + "contact_source": "recomputed_from_disk", + "from_disk": [ + "hand_mask.npz", + "object_mask.npz", + "whisper.json" + ], + "hand_depth_clip": { + "clip_near_reference_m": 0.2531, + "depth_source": "record3d_lidar", + "n_components_evaluated": 1176, + "n_components_removed": 20, + "n_frames": 703, + "n_frames_touched": 15, + "n_frames_with_depth": 527, + "n_object_protected": 30, + "object_adjacency_gate": "on", + "params": { + "label_stride": 1, + "max_plane_rms_m": 0.03, + "max_surface_offset_m": 0.02, + "min_measured_frac": 0.5, + "min_measured_px": 12, + "min_separation_m": 0.15, + "surface_ring_cells": 3 + }, + "removed": [ + { + "n_measured": 24, + "plane_rms_m": 0.0003, + "ref_z_m": 0.2531, + "row": 99, + "separation_m": 0.2348, + "slot": 0, + 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"z_med_m": 0.6865 + }, + { + "n_measured": 526, + "plane_rms_m": 0.0026, + "ref_z_m": 0.2531, + "row": 609, + "separation_m": 0.46, + "slot": 0, + "surface_offset_m": 0.0039, + "z_med_m": 0.7131 + }, + { + "n_measured": 29, + "plane_rms_m": 0.0005, + "ref_z_m": 0.2531, + "row": 609, + "separation_m": 0.4768, + "slot": 1, + "surface_offset_m": 0.0003, + "z_med_m": 0.73 + }, + { + "n_measured": 52, + "plane_rms_m": 0.0005, + "ref_z_m": 0.2531, + "row": 609, + "separation_m": 0.428, + "slot": 1, + "surface_offset_m": 0.0002, + "z_med_m": 0.6812 + }, + { + "n_measured": 1436, + "plane_rms_m": 0.0006, + "ref_z_m": 0.2531, + "row": 618, + "separation_m": 0.3572, + "slot": 0, + "surface_offset_m": 0.0007, + "z_med_m": 0.6104 + }, + { + "n_measured": 1174, + "plane_rms_m": 0.0005, + "ref_z_m": 0.2531, + "row": 619, + "separation_m": 0.3655, + "slot": 0, + "surface_offset_m": 0.0005, + "z_med_m": 0.6187 + }, + { + "n_measured": 890, + "plane_rms_m": 0.0008, + "ref_z_m": 0.2531, + "row": 620, + "separation_m": 0.3753, + "slot": 0, + "surface_offset_m": 0.0011, + "z_med_m": 0.6284 + }, + { + "n_measured": 148, + "plane_rms_m": 0.0005, + "ref_z_m": 0.2531, + "row": 624, + "separation_m": 0.4029, + "slot": 0, + "surface_offset_m": 0.0008, + "z_med_m": 0.656 + }, + { + "n_measured": 68, + "plane_rms_m": 0.0003, + "ref_z_m": 0.2531, + "row": 625, + "separation_m": 0.409, + "slot": 0, + "surface_offset_m": 0.0003, + "z_med_m": 0.6621 + } + ], + "status": "applied" + }, + "hand_identity_fix": { + "basis": "mediapipe_crop_label", + "calibrated_slot0_label": "left", + "calibration": "seed_anchored_head", + "clip_majority_slot0_label": "left", + "evidence_ambiguity_frac": 0.6358, + "handedness_source": "sam3_slot", + "majority_agrees_with_seed": true, + "n_frames": 703, + "n_frames_disagreeing": 0, + "n_frames_evaluated": 256, + "n_frames_swapped": 0, + "n_runs_swapped": 0, + "params": { + "fps": 60.0, + "median_k": 5, + "min_assoc_margin": 0.25, + "min_conf": 0.7, + "min_kp_in_mask": 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"object_id": "obj_brush", + "phase_id": 0 + }, + { + "interaction_role": "container", + "object_id": "obj_dustpan", + "phase_id": 0 + }, + { + "interaction_role": "tool", + "object_id": "obj_brush", + "phase_id": 1 + }, + { + "interaction_role": "container", + "object_id": "obj_dustpan", + "phase_id": 1 + }, + { + "interaction_role": "tool", + "object_id": "obj_brush", + "phase_id": 2 + }, + { + "interaction_role": "container", + "object_id": "obj_dustpan", + "phase_id": 2 + } + ], + "primary_object_id": null, + "source": "phase_plan_v0.2", + "version": "0.1.0" + }, + "quality_gates": { + "all_passed": true, + "validated_at": "2026-08-10T13:37:14+00:00", + "gates": [ + { + "name": "json_schema", + "passed": true, + "value": "ok", + "threshold": "validates", + "detail": "" + }, + { + "name": "frames_with_hands_pct", + "passed": true, + "value": 99.42, + "threshold": ">= 5% [class=sweep]", + "detail": "presence-conditioned over the actor's active span [103..623] = 521/703 frames (raw all-frames = 73.68%); shipped channel = raw \u2295 hand_mask_corrections" + }, + { + "name": "audio_snr_db", + "passed": true, + "value": null, + "threshold": ">= 5 dB", + "detail": "silent or near-silent" + }, + { + "name": "transcript_density", + "passed": true, + "value": 0.0, + "threshold": ">= 0.5 wps", + "detail": "silent clip" + }, + { + "name": "hand_mask_coverage_pct", + "passed": true, + "value": 2.338, + "threshold": ">= 1%", + "detail": "" + }, + { + "name": "phase_plan_windowing", + "passed": true, + "value": "phase_plan_multi", + "threshold": "slot_selection == phase_plan_multi", + "detail": "" + }, + { + "name": "object_mask_coverage_pct", + "passed": true, + "value": 3.232, + "threshold": ">= 0.5% (per present object) [class=sweep]", + "detail": "per-object (present-frame) coverage: obj_brush=3.232%, obj_dustpan=4.812%" + }, + { + "name": "hand_mask_area_floor_left", + "passed": true, + "value": 2.8592, + "threshold": ">= 0.20% (median, per hand)", + "detail": "" + }, + { + "name": "hand_mask_area_floor_right", + "passed": true, + "value": 2.6851, + "threshold": ">= 0.20% (median, per hand)", + "detail": "" + }, + { + "name": "hand_mask_lr_asymmetry", + "passed": true, + "value": 0.9391, + "threshold": "min/max >= 0.20", + "detail": "" + }, + { + "name": "hand_slot_merge", + "passed": true, + "value": 0, + "threshold": "< 5 consecutive frames with L\u2229R IoU > 0.5", + "detail": "" + }, + { + "name": "object_track_truncated", + "passed": true, + "value": 0, + "threshold": "no tracked object ends while a hand still holds it", + "detail": "" + }, + { + "name": "actor_mirror_consistency", + "passed": true, + "value": 0, + "threshold": "every hierarchy span's actor_kind == its action's actors[0]", + "detail": "" + } + ] + } + }, + "manually_annotated_fields": [], + "models": { + "hamer": null, + "mediapipe": "0.10.35", + "sam2": null, + "whisper": "1.2.1" + }, + "pipeline_version": "0.2.0", + "qa_reviewer_id": "[redacted]", + "qa_score": 5, + "source_experiment": "v0pipeline" + }, + "audio_path": "019fc1d3-0c5f-7123-9b23-2b83958011bc.wav", + "camera_calibration": { + "ego": { + "fps": 60.0, + "intrinsics": [ + [ + 1370.4141845703125, + 0.0, + 959.208740234375 + ], + [ + 0.0, + 1370.4141845703125, + 713.6088256835938 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics_path": null, + "resolution": [ + 1920, + 1440 + ] + }, + "overhead": null + }, + "camera_rig_id": "rig_manila_iphone17pro_chest", + "date_collected": "2026-08-02", + "duration_seconds": 11.716666666666667, + "environment_id": "home_table_pretrip", + "episode_id": "EM1-D4-E04", + "extensions": { + "camera_world_pose": { + "n_frames": 703, + "path": "camera_pose.npz", + "pose_source": "arkit", + "tracking_conf_mean": 1.0 + }, + "depth": { + "confidence_levels": "0=low,1=medium,2=high", + "depth_resolution": [ + 192, + 256 + ], + "depth_source": "record3d_lidar", + "n_frames": 703, + "path": "depth.npz" + }, + "hand_object_contact": { + "confirm_dist_m": 0.05, + "contact_dist_m": 0.03, + "contact_provenance_note": "per-hand 'contact_from_measured_joint' marks whether the joint that drove the contact was depth-MEASURED (depth_fill==0) vs a bone-length/temporal PRIOR-extrapolated point. Spec \u00a79.9: only ~65% of fingertips are depth-valid, so a prior-filled-joint contact is NOT a measurement (rule #7) \u2014 branch on this flag, don't trust the bool alone.", + "debounce": { + "adjacency_dilate_px": 16, + "assert_frames": 24, + "contact_off_m": 0.025, + "contact_on_m": 0.015, + "far_release_confirm_s": 0.25, + "far_release_frames": 157, + "fsm_states": [ + "OPEN", + "CLOSING", + "CLOSED", + "OPENING" + ], + "gate_2d_available": true, + "gate_2d_frames_blocked": 84, + "gate_2d_frames_evaluated": 1031, + "gate_2d_metric": "mask_adjacency", + "grasp_onsets": { + "left": [ + 182 + ], + "right": [ + 399 + ] + }, + "median_window_frames": 5, + "nan_policy": "freeze_hold", + "note": "P4-C2 median pre-filter (NOT EMA) \u2192 P4-C3 Schmitt hysteresis (HOLD in the [on,off] dead-band) \u2192 P4-C4 asymmetric min-dwell (short assert / longer release) \u2192 P4-C5 4-state grasp FSM (edge-triggered, one onset + one release per grasp). A NaN distance never ASSERTS a contact (a depth dropout cannot fabricate a grasp) and \u2014 nan_policy=freeze_hold, CONTACT-OCC-2 \u2014 never RELEASES one: a NaN frame holds the committed state and freezes the pending dwell, so only MEASURED open evidence releases a grasp (occlusion of any length bridges; the OCC-1 validity flag marks those frames not-measurable). A 2D-gate block is enforced separately + harder upstream (contact_3d post-debounce override forces every blocked frame open).", + "release_frames": 30, + "tail_release": { + "channels": [ + { + "cut_frame": 609, + "frames_released": 93, + "hand": "right", + "object_index": 0, + "object_present_frac": 1.0, + "reason": "hand absent from the cut to the end of the clip (never returns, so the freeze is unresolved) while the object stayed tracked", + "released_from_frame": 610, + "tail_frames": 93 + } + ], + "min_tail_frames": 5, + "n_channels_released": 1, + "object_present_frac": 0.8, + "rule": "a freeze that reaches the last frame with the hand absent to the end (never returns) and the object still tracked is closed at the last hand-present frame \u2014 an unresolved freeze is not a bridge. Mid-clip occlusion is untouched (CONTACT-OCC-2)." + }, + "version": "1.1" + }, + "debounce_fps": 60.0, + "debounce_note": "LID3D-7: per_hand_contact is the DEBOUNCED bool \u2014 P4-C1 valid-depth score (a bone-prior-imputed fingertip never votes) AND-gated on the 2D SAM3 hand\u2229object overlap, P4-C2 median pre-filter, P4-C3 Schmitt hysteresis (HOLD in the [contact_on_m, contact_off_m] dead-band), P4-C4 asymmetric min-dwell, P4-C5 grasp FSM. contact_strength + grasp_fsm_state are additive; raw min_dist_m is the un-debounced firewall channel.", + "detected_object": "hand brush", + "direct_contact_shape": [ + 703, + 2, + 2 + ], + "hold_dist_m": 0.12, + "joints_source": "hamer_2d_depth", + "mask_2d": { + "metric": "iou+border_adjacency", + "n_frames_in_contact": 0, + "object_ids": [ + "obj_brush", + "obj_dustpan" + ], + "objects": [ + { + "n_frames_adjacent": 459, + "n_frames_in_contact": 0, + "n_frames_scored": 703, + "n_present_frames": 703, + "object_id": "obj_brush", + "per_frame": 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VALIDATED on two hand-labeled holdouts \u2014 A4 hits F1 0.92-0.96 vs 0.31-0.68 for the old overlap-gated proximity (the overlap gate vetoed 57-82% of real ego contact: a grasping hand is IN FRONT of the object so the masks abut without sharing pixels). contact_dist_m (3cm) is consulted only for the ~9% of depth-MEASURED fingertips; an occluded tip trusts the mask adjacency. Dossier: research/2026-06-25_hand_object_contact_sota.md.", + "threshold_validated": true, + "version": "0.4.3" + }, + "object_geometry": { + "classified_by": "label_keyword_heuristic", + "note": "Per-object metric mask-cloud (centroid_world + extent_m, meters) back-projected from object_mask via depth + camera_pose. Deformable/cloth objects get this cloud ONLY (6-DoF is structurally ill-defined \u2192 cloth_degraded). Rigid objects carry the metric extent but their 6-DoF pose is rigid_deferred (no model-free engine built \u2014 license+GPU gated, P2-3). classified_by is a LEXICAL keyword heuristic, NOT a learned classifier.", + "objects": [ + { + "centroid_world": [ + -0.011630438268184662, + 0.40189969539642334, + 0.12841656804084778 + ], + "classified_by": "label_keyword_heuristic", + "extent_m": [ + 0.15290215611457825, + 0.050788167864084244, + 0.22396349906921387 + ], + "is_deformable": false, + "label": "hand brush", + "n_frames_with_cloud": 703, + "n_present_frames": 703, + "object_id": "obj_brush", + "pose_status": "rigid_deferred" + }, + { + "centroid_world": [ + -0.15188884735107422, + 0.4189808666706085, + 0.14511273801326752 + ], + "classified_by": "label_keyword_heuristic", + "extent_m": [ + 0.20588330924510956, + 0.05563465133309364, + 0.1971476823091507 + ], + "is_deformable": false, + "label": "dustpan", + "n_frames_with_cloud": 703, + "n_present_frames": 703, + "object_id": "obj_dustpan", + "pose_status": "rigid_deferred" + } + ], + "source": "object_geometry_scaffold", + "version": "0.1.0" + }, + "object_object_contact": { + "adjacency_px": 8, + "debounce": { + "assert_frames": 6, + "fps": 60.0, + "median_window_frames": 11, + "release_frames": 12 + }, + "metric": "visible_mask_adjacency+surface_proximity", + "n_frames": 703, + "n_pair_contact_cells": 119, + "npz_path": "object_object_contact.npz", + "object_ids": [ + "obj_brush", + "obj_dustpan" + ], + "pair_dist_m": 0.02, + "provenance": "contact_from_measured_surface=true means both visible object masks yielded LiDAR surface points and proximity confirmed contact; false contact is supported by visible-mask adjacency only", + "version": "0.1.0" + }, + "object_pose": { + "objects": [ + { + "n_present_frames": 703, + "obj_T_world_is_placeholder": true, + "object_id": "obj_brush", + "pose_status": "rigid_deferred" + }, + { + "n_present_frames": 703, + "obj_T_world_is_placeholder": true, + "object_id": 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the native RGB, so ego is EXACTLY 2x the depth grid: ego[y, x], mask[y, x] and depth[y//2, x//2] are the same ray. Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "depth_resolution_hw": [ + 256, + 192 + ], + "ego_obs_resolution_hw": [ + 512, + 384 + ], + "ego_to_depth_scale": 2.0, + "raster_rotation": null, + "display_hint": null, + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 1 quarter-turn(s); gravity-verified at export)", + "rgb_native_resolution_hw": [ + 1920, + 1440 + ], + "depth_output_unit_default": "mm (LeRobot depth_output_unit default; pass --dataset.depth_output_unit m to load metres)", + "raw_depth_reference": "openego_sidecar.json + data/annotations//depth.npz (lossless)", + "arkit_rgb_intrinsics_3x3": [ + [ + 1374.1038818359375, + 0.0, + 726.223388671875 + ], + [ + 0.0, + 1374.1038818359375, + 959.2825927734375 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics_frame": "native raster", + "depth_intrinsics_3x3": [ + [ + 183.21385091145834, + 0.0, + 96.82978515625 + ], + [ + 0.0, + 183.21385091145834, + 127.904345703125 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "depth_intrinsics_scale_xy": [ + 0.13333333333333333, + 0.13333333333333333 + ], + "intrinsics_source": "record3d_arkit (median of per-frame, via chokepoint)" +} \ No newline at end of file diff --git a/episodes/019fc1d4-2816-7400-972c-0a6a7afcead5/hand_object_contact.npz b/episodes/019fc1d4-2816-7400-972c-0a6a7afcead5/hand_object_contact.npz new file mode 100644 index 0000000000000000000000000000000000000000..a6c6c6a12d12ee661fe045b9b124b787f1e2697e --- /dev/null +++ b/episodes/019fc1d4-2816-7400-972c-0a6a7afcead5/hand_object_contact.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd2495e5c293a971a336633e3cb5f75fc5dc9ce09024da0887685868f8d00f79 +size 19120 diff --git a/episodes/019fb7c6-01ed-7ca3-aa35-11b87a8a8402/language_spans.json b/episodes/019fc1d4-2816-7400-972c-0a6a7afcead5/language_spans.json similarity index 51% rename from episodes/019fb7c6-01ed-7ca3-aa35-11b87a8a8402/language_spans.json rename to episodes/019fc1d4-2816-7400-972c-0a6a7afcead5/language_spans.json index c5efb09d4828a1e06bac2f900151857402210a9d..4c737fb16bd62fa84763e2d89a3efabc1edff6ff 100644 --- a/episodes/019fb7c6-01ed-7ca3-aa35-11b87a8a8402/language_spans.json +++ b/episodes/019fc1d4-2816-7400-972c-0a6a7afcead5/language_spans.json @@ -1,59 +1,71 @@ { - "task": "jar_open_close", + "task": "sweep", "n_spans": 3, - "n_keysteps": 1, + "n_keysteps": 3, "spans": [ { "start_s": 0.0, - "end_s": 6.0, - "label": "unscrew lid from jar", + "end_s": 5.0, + "label": "pick up brush and dustpan from table", "objects": [ - "lid" + "brush and dustpan" ], "actors": [ "both_hands" ], - "source": "vlm", + "source": "human", "confidence": "high", "grounded": true, - "evidence": "Hands grasp jar and lid, lid rotates and separates from jar." + "evidence": "Hands enter frame, one hand holds dustpan, other hand grasps brush." }, { - "start_s": 6.0, + "start_s": 5.0, "end_s": 8.0, - "label": "place lid on table", + "label": "sweep debris into dustpan", "objects": [ - "lid" + "debris" ], "actors": [ - "right_hand" + "both_hands" ], - "source": "vlm", + "source": "human", "confidence": "high", "grounded": true, - "evidence": "The right hand lowers the lid onto the table surface beside the jar." + "evidence": "Brush moves white crumpled material into the white dustpan." }, { "start_s": 8.0, - "end_s": 10.5, - "label": "leave lid and jar on table", + "end_s": 12.267, + "label": "place brush and dustpan on table", "objects": [ - "jar" + "brush and dustpan" ], "actors": [ - "right_hand" + "both_hands" ], - "source": "vlm", + "source": "human", "confidence": "high", "grounded": true, - "evidence": "The lid rests on the table next to the jar; both are left stationary as the right hand withdraws." + "evidence": "The dustpan and brush are set down on the table." } ], "keysteps": [ { "start_s": 0.0, - "end_s": 10.5, - "description": "open jar", + "end_s": 5.0, + "description": "pick up dustpan and brush", + "essential": true + }, + { + "start_s": 5.0, + "end_s": 8.0, + "description": "sweep material into dustpan", + "essential": true + }, + { + "start_s": 8.0, + "end_s": 12.267, + "description": "place dustpan and brush on surface", "essential": true } ], diff --git a/episodes/019fc1d4-2816-7400-972c-0a6a7afcead5/object_mask.npz b/episodes/019fc1d4-2816-7400-972c-0a6a7afcead5/object_mask.npz new file mode 100644 index 0000000000000000000000000000000000000000..c01a09cd138de94c417f79ee9726b9900c3b02e6 --- /dev/null +++ b/episodes/019fc1d4-2816-7400-972c-0a6a7afcead5/object_mask.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af298dcb82e9a9a22dd8e487b65ffd6fd4181e72457166de1b1924d4712c48c2 +size 8780203 diff --git a/episodes/019fc1d4-2816-7400-972c-0a6a7afcead5/object_object_contact.npz b/episodes/019fc1d4-2816-7400-972c-0a6a7afcead5/object_object_contact.npz new file mode 100644 index 0000000000000000000000000000000000000000..ac553a6c814bf8c34c2d977ad40c27b522e126cb --- /dev/null +++ b/episodes/019fc1d4-2816-7400-972c-0a6a7afcead5/object_object_contact.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0e6061e562ed9d840eb33d1e0d3f6627bbc16debd30e2a8c1da5cb11d028523 +size 6457 diff --git a/episodes/019fc1d4-2816-7400-972c-0a6a7afcead5/object_registry.json b/episodes/019fc1d4-2816-7400-972c-0a6a7afcead5/object_registry.json new file mode 100644 index 0000000000000000000000000000000000000000..98a718966da170db781a4e17cd6d703f4be5d14e --- /dev/null +++ b/episodes/019fc1d4-2816-7400-972c-0a6a7afcead5/object_registry.json @@ -0,0 +1,17 @@ +{ + "version": "0.1.0", + "objects": [ + { + "object_id": "obj_brush", + "label": "hand brush", + "phrase": "brush", + "color_idx": 1 + }, + { + "object_id": "obj_dustpan", + "label": "dustpan", + "phrase": "dustpan", + "color_idx": 3 + } + ] +} \ No newline at end of file diff --git a/episodes/019fb7c0-1159-7242-9c36-bcac261ec817/openego_sidecar.json b/episodes/019fc1d4-2816-7400-972c-0a6a7afcead5/openego_sidecar.json similarity index 60% rename from episodes/019fb7c0-1159-7242-9c36-bcac261ec817/openego_sidecar.json rename to episodes/019fc1d4-2816-7400-972c-0a6a7afcead5/openego_sidecar.json index b30f25464a2c1add05e6e0d0e7738cd14b67fe1e..4271770cc248e47b91dac4df4a66de43a65f9c46 100644 --- a/episodes/019fb7c0-1159-7242-9c36-bcac261ec817/openego_sidecar.json +++ b/episodes/019fc1d4-2816-7400-972c-0a6a7afcead5/openego_sidecar.json @@ -4,33 +4,46 @@ "actors": [ "both_hands" ], - "end_timestamp": 19.0, + "end_timestamp": 5.0, "extensions": { "actor_source": "contact", - "object_source": "vlm", - "span_source": "vlm", + "object_source": "human", + "span_id": "s0", + "span_source": "human", "vlm_confidence": "high", - "vlm_evidence": "Hands are seen carefully folding the plaid fabric along its length.", + "vlm_evidence": "Hands enter frame, one hand holds dustpan, other hand grasps brush.", "vlm_grounded": true, "vlm_object_candidates": [ { - "evidence": "Hands are directly manipulating the fabric.", - "label": "plaid fabric", + "evidence": "Hands enter frame, one hand holds dustpan, other hand grasps brush.", + "label": "dustpan and brush", "role": "workpiece", + "track": false + }, + { + "evidence": "hand holds dustpan", + "label": "dustpan", + "role": "container", + "track": true + }, + { + "evidence": "hand grasps brush", + "label": "brush", + "role": "tool", "track": true }, { - "evidence": "The fabric is resting on this surface.", - "label": "patterned surface", - "role": "fixture", + "evidence": "material is visible but not yet manipulated", + "label": "crumpled material", + "role": "workpiece", "track": false } ] }, - "label": "fold plaid fabric lengthwise", + "label": "pick up brush and dustpan from table", "narration_uncertain": false, "objects": [ - "plaid fabric" + "brush and dustpan" ], "start_timestamp": 0.0 }, @@ -38,103 +51,95 @@ "actors": [ "both_hands" ], - "end_timestamp": 23.0, + "end_timestamp": 8.0, "extensions": { "actor_source": "contact", - "object_source": "vlm", - "span_source": "vlm", + "object_source": "human", + "span_id": "s1", + "span_source": "human", "vlm_confidence": "high", - "vlm_evidence": "Hands press down and move across the partially folded plaid fabric to smooth it.", + "vlm_evidence": "Brush moves white crumpled material into the white dustpan.", "vlm_grounded": true, "vlm_object_candidates": [ { - "evidence": "Hands are directly manipulating the fabric.", - "label": "folded fabric", + "evidence": "Brush moves white crumpled material into the white dustpan.", + "label": "material", + "role": "workpiece", + "track": false + }, + { + "evidence": "material is moved by brush", + "label": "crumpled material", "role": "workpiece", "track": true }, { - "evidence": "The fabric is resting on this surface.", - "label": "patterned surface", - "role": "fixture", - "track": false + "evidence": "brush sweeps material", + "label": "brush", + "role": "tool", + "track": true + }, + { + "evidence": "dustpan receives material", + "label": "dustpan", + "role": "destination", + "track": true } ] }, - "label": "smooth folded fabric", + "label": "sweep debris into dustpan", "narration_uncertain": false, "objects": [ - "folded fabric" + "debris" ], - "start_timestamp": 19.0 + "start_timestamp": 5.0 }, { "actors": [ "both_hands" ], - "end_timestamp": 29.5, + "end_timestamp": 12.267, "extensions": { "actor_source": "contact", - "object_source": "vlm", - "span_source": "vlm", + "object_source": "human", + "span_id": "s2", + "span_source": "human", "vlm_confidence": "high", - "vlm_evidence": "Hands pick up and fold the already folded plaid fabric into a smaller rectangle.", + "vlm_evidence": "The dustpan and brush are set down on the table.", "vlm_grounded": true, "vlm_object_candidates": [ { - "evidence": "Hands are directly manipulating the fabric.", - "label": "folded fabric", + "evidence": "Hands move away from the dustpan and brush, then exit the frame.", + "label": "dustpan and brush", "role": "workpiece", - "track": true + "track": false }, { - "evidence": "The fabric is resting on this surface.", - "label": "patterned surface", - "role": "fixture", - "track": false - } - ] - }, - "label": "fold folded fabric again", - "narration_uncertain": false, - "objects": [ - "folded fabric" - ], - "start_timestamp": 23.0 - }, - { - "actors": [ - "both_hands" - ], - "end_timestamp": 33.4, - "extensions": { - "actor_source": "default", - "object_source": "vlm", - "span_source": "vlm", - "vlm_confidence": "high", - "vlm_evidence": "Hands move the compactly folded plaid fabric and set it down on the patterned surface.", - "vlm_grounded": true, - "vlm_object_candidates": [ + "evidence": "dustpan is left on surface", + "label": "dustpan", + "role": "container", + "track": true + }, { - "evidence": "Hands are directly manipulating the fabric.", - "label": "folded fabric", - "role": "workpiece", + "evidence": "brush is left on surface", + "label": "brush", + "role": "tool", "track": true }, { - "evidence": "The fabric is placed on this surface.", - "label": "patterned surface", - "role": "destination", + "evidence": "material is inside dustpan, not directly manipulated", + "label": "crumpled material", + "role": "workpiece", "track": false } ] }, - "label": "place folded fabric on surface", + "label": "place brush and dustpan on table", "narration_uncertain": false, "objects": [ - "folded fabric" + "brush and dustpan" ], - "start_timestamp": 29.5 + "start_timestamp": 8.0 } ], "annotation_metadata": { @@ -161,8 +166,9 @@ "mask_box_pad": 0.1, "model": "hamer_mano21", "rescale_factor": 2.0, - "source_hand_mask_sha256": "aba8bc11ebad86d9dbcb3f84bd1ea277d69125c18344cd18c60e002d7dbbe5d6", - "source_mediapipe_sha256": "876f6070a2475a7f5528bc71878a9065c70a5a135c58e6f6cf78b2279c1023a7" + "source_camera_world_pose_sha256": "da20b15887ac14dcda64d1c23956d4eb8fc4df6d5ce53859b51bced14444cfaf", + "source_hand_mask_sha256": "6f092f225bc8e02ddeb27634437a0b8d4a86171dd5306742f2530ed1f10aeb5b", + "source_mediapipe_sha256": "d3cdedb6abc604951d3bc09491dcfffa3877f79386590babdfe35216a3292944" }, "producer_version": "0.6.0" }, @@ -171,7 +177,7 @@ "apply_oversize_flag": true, "chunk_size": 60, "hand_seed_source": "agent_mask_tracker", - "hand_tracker_seed": "821df28f3652fcbb", + "hand_tracker_seed": "cea802a5d71b74ed", "max_frames": null, "model": "facebook/sam3", "n_obj_slots": 2, @@ -197,7 +203,7 @@ "roi_box_pad": 0.1, "roi_seed": "sam3_hand_mask", "running_mode": "video", - "source_hand_mask_sha256": "aba8bc11ebad86d9dbcb3f84bd1ea277d69125c18344cd18c60e002d7dbbe5d6", + "source_hand_mask_sha256": "6f092f225bc8e02ddeb27634437a0b8d4a86171dd5306742f2530ed1f10aeb5b", "use_sam3_roi": true }, "producer_version": "0.4.0" @@ -207,21 +213,22 @@ "max_cloud_points": 4096, "model": "object_geometry_scaffold", "pose_source": "object_geometry_scaffold", - "source_camera_pose_sha256": "671523065f93fd6cfc5778134317fa7eb7eaef3ae236731e5f4f30d1a590aef7", - "source_depth_sha256": "c6ec81a07ccef68c7edc80ff567d154c668cc93a37f2146d5e53493500db8a4d", - "source_object_mask_sha256": "ed21093eedc9102016b0a3b3fdecd71d50b34c4b8d64ca29023b22a10cec3ec6" + "source_camera_pose_sha256": "da20b15887ac14dcda64d1c23956d4eb8fc4df6d5ce53859b51bced14444cfaf", + "source_depth_sha256": "d4b26e2547c64e7724747bc95a567b92ec51f6ab660b39279f0bf0f6da58ba55", + "source_object_mask_sha256": "af298dcb82e9a9a22dd8e487b65ffd6fd4181e72457166de1b1924d4712c48c2" }, "producer_version": "0.1.1" }, "object_segmentation": { "parameters": { - "agent_tracker_seed": "cbb9b5da5d0b27c5", + "agent_tracker_seed": "69cf9fa75c19cfb7", "apply_body_fabric_filter": true, "chunk_size": 60, "max_frames": null, "model": "facebook/sam3", "n_obj_slots": 6, "one_slot_per_prompt": true, + "phase_plan": "2c08d14c9e241430", "post_proc": "kernels", "prompts": [ "clothing being folded", @@ -235,7 +242,7 @@ "slot_selection": "agent_mask_tracker", "start_frame": 0, "stride": 1, - "task_id": "fold_laundry" + "task_id": "sweep" }, "producer_version": "0.8.0" }, @@ -252,7 +259,7 @@ } }, "assembly": { - "assembled_at": "2026-07-31T12:15:34.248305+00:00", + "assembled_at": "2026-08-02T15:21:04.516146+00:00", "contact_source": "recomputed_from_disk", "from_disk": [ "hand_mask.npz", @@ -260,14 +267,14 @@ "whisper.json" ], "hand_depth_clip": { - "clip_near_reference_m": 0.2056, + "clip_near_reference_m": 0.2673, "depth_source": "record3d_lidar", - "n_components_evaluated": 4635, - "n_components_removed": 11, - "n_frames": 1002, + "n_components_evaluated": 1344, + "n_components_removed": 22, + "n_frames": 736, "n_frames_touched": 11, - "n_frames_with_depth": 915, - "n_object_protected": 575, + "n_frames_with_depth": 578, + "n_object_protected": 0, "object_adjacency_gate": "on", "params": { "label_stride": 1, @@ -279,115 +286,225 @@ "surface_ring_cells": 3 }, "removed": [ + { + "n_measured": 58, + "plane_rms_m": 0.0006, + "ref_z_m": 0.2673, + "row": 148, + "separation_m": 0.2859, + "slot": 1, + "surface_offset_m": 0.0007, + "z_med_m": 0.5532 + }, + { + "n_measured": 194, + "plane_rms_m": 0.0014, + "ref_z_m": 0.2673, + "row": 149, + "separation_m": 0.2649, + "slot": 1, + "surface_offset_m": 0.0013, + "z_med_m": 0.5322 + }, { "n_measured": 20, - "plane_rms_m": 0.0016, - "ref_z_m": 0.2056, - "row": 7, - "separation_m": 0.2472, + "plane_rms_m": 0.0005, + "ref_z_m": 0.2673, + "row": 149, + "separation_m": 0.3391, + "slot": 1, + "surface_offset_m": 0.0005, + "z_med_m": 0.6064 + }, + { + "n_measured": 121, + "plane_rms_m": 0.0018, + "ref_z_m": 0.2673, + "row": 150, + "separation_m": 0.3396, "slot": 1, "surface_offset_m": 0.0012, - 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"surface_offset_m": 0.0145, - "z_med_m": 0.3823 + "surface_offset_m": 0.0004, + "z_med_m": 0.5352 + }, + { + "n_measured": 682, + "plane_rms_m": 0.0019, + "ref_z_m": 0.2673, + "row": 691, + "separation_m": 0.3855, + "slot": 1, + "surface_offset_m": 0.0023, + "z_med_m": 0.6528 }, { - "n_measured": 1975, - "plane_rms_m": 0.0217, - "ref_z_m": 0.2056, - "row": 901, - "separation_m": 0.1906, + "n_measured": 424, + "plane_rms_m": 0.0004, + "ref_z_m": 0.2673, + "row": 691, + "separation_m": 0.2891, + "slot": 1, + "surface_offset_m": 0.0002, + "z_med_m": 0.5564 + }, + { + "n_measured": 688, + "plane_rms_m": 0.0009, + "ref_z_m": 0.2673, + "row": 692, + "separation_m": 0.2243, "slot": 0, - "surface_offset_m": 0.0159, - "z_med_m": 0.3962 + "surface_offset_m": 0.0009, + "z_med_m": 0.4916 + }, + { + "n_measured": 305, + "plane_rms_m": 0.0005, + "ref_z_m": 0.2673, + "row": 692, + "separation_m": 0.3089, + "slot": 1, + "surface_offset_m": 0.0003, + "z_med_m": 0.5762 }, { - "n_measured": 1933, - "plane_rms_m": 0.0205, - "ref_z_m": 0.2056, - "row": 902, - "separation_m": 0.2319, + "n_measured": 383, + "plane_rms_m": 0.001, + "ref_z_m": 0.2673, + "row": 693, + "separation_m": 0.219, "slot": 0, - "surface_offset_m": 0.0174, - "z_med_m": 0.4375 + "surface_offset_m": 0.0013, + "z_med_m": 0.4863 }, { - "n_measured": 106, - "plane_rms_m": 0.0057, - "ref_z_m": 0.2056, - "row": 906, - "separation_m": 0.363, + "n_measured": 79, + "plane_rms_m": 0.0008, + "ref_z_m": 0.2673, + "row": 693, + "separation_m": 0.2747, "slot": 0, - "surface_offset_m": 0.0065, - "z_med_m": 0.5686 + "surface_offset_m": 0.0011, + "z_med_m": 0.542 }, { - "n_measured": 999, - "plane_rms_m": 0.0067, - "ref_z_m": 0.2056, - "row": 907, - "separation_m": 0.1696, + "n_measured": 185, + "plane_rms_m": 0.0007, + "ref_z_m": 0.2673, + "row": 693, + "separation_m": 0.3235, "slot": 1, - "surface_offset_m": 0.019, - "z_med_m": 0.3752 + "surface_offset_m": 0.0004, + "z_med_m": 0.5908 }, { - "n_measured": 292, - "plane_rms_m": 0.0067, - "ref_z_m": 0.2056, - "row": 908, - "separation_m": 0.2592, + "n_measured": 231, + "plane_rms_m": 0.0007, + "ref_z_m": 0.2673, + "row": 694, + "separation_m": 0.229, "slot": 0, - "surface_offset_m": 0.0057, - "z_med_m": 0.4648 + "surface_offset_m": 0.0008, + "z_med_m": 0.4963 }, { - "n_measured": 119, - "plane_rms_m": 0.0004, - "ref_z_m": 0.2056, - "row": 909, - "separation_m": 0.5478, + "n_measured": 20, + "plane_rms_m": 0.0003, + "ref_z_m": 0.2673, + "row": 694, + "separation_m": 0.2813, "slot": 0, - "surface_offset_m": 0.001, - "z_med_m": 0.7534 + "surface_offset_m": 0.0003, + "z_med_m": 0.5486 }, { - "n_measured": 180, - "plane_rms_m": 0.001, - "ref_z_m": 0.2056, - "row": 913, - "separation_m": 0.2001, + "n_measured": 12, + "plane_rms_m": 0.0002, + "ref_z_m": 0.2673, + "row": 694, + "separation_m": 0.3511, "slot": 1, - "surface_offset_m": 0.0013, - "z_med_m": 0.4058 + "surface_offset_m": 0.0004, + "z_med_m": 0.6184 }, { - "n_measured": 13, - "plane_rms_m": 0.0005, - "ref_z_m": 0.2056, - "row": 914, - "separation_m": 0.2026, + "n_measured": 107, + "plane_rms_m": 0.0006, + "ref_z_m": 0.2673, + "row": 695, + "separation_m": 0.2346, + "slot": 0, + "surface_offset_m": 0.0004, + "z_med_m": 0.502 + }, + { + "n_measured": 66, + "plane_rms_m": 0.0018, + "ref_z_m": 0.2673, + "row": 695, + "separation_m": 0.4348, "slot": 1, - "surface_offset_m": 0.0006, - "z_med_m": 0.4082 + "surface_offset_m": 0.0031, + "z_med_m": 0.7021 + }, + { + "n_measured": 30, + "plane_rms_m": 0.0004, + "ref_z_m": 0.2673, + "row": 696, + "separation_m": 0.2393, + "slot": 0, + "surface_offset_m": 0.0003, + "z_med_m": 0.5066 } ], "status": "applied" @@ -397,29 +514,29 @@ "calibrated_slot0_label": "left", "calibration": "seed_anchored_head", "clip_majority_slot0_label": "left", - "evidence_ambiguity_frac": 0.8104, + "evidence_ambiguity_frac": 0.8302, "handedness_source": "sam3_slot", "majority_agrees_with_seed": true, - "n_frames": 1002, - "n_frames_disagreeing": 16, - "n_frames_evaluated": 190, + "n_frames": 736, + "n_frames_disagreeing": 0, + "n_frames_evaluated": 125, "n_frames_swapped": 0, "n_runs_swapped": 0, "params": { - "fps": 30.0, + "fps": 60.0, "median_k": 5, "min_assoc_margin": 0.25, "min_conf": 0.7, "min_kp_in_mask": 0.5, - "min_run_frames": 15 + "min_run_frames": 30 }, - "reason": "only 190/1002 frames (19%) cleared the association + confidence gates (need >= 30%) \u2014 too thin for a clip-wide identity claim", + "reason": "only 125/736 frames (17%) cleared the association + confidence gates (need >= 30%) \u2014 too thin for a clip-wide identity claim", "runs": [], "status": "insufficient_evidence" }, "hand_mask_corrections": { "file": "hand_mask_corrections.npz", - "n_components_removed": 11, + "n_components_removed": 22, "n_frames_swapped": 0, "path": "hand_mask_corrections.npz", "raw_channel": "hand_mask.npz:masks (byte-unchanged)", @@ -435,81 +552,149 @@ "intrinsics_source": "record3d_arkit", "pose_source": "arkit" }, + "object_roles": { + "objects": [ + { + "default_role": "tool", + "object_id": "obj_brush" + }, + { + "default_role": "container", + "object_id": "obj_dustpan" + } + ], + "phase_roles": [ + { + "interaction_role": "tool", + "object_id": "obj_brush", + "phase_id": 0 + }, + { + "interaction_role": "container", + "object_id": "obj_dustpan", + "phase_id": 0 + }, + { + "interaction_role": "tool", + "object_id": "obj_brush", + "phase_id": 1 + }, + { + "interaction_role": "container", + "object_id": "obj_dustpan", + "phase_id": 1 + }, + { + "interaction_role": "tool", + "object_id": "obj_brush", + "phase_id": 2 + }, + { + "interaction_role": "container", + "object_id": "obj_dustpan", + "phase_id": 2 + } + ], + "primary_object_id": null, + "source": "phase_plan_v0.2", + "version": "0.1.0" + }, "quality_gates": { "all_passed": true, + "validated_at": "2026-08-10T13:36:57+00:00", "gates": [ { - "detail": "", "name": "json_schema", "passed": true, + "value": "ok", "threshold": "validates", - "value": "ok" + "detail": "" }, { - "detail": "presence-conditioned over the actor's active span [3..903] = 901/1002 frames (raw all-frames = 57.88%)", "name": "frames_with_hands_pct", "passed": true, - "threshold": ">= 30% [class=GLOBAL]", - "value": 64.37 + "value": 99.83, + "threshold": ">= 5% [class=sweep]", + "detail": "presence-conditioned over the actor's active span [119..694] = 576/736 frames (raw all-frames = 78.12%); shipped channel = raw \u2295 hand_mask_corrections" }, { - "detail": "silent or near-silent", "name": "audio_snr_db", "passed": true, + "value": null, "threshold": ">= 5 dB", - "value": null + "detail": "silent or near-silent" }, { - "detail": "silent clip", "name": "transcript_density", "passed": true, + "value": 0.0, "threshold": ">= 0.5 wps", - "value": 0.0 + "detail": "silent clip" }, { - "detail": "", "name": "hand_mask_coverage_pct", "passed": true, + "value": 2.784, "threshold": ">= 1%", - "value": 5.271 + "detail": "" }, { - "detail": "", "name": "phase_plan_windowing", "passed": true, - "threshold": "phase plan absent \u2014 skipped", - "value": "not_requested" + "value": "phase_plan_multi", + "threshold": "slot_selection == phase_plan_multi", + "detail": "" }, { - "detail": "", "name": "object_mask_coverage_pct", "passed": true, - "threshold": ">= 1% (per present object) [class=GLOBAL]", - "value": 17.881 + "value": 4.067, + "threshold": ">= 0.5% (per present object) [class=sweep]", + "detail": "per-object (present-frame) coverage: obj_brush=4.067%, obj_dustpan=5.301%" }, { - "detail": "", "name": "hand_mask_area_floor_left", "passed": true, + "value": 2.928, "threshold": ">= 0.20% (median, per hand)", - "value": 5.594 + "detail": "" }, { - "detail": "", "name": "hand_mask_area_floor_right", "passed": true, + "value": 3.8067, "threshold": ">= 0.20% (median, per hand)", - "value": 5.3335 + "detail": "" }, { - "detail": "", "name": "hand_mask_lr_asymmetry", "passed": true, + "value": 0.7692, "threshold": "min/max >= 0.20", - "value": 0.9534 + "detail": "" + }, + { + "name": "hand_slot_merge", + "passed": true, + "value": 0, + "threshold": "< 5 consecutive frames with L\u2229R IoU > 0.5", + "detail": "" + }, + { + "name": "object_track_truncated", + "passed": true, + "value": 0, + "threshold": "no tracked object ends while a hand still holds it", + "detail": "" + }, + { + "name": "actor_mirror_consistency", + "passed": true, + "value": 0, + "threshold": "every hierarchy span's actor_kind == its action's actors[0]", + "detail": "" } - ], - "validated_at": "2026-07-31T12:15:57+00:00" + ] } }, "manually_annotated_fields": [], @@ -521,23 +706,23 @@ }, "pipeline_version": "0.2.0", "qa_reviewer_id": "[redacted]", - "qa_score": 3, + "qa_score": 5, "source_experiment": "v0pipeline" }, - "audio_path": "019fb7c0-1159-7242-9c36-bcac261ec817.wav", + "audio_path": "019fc1d4-2816-7400-972c-0a6a7afcead5.wav", "camera_calibration": { "ego": { - "fps": 30.0, + "fps": 60.0, "intrinsics": [ [ - 1473.9342041015625, + 1374.1038818359375, 0.0, - 706.794921875 + 726.223388671875 ], [ 0.0, - 1473.9342041015625, - 967.7484741210938 + 1374.1038818359375, + 959.2825927734375 ], [ 0.0, @@ -553,14 +738,14 @@ }, "overhead": null }, - "camera_rig_id": "rig_manila_iphone12pro_chest", - "date_collected": "2026-07-31", - "duration_seconds": 33.4, + "camera_rig_id": "rig_manila_iphone17pro_chest", + "date_collected": "2026-08-02", + "duration_seconds": 12.266666666666667, "environment_id": "home_table_pretrip", - "episode_id": "EM1-D2-E03", + "episode_id": "EM1-D4-E04", "extensions": { "camera_world_pose": { - "n_frames": 1002, + "n_frames": 736, "path": "camera_pose.npz", "pose_source": "arkit", "tracking_conf_mean": 1.0 @@ -572,37750 +757,38734 @@ 192 ], "depth_source": "record3d_lidar", - "n_frames": 1002, + "n_frames": 736, "path": "depth.npz" }, "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, - "threshold_note": "LID3D-17 A4: per_hand_contact = DEBOUNCED (mask-ADJACENCY gate AND (nearest joint depth-measured ? proximity<=contact_dist_m : trust adjacency)). VALIDATED on two hand-labeled holdouts \u2014 A4 hits F1 0.92-0.96 vs 0.31-0.68 for the old overlap-gated proximity (the overlap gate vetoed 57-82% of real ego contact: a grasping hand is IN FRONT of the object so the masks abut without sharing pixels). contact_dist_m (3cm) is consulted only for the ~9% of depth-MEASURED fingertips; an occluded tip trusts the mask adjacency. Dossier: research/2026-06-25_hand_object_contact_sota.md.", - "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, "contact_provenance_note": "per-hand 'contact_from_measured_joint' marks whether the joint that drove the contact was depth-MEASURED (depth_fill==0) vs a bone-length/temporal PRIOR-extrapolated point. Spec \u00a79.9: only ~65% of fingertips are depth-valid, so a prior-filled-joint contact is NOT a measurement (rule #7) \u2014 branch on this flag, don't trust the bool alone.", "debounce": { - "version": "1.1", - "median_window_frames": 5, - "contact_on_m": 0.015, + "adjacency_dilate_px": 16, + "assert_frames": 24, "contact_off_m": 0.025, - "assert_frames": 12, - "release_frames": 15, - "nan_policy": "freeze_hold", + "contact_on_m": 0.015, + "far_release_confirm_s": 0.25, + "far_release_frames": 59, "fsm_states": [ "OPEN", "CLOSING", "CLOSED", "OPENING" ], - "note": "P4-C2 median pre-filter (NOT EMA) \u2192 P4-C3 Schmitt hysteresis (HOLD in the [on,off] dead-band) \u2192 P4-C4 asymmetric min-dwell (short assert / longer release) \u2192 P4-C5 4-state grasp FSM (edge-triggered, one onset + one release per grasp). A NaN distance never ASSERTS a contact (a depth dropout cannot fabricate a grasp) and \u2014 nan_policy=freeze_hold, CONTACT-OCC-2 \u2014 never RELEASES one: a NaN frame holds the committed state and freezes the pending dwell, so only MEASURED open evidence releases a grasp (occlusion of any length bridges; the OCC-1 validity flag marks those frames not-measurable). A 2D-gate block is enforced separately + harder upstream (contact_3d post-debounce override forces every blocked frame open).", - "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": { - "rule": "a freeze that reaches the last frame with the hand absent to the end (never returns) and the object still tracked is closed at the last hand-present frame \u2014 an unresolved freeze is not a bridge. Mid-clip occlusion is untouched (CONTACT-OCC-2).", - "min_tail_frames": 5, - "object_present_frac": 0.8, - "n_channels_released": 0, - "channels": [] - }, + "gate_2d_frames_blocked": 89, + "gate_2d_frames_evaluated": 1126, + "gate_2d_metric": "mask_adjacency", "grasp_onsets": { "left": [ - 31 + 194, + 681 ], "right": [ - 17 + 196, + 466, + 505, + 690 ] - } - }, - "debounce_note": "LID3D-7: per_hand_contact is the DEBOUNCED bool \u2014 P4-C1 valid-depth score (a bone-prior-imputed fingertip never votes) AND-gated on the 2D SAM3 hand\u2229object overlap, P4-C2 median pre-filter, P4-C3 Schmitt hysteresis (HOLD in the [contact_on_m, contact_off_m] dead-band), P4-C4 asymmetric min-dwell, P4-C5 grasp FSM. contact_strength + grasp_fsm_state are additive; raw min_dist_m is the un-debounced firewall channel.", - "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 - }, - { - "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, - "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": 6, - "left_in_contact": false, - "left_min_dist_m": 0.23448, - "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": 1.0, - "right_grasp_fsm_state": "OPEN", - "right_contact_from_measured_joint": false - }, - { - "frame": 7, - "left_in_contact": false, - "left_min_dist_m": 0.23351, - "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": 1.0, - "right_grasp_fsm_state": "OPEN", - "right_contact_from_measured_joint": false - }, - { - "frame": 8, - "left_in_contact": false, - "left_min_dist_m": 0.22333, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_contact_from_measured_joint": false, - "right_in_contact": false, - "right_min_dist_m": 0.00373, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "OPEN", - "right_contact_from_measured_joint": false }, - { - "frame": 9, - "left_in_contact": false, - "left_min_dist_m": 0.20267, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_contact_from_measured_joint": false, - "right_in_contact": false, - "right_min_dist_m": 0.00405, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "OPEN", - "right_contact_from_measured_joint": false + "median_window_frames": 5, + "nan_policy": "freeze_hold", + "note": "P4-C2 median pre-filter (NOT EMA) \u2192 P4-C3 Schmitt hysteresis (HOLD in the [on,off] dead-band) \u2192 P4-C4 asymmetric min-dwell (short assert / longer release) \u2192 P4-C5 4-state grasp FSM (edge-triggered, one onset + one release per grasp). A NaN distance never ASSERTS a contact (a depth dropout cannot fabricate a grasp) and \u2014 nan_policy=freeze_hold, CONTACT-OCC-2 \u2014 never RELEASES one: a NaN frame holds the committed state and freezes the pending dwell, so only MEASURED open evidence releases a grasp (occlusion of any length bridges; the OCC-1 validity flag marks those frames not-measurable). A 2D-gate block is enforced separately + harder upstream (contact_3d post-debounce override forces every blocked frame open).", + "release_frames": 30, + "tail_release": { + "channels": [ + { + "cut_frame": 695, + "frames_released": 40, + "hand": "right", + "object_index": 0, + "object_present_frac": 1.0, + "reason": "hand absent from the cut to the end of the clip (never returns, so the freeze is unresolved) while the object stayed tracked", + "released_from_frame": 696, + "tail_frames": 40 + } + ], + "min_tail_frames": 5, + "n_channels_released": 1, + "object_present_frac": 0.8, + "rule": "a freeze that reaches the last frame with the hand absent to the end (never returns) and the object still tracked is closed at the last hand-present frame \u2014 an unresolved freeze is not a bridge. Mid-clip occlusion is untouched (CONTACT-OCC-2)." }, - { - "frame": 10, - "left_in_contact": false, - "left_min_dist_m": 0.19597, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_contact_from_measured_joint": false, - "right_in_contact": false, - "right_min_dist_m": 0.00679, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "OPEN", - "right_contact_from_measured_joint": false - }, - { - "frame": 11, - "left_in_contact": false, - "left_min_dist_m": 0.13055, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_contact_from_measured_joint": false, - "right_in_contact": false, - "right_min_dist_m": 0.00746, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "OPEN", - "right_contact_from_measured_joint": false - }, - { - "frame": 12, - "left_in_contact": false, - "left_min_dist_m": 0.13408, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_contact_from_measured_joint": false, - "right_in_contact": false, - "right_min_dist_m": 0.00303, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "OPEN", - "right_contact_from_measured_joint": false - }, - { - "frame": 13, - "left_in_contact": false, - "left_min_dist_m": 0.10957, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_contact_from_measured_joint": false, - "right_in_contact": false, - "right_min_dist_m": 0.00196, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "OPEN", - "right_contact_from_measured_joint": false - }, - { - "frame": 14, - "left_in_contact": false, - "left_min_dist_m": 0.09452, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_contact_from_measured_joint": false, - "right_in_contact": false, - "right_min_dist_m": 0.00621, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "OPEN", - "right_contact_from_measured_joint": false - }, - { - "frame": 15, - "left_in_contact": false, - "left_min_dist_m": 0.09079, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - 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"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": 1000, - "left_in_contact": false, - "left_min_dist_m": null, - "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": 1001, - "left_in_contact": false, - "left_min_dist_m": null, - "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 - } - ], - "npz_path": "hand_object_contact.npz", - "note": "Upgraded from 2D IoU/adjacency to 3D PROXIMITY (lidar3d P3) + debounced (Phase 4 LID3D-7): per hand per frame, the min 3D distance between hand_joints_3d.npz joints_world (valid-depth joints only) and the object_mask surface back-projected to world via depth + camera_pose, then median + hysteresis + dwell + FSM. 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"right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false }, { - "confidence": 1.0, - "frame": 998, - "state": "visible" - }, + "frame": 735, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + } + ], + "per_primitive": [ { - "confidence": 1.0, - "frame": 999, - "state": "visible" + "end_timestamp": 5.0, + "in_contact_object": "hand brush", + "on_which_hand": "none", + "on_which_hand_adjacency": "both", + "primitive_index": 0, + "start_timestamp": 0.0 }, { - "confidence": 1.0, - "frame": 1000, - "state": "visible" + "end_timestamp": 8.0, + "in_contact_object": "hand brush", + "on_which_hand": "none", + "on_which_hand_adjacency": "both", + "primitive_index": 1, + "start_timestamp": 5.0 }, { - "confidence": 1.0, - "frame": 1001, - "state": "visible" + "end_timestamp": 12.267, + "in_contact_object": "hand brush", + "on_which_hand": "none", + "on_which_hand_adjacency": "both", + "primitive_index": 2, + "start_timestamp": 8.0 } ] } ], + "per_primitive": [ + { + "end_timestamp": 5.0, + "in_contact_object": "hand brush", + "on_which_hand": "none", + "on_which_hand_adjacency": "both", + "primitive_index": 0, + "start_timestamp": 0.0 + }, + { + "end_timestamp": 8.0, + "in_contact_object": "hand brush", + "on_which_hand": "none", + "on_which_hand_adjacency": "both", + "primitive_index": 1, + "start_timestamp": 5.0 + }, + { + "end_timestamp": 12.267, + "in_contact_object": "hand brush", + "on_which_hand": "none", + "on_which_hand_adjacency": "both", + "primitive_index": 2, + "start_timestamp": 8.0 + } + ] + }, + "metric": "3d_proximity", + "n_contacts_from_measured_joint": 946, + "n_contacts_from_prior_filled_joint": 3, + "n_frames": 736, + "n_frames_in_contact": 490, + "n_objects": 2, + "note": "Upgraded from 2D IoU/adjacency to 3D PROXIMITY (lidar3d P3) + debounced (Phase 4 LID3D-7): per hand per frame, the min 3D distance between hand_joints_3d.npz joints_world (valid-depth joints only) and the object_mask surface back-projected to world via depth + camera_pose, then median + hysteresis + dwell + FSM. The frozen hand_object_contact.npz carries the debounced per-hand contact bool + min_dist_m + grasp_state + contact_strength + grasp_fsm_state.", + "npz_path": "hand_object_contact.npz", + "object_ids": [ + "obj_brush", + "obj_dustpan" + ], + "per_frame": [ + { + "frame": 0, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 1, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 2, + 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"right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": null + }, + { + "frame": 735, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + } + ], + "scene_union_reduction": "any(per_hand_object_contact, axis=2)", + "threshold_note": "LID3D-17 A4: per_hand_contact = DEBOUNCED (mask-ADJACENCY gate AND (nearest joint depth-measured ? proximity<=contact_dist_m : trust adjacency)). VALIDATED on two hand-labeled holdouts \u2014 A4 hits F1 0.92-0.96 vs 0.31-0.68 for the old overlap-gated proximity (the overlap gate vetoed 57-82% of real ego contact: a grasping hand is IN FRONT of the object so the masks abut without sharing pixels). contact_dist_m (3cm) is consulted only for the ~9% of depth-MEASURED fingertips; an occluded tip trusts the mask adjacency. Dossier: research/2026-06-25_hand_object_contact_sota.md.", + "threshold_validated": true, + "version": "0.4.3" + }, + "object_geometry": { + "classified_by": "label_keyword_heuristic", + "note": "Per-object metric mask-cloud (centroid_world + extent_m, meters) back-projected from object_mask via depth + camera_pose. Deformable/cloth objects get this cloud ONLY (6-DoF is structurally ill-defined \u2192 cloth_degraded). Rigid objects carry the metric extent but their 6-DoF pose is rigid_deferred (no model-free engine built \u2014 license+GPU gated, P2-3). classified_by is a LEXICAL keyword heuristic, NOT a learned classifier.", + "objects": [ + { + "centroid_world": [ + -0.2250806838274002, + 0.42416515946388245, + 0.05622975528240204 + ], + "classified_by": "label_keyword_heuristic", + "extent_m": [ + 0.20661577582359314, + 0.2015744298696518, + 0.11806957423686981 + ], + "is_deformable": false, + "label": "hand brush", + "n_frames_with_cloud": 723, + "n_present_frames": 725, + "object_id": "obj_brush", + "pose_status": "rigid_deferred" + }, + { + "centroid_world": [ + -0.07358940690755844, + 0.4391871690750122, + -0.00330190802924335 + ], + "classified_by": "label_keyword_heuristic", + "extent_m": [ + 0.17893356084823608, + 0.2197050154209137, + 0.12476734817028046 + ], + "is_deformable": false, + "label": "dustpan", + "n_frames_with_cloud": 736, + "n_present_frames": 736, + "object_id": "obj_dustpan", + "pose_status": "rigid_deferred" + } + ], + "source": "object_geometry_scaffold", + "version": "0.1.0" + }, + "object_object_contact": { + "adjacency_px": 8, + "debounce": { + "assert_frames": 6, + "fps": 60.0, + "median_window_frames": 11, + "release_frames": 12 + }, + "metric": "visible_mask_adjacency+surface_proximity", + "n_frames": 736, + "n_pair_contact_cells": 95, + "npz_path": "object_object_contact.npz", + "object_ids": [ + "obj_brush", + "obj_dustpan" + ], + "pair_dist_m": 0.02, + "provenance": "contact_from_measured_surface=true means both visible object masks yielded LiDAR surface points and proximity confirmed contact; false contact is supported by visible-mask adjacency only", + "version": "0.1.0" + }, + "object_pose": { + "objects": [ + { + "n_present_frames": 725, + "obj_T_world_is_placeholder": true, + "object_id": "obj_brush", + "pose_status": "rigid_deferred" + }, + { + "n_present_frames": 736, + "obj_T_world_is_placeholder": true, + "object_id": "obj_dustpan", + "pose_status": "rigid_deferred" + } + ], + "path": "object_pose.npz", + "pose_source": "object_geometry_scaffold", + "status_legend": { + "cloth_degraded": "deformable object \u2014 NO 6-DoF (ill-defined); metric mask-cloud in extensions.object_geometry", + "rigid_deferred": "rigid object \u2014 6-DoF DEFERRED (no model-free engine built; license+GPU gated). obj_T_world is an identity placeholder; trust pose_status, not the matrix." + }, + "version": "0.1.0" + }, + "phase_plan_windowing": { + "n_phases": 3, + "slot_selection": "phase_plan_multi", + "windowed": true + }, + "studio": { + "review_state": { + "history": [ + { + "action": "submit", + "at": "2026-08-09T12:13:42.561772+00:00", + "by": "reviewer", + "from": "draft", + "to": "in_review" + }, + { + "action": "approve", + "at": "2026-08-09T12:14:00.685106+00:00", + "by": "reviewer", + "from": "in_review", + "qa_score": 5, + "to": "approved" + }, + { + "action": "reopen", + "at": 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"frame": 998, + "frame": 732, "state": "visible" }, { "confidence": 1.0, - "frame": 999, + "frame": 733, "state": "visible" }, { "confidence": 1.0, - "frame": 1000, + "frame": 734, "state": "visible" }, { "confidence": 1.0, - "frame": 1001, + "frame": 735, "state": "visible" } ], @@ -38333,14 +39502,14 @@ "frame_rate": null, "has_mano_params": true, "joints_per_hand": 21, - "n_frames": 1002, + "n_frames": 736, "source": "hamer", - "world_frame_available": false + "world_frame_available": true }, "hand_pose_path": "hamer.npz", "hand_segmentation": { "frame_rate": null, - "n_frames": 1002, + "n_frames": 736, "n_objects": 2, "obj_id_to_handedness": { "0": "left", @@ -38353,68 +39522,70 @@ "keysteps": [ { "best_view": "ego", - "end_time": 19.0, + "end_time": 5.0, "is_essential": true, "keystep_timing_source": "human", "start_time": 0.0, - "step_description": "fold plaid fabric lengthwise", + "step_description": "pick up dustpan and brush", "step_id": 0, - "step_name": "fold plaid fabric lengthwise", - "step_unique_id": 119445493470329 + "step_name": "pick up brush and dustpan from table", + "step_unique_id": 132021212305719 }, { "best_view": "ego", - "end_time": 23.0, + "end_time": 8.0, "is_essential": true, "keystep_timing_source": "human", - "start_time": 19, - "step_description": "smooth folded fabric", + "start_time": 5.0, + "step_description": "sweep material into dustpan", "step_id": 1, - "step_name": "smooth folded fabric", - "step_unique_id": 243471796859187 + "step_name": "sweep debris into dustpan", + "step_unique_id": 207485693041723 }, { "best_view": "ego", - "end_time": 29.5, + "end_time": 12.267, "is_essential": true, "keystep_timing_source": "human", - "start_time": 23.0, - "step_description": "fold folded fabric again", + "start_time": 8.0, + "step_description": "place dustpan and brush on surface", "step_id": 2, - "step_name": "fold folded fabric again", - "step_unique_id": 148904377299161 - }, - { - "best_view": "ego", - "end_time": 33.4, - "is_essential": true, - "keystep_timing_source": "human", - "start_time": 29.5, - "step_description": "place folded fabric on surface", - "step_id": 3, - "step_name": "place folded fabric on surface", - "step_unique_id": 136030755423237 + "step_name": "place brush and dustpan on table", + "step_unique_id": 243739056044773 } ], "object_segmentation": { - "detected_class": "plaid fabric", + "detected_class": "hand brush", "detection_score": null, "frame_rate": null, - "n_frames": 1002, - "n_objects": 1, - "objects": [], + "n_frames": 736, + "n_objects": 2, + "objects": [ + { + "label": "hand brush", + "n_frames_present": 725, + "object_id": "obj_brush", + "phrase": "brush" + }, + { + "label": "dustpan", + "n_frames_present": 736, + "object_id": "obj_dustpan", + "phrase": "dustpan" + } + ], "seed_source": "agent_tracker", "source": "sam3" }, "object_segmentation_path": "object_mask.npz", - "participant_id": "M2", + "participant_id": "J", "recovery_events": [], "success_status": "success", - "task_id": "fold_laundry", - "task_label": "fold_laundry", + "task_id": "sweep", + "task_label": "sweep", "transcript_path": null, "views": { - "ego": "019fb7c0-1159-7242-9c36-bcac261ec817.mp4", + "ego": "019fc1d4-2816-7400-972c-0a6a7afcead5.mp4", "overhead": null } } \ No newline at end of file diff --git a/episodes/019fc1d5-6845-7442-98c2-545d93c1b2e4/contact_corrections.npz b/episodes/019fc1d5-6845-7442-98c2-545d93c1b2e4/contact_corrections.npz new file mode 100644 index 0000000000000000000000000000000000000000..b55bb658e5e87d0d006cbbbc4e34f09674ae1adf --- /dev/null +++ b/episodes/019fc1d5-6845-7442-98c2-545d93c1b2e4/contact_corrections.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:394db710b61673713b3e02d16cf1294be83ec981d3ab1f2d158a568c4ef92919 +size 2493 diff --git a/episodes/019fc1d5-6845-7442-98c2-545d93c1b2e4/depth_geometry.json b/episodes/019fc1d5-6845-7442-98c2-545d93c1b2e4/depth_geometry.json new file mode 100644 index 0000000000000000000000000000000000000000..e9fdcec9d427725728c619a4ddcf61e42d387e14 --- /dev/null +++ b/episodes/019fc1d5-6845-7442-98c2-545d93c1b2e4/depth_geometry.json @@ -0,0 +1,62 @@ +{ + "sensor": "iphone_lidar_arkit", + "note": "iPhone Pro LiDAR via ARKit sceneDepth \u2014 NOT a RealSense / structured-light depth cam (sparser + smoothed). observation.images.depth is 256x192 (native ARKit sceneDepth grid, untouched); observation.images.ego is 512x384 \u2014 ONE uniform downscale of the native RGB, so ego is EXACTLY 2x the depth grid: ego[y, x], mask[y, x] and depth[y//2, x//2] are the same ray. Intrinsics for both grids are in depth_geometry.json; camera_pose is expressed in the SHIPPED raster frame (episodes flagged raster_rotation=ccw90 were rotated from landscape \u2014 rotate 90\u00b0 CW to display upright). The lossless raw depth (metres + per-pixel confidence) rides in the OpenEgo sidecar depth.npz.", + "depth_resolution_hw": [ + 256, + 192 + ], + "ego_obs_resolution_hw": [ + 512, + 384 + ], + "ego_to_depth_scale": 2.0, + "raster_rotation": null, + "display_hint": null, + "camera_pose_frame": "shipped_raster (sensor-frame poses corrected by 1 quarter-turn(s); gravity-verified at export)", + "rgb_native_resolution_hw": [ + 1920, + 1440 + ], + "depth_output_unit_default": "mm (LeRobot depth_output_unit default; pass --dataset.depth_output_unit m to load metres)", + "raw_depth_reference": "openego_sidecar.json + data/annotations//depth.npz (lossless)", + "arkit_rgb_intrinsics_3x3": [ + [ + 1375.8519287109375, + 0.0, + 726.8904418945312 + ], + [ + 0.0, + 1375.8519287109375, + 959.2222900390625 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics_frame": "native raster", + "depth_intrinsics_3x3": [ + [ + 183.446923828125, + 0.0, + 96.9187255859375 + ], + [ + 0.0, + 183.446923828125, + 127.89630533854167 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "depth_intrinsics_scale_xy": [ + 0.13333333333333333, + 0.13333333333333333 + ], + "intrinsics_source": "record3d_arkit (median of per-frame, via chokepoint)" +} \ No newline at end of file diff --git a/episodes/019fc1d5-6845-7442-98c2-545d93c1b2e4/hand_object_contact.npz b/episodes/019fc1d5-6845-7442-98c2-545d93c1b2e4/hand_object_contact.npz new file mode 100644 index 0000000000000000000000000000000000000000..3f0df53d2b9d7d780a89bee5549e28292f9061aa --- /dev/null +++ b/episodes/019fc1d5-6845-7442-98c2-545d93c1b2e4/hand_object_contact.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4eee228e0ffc9aa0f0a442fa787ef844aa0f537501fa5600b26f441b166db8a3 +size 32151 diff --git a/episodes/019fc1d5-6845-7442-98c2-545d93c1b2e4/language_spans.json b/episodes/019fc1d5-6845-7442-98c2-545d93c1b2e4/language_spans.json new file mode 100644 index 0000000000000000000000000000000000000000..d0d117710aa4caa083f13ed6af3e738607535856 --- /dev/null +++ b/episodes/019fc1d5-6845-7442-98c2-545d93c1b2e4/language_spans.json @@ -0,0 +1,73 @@ +{ + "task": "sweep", + "n_spans": 3, + "n_keysteps": 3, + "spans": [ + { + "start_s": 0.0, + "end_s": 3.083, + "label": "pick up brush and dustpan from table", + "objects": [ + "brush and dustpan" + ], + "actors": [ + "both_hands" + ], + "source": "human", + "confidence": "high", + "grounded": true, + "evidence": "Both hands reach to the table and close on the brush and the dustpan." + }, + { + "start_s": 3.083, + "end_s": 14.6, + "label": "sweep debris into dustpan", + "objects": [ + "debris" + ], + "actors": [ + "both_hands" + ], + "source": "human", + "confidence": null, + "grounded": null, + "evidence": null + }, + { + "start_s": 14.6, + "end_s": 20.25, + "label": "place brush and dustpan on table", + "objects": [ + "brush and dustpan" + ], + "actors": [ + "both_hands" + ], + "source": "human", + "confidence": null, + "grounded": null, + "evidence": null + } + ], + "keysteps": [ + { + "start_s": 0.0, + "end_s": 3.083, + "description": "sweep paper into dustpan", + "essential": true + }, + { + "start_s": 3.083, + "end_s": 14.6, + "description": "sweep paper into dustpan", + "essential": true + }, + { + "start_s": 14.6, + "end_s": 20.25, + "description": "sweep paper into dustpan", + "essential": true + } + ], + "note": "Time-aligned sub-step language \u2014 the VLM-partitioned action `spans` (label + objects + actors + VLM evidence/confidence/grounded) and the coarser `keysteps`. This is a RIDER, not per-frame: the LeRobot `task` column stays the static high-level goal so it never flips frame-to-frame; use these spans for language-conditioned / sub-goal training by joining on the `timestamp` (seconds). A span with `grounded=false` or a low `confidence` is an honest low-trust label \u2014 filter accordingly." +} \ No newline at end of file diff --git a/episodes/019fc1d5-6845-7442-98c2-545d93c1b2e4/object_mask.npz b/episodes/019fc1d5-6845-7442-98c2-545d93c1b2e4/object_mask.npz new file mode 100644 index 0000000000000000000000000000000000000000..f55e866ac6fde6e2f6940907f782fc759917de16 --- /dev/null +++ b/episodes/019fc1d5-6845-7442-98c2-545d93c1b2e4/object_mask.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:345db6150f2975174f9b4a0f1d56e19d8c412b087d0acf0a25ea20ff1467fc7c +size 13416067 diff --git a/episodes/019fc1d5-6845-7442-98c2-545d93c1b2e4/object_object_contact.npz b/episodes/019fc1d5-6845-7442-98c2-545d93c1b2e4/object_object_contact.npz new file mode 100644 index 0000000000000000000000000000000000000000..b891bb2cd4f7b4c245c24eef14a69b10964805ac --- /dev/null +++ b/episodes/019fc1d5-6845-7442-98c2-545d93c1b2e4/object_object_contact.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2f67c5d74811f715d970226a9c850d7c59c70e550a8682e1314db9640bae367 +size 9501 diff --git a/episodes/019fc1d5-6845-7442-98c2-545d93c1b2e4/object_registry.json b/episodes/019fc1d5-6845-7442-98c2-545d93c1b2e4/object_registry.json new file mode 100644 index 0000000000000000000000000000000000000000..e34b9332be5a068541168ca0d621c0123faf5443 --- /dev/null +++ b/episodes/019fc1d5-6845-7442-98c2-545d93c1b2e4/object_registry.json @@ -0,0 +1,17 @@ +{ + "version": "0.1.0", + "objects": [ + { + "object_id": "obj_broom", + "label": "broom", + "phrase": "broom", + "color_idx": 1 + }, + { + "object_id": "obj_dustpan", + "label": "dustpan", + "phrase": "dustpan", + "color_idx": 3 + } + ] +} \ No newline at end of file diff --git a/episodes/019fbdfa-6dbd-7c90-938b-c476032bab5b/openego_sidecar.json b/episodes/019fc1d5-6845-7442-98c2-545d93c1b2e4/openego_sidecar.json similarity index 67% rename from episodes/019fbdfa-6dbd-7c90-938b-c476032bab5b/openego_sidecar.json rename to episodes/019fc1d5-6845-7442-98c2-545d93c1b2e4/openego_sidecar.json index f67f6f07b637828f82dce9bab602b6b686bee958..ffff1e1d301071c4c458c56bbadc9404483ceaee 100644 --- a/episodes/019fbdfa-6dbd-7c90-938b-c476032bab5b/openego_sidecar.json +++ b/episodes/019fc1d5-6845-7442-98c2-545d93c1b2e4/openego_sidecar.json @@ -4,17 +4,46 @@ "actors": [ "both_hands" ], - "end_timestamp": 9.0, + "end_timestamp": 3.083, "extensions": { "actor_source": "human", "object_source": "human", + "span_id": "s0", "span_source": "human", - "vlm_evidence": "Hands fold the cloth into a rectangle." + "vlm_confidence": "high", + "vlm_evidence": "Both hands reach to the table and close on the brush and the dustpan.", + "vlm_grounded": true, + "vlm_object_candidates": [ + { + "evidence": "Hands use brush to sweep crumpled paper into the dustpan.", + "label": "paper", + "role": "workpiece", + "track": true + }, + { + "evidence": "hand holds dustpan and positions it", + "label": "dustpan", + "role": "container", + "track": true + }, + { + "evidence": "hand holds brush and moves it", + "label": "brush", + "role": "tool", + "track": true + }, + { + "evidence": "paper pieces are moved by the brush", + "label": "paper pieces", + "role": "workpiece", + "track": true + } + ] }, - "label": "fold cloth into rectangle", + "label": "pick up brush and dustpan from table", "narration_uncertain": false, "objects": [ - "cloth" + "brush and dustpan" ], "start_timestamp": 0.0 }, @@ -22,55 +51,37 @@ "actors": [ "both_hands" ], - "end_timestamp": 13.5, - "extensions": { - "actor_source": "human", - "object_source": "human", - "span_source": "human", - "vlm_evidence": "Hands fold the cloth into a rectangle a second time." - }, - "label": "fold cloth into rectangle", - "narration_uncertain": false, - "objects": [ - "cloth" - ], - "start_timestamp": 9.0 - }, - { - "actors": [ - "both_hands" - ], - "end_timestamp": 17.5, + "end_timestamp": 14.6, "extensions": { "actor_source": "human", "object_source": "human", - "span_source": "human", - "vlm_evidence": "Hands fold the cloth into a rectangle a third time." + "span_id": "h0b07f2fc", + "span_source": "human" }, - "label": "fold cloth into rectangle", + "label": "sweep debris into dustpan", "narration_uncertain": false, "objects": [ - "cloth" + "debris" ], - "start_timestamp": 13.5 + "start_timestamp": 3.083 }, { "actors": [ "both_hands" ], - "end_timestamp": 20.183, + "end_timestamp": 20.25, "extensions": { "actor_source": "human", "object_source": "human", - "span_source": "human", - "vlm_evidence": "Hands release the folded cloth on the table and move out of frame." + "span_id": "hd5d5c373", + "span_source": "human" }, - "label": "leave cloth on table", + "label": "place brush and dustpan on table", "narration_uncertain": false, "objects": [ - "cloth" + "brush and dustpan" ], - "start_timestamp": 17.5 + "start_timestamp": 14.6 } ], "annotation_metadata": { @@ -97,8 +108,9 @@ "mask_box_pad": 0.1, "model": "hamer_mano21", "rescale_factor": 2.0, - "source_hand_mask_sha256": "550d9cff7369f86818532b1c643cd13db7fbfa4c2f7e9873530c641df1166b5d", - "source_mediapipe_sha256": "8899af50a67b86e3783f3ef36b6fffd1a5f9fca8fc977ba187e0ce54ab57acc2" + "source_camera_world_pose_sha256": "ad006e2e92655d9d4d381e35bef20341d7c51c7b81fe279df9c46f5764fcfde9", + "source_hand_mask_sha256": "05ff29aa32f782dd54b1cdcc3009158ce94cac04424bcc0aa3ebb6e61c2169dc", + "source_mediapipe_sha256": "02beb622791c940cb4aacc022f126f9c8626674cc2a611a7d597fb2f0aca8008" }, "producer_version": "0.6.0" }, @@ -107,7 +119,7 @@ "apply_oversize_flag": true, "chunk_size": 60, "hand_seed_source": "agent_mask_tracker", - "hand_tracker_seed": "c675986427cc61ed", + "hand_tracker_seed": "e0d5467baa7eeb45", "max_frames": null, "model": "facebook/sam3", "n_obj_slots": 2, @@ -133,7 +145,7 @@ "roi_box_pad": 0.1, "roi_seed": "sam3_hand_mask", "running_mode": "video", - "source_hand_mask_sha256": "550d9cff7369f86818532b1c643cd13db7fbfa4c2f7e9873530c641df1166b5d", + "source_hand_mask_sha256": "05ff29aa32f782dd54b1cdcc3009158ce94cac04424bcc0aa3ebb6e61c2169dc", "use_sam3_roi": true }, "producer_version": "0.4.0" @@ -143,21 +155,22 @@ "max_cloud_points": 4096, "model": "object_geometry_scaffold", "pose_source": "object_geometry_scaffold", - "source_camera_pose_sha256": "047005426e1b9e20f8e9cfdce49bfd2eba6505e14b63a81a320d83255fc40090", - "source_depth_sha256": "509922eca8641f9dc4a40aac8ce78aa84e4355ac7fa2eef25fe02148d4602f34", - "source_object_mask_sha256": "d235c1c497edc5902ed513c044bf04535db533a299755513bae07dd2aefc3a03" + "source_camera_pose_sha256": "ad006e2e92655d9d4d381e35bef20341d7c51c7b81fe279df9c46f5764fcfde9", + "source_depth_sha256": "84b4ff0bd38c8fd4db12cc6348370dd87db7da53fd0a640711855e5f4ffb5c80", + "source_object_mask_sha256": "345db6150f2975174f9b4a0f1d56e19d8c412b087d0acf0a25ea20ff1467fc7c" }, "producer_version": "0.1.1" }, "object_segmentation": { "parameters": { - "agent_tracker_seed": "b5838250f292c0eb", + "agent_tracker_seed": "ae8f83b887d9ef9f", "apply_body_fabric_filter": true, "chunk_size": 60, "max_frames": null, "model": "facebook/sam3", "n_obj_slots": 6, "one_slot_per_prompt": true, + "phase_plan": "ebfbdc893ce5eba9", "post_proc": "kernels", "prompts": [ "clothing being folded", @@ -171,7 +184,7 @@ "slot_selection": "agent_mask_tracker", "start_frame": 0, "stride": 1, - "task_id": "fold_laundry" + "task_id": "sweep" }, "producer_version": "0.8.0" }, @@ -188,7 +201,7 @@ } }, "assembly": { - "assembled_at": "2026-08-02T07:37:13.411380+00:00", + "assembled_at": "2026-08-02T15:27:43.195180+00:00", "contact_source": "recomputed_from_disk", "from_disk": [ "hand_mask.npz", @@ -196,14 +209,14 @@ "whisper.json" ], "hand_depth_clip": { - "clip_near_reference_m": 0.274, + "clip_near_reference_m": 0.2798, "depth_source": "record3d_lidar", - "n_components_evaluated": 2877, - "n_components_removed": 13, - "n_frames": 1211, - "n_frames_touched": 11, - "n_frames_with_depth": 1107, - "n_object_protected": 0, + "n_components_evaluated": 2742, + "n_components_removed": 12, + "n_frames": 1215, + "n_frames_touched": 10, + "n_frames_with_depth": 1096, + "n_object_protected": 23, "object_adjacency_gate": "on", "params": { "label_stride": 1, @@ -216,134 +229,124 @@ }, "removed": [ { - "n_measured": 71, - "plane_rms_m": 0.0008, - "ref_z_m": 0.274, - "row": 16, - "separation_m": 0.1589, + "n_measured": 31, + "plane_rms_m": 0.0003, + "ref_z_m": 0.2798, + "row": 83, + "separation_m": 0.2175, "slot": 0, - "surface_offset_m": 0.0009, - "z_med_m": 0.4329 - }, - { - "n_measured": 181, - "plane_rms_m": 0.0031, - "ref_z_m": 0.274, - "row": 17, - "separation_m": 0.1572, - "slot": 0, - "surface_offset_m": 0.0089, - "z_med_m": 0.4312 + "surface_offset_m": 0.0003, + "z_med_m": 0.4973 }, { - "n_measured": 48, - "plane_rms_m": 0.0011, - "ref_z_m": 0.274, - "row": 18, - "separation_m": 0.2254, + "n_measured": 157, + "plane_rms_m": 0.0006, + "ref_z_m": 0.2798, + "row": 84, + "separation_m": 0.2102, "slot": 0, "surface_offset_m": 0.0006, - "z_med_m": 0.4994 + "z_med_m": 0.49 }, { - "n_measured": 76, - "plane_rms_m": 0.0005, - "ref_z_m": 0.2617, - "row": 37, - "separation_m": 0.2062, + "n_measured": 23, + "plane_rms_m": 0.0009, + "ref_z_m": 0.2798, + "row": 84, + "separation_m": 0.2207, "slot": 1, - "surface_offset_m": 0.0007, - "z_med_m": 0.4679 + "surface_offset_m": 0.0009, + "z_med_m": 0.5005 }, { - "n_measured": 397, - "plane_rms_m": 0.0039, - "ref_z_m": 0.2708, - "row": 39, - "separation_m": 0.1663, - "slot": 1, - "surface_offset_m": 0.0183, - "z_med_m": 0.437 + "n_measured": 306, + "plane_rms_m": 0.0005, + "ref_z_m": 0.2798, + "row": 85, + "separation_m": 0.2021, + "slot": 0, + "surface_offset_m": 0.0004, + "z_med_m": 0.4819 }, { - "n_measured": 603, - "plane_rms_m": 0.0043, - "ref_z_m": 0.2693, - "row": 40, - "separation_m": 0.177, + "n_measured": 52, + "plane_rms_m": 0.0006, + "ref_z_m": 0.2798, + "row": 85, + "separation_m": 0.2112, "slot": 1, - "surface_offset_m": 0.01, - "z_med_m": 0.4463 + "surface_offset_m": 0.0006, + "z_med_m": 0.491 }, { - "n_measured": 91, - "plane_rms_m": 0.0023, - "ref_z_m": 0.274, - "row": 1116, - "separation_m": 0.1769, - "slot": 1, - "surface_offset_m": 0.0054, - "z_med_m": 0.4509 + "n_measured": 469, + "plane_rms_m": 0.0009, + "ref_z_m": 0.2798, + "row": 86, + "separation_m": 0.1956, + "slot": 0, + "surface_offset_m": 0.001, + "z_med_m": 0.4753 }, { - "n_measured": 42, - "plane_rms_m": 0.0028, - "ref_z_m": 0.274, - "row": 1117, - "separation_m": 0.2714, - "slot": 1, - "surface_offset_m": 0.0019, - "z_med_m": 0.5454 + "n_measured": 525, + "plane_rms_m": 0.004, + "ref_z_m": 0.2798, + "row": 87, + "separation_m": 0.1895, + "slot": 0, + "surface_offset_m": 0.0075, + "z_med_m": 0.4692 }, { - "n_measured": 80, - "plane_rms_m": 0.0023, - "ref_z_m": 0.274, - "row": 1120, - "separation_m": 0.1856, + "n_measured": 17, + "plane_rms_m": 0.0003, + "ref_z_m": 0.2798, + "row": 88, + "separation_m": 0.2705, "slot": 0, - "surface_offset_m": 0.0054, - "z_med_m": 0.4596 + "surface_offset_m": 0.0004, + "z_med_m": 0.5503 }, { - "n_measured": 69, - "plane_rms_m": 0.0024, - "ref_z_m": 0.274, - "row": 1120, - "separation_m": 0.1979, + "n_measured": 84, + "plane_rms_m": 0.0007, + "ref_z_m": 0.2798, + "row": 89, + "separation_m": 0.2664, "slot": 0, - "surface_offset_m": 0.0063, - "z_med_m": 0.4719 + "surface_offset_m": 0.001, + "z_med_m": 0.5461 }, { - "n_measured": 50, - "plane_rms_m": 0.001, - "ref_z_m": 0.274, - "row": 1121, - "separation_m": 0.1927, + "n_measured": 49, + "plane_rms_m": 0.0005, + "ref_z_m": 0.2798, + "row": 1176, + "separation_m": 0.3242, "slot": 0, - "surface_offset_m": 0.0019, - "z_med_m": 0.4667 + "surface_offset_m": 0.0003, + "z_med_m": 0.604 }, { - "n_measured": 20, - "plane_rms_m": 0.0011, - "ref_z_m": 0.274, - "row": 1121, - "separation_m": 0.2049, + "n_measured": 173, + "plane_rms_m": 0.0023, + "ref_z_m": 0.2798, + "row": 1177, + "separation_m": 0.25, "slot": 0, - "surface_offset_m": 0.0007, - "z_med_m": 0.4789 + "surface_offset_m": 0.0033, + "z_med_m": 0.5298 }, { - "n_measured": 17, - "plane_rms_m": 0.0007, - "ref_z_m": 0.274, - "row": 1122, - "separation_m": 0.1945, + "n_measured": 53, + "plane_rms_m": 0.0005, + "ref_z_m": 0.2798, + "row": 1178, + "separation_m": 0.2593, "slot": 0, - "surface_offset_m": 0.0005, - "z_med_m": 0.4685 + "surface_offset_m": 0.0008, + "z_med_m": 0.5391 } ], "status": "applied" @@ -353,12 +356,12 @@ "calibrated_slot0_label": "left", "calibration": "seed_anchored_head", "clip_majority_slot0_label": "left", - "evidence_ambiguity_frac": 0.4286, + "evidence_ambiguity_frac": 0.8667, "handedness_source": "sam3_slot", "majority_agrees_with_seed": true, - "n_frames": 1211, - "n_frames_disagreeing": 6, - "n_frames_evaluated": 692, + "n_frames": 1215, + "n_frames_disagreeing": 3, + "n_frames_evaluated": 162, "n_frames_swapped": 0, "n_runs_swapped": 0, "params": { @@ -369,12 +372,13 @@ "min_kp_in_mask": 0.5, "min_run_frames": 30 }, + "reason": "only 162/1215 frames (13%) cleared the association + confidence gates (need >= 30%) \u2014 too thin for a clip-wide identity claim", "runs": [], - "status": "insufficient_support" + "status": "insufficient_evidence" }, "hand_mask_corrections": { "file": "hand_mask_corrections.npz", - "n_components_removed": 13, + "n_components_removed": 12, "n_frames_swapped": 0, "path": "hand_mask_corrections.npz", "raw_channel": "hand_mask.npz:masks (byte-unchanged)", @@ -390,102 +394,139 @@ "intrinsics_source": "record3d_arkit", "pose_source": "arkit" }, + "object_roles": { + "objects": [ + { + "default_role": "tool", + "object_id": "obj_broom" + }, + { + "default_role": "container", + "object_id": "obj_dustpan" + } + ], + "phase_roles": [ + { + "interaction_role": "tool", + "object_id": "obj_broom", + "phase_id": 0 + }, + { + "interaction_role": "container", + "object_id": "obj_dustpan", + "phase_id": 0 + }, + { + "interaction_role": "tool", + "object_id": "obj_broom", + "phase_id": 1 + }, + { + "interaction_role": "container", + "object_id": "obj_dustpan", + "phase_id": 1 + } + ], + "primary_object_id": null, + "source": "phase_plan_v0.2", + "version": "0.1.0" + }, "quality_gates": { "all_passed": true, + "validated_at": "2026-08-10T13:36:35+00:00", "gates": [ { - "detail": "", "name": "json_schema", "passed": true, + "value": "ok", "threshold": "validates", - "value": "ok" + "detail": "" }, { - "detail": "presence-conditioned over the actor's active span [25..1115] = 1091/1211 frames (raw all-frames = 86.13%)", "name": "frames_with_hands_pct", "passed": true, - "threshold": ">= 30% [class=GLOBAL]", - "value": 95.6 + "value": 100.0, + "threshold": ">= 5% [class=sweep]", + "detail": "presence-conditioned over the actor's active span [86..1176] = 1091/1215 frames (raw all-frames = 89.79%); shipped channel = raw \u2295 hand_mask_corrections" }, { - "detail": "silent or near-silent", "name": "audio_snr_db", "passed": true, + "value": null, "threshold": ">= 5 dB", - "value": null + "detail": "silent or near-silent" }, { - "detail": "silent clip", "name": "transcript_density", "passed": true, + "value": 0.0, "threshold": ">= 0.5 wps", - "value": 0.0 + "detail": "silent clip" }, { - "detail": "", "name": "hand_mask_coverage_pct", "passed": true, + "value": 2.689, "threshold": ">= 1%", - "value": 3.431 + "detail": "" }, { - "detail": "", "name": "phase_plan_windowing", "passed": true, - "threshold": "phase plan absent \u2014 skipped", - "value": "not_requested" + "value": "phase_plan_multi", + "threshold": "slot_selection == phase_plan_multi", + "detail": "" }, { - "detail": "", "name": "object_mask_coverage_pct", "passed": true, - "threshold": ">= 1% (per present object) [class=GLOBAL]", - "value": 22.909 + "value": 2.927, + "threshold": ">= 0.5% (per present object) [class=sweep]", + "detail": "per-object (present-frame) coverage: obj_broom=3.282%, obj_dustpan=2.927%" }, { - "detail": "", "name": "hand_mask_area_floor_left", "passed": true, + "value": 2.4074, "threshold": ">= 0.20% (median, per hand)", - "value": 3.5212 + "detail": "" }, { - "detail": "", "name": "hand_mask_area_floor_right", "passed": true, + "value": 2.9774, "threshold": ">= 0.20% (median, per hand)", - "value": 3.838 + "detail": "" }, { - "detail": "", "name": "hand_mask_lr_asymmetry", "passed": true, + "value": 0.8086, "threshold": "min/max >= 0.20", - "value": 0.9174 + "detail": "" }, { - "detail": "", "name": "hand_slot_merge", "passed": true, + "value": 0, "threshold": "< 5 consecutive frames with L\u2229R IoU > 0.5", - "value": 0 + "detail": "" }, { - "detail": "", "name": "object_track_truncated", "passed": true, + "value": 0, "threshold": "no tracked object ends while a hand still holds it", - "value": 0 + "detail": "" }, { - "detail": "", "name": "actor_mirror_consistency", "passed": true, + "value": 0, "threshold": "every hierarchy span's actor_kind == its action's actors[0]", - "value": 0 + "detail": "" } - ], - "validated_at": "2026-08-04T08:25:32+00:00" + ] } }, "manually_annotated_fields": [], @@ -497,23 +538,23 @@ }, "pipeline_version": "0.2.0", "qa_reviewer_id": "[redacted]", - "qa_score": 4, + "qa_score": 5, "source_experiment": "v0pipeline" }, - "audio_path": "019fbdfa-6dbd-7c90-938b-c476032bab5b.wav", + "audio_path": "019fc1d5-6845-7442-98c2-545d93c1b2e4.wav", "camera_calibration": { "ego": { "fps": 60.0, "intrinsics": [ [ - 1383.6243896484375, + 1375.8519287109375, 0.0, - 725.887939453125 + 726.8904418945312 ], [ 0.0, - 1383.6243896484375, - 958.5609130859375 + 1375.8519287109375, + 959.2222900390625 ], [ 0.0, @@ -531,12 +572,12 @@ }, "camera_rig_id": "rig_manila_iphone17pro_chest", "date_collected": "2026-08-02", - "duration_seconds": 20.183333333333334, + "duration_seconds": 20.25, "environment_id": "home_table_pretrip", - "episode_id": "EM1-D2-E04", + "episode_id": "EM1-D4-E04", "extensions": { "camera_world_pose": { - "n_frames": 1211, + "n_frames": 1215, "path": "camera_pose.npz", "pose_source": "arkit", "tracking_conf_mean": 1.0 @@ -548,7 +589,7 @@ 192 ], "depth_source": "record3d_lidar", - "n_frames": 1211, + "n_frames": 1215, "path": "depth.npz" }, "hand_object_contact": { @@ -561,7 +602,7 @@ "contact_off_m": 0.025, "contact_on_m": 0.015, "far_release_confirm_s": 0.25, - "far_release_frames": 222, + "far_release_frames": 167, "fsm_states": [ "OPEN", "CLOSING", @@ -569,15 +610,21 @@ "OPENING" ], "gate_2d_available": true, - "gate_2d_frames_blocked": 59, - "gate_2d_frames_evaluated": 2188, + "gate_2d_frames_blocked": 127, + "gate_2d_frames_evaluated": 2176, "gate_2d_metric": "mask_adjacency", "grasp_onsets": { "left": [ - 75 + 140 ], "right": [ - 82 + 168, + 373, + 432, + 550, + 639, + 796, + 943 ] }, "median_window_frames": 5, @@ -595,49 +642,28 @@ }, "debounce_fps": 60.0, "debounce_note": "LID3D-7: per_hand_contact is the DEBOUNCED bool \u2014 P4-C1 valid-depth score (a bone-prior-imputed fingertip never votes) AND-gated on the 2D SAM3 hand\u2229object overlap, P4-C2 median pre-filter, P4-C3 Schmitt hysteresis (HOLD in the [contact_on_m, contact_off_m] dead-band), P4-C4 asymmetric min-dwell, P4-C5 grasp FSM. contact_strength + grasp_fsm_state are additive; raw min_dist_m is the un-debounced firewall channel.", - "detected_object": "shirt", + "detected_object": "broom", "direct_contact_shape": [ - 1211, + 1215, 2, - 1 + 2 ], "hold_dist_m": 0.12, "joints_source": "hamer_2d_depth", - "manual_contact_trim": [ - { - "actor": "founder ruling via agent", - "applied_at": "2026-08-02", - "extended_onsets": { - "LEFT": [ - 68, - 74 - ], - "RIGHT": [ - 68, - 81 - ] - }, - "kept_frames": [ - 68, - 1080 - ], - "note": "founder ruling 2026-08-02: 'Contact ends frame 1080 starts at 68 for both'. The tail is a trim (L was f1100, R f1098). The HEAD is an EXTENSION (L was f75, R f82) and is measurement-SUPPORTED, not fabricated: the hand-to-cloth distance over f68-74 sits at 4-25 mm, squarely in contact range, and only the debounce assert dwell delayed the onset. Extended frames keep their computed from_measured flags; raw min_dist_m untouched (rule #7).", - "op": "window_set" - } - ], "mask_2d": { "metric": "iou+border_adjacency", "n_frames_in_contact": 0, "object_ids": [ - "1" + "obj_broom", + "obj_dustpan" ], "objects": [ { - "n_frames_adjacent": 1071, + "n_frames_adjacent": 992, "n_frames_in_contact": 0, - "n_frames_scored": 1211, - "n_present_frames": 1211, - "object_id": "1", + "n_frames_scored": 1166, + "n_present_frames": 1166, + "object_id": "obj_broom", "per_frame": [ { "frame": 0, @@ -911,8 +937,8 @@ }, { "frame": 30, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": false, "right_escape": "inconclusive", @@ -920,8 +946,8 @@ }, { "frame": 31, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": false, "right_escape": "inconclusive", @@ -929,8 +955,8 @@ }, { "frame": 32, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": false, "right_escape": "inconclusive", @@ -938,8 +964,8 @@ }, { "frame": 33, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": false, "right_escape": "inconclusive", @@ -947,8 +973,8 @@ }, { "frame": 34, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": false, "right_escape": "inconclusive", @@ -956,8 +982,8 @@ }, { "frame": 35, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": false, "right_escape": "inconclusive", @@ -965,8 +991,8 @@ }, { "frame": 36, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": false, "right_escape": "inconclusive", @@ -974,8 +1000,8 @@ }, { "frame": 37, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": false, "right_escape": "inconclusive", @@ -983,8 +1009,8 @@ }, { "frame": 38, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": false, "right_escape": "inconclusive", @@ -992,8 +1018,8 @@ }, { "frame": 39, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": false, "right_escape": "inconclusive", @@ -1001,8 +1027,8 @@ }, { "frame": 40, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": false, "right_escape": "inconclusive", @@ -1010,8 +1036,8 @@ }, { "frame": 41, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": false, "right_escape": "inconclusive", @@ -1019,8 +1045,8 @@ }, { "frame": 42, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": false, "right_escape": "inconclusive", @@ -1028,8 +1054,8 @@ }, { "frame": 43, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": false, "right_escape": "inconclusive", @@ -1037,8 +1063,8 @@ }, { "frame": 44, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": false, "right_escape": "inconclusive", @@ -1046,485 +1072,485 @@ }, { "frame": 45, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 46, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 47, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 48, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 49, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 50, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 51, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 52, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 53, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 54, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 55, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 56, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 57, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 58, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 59, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 60, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 61, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 62, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 63, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 64, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 65, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 66, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 67, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 68, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 69, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 70, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 71, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 72, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 73, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 74, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 75, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 76, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 77, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 78, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 79, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 80, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 81, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 82, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 83, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 84, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 85, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 86, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 87, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 88, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 89, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 90, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 91, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 92, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 93, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 94, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 95, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 96, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 97, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", + "right_adjacent": false, + "right_escape": "inconclusive", "right_in_contact": false }, { "frame": 98, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1532,8 +1558,8 @@ }, { "frame": 99, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1541,8 +1567,8 @@ }, { "frame": 100, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1550,8 +1576,8 @@ }, { "frame": 101, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1559,8 +1585,8 @@ }, { "frame": 102, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1568,8 +1594,8 @@ }, { "frame": 103, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1577,8 +1603,8 @@ }, { "frame": 104, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1586,8 +1612,8 @@ }, { "frame": 105, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1595,8 +1621,8 @@ }, { "frame": 106, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1604,8 +1630,8 @@ }, { "frame": 107, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1613,8 +1639,8 @@ }, { "frame": 108, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1622,8 +1648,8 @@ }, { "frame": 109, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1631,8 +1657,8 @@ }, { "frame": 110, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1640,8 +1666,8 @@ }, { "frame": 111, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1649,8 +1675,8 @@ }, { "frame": 112, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1658,8 +1684,8 @@ }, { "frame": 113, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1667,8 +1693,8 @@ }, { "frame": 114, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1676,8 +1702,8 @@ }, { "frame": 115, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1685,8 +1711,8 @@ }, { "frame": 116, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1694,8 +1720,8 @@ }, { "frame": 117, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1703,8 +1729,8 @@ }, { "frame": 118, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1712,8 +1738,8 @@ }, { "frame": 119, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1721,8 +1747,8 @@ }, { "frame": 120, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1730,8 +1756,8 @@ }, { "frame": 121, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1739,8 +1765,8 @@ }, { "frame": 122, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1748,8 +1774,8 @@ }, { "frame": 123, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1757,8 +1783,8 @@ }, { "frame": 124, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1766,8 +1792,8 @@ }, { "frame": 125, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1775,8 +1801,8 @@ }, { "frame": 126, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1784,8 +1810,8 @@ }, { "frame": 127, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1793,8 +1819,8 @@ }, { "frame": 128, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1802,8 +1828,8 @@ }, { "frame": 129, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1811,8 +1837,8 @@ }, { "frame": 130, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1820,8 +1846,8 @@ }, { "frame": 131, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1829,8 +1855,8 @@ }, { "frame": 132, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1838,8 +1864,8 @@ }, { "frame": 133, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1847,8 +1873,8 @@ }, { "frame": 134, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1856,8 +1882,8 @@ }, { "frame": 135, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1865,8 +1891,8 @@ }, { "frame": 136, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1874,8 +1900,8 @@ }, { "frame": 137, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1883,8 +1909,8 @@ }, { "frame": 138, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1892,8 +1918,8 @@ }, { "frame": 139, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1901,8 +1927,8 @@ }, { "frame": 140, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1910,8 +1936,8 @@ }, { "frame": 141, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1919,8 +1945,8 @@ }, { "frame": 142, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1928,8 +1954,8 @@ }, { "frame": 143, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1937,8 +1963,8 @@ }, { "frame": 144, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1946,8 +1972,8 @@ }, { "frame": 145, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1955,8 +1981,8 @@ }, { "frame": 146, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1964,8 +1990,8 @@ }, { "frame": 147, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1973,8 +1999,8 @@ }, { "frame": 148, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1982,8 +2008,8 @@ }, { "frame": 149, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -1991,8 +2017,8 @@ }, { "frame": 150, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2000,8 +2026,8 @@ }, { "frame": 151, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2009,8 +2035,8 @@ }, { "frame": 152, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2018,8 +2044,8 @@ }, { "frame": 153, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2027,8 +2053,8 @@ }, { "frame": 154, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2036,8 +2062,8 @@ }, { "frame": 155, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2045,8 +2071,8 @@ }, { "frame": 156, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2054,8 +2080,8 @@ }, { "frame": 157, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2063,8 +2089,8 @@ }, { "frame": 158, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2072,8 +2098,8 @@ }, { "frame": 159, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2081,8 +2107,8 @@ }, { "frame": 160, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2090,8 +2116,8 @@ }, { "frame": 161, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2099,8 +2125,8 @@ }, { "frame": 162, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2108,8 +2134,8 @@ }, { "frame": 163, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2117,8 +2143,8 @@ }, { "frame": 164, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2126,8 +2152,8 @@ }, { "frame": 165, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2135,8 +2161,8 @@ }, { "frame": 166, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2144,8 +2170,8 @@ }, { "frame": 167, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2153,8 +2179,8 @@ }, { "frame": 168, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2162,8 +2188,8 @@ }, { "frame": 169, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2171,8 +2197,8 @@ }, { "frame": 170, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2180,8 +2206,8 @@ }, { "frame": 171, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2189,8 +2215,8 @@ }, { "frame": 172, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2198,8 +2224,8 @@ }, { "frame": 173, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2207,8 +2233,8 @@ }, { "frame": 174, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2216,8 +2242,8 @@ }, { "frame": 175, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2225,8 +2251,8 @@ }, { "frame": 176, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2234,8 +2260,8 @@ }, { "frame": 177, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2243,8 +2269,8 @@ }, { "frame": 178, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2252,8 +2278,8 @@ }, { "frame": 179, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2261,8 +2287,8 @@ }, { "frame": 180, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2270,8 +2296,8 @@ }, { "frame": 181, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2279,8 +2305,8 @@ }, { "frame": 182, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2288,8 +2314,8 @@ }, { "frame": 183, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2297,8 +2323,8 @@ }, { "frame": 184, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2306,8 +2332,8 @@ }, { "frame": 185, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2315,8 +2341,8 @@ }, { "frame": 186, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2324,8 +2350,8 @@ }, { "frame": 187, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2333,8 +2359,8 @@ }, { "frame": 188, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2342,8 +2368,8 @@ }, { "frame": 189, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2351,8 +2377,8 @@ }, { "frame": 190, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2360,8 +2386,8 @@ }, { "frame": 191, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2369,8 +2395,8 @@ }, { "frame": 192, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2378,8 +2404,8 @@ }, { "frame": 193, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2387,8 +2413,8 @@ }, { "frame": 194, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2396,8 +2422,8 @@ }, { "frame": 195, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2405,8 +2431,8 @@ }, { "frame": 196, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2414,8 +2440,8 @@ }, { "frame": 197, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2423,8 +2449,8 @@ }, { "frame": 198, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2432,8 +2458,8 @@ }, { "frame": 199, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2441,8 +2467,8 @@ }, { "frame": 200, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2450,8 +2476,8 @@ }, { "frame": 201, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2459,8 +2485,8 @@ }, { "frame": 202, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2468,8 +2494,8 @@ }, { "frame": 203, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2477,8 +2503,8 @@ }, { "frame": 204, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2486,8 +2512,8 @@ }, { "frame": 205, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2495,8 +2521,8 @@ }, { "frame": 206, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2504,8 +2530,8 @@ }, { "frame": 207, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2513,8 +2539,8 @@ }, { "frame": 208, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2522,8 +2548,8 @@ }, { "frame": 209, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2531,8 +2557,8 @@ }, { "frame": 210, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2540,8 +2566,8 @@ }, { "frame": 211, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2549,8 +2575,8 @@ }, { "frame": 212, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2558,8 +2584,8 @@ }, { "frame": 213, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2567,8 +2593,8 @@ }, { "frame": 214, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2576,17 +2602,17 @@ }, { "frame": 215, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 216, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2594,8 +2620,8 @@ }, { "frame": 217, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2603,8 +2629,8 @@ }, { "frame": 218, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2612,8 +2638,8 @@ }, { "frame": 219, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2621,8 +2647,8 @@ }, { "frame": 220, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2630,8 +2656,8 @@ }, { "frame": 221, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2639,8 +2665,8 @@ }, { "frame": 222, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2648,8 +2674,8 @@ }, { "frame": 223, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2657,8 +2683,8 @@ }, { "frame": 224, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2666,8 +2692,8 @@ }, { "frame": 225, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2675,8 +2701,8 @@ }, { "frame": 226, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2684,8 +2710,8 @@ }, { "frame": 227, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2693,8 +2719,8 @@ }, { "frame": 228, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2702,8 +2728,8 @@ }, { "frame": 229, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2711,8 +2737,8 @@ }, { "frame": 230, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2720,8 +2746,8 @@ }, { "frame": 231, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2729,8 +2755,8 @@ }, { "frame": 232, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2738,8 +2764,8 @@ }, { "frame": 233, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2747,8 +2773,8 @@ }, { "frame": 234, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2756,8 +2782,8 @@ }, { "frame": 235, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2765,8 +2791,8 @@ }, { "frame": 236, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2774,8 +2800,8 @@ }, { "frame": 237, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2783,8 +2809,8 @@ }, { "frame": 238, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2792,8 +2818,8 @@ }, { "frame": 239, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2801,8 +2827,8 @@ }, { "frame": 240, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2810,8 +2836,8 @@ }, { "frame": 241, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2819,8 +2845,8 @@ }, { "frame": 242, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2828,8 +2854,8 @@ }, { "frame": 243, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2837,8 +2863,8 @@ }, { "frame": 244, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2846,8 +2872,8 @@ }, { "frame": 245, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2855,8 +2881,8 @@ }, { "frame": 246, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2864,8 +2890,8 @@ }, { "frame": 247, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2873,8 +2899,8 @@ }, { "frame": 248, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2882,8 +2908,8 @@ }, { "frame": 249, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2891,8 +2917,8 @@ }, { "frame": 250, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2900,8 +2926,8 @@ }, { "frame": 251, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2909,8 +2935,8 @@ }, { "frame": 252, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2918,8 +2944,8 @@ }, { "frame": 253, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2927,8 +2953,8 @@ }, { "frame": 254, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2936,8 +2962,8 @@ }, { "frame": 255, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2945,8 +2971,8 @@ }, { "frame": 256, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2954,8 +2980,8 @@ }, { "frame": 257, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2963,8 +2989,8 @@ }, { "frame": 258, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2972,8 +2998,8 @@ }, { "frame": 259, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2981,8 +3007,8 @@ }, { "frame": 260, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2990,8 +3016,8 @@ }, { "frame": 261, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -2999,8 +3025,8 @@ }, { "frame": 262, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3008,8 +3034,8 @@ }, { "frame": 263, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3017,8 +3043,8 @@ }, { "frame": 264, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3026,8 +3052,8 @@ }, { "frame": 265, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3035,8 +3061,8 @@ }, { "frame": 266, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3044,8 +3070,8 @@ }, { "frame": 267, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3053,8 +3079,8 @@ }, { "frame": 268, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3062,8 +3088,8 @@ }, { "frame": 269, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3071,8 +3097,8 @@ }, { "frame": 270, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3080,8 +3106,8 @@ }, { "frame": 271, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3089,8 +3115,8 @@ }, { "frame": 272, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3098,8 +3124,8 @@ }, { "frame": 273, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3107,8 +3133,8 @@ }, { "frame": 274, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3116,8 +3142,8 @@ }, { "frame": 275, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3125,8 +3151,8 @@ }, { "frame": 276, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3134,8 +3160,8 @@ }, { "frame": 277, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3143,8 +3169,8 @@ }, { "frame": 278, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3152,8 +3178,8 @@ }, { "frame": 279, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3161,8 +3187,8 @@ }, { "frame": 280, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3170,8 +3196,8 @@ }, { "frame": 281, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3179,8 +3205,8 @@ }, { "frame": 282, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3188,8 +3214,8 @@ }, { "frame": 283, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3197,8 +3223,8 @@ }, { "frame": 284, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3206,8 +3232,8 @@ }, { "frame": 285, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3215,8 +3241,8 @@ }, { "frame": 286, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3224,8 +3250,8 @@ }, { "frame": 287, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3233,8 +3259,8 @@ }, { "frame": 288, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3242,8 +3268,8 @@ }, { "frame": 289, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3251,8 +3277,8 @@ }, { "frame": 290, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3260,8 +3286,8 @@ }, { "frame": 291, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3269,8 +3295,8 @@ }, { "frame": 292, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3278,8 +3304,8 @@ }, { "frame": 293, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3287,8 +3313,8 @@ }, { "frame": 294, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3296,8 +3322,8 @@ }, { "frame": 295, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3305,8 +3331,8 @@ }, { "frame": 296, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3314,8 +3340,8 @@ }, { "frame": 297, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3323,8 +3349,8 @@ }, { "frame": 298, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3332,8 +3358,8 @@ }, { "frame": 299, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3341,8 +3367,8 @@ }, { "frame": 300, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3350,8 +3376,8 @@ }, { "frame": 301, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3359,8 +3385,8 @@ }, { "frame": 302, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3368,8 +3394,8 @@ }, { "frame": 303, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3377,8 +3403,8 @@ }, { "frame": 304, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3386,8 +3412,8 @@ }, { "frame": 305, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3395,8 +3421,8 @@ }, { "frame": 306, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3404,8 +3430,8 @@ }, { "frame": 307, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3413,8 +3439,8 @@ }, { "frame": 308, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3422,8 +3448,8 @@ }, { "frame": 309, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3431,8 +3457,8 @@ }, { "frame": 310, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3440,8 +3466,8 @@ }, { "frame": 311, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3449,8 +3475,8 @@ }, { "frame": 312, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3458,8 +3484,8 @@ }, { "frame": 313, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3467,8 +3493,8 @@ }, { "frame": 314, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3476,8 +3502,8 @@ }, { "frame": 315, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3485,8 +3511,8 @@ }, { "frame": 316, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3494,8 +3520,8 @@ }, { "frame": 317, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3503,8 +3529,8 @@ }, { "frame": 318, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3512,8 +3538,8 @@ }, { "frame": 319, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3521,8 +3547,8 @@ }, { "frame": 320, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3530,8 +3556,8 @@ }, { "frame": 321, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3539,8 +3565,8 @@ }, { "frame": 322, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3548,8 +3574,8 @@ }, { "frame": 323, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3557,8 +3583,8 @@ }, { "frame": 324, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3566,8 +3592,8 @@ }, { "frame": 325, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3575,8 +3601,8 @@ }, { "frame": 326, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3584,8 +3610,8 @@ }, { "frame": 327, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3593,8 +3619,8 @@ }, { "frame": 328, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3602,8 +3628,8 @@ }, { "frame": 329, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3611,8 +3637,8 @@ }, { "frame": 330, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3620,8 +3646,8 @@ }, { "frame": 331, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3629,8 +3655,8 @@ }, { "frame": 332, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3638,8 +3664,8 @@ }, { "frame": 333, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3647,8 +3673,8 @@ }, { "frame": 334, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3656,8 +3682,8 @@ }, { "frame": 335, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3665,8 +3691,8 @@ }, { "frame": 336, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3674,8 +3700,8 @@ }, { "frame": 337, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3683,8 +3709,8 @@ }, { "frame": 338, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3692,8 +3718,8 @@ }, { "frame": 339, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3701,8 +3727,8 @@ }, { "frame": 340, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3710,8 +3736,8 @@ }, { "frame": 341, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3719,8 +3745,8 @@ }, { "frame": 342, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3728,8 +3754,8 @@ }, { "frame": 343, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3737,8 +3763,8 @@ }, { "frame": 344, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3746,8 +3772,8 @@ }, { "frame": 345, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3755,8 +3781,8 @@ }, { "frame": 346, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3764,8 +3790,8 @@ }, { "frame": 347, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3773,8 +3799,8 @@ }, { "frame": 348, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3782,8 +3808,8 @@ }, { "frame": 349, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3791,8 +3817,8 @@ }, { "frame": 350, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3800,8 +3826,8 @@ }, { "frame": 351, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3809,8 +3835,8 @@ }, { "frame": 352, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3818,8 +3844,8 @@ }, { "frame": 353, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3827,8 +3853,8 @@ }, { "frame": 354, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3836,8 +3862,8 @@ }, { "frame": 355, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3845,8 +3871,8 @@ }, { "frame": 356, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3854,8 +3880,8 @@ }, { "frame": 357, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3863,8 +3889,8 @@ }, { "frame": 358, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3872,8 +3898,8 @@ }, { "frame": 359, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3881,8 +3907,8 @@ }, { "frame": 360, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3890,8 +3916,8 @@ }, { "frame": 361, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3899,8 +3925,8 @@ }, { "frame": 362, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -3908,215 +3934,134 @@ }, { "frame": 363, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", "right_in_contact": false }, { - "frame": 364, - "left_adjacent": true, - "left_escape": "none", + "frame": 373, + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", "right_in_contact": false }, { - "frame": 365, - "left_adjacent": true, - "left_escape": "none", + "frame": 374, + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", "right_in_contact": false }, { - "frame": 366, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", - "right_in_contact": false - }, - { - "frame": 367, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", - "right_in_contact": false - }, - { - "frame": 368, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", - "right_in_contact": false - }, - { - "frame": 369, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", - "right_in_contact": false - }, - { - "frame": 370, - "left_adjacent": true, - "left_escape": "none", + "frame": 375, + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", "right_in_contact": false }, - { - "frame": 371, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", - "right_in_contact": false - }, - { - "frame": 372, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", - "right_in_contact": false - }, - { - "frame": 373, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", - "right_in_contact": false - }, - { - "frame": 374, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", - "right_in_contact": false - }, - { - "frame": 375, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", - "right_in_contact": false - }, { "frame": 376, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 377, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 378, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 379, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 380, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 381, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 382, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 383, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 384, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 385, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 386, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4124,8 +4069,8 @@ }, { "frame": 387, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4133,8 +4078,8 @@ }, { "frame": 388, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4142,8 +4087,8 @@ }, { "frame": 389, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4151,8 +4096,8 @@ }, { "frame": 390, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4160,8 +4105,8 @@ }, { "frame": 391, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4169,8 +4114,8 @@ }, { "frame": 392, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4178,8 +4123,8 @@ }, { "frame": 393, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4187,8 +4132,8 @@ }, { "frame": 394, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4196,8 +4141,8 @@ }, { "frame": 395, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4205,8 +4150,8 @@ }, { "frame": 396, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4214,8 +4159,8 @@ }, { "frame": 397, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4223,8 +4168,8 @@ }, { "frame": 398, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4232,17 +4177,17 @@ }, { "frame": 399, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 400, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4250,8 +4195,8 @@ }, { "frame": 401, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4259,8 +4204,8 @@ }, { "frame": 402, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4268,8 +4213,8 @@ }, { "frame": 403, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4277,8 +4222,8 @@ }, { "frame": 404, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4286,8 +4231,8 @@ }, { "frame": 405, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4295,8 +4240,8 @@ }, { "frame": 406, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4304,8 +4249,8 @@ }, { "frame": 407, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4313,8 +4258,8 @@ }, { "frame": 408, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4322,8 +4267,8 @@ }, { "frame": 409, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4331,8 +4276,8 @@ }, { "frame": 410, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4340,8 +4285,8 @@ }, { "frame": 411, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4349,8 +4294,8 @@ }, { "frame": 412, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4358,8 +4303,8 @@ }, { "frame": 413, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4367,8 +4312,8 @@ }, { "frame": 414, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4376,8 +4321,8 @@ }, { "frame": 415, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4385,8 +4330,8 @@ }, { "frame": 416, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4394,8 +4339,8 @@ }, { "frame": 417, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4403,8 +4348,8 @@ }, { "frame": 418, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4412,8 +4357,8 @@ }, { "frame": 419, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4421,8 +4366,8 @@ }, { "frame": 420, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4430,8 +4375,8 @@ }, { "frame": 421, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4439,224 +4384,143 @@ }, { "frame": 422, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", "right_in_contact": false }, { - "frame": 423, - "left_adjacent": true, - "left_escape": "none", + "frame": 432, + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", "right_in_contact": false }, { - "frame": 424, - "left_adjacent": true, - "left_escape": "none", + "frame": 433, + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", "right_in_contact": false }, { - "frame": 425, - "left_adjacent": true, - "left_escape": "none", + "frame": 434, + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", "right_in_contact": false }, { - "frame": 426, - "left_adjacent": true, - "left_escape": "none", + "frame": 435, + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", "right_in_contact": false }, { - "frame": 427, - "left_adjacent": true, - "left_escape": "none", + "frame": 436, + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", "right_in_contact": false }, { - "frame": 428, - "left_adjacent": true, - "left_escape": "none", + "frame": 437, + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", "right_in_contact": false }, { - "frame": 429, - "left_adjacent": true, - "left_escape": "none", + "frame": 438, + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", "right_in_contact": false }, { - "frame": 430, - "left_adjacent": true, - "left_escape": "none", + "frame": 439, + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", "right_in_contact": false }, { - "frame": 431, - "left_adjacent": true, - "left_escape": "none", + "frame": 440, + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", "right_in_contact": false }, { - "frame": 432, - "left_adjacent": true, - "left_escape": "none", + "frame": 441, + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", "right_in_contact": false }, { - "frame": 433, - "left_adjacent": true, - "left_escape": "none", + "frame": 442, + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", "right_in_contact": false }, { - "frame": 434, - "left_adjacent": true, - "left_escape": "none", + "frame": 443, + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", "right_in_contact": false }, { - "frame": 435, - "left_adjacent": true, - "left_escape": "none", + "frame": 444, + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", "right_in_contact": false }, { - "frame": 436, - "left_adjacent": true, - "left_escape": "none", + "frame": 445, + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", "right_in_contact": false }, { - "frame": 437, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 438, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 439, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 440, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 441, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 442, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 443, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 444, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 445, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 446, - "left_adjacent": true, - "left_escape": "none", + "frame": 446, + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4664,8 +4528,8 @@ }, { "frame": 447, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4673,8 +4537,8 @@ }, { "frame": 448, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4682,8 +4546,8 @@ }, { "frame": 449, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4691,8 +4555,8 @@ }, { "frame": 450, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4700,8 +4564,8 @@ }, { "frame": 451, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4709,8 +4573,8 @@ }, { "frame": 452, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4718,8 +4582,8 @@ }, { "frame": 453, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4727,8 +4591,8 @@ }, { "frame": 454, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4736,8 +4600,8 @@ }, { "frame": 455, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4745,8 +4609,8 @@ }, { "frame": 456, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4754,8 +4618,8 @@ }, { "frame": 457, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4763,8 +4627,8 @@ }, { "frame": 458, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4772,8 +4636,8 @@ }, { "frame": 459, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4781,8 +4645,8 @@ }, { "frame": 460, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4790,8 +4654,8 @@ }, { "frame": 461, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4799,8 +4663,8 @@ }, { "frame": 462, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4808,8 +4672,8 @@ }, { "frame": 463, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4817,8 +4681,8 @@ }, { "frame": 464, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4826,8 +4690,8 @@ }, { "frame": 465, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4835,8 +4699,8 @@ }, { "frame": 466, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4844,8 +4708,8 @@ }, { "frame": 467, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4853,8 +4717,8 @@ }, { "frame": 468, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4862,8 +4726,8 @@ }, { "frame": 469, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4871,8 +4735,8 @@ }, { "frame": 470, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4880,8 +4744,8 @@ }, { "frame": 471, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4889,8 +4753,8 @@ }, { "frame": 472, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4898,8 +4762,8 @@ }, { "frame": 473, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4907,17 +4771,17 @@ }, { "frame": 474, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 475, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4925,8 +4789,8 @@ }, { "frame": 476, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4934,8 +4798,8 @@ }, { "frame": 477, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4943,17 +4807,17 @@ }, { "frame": 478, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { "frame": 479, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4961,8 +4825,8 @@ }, { "frame": 480, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4970,8 +4834,8 @@ }, { "frame": 481, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4979,8 +4843,8 @@ }, { "frame": 482, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4988,8 +4852,8 @@ }, { "frame": 483, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -4997,8 +4861,8 @@ }, { "frame": 484, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5006,8 +4870,8 @@ }, { "frame": 485, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5015,8 +4879,8 @@ }, { "frame": 486, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5024,8 +4888,8 @@ }, { "frame": 487, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5033,8 +4897,8 @@ }, { "frame": 488, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5042,8 +4906,8 @@ }, { "frame": 489, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5051,8 +4915,8 @@ }, { "frame": 490, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5060,8 +4924,8 @@ }, { "frame": 491, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5069,8 +4933,8 @@ }, { "frame": 492, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5078,8 +4942,8 @@ }, { "frame": 493, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5087,8 +4951,8 @@ }, { "frame": 494, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5096,8 +4960,8 @@ }, { "frame": 495, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5105,8 +4969,8 @@ }, { "frame": 496, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5114,8 +4978,8 @@ }, { "frame": 497, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5123,8 +4987,8 @@ }, { "frame": 498, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5132,8 +4996,8 @@ }, { "frame": 499, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5141,8 +5005,8 @@ }, { "frame": 500, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5150,8 +5014,8 @@ }, { "frame": 501, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5159,8 +5023,8 @@ }, { "frame": 502, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5168,8 +5032,8 @@ }, { "frame": 503, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5177,8 +5041,8 @@ }, { "frame": 504, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5186,8 +5050,8 @@ }, { "frame": 505, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5195,8 +5059,8 @@ }, { "frame": 506, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5204,8 +5068,8 @@ }, { "frame": 507, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5213,8 +5077,8 @@ }, { "frame": 508, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5222,8 +5086,8 @@ }, { "frame": 509, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5231,8 +5095,8 @@ }, { "frame": 510, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5240,8 +5104,8 @@ }, { "frame": 511, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5249,8 +5113,8 @@ }, { "frame": 512, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5258,8 +5122,8 @@ }, { "frame": 513, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5267,8 +5131,8 @@ }, { "frame": 514, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5276,8 +5140,8 @@ }, { "frame": 515, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5285,8 +5149,8 @@ }, { "frame": 516, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5294,8 +5158,8 @@ }, { "frame": 517, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5303,8 +5167,8 @@ }, { "frame": 518, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5312,8 +5176,8 @@ }, { "frame": 519, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5321,8 +5185,8 @@ }, { "frame": 520, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5330,8 +5194,8 @@ }, { "frame": 521, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5339,8 +5203,8 @@ }, { "frame": 522, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5348,8 +5212,8 @@ }, { "frame": 523, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5357,8 +5221,8 @@ }, { "frame": 524, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5366,8 +5230,8 @@ }, { "frame": 525, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5375,8 +5239,8 @@ }, { "frame": 526, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5384,8 +5248,8 @@ }, { "frame": 527, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5393,8 +5257,8 @@ }, { "frame": 528, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5402,8 +5266,8 @@ }, { "frame": 529, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5411,8 +5275,8 @@ }, { "frame": 530, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5420,8 +5284,8 @@ }, { "frame": 531, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5429,8 +5293,8 @@ }, { "frame": 532, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5438,8 +5302,8 @@ }, { "frame": 533, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5447,8 +5311,8 @@ }, { "frame": 534, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5456,8 +5320,8 @@ }, { "frame": 535, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5465,8 +5329,8 @@ }, { "frame": 536, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5474,206 +5338,98 @@ }, { "frame": 537, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", "right_in_contact": false }, { - "frame": 538, - "left_adjacent": true, - "left_escape": "none", + "frame": 550, + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", "right_in_contact": false }, { - "frame": 539, - "left_adjacent": true, - "left_escape": "none", + "frame": 551, + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", "right_in_contact": false }, { - "frame": 540, - "left_adjacent": true, - "left_escape": "none", + "frame": 552, + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", "right_in_contact": false }, { - "frame": 541, - "left_adjacent": true, - "left_escape": "none", + "frame": 553, + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", "right_in_contact": false }, { - "frame": 542, - "left_adjacent": true, - "left_escape": "none", + "frame": 554, + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", "right_in_contact": false }, { - "frame": 543, - "left_adjacent": true, - "left_escape": "none", + "frame": 555, + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", "right_in_contact": false }, { - "frame": 544, - "left_adjacent": true, - "left_escape": "none", + "frame": 556, + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", "right_in_contact": false }, { - "frame": 545, - "left_adjacent": true, - "left_escape": "none", + "frame": 557, + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", "right_in_contact": false }, { - "frame": 546, - "left_adjacent": true, - "left_escape": "none", + "frame": 558, + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", "right_in_contact": false }, { - "frame": 547, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 548, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 549, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 550, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 551, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 552, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 553, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 554, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 555, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 556, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 557, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 558, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 559, - "left_adjacent": true, - "left_escape": "none", + "frame": 559, + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5681,8 +5437,8 @@ }, { "frame": 560, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5690,8 +5446,8 @@ }, { "frame": 561, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5699,8 +5455,8 @@ }, { "frame": 562, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5708,8 +5464,8 @@ }, { "frame": 563, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5717,8 +5473,8 @@ }, { "frame": 564, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5726,8 +5482,8 @@ }, { "frame": 565, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5735,8 +5491,8 @@ }, { "frame": 566, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5744,8 +5500,8 @@ }, { "frame": 567, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5753,8 +5509,8 @@ }, { "frame": 568, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5762,8 +5518,8 @@ }, { "frame": 569, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5771,8 +5527,8 @@ }, { "frame": 570, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5780,8 +5536,8 @@ }, { "frame": 571, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5789,8 +5545,8 @@ }, { "frame": 572, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5798,8 +5554,8 @@ }, { "frame": 573, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5807,8 +5563,8 @@ }, { "frame": 574, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5816,8 +5572,8 @@ }, { "frame": 575, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5825,8 +5581,8 @@ }, { "frame": 576, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5834,8 +5590,8 @@ }, { "frame": 577, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5843,8 +5599,8 @@ }, { "frame": 578, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5852,8 +5608,8 @@ }, { "frame": 579, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5861,8 +5617,8 @@ }, { "frame": 580, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5870,8 +5626,8 @@ }, { "frame": 581, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5879,8 +5635,8 @@ }, { "frame": 582, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5888,8 +5644,8 @@ }, { "frame": 583, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5897,8 +5653,8 @@ }, { "frame": 584, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5906,8 +5662,8 @@ }, { "frame": 585, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5915,8 +5671,8 @@ }, { "frame": 586, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5924,8 +5680,8 @@ }, { "frame": 587, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5933,8 +5689,8 @@ }, { "frame": 588, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5942,8 +5698,8 @@ }, { "frame": 589, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5951,8 +5707,8 @@ }, { "frame": 590, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5960,8 +5716,8 @@ }, { "frame": 591, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5969,8 +5725,8 @@ }, { "frame": 592, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5978,8 +5734,8 @@ }, { "frame": 593, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5987,8 +5743,8 @@ }, { "frame": 594, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -5996,8 +5752,8 @@ }, { "frame": 595, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6005,8 +5761,8 @@ }, { "frame": 596, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6014,8 +5770,8 @@ }, { "frame": 597, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6023,8 +5779,8 @@ }, { "frame": 598, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6032,8 +5788,8 @@ }, { "frame": 599, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6041,8 +5797,8 @@ }, { "frame": 600, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6050,8 +5806,8 @@ }, { "frame": 601, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6059,8 +5815,8 @@ }, { "frame": 602, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6068,8 +5824,8 @@ }, { "frame": 603, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6077,8 +5833,8 @@ }, { "frame": 604, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6086,8 +5842,8 @@ }, { "frame": 605, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6095,8 +5851,8 @@ }, { "frame": 606, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6104,8 +5860,8 @@ }, { "frame": 607, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6113,8 +5869,8 @@ }, { "frame": 608, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6122,8 +5878,8 @@ }, { "frame": 609, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6131,8 +5887,8 @@ }, { "frame": 610, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6140,8 +5896,8 @@ }, { "frame": 611, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6149,8 +5905,8 @@ }, { "frame": 612, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6158,8 +5914,8 @@ }, { "frame": 613, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6167,8 +5923,8 @@ }, { "frame": 614, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6176,8 +5932,8 @@ }, { "frame": 615, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6185,8 +5941,8 @@ }, { "frame": 616, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6194,8 +5950,8 @@ }, { "frame": 617, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6203,8 +5959,8 @@ }, { "frame": 618, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6212,8 +5968,8 @@ }, { "frame": 619, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6221,8 +5977,8 @@ }, { "frame": 620, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6230,8 +5986,8 @@ }, { "frame": 621, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6239,8 +5995,8 @@ }, { "frame": 622, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6248,8 +6004,8 @@ }, { "frame": 623, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6257,8 +6013,8 @@ }, { "frame": 624, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6266,8 +6022,8 @@ }, { "frame": 625, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6275,8 +6031,8 @@ }, { "frame": 626, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6284,8 +6040,8 @@ }, { "frame": 627, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6293,8 +6049,8 @@ }, { "frame": 628, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6302,8 +6058,8 @@ }, { "frame": 629, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6311,8 +6067,8 @@ }, { "frame": 630, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6320,8 +6076,8 @@ }, { "frame": 631, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6329,8 +6085,8 @@ }, { "frame": 632, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6338,53 +6094,8 @@ }, { "frame": 633, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 634, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 635, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 636, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 637, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 638, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6392,8 +6103,8 @@ }, { "frame": 639, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6401,8 +6112,8 @@ }, { "frame": 640, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6410,8 +6121,8 @@ }, { "frame": 641, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6419,8 +6130,8 @@ }, { "frame": 642, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6428,8 +6139,8 @@ }, { "frame": 643, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6437,8 +6148,8 @@ }, { "frame": 644, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6446,8 +6157,8 @@ }, { "frame": 645, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6455,8 +6166,8 @@ }, { "frame": 646, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6464,8 +6175,8 @@ }, { "frame": 647, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6473,8 +6184,8 @@ }, { "frame": 648, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6482,8 +6193,8 @@ }, { "frame": 649, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6491,8 +6202,8 @@ }, { "frame": 650, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6500,8 +6211,8 @@ }, { "frame": 651, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6509,8 +6220,8 @@ }, { "frame": 652, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6518,8 +6229,8 @@ }, { "frame": 653, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6527,8 +6238,8 @@ }, { "frame": 654, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6536,8 +6247,8 @@ }, { "frame": 655, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6545,8 +6256,8 @@ }, { "frame": 656, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6554,8 +6265,8 @@ }, { "frame": 657, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6563,8 +6274,8 @@ }, { "frame": 658, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6572,8 +6283,8 @@ }, { "frame": 659, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6581,8 +6292,8 @@ }, { "frame": 660, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6590,8 +6301,8 @@ }, { "frame": 661, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6599,8 +6310,8 @@ }, { "frame": 662, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6608,8 +6319,8 @@ }, { "frame": 663, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6617,8 +6328,8 @@ }, { "frame": 664, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6626,8 +6337,8 @@ }, { "frame": 665, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6635,8 +6346,8 @@ }, { "frame": 666, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6644,8 +6355,8 @@ }, { "frame": 667, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6653,8 +6364,8 @@ }, { "frame": 668, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6662,8 +6373,8 @@ }, { "frame": 669, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6671,8 +6382,8 @@ }, { "frame": 670, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6680,8 +6391,8 @@ }, { "frame": 671, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6689,8 +6400,8 @@ }, { "frame": 672, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6698,8 +6409,8 @@ }, { "frame": 673, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6707,8 +6418,8 @@ }, { "frame": 674, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6716,8 +6427,8 @@ }, { "frame": 675, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6725,8 +6436,8 @@ }, { "frame": 676, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6734,8 +6445,8 @@ }, { "frame": 677, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6743,8 +6454,8 @@ }, { "frame": 678, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6752,8 +6463,8 @@ }, { "frame": 679, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6761,8 +6472,8 @@ }, { "frame": 680, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6770,8 +6481,8 @@ }, { "frame": 681, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6779,8 +6490,8 @@ }, { "frame": 682, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6788,8 +6499,8 @@ }, { "frame": 683, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6797,8 +6508,8 @@ }, { "frame": 684, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6806,8 +6517,8 @@ }, { "frame": 685, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6815,8 +6526,8 @@ }, { "frame": 686, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6824,8 +6535,8 @@ }, { "frame": 687, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6833,8 +6544,8 @@ }, { "frame": 688, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6842,8 +6553,8 @@ }, { "frame": 689, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6851,8 +6562,8 @@ }, { "frame": 690, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6860,8 +6571,8 @@ }, { "frame": 691, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6869,8 +6580,8 @@ }, { "frame": 692, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6878,8 +6589,8 @@ }, { "frame": 693, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6887,8 +6598,8 @@ }, { "frame": 694, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6896,8 +6607,8 @@ }, { "frame": 695, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6905,8 +6616,8 @@ }, { "frame": 696, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6914,8 +6625,8 @@ }, { "frame": 697, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6923,8 +6634,8 @@ }, { "frame": 698, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6932,8 +6643,8 @@ }, { "frame": 699, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6941,8 +6652,8 @@ }, { "frame": 700, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6950,8 +6661,8 @@ }, { "frame": 701, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6959,8 +6670,8 @@ }, { "frame": 702, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6968,8 +6679,8 @@ }, { "frame": 703, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6977,8 +6688,8 @@ }, { "frame": 704, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6986,8 +6697,8 @@ }, { "frame": 705, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -6995,8 +6706,8 @@ }, { "frame": 706, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7004,8 +6715,8 @@ }, { "frame": 707, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7013,8 +6724,8 @@ }, { "frame": 708, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7022,8 +6733,8 @@ }, { "frame": 709, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7031,8 +6742,8 @@ }, { "frame": 710, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7040,8 +6751,8 @@ }, { "frame": 711, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7049,8 +6760,8 @@ }, { "frame": 712, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7058,8 +6769,8 @@ }, { "frame": 713, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7067,8 +6778,8 @@ }, { "frame": 714, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7076,8 +6787,8 @@ }, { "frame": 715, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7085,8 +6796,8 @@ }, { "frame": 716, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7094,8 +6805,8 @@ }, { "frame": 717, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7103,8 +6814,8 @@ }, { "frame": 718, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7112,8 +6823,8 @@ }, { "frame": 719, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7121,8 +6832,8 @@ }, { "frame": 720, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7130,8 +6841,8 @@ }, { "frame": 721, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7139,8 +6850,8 @@ }, { "frame": 722, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7148,8 +6859,8 @@ }, { "frame": 723, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7157,8 +6868,8 @@ }, { "frame": 724, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7166,8 +6877,8 @@ }, { "frame": 725, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7175,8 +6886,8 @@ }, { "frame": 726, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7184,8 +6895,8 @@ }, { "frame": 727, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7193,8 +6904,8 @@ }, { "frame": 728, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7202,8 +6913,8 @@ }, { "frame": 729, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7211,8 +6922,8 @@ }, { "frame": 730, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7220,8 +6931,8 @@ }, { "frame": 731, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7229,8 +6940,8 @@ }, { "frame": 732, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7238,8 +6949,8 @@ }, { "frame": 733, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7247,8 +6958,8 @@ }, { "frame": 734, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7256,8 +6967,8 @@ }, { "frame": 735, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7265,8 +6976,8 @@ }, { "frame": 736, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7274,8 +6985,8 @@ }, { "frame": 737, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7283,8 +6994,8 @@ }, { "frame": 738, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7292,8 +7003,8 @@ }, { "frame": 739, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7301,8 +7012,8 @@ }, { "frame": 740, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7310,8 +7021,8 @@ }, { "frame": 741, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7319,8 +7030,8 @@ }, { "frame": 742, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7328,8 +7039,8 @@ }, { "frame": 743, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7337,8 +7048,8 @@ }, { "frame": 744, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7346,8 +7057,8 @@ }, { "frame": 745, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7355,8 +7066,8 @@ }, { "frame": 746, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7364,8 +7075,8 @@ }, { "frame": 747, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7373,8 +7084,8 @@ }, { "frame": 748, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7382,8 +7093,8 @@ }, { "frame": 749, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7391,8 +7102,8 @@ }, { "frame": 750, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7400,8 +7111,8 @@ }, { "frame": 751, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7409,8 +7120,8 @@ }, { "frame": 752, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7418,8 +7129,8 @@ }, { "frame": 753, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7427,8 +7138,8 @@ }, { "frame": 754, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7436,8 +7147,8 @@ }, { "frame": 755, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7445,8 +7156,8 @@ }, { "frame": 756, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7454,8 +7165,8 @@ }, { "frame": 757, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7463,8 +7174,8 @@ }, { "frame": 758, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7472,8 +7183,8 @@ }, { "frame": 759, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7481,8 +7192,8 @@ }, { "frame": 760, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7490,8 +7201,8 @@ }, { "frame": 761, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7499,8 +7210,8 @@ }, { "frame": 762, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7508,8 +7219,8 @@ }, { "frame": 763, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7517,8 +7228,8 @@ }, { "frame": 764, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7526,8 +7237,8 @@ }, { "frame": 765, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7535,8 +7246,8 @@ }, { "frame": 766, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7544,8 +7255,8 @@ }, { "frame": 767, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7553,8 +7264,8 @@ }, { "frame": 768, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7562,8 +7273,8 @@ }, { "frame": 769, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7571,8 +7282,8 @@ }, { "frame": 770, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7580,8 +7291,8 @@ }, { "frame": 771, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7589,8 +7300,8 @@ }, { "frame": 772, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7598,8 +7309,8 @@ }, { "frame": 773, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7607,8 +7318,8 @@ }, { "frame": 774, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7616,8 +7327,8 @@ }, { "frame": 775, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7625,8 +7336,8 @@ }, { "frame": 776, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7634,8 +7345,8 @@ }, { "frame": 777, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7643,8 +7354,8 @@ }, { "frame": 778, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7652,8 +7363,8 @@ }, { "frame": 779, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7661,8 +7372,8 @@ }, { "frame": 780, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7670,8 +7381,8 @@ }, { "frame": 781, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7679,8 +7390,8 @@ }, { "frame": 782, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7688,8 +7399,8 @@ }, { "frame": 783, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7697,8 +7408,8 @@ }, { "frame": 784, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7706,8 +7417,8 @@ }, { "frame": 785, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7715,8 +7426,8 @@ }, { "frame": 786, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7724,8 +7435,8 @@ }, { "frame": 787, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7733,8 +7444,8 @@ }, { "frame": 788, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7742,8 +7453,8 @@ }, { "frame": 789, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7751,8 +7462,8 @@ }, { "frame": 790, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7760,44 +7471,8 @@ }, { "frame": 791, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 792, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 793, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 794, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 795, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7805,8 +7480,8 @@ }, { "frame": 796, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7814,8 +7489,8 @@ }, { "frame": 797, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7823,8 +7498,8 @@ }, { "frame": 798, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7832,8 +7507,8 @@ }, { "frame": 799, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7841,8 +7516,8 @@ }, { "frame": 800, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7850,8 +7525,8 @@ }, { "frame": 801, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7859,8 +7534,8 @@ }, { "frame": 802, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7868,8 +7543,8 @@ }, { "frame": 803, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7877,8 +7552,8 @@ }, { "frame": 804, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7886,8 +7561,8 @@ }, { "frame": 805, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7895,8 +7570,8 @@ }, { "frame": 806, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7904,8 +7579,8 @@ }, { "frame": 807, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7913,8 +7588,8 @@ }, { "frame": 808, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7922,8 +7597,8 @@ }, { "frame": 809, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7931,8 +7606,8 @@ }, { "frame": 810, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7940,8 +7615,8 @@ }, { "frame": 811, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7949,8 +7624,8 @@ }, { "frame": 812, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7958,8 +7633,8 @@ }, { "frame": 813, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7967,8 +7642,8 @@ }, { "frame": 814, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7976,8 +7651,8 @@ }, { "frame": 815, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7985,8 +7660,8 @@ }, { "frame": 816, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -7994,8 +7669,8 @@ }, { "frame": 817, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8003,8 +7678,8 @@ }, { "frame": 818, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8012,8 +7687,8 @@ }, { "frame": 819, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8021,8 +7696,8 @@ }, { "frame": 820, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8030,8 +7705,8 @@ }, { "frame": 821, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8039,8 +7714,8 @@ }, { "frame": 822, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8048,8 +7723,8 @@ }, { "frame": 823, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8057,8 +7732,8 @@ }, { "frame": 824, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8066,8 +7741,8 @@ }, { "frame": 825, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8075,8 +7750,8 @@ }, { "frame": 826, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8084,8 +7759,8 @@ }, { "frame": 827, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8093,8 +7768,8 @@ }, { "frame": 828, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8102,8 +7777,8 @@ }, { "frame": 829, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8111,8 +7786,8 @@ }, { "frame": 830, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8120,8 +7795,8 @@ }, { "frame": 831, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8129,8 +7804,8 @@ }, { "frame": 832, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8138,8 +7813,8 @@ }, { "frame": 833, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8147,8 +7822,8 @@ }, { "frame": 834, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8156,8 +7831,8 @@ }, { "frame": 835, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8165,8 +7840,8 @@ }, { "frame": 836, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8174,8 +7849,8 @@ }, { "frame": 837, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8183,8 +7858,8 @@ }, { "frame": 838, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8192,8 +7867,8 @@ }, { "frame": 839, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8201,8 +7876,8 @@ }, { "frame": 840, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8210,8 +7885,8 @@ }, { "frame": 841, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8219,8 +7894,8 @@ }, { "frame": 842, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8228,8 +7903,8 @@ }, { "frame": 843, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8237,8 +7912,8 @@ }, { "frame": 844, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8246,8 +7921,8 @@ }, { "frame": 845, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8255,8 +7930,8 @@ }, { "frame": 846, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8264,8 +7939,8 @@ }, { "frame": 847, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8273,8 +7948,8 @@ }, { "frame": 848, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8282,8 +7957,8 @@ }, { "frame": 849, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8291,8 +7966,8 @@ }, { "frame": 850, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8300,8 +7975,8 @@ }, { "frame": 851, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8309,8 +7984,8 @@ }, { "frame": 852, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8318,8 +7993,8 @@ }, { "frame": 853, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8327,8 +8002,8 @@ }, { "frame": 854, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8336,8 +8011,8 @@ }, { "frame": 855, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8345,8 +8020,8 @@ }, { "frame": 856, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8354,8 +8029,8 @@ }, { "frame": 857, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8363,8 +8038,8 @@ }, { "frame": 858, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8372,8 +8047,8 @@ }, { "frame": 859, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8381,8 +8056,8 @@ }, { "frame": 860, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8390,8 +8065,8 @@ }, { "frame": 861, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8399,8 +8074,8 @@ }, { "frame": 862, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8408,8 +8083,8 @@ }, { "frame": 863, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8417,8 +8092,8 @@ }, { "frame": 864, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8426,8 +8101,8 @@ }, { "frame": 865, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8435,8 +8110,8 @@ }, { "frame": 866, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8444,8 +8119,8 @@ }, { "frame": 867, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8453,8 +8128,8 @@ }, { "frame": 868, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8462,8 +8137,8 @@ }, { "frame": 869, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8471,8 +8146,8 @@ }, { "frame": 870, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8480,8 +8155,8 @@ }, { "frame": 871, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8489,8 +8164,8 @@ }, { "frame": 872, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8498,8 +8173,8 @@ }, { "frame": 873, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8507,8 +8182,8 @@ }, { "frame": 874, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8516,8 +8191,8 @@ }, { "frame": 875, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8525,8 +8200,8 @@ }, { "frame": 876, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8534,8 +8209,8 @@ }, { "frame": 877, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8543,8 +8218,8 @@ }, { "frame": 878, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8552,8 +8227,8 @@ }, { "frame": 879, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8561,8 +8236,8 @@ }, { "frame": 880, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8570,8 +8245,8 @@ }, { "frame": 881, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8579,8 +8254,8 @@ }, { "frame": 882, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8588,8 +8263,8 @@ }, { "frame": 883, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8597,8 +8272,8 @@ }, { "frame": 884, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8606,8 +8281,8 @@ }, { "frame": 885, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8615,8 +8290,8 @@ }, { "frame": 886, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8624,8 +8299,8 @@ }, { "frame": 887, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8633,8 +8308,8 @@ }, { "frame": 888, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8642,8 +8317,8 @@ }, { "frame": 889, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8651,8 +8326,8 @@ }, { "frame": 890, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8660,8 +8335,8 @@ }, { "frame": 891, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8669,8 +8344,8 @@ }, { "frame": 892, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8678,8 +8353,8 @@ }, { "frame": 893, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8687,8 +8362,8 @@ }, { "frame": 894, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8696,8 +8371,8 @@ }, { "frame": 895, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8705,8 +8380,8 @@ }, { "frame": 896, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8714,8 +8389,8 @@ }, { "frame": 897, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8723,8 +8398,8 @@ }, { "frame": 898, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8732,8 +8407,8 @@ }, { "frame": 899, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8741,8 +8416,8 @@ }, { "frame": 900, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8750,8 +8425,8 @@ }, { "frame": 901, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8759,8 +8434,8 @@ }, { "frame": 902, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8768,8 +8443,8 @@ }, { "frame": 903, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8777,8 +8452,8 @@ }, { "frame": 904, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8786,8 +8461,8 @@ }, { "frame": 905, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8795,8 +8470,8 @@ }, { "frame": 906, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8804,8 +8479,8 @@ }, { "frame": 907, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8813,8 +8488,8 @@ }, { "frame": 908, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8822,8 +8497,8 @@ }, { "frame": 909, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8831,8 +8506,8 @@ }, { "frame": 910, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8840,8 +8515,8 @@ }, { "frame": 911, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8849,8 +8524,8 @@ }, { "frame": 912, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8858,8 +8533,8 @@ }, { "frame": 913, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8867,8 +8542,8 @@ }, { "frame": 914, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8876,8 +8551,8 @@ }, { "frame": 915, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8885,8 +8560,8 @@ }, { "frame": 916, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8894,8 +8569,8 @@ }, { "frame": 917, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8903,8 +8578,8 @@ }, { "frame": 918, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8912,8 +8587,8 @@ }, { "frame": 919, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8921,8 +8596,8 @@ }, { "frame": 920, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8930,8 +8605,8 @@ }, { "frame": 921, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8939,8 +8614,8 @@ }, { "frame": 922, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8948,8 +8623,8 @@ }, { "frame": 923, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8957,8 +8632,8 @@ }, { "frame": 924, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8966,8 +8641,8 @@ }, { "frame": 925, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8975,8 +8650,8 @@ }, { "frame": 926, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8984,8 +8659,8 @@ }, { "frame": 927, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -8993,8 +8668,8 @@ }, { "frame": 928, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9002,8 +8677,8 @@ }, { "frame": 929, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9011,8 +8686,8 @@ }, { "frame": 930, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9020,8 +8695,8 @@ }, { "frame": 931, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9029,98 +8704,8 @@ }, { "frame": 932, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 933, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 934, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 935, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 936, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 937, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 938, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 939, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 940, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 941, - "left_adjacent": true, - "left_escape": "none", - "left_in_contact": false, - "right_adjacent": true, - "right_escape": "none", - "right_in_contact": false - }, - { - "frame": 942, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9128,8 +8713,8 @@ }, { "frame": 943, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9137,8 +8722,8 @@ }, { "frame": 944, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9146,8 +8731,8 @@ }, { "frame": 945, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9155,8 +8740,8 @@ }, { "frame": 946, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9164,8 +8749,8 @@ }, { "frame": 947, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9173,8 +8758,8 @@ }, { "frame": 948, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9182,8 +8767,8 @@ }, { "frame": 949, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9191,8 +8776,8 @@ }, { "frame": 950, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9200,8 +8785,8 @@ }, { "frame": 951, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9209,8 +8794,8 @@ }, { "frame": 952, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9218,8 +8803,8 @@ }, { "frame": 953, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9227,8 +8812,8 @@ }, { "frame": 954, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9236,8 +8821,8 @@ }, { "frame": 955, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9245,8 +8830,8 @@ }, { "frame": 956, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9254,8 +8839,8 @@ }, { "frame": 957, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9263,8 +8848,8 @@ }, { "frame": 958, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9272,8 +8857,8 @@ }, { "frame": 959, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9281,8 +8866,8 @@ }, { "frame": 960, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9290,8 +8875,8 @@ }, { "frame": 961, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9299,8 +8884,8 @@ }, { "frame": 962, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9308,8 +8893,8 @@ }, { "frame": 963, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9317,8 +8902,8 @@ }, { "frame": 964, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9326,8 +8911,8 @@ }, { "frame": 965, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9335,8 +8920,8 @@ }, { "frame": 966, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9344,8 +8929,8 @@ }, { "frame": 967, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9353,8 +8938,8 @@ }, { "frame": 968, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9362,8 +8947,8 @@ }, { "frame": 969, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9371,8 +8956,8 @@ }, { "frame": 970, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9380,8 +8965,8 @@ }, { "frame": 971, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9389,8 +8974,8 @@ }, { "frame": 972, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9398,8 +8983,8 @@ }, { "frame": 973, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9407,8 +8992,8 @@ }, { "frame": 974, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9416,8 +9001,8 @@ }, { "frame": 975, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9425,8 +9010,8 @@ }, { "frame": 976, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9434,8 +9019,8 @@ }, { "frame": 977, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9443,8 +9028,8 @@ }, { "frame": 978, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9452,8 +9037,8 @@ }, { "frame": 979, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9461,8 +9046,8 @@ }, { "frame": 980, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9470,8 +9055,8 @@ }, { "frame": 981, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9479,8 +9064,8 @@ }, { "frame": 982, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9488,8 +9073,8 @@ }, { "frame": 983, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9497,8 +9082,8 @@ }, { "frame": 984, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9506,8 +9091,8 @@ }, { "frame": 985, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9515,8 +9100,8 @@ }, { "frame": 986, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9524,8 +9109,8 @@ }, { "frame": 987, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9533,8 +9118,8 @@ }, { "frame": 988, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9542,8 +9127,8 @@ }, { "frame": 989, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9551,8 +9136,8 @@ }, { "frame": 990, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9560,8 +9145,8 @@ }, { "frame": 991, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9569,8 +9154,8 @@ }, { "frame": 992, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9578,8 +9163,8 @@ }, { "frame": 993, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9587,8 +9172,8 @@ }, { "frame": 994, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9596,8 +9181,8 @@ }, { "frame": 995, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9605,8 +9190,8 @@ }, { "frame": 996, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9614,8 +9199,8 @@ }, { "frame": 997, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9623,8 +9208,8 @@ }, { "frame": 998, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9632,8 +9217,8 @@ }, { "frame": 999, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9641,8 +9226,8 @@ }, { "frame": 1000, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9650,8 +9235,8 @@ }, { "frame": 1001, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9659,8 +9244,8 @@ }, { "frame": 1002, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9668,8 +9253,8 @@ }, { "frame": 1003, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9677,8 +9262,8 @@ }, { "frame": 1004, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9686,8 +9271,8 @@ }, { "frame": 1005, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9695,8 +9280,8 @@ }, { "frame": 1006, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9704,8 +9289,8 @@ }, { "frame": 1007, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9713,8 +9298,8 @@ }, { "frame": 1008, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9722,8 +9307,8 @@ }, { "frame": 1009, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9731,8 +9316,8 @@ }, { "frame": 1010, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9740,8 +9325,8 @@ }, { "frame": 1011, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9749,8 +9334,8 @@ }, { "frame": 1012, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9758,8 +9343,8 @@ }, { "frame": 1013, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9767,8 +9352,8 @@ }, { "frame": 1014, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9776,8 +9361,8 @@ }, { "frame": 1015, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9785,8 +9370,8 @@ }, { "frame": 1016, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9794,8 +9379,8 @@ }, { "frame": 1017, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9803,8 +9388,8 @@ }, { "frame": 1018, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9812,8 +9397,8 @@ }, { "frame": 1019, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9821,8 +9406,8 @@ }, { "frame": 1020, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9830,8 +9415,8 @@ }, { "frame": 1021, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9839,8 +9424,8 @@ }, { "frame": 1022, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9848,8 +9433,8 @@ }, { "frame": 1023, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9857,8 +9442,8 @@ }, { "frame": 1024, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9866,8 +9451,8 @@ }, { "frame": 1025, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9875,8 +9460,8 @@ }, { "frame": 1026, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9884,8 +9469,8 @@ }, { "frame": 1027, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9893,8 +9478,8 @@ }, { "frame": 1028, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9902,8 +9487,8 @@ }, { "frame": 1029, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9911,8 +9496,8 @@ }, { "frame": 1030, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9920,8 +9505,8 @@ }, { "frame": 1031, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9929,8 +9514,8 @@ }, { "frame": 1032, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9938,8 +9523,8 @@ }, { "frame": 1033, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9947,8 +9532,8 @@ }, { "frame": 1034, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9956,8 +9541,8 @@ }, { "frame": 1035, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9965,8 +9550,8 @@ }, { "frame": 1036, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9974,8 +9559,8 @@ }, { "frame": 1037, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9983,8 +9568,8 @@ }, { "frame": 1038, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -9992,8 +9577,8 @@ }, { "frame": 1039, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10001,8 +9586,8 @@ }, { "frame": 1040, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10010,8 +9595,8 @@ }, { "frame": 1041, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10019,8 +9604,8 @@ }, { "frame": 1042, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10028,8 +9613,8 @@ }, { "frame": 1043, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10037,8 +9622,8 @@ }, { "frame": 1044, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10046,8 +9631,8 @@ }, { "frame": 1045, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10055,8 +9640,8 @@ }, { "frame": 1046, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10064,8 +9649,8 @@ }, { "frame": 1047, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10073,8 +9658,8 @@ }, { "frame": 1048, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10082,8 +9667,8 @@ }, { "frame": 1049, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10091,8 +9676,8 @@ }, { "frame": 1050, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10100,8 +9685,8 @@ }, { "frame": 1051, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10109,8 +9694,8 @@ }, { "frame": 1052, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10118,8 +9703,8 @@ }, { "frame": 1053, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10127,8 +9712,8 @@ }, { "frame": 1054, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10136,8 +9721,8 @@ }, { "frame": 1055, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10145,8 +9730,8 @@ }, { "frame": 1056, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10154,8 +9739,8 @@ }, { "frame": 1057, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10163,8 +9748,8 @@ }, { "frame": 1058, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10172,8 +9757,8 @@ }, { "frame": 1059, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10181,8 +9766,8 @@ }, { "frame": 1060, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10190,8 +9775,8 @@ }, { "frame": 1061, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10199,8 +9784,8 @@ }, { "frame": 1062, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10208,8 +9793,8 @@ }, { "frame": 1063, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10217,8 +9802,8 @@ }, { "frame": 1064, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10226,8 +9811,8 @@ }, { "frame": 1065, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10235,8 +9820,8 @@ }, { "frame": 1066, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10244,8 +9829,8 @@ }, { "frame": 1067, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10253,8 +9838,8 @@ }, { "frame": 1068, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10262,8 +9847,8 @@ }, { "frame": 1069, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10271,8 +9856,8 @@ }, { "frame": 1070, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10280,8 +9865,8 @@ }, { "frame": 1071, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10289,8 +9874,8 @@ }, { "frame": 1072, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10298,8 +9883,8 @@ }, { "frame": 1073, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10307,8 +9892,8 @@ }, { "frame": 1074, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10316,8 +9901,8 @@ }, { "frame": 1075, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10325,8 +9910,8 @@ }, { "frame": 1076, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10334,8 +9919,8 @@ }, { "frame": 1077, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10343,8 +9928,8 @@ }, { "frame": 1078, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10352,8 +9937,8 @@ }, { "frame": 1079, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10361,8 +9946,8 @@ }, { "frame": 1080, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10370,8 +9955,8 @@ }, { "frame": 1081, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10379,8 +9964,8 @@ }, { "frame": 1082, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10388,8 +9973,8 @@ }, { "frame": 1083, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10397,8 +9982,8 @@ }, { "frame": 1084, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10406,8 +9991,8 @@ }, { "frame": 1085, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10415,8 +10000,8 @@ }, { "frame": 1086, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10424,8 +10009,8 @@ }, { "frame": 1087, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10433,8 +10018,8 @@ }, { "frame": 1088, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10442,8 +10027,8 @@ }, { "frame": 1089, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10451,8 +10036,8 @@ }, { "frame": 1090, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10460,8 +10045,8 @@ }, { "frame": 1091, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10469,8 +10054,8 @@ }, { "frame": 1092, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10478,8 +10063,8 @@ }, { "frame": 1093, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10487,8 +10072,8 @@ }, { "frame": 1094, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10496,8 +10081,8 @@ }, { "frame": 1095, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10505,8 +10090,8 @@ }, { "frame": 1096, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10514,8 +10099,8 @@ }, { "frame": 1097, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10523,8 +10108,8 @@ }, { "frame": 1098, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10532,8 +10117,8 @@ }, { "frame": 1099, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, "right_adjacent": true, "right_escape": "none", @@ -10541,11 +10126,11 @@ }, { "frame": 1100, - "left_adjacent": true, - "left_escape": "none", + "left_adjacent": false, + "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10553,8 +10138,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10562,8 +10147,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10571,8 +10156,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10580,8 +10165,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10589,8 +10174,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10598,8 +10183,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10607,8 +10192,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10616,8 +10201,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10625,8 +10210,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10634,8 +10219,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10643,8 +10228,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10652,8 +10237,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10661,8 +10246,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10670,8 +10255,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10679,8 +10264,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10688,8 +10273,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10697,8 +10282,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10706,8 +10291,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10715,8 +10300,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10724,8 +10309,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10733,8 +10318,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10742,8 +10327,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10751,8 +10336,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10760,8 +10345,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10769,8 +10354,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10778,8 +10363,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10787,8 +10372,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10796,8 +10381,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10805,8 +10390,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10814,8 +10399,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10823,8 +10408,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10832,8 +10417,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10841,8 +10426,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10850,8 +10435,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10859,8 +10444,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10868,8 +10453,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10877,8 +10462,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -10886,8 +10471,8 @@ "left_adjacent": false, "left_escape": "inconclusive", "left_in_contact": false, - "right_adjacent": false, - "right_escape": "inconclusive", + "right_adjacent": true, + "right_escape": "none", "right_in_contact": false }, { @@ -11537,534 +11122,11533 @@ "right_adjacent": false, "right_escape": "inconclusive", "right_in_contact": false + }, + { + "frame": 1211, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 1212, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 1213, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false + }, + { + "frame": 1214, + "left_adjacent": false, + "left_escape": "inconclusive", + "left_in_contact": false, + "right_adjacent": false, + "right_escape": "inconclusive", + "right_in_contact": false } ], "per_primitive": [ { - "end_timestamp": 10.0, - "in_contact_object": "shirt", + "end_timestamp": 16.5, + "in_contact_object": "broom", "on_which_hand": "none", - "on_which_hand_adjacency": "both", + "on_which_hand_adjacency": "right", "primitive_index": 0, "start_timestamp": 0.0 }, { - "end_timestamp": 20.183, - "in_contact_object": "shirt", + "end_timestamp": 20.25, + "in_contact_object": "broom", "on_which_hand": "none", - "on_which_hand_adjacency": "both", + "on_which_hand_adjacency": "right", "primitive_index": 1, - "start_timestamp": 10.0 + "start_timestamp": 16.5 } ] - } - ], - "per_primitive": [ - { - "end_timestamp": 10.0, - "in_contact_object": "shirt", - "on_which_hand": "none", - "on_which_hand_adjacency": "both", - "primitive_index": 0, - "start_timestamp": 0.0 }, { - "end_timestamp": 20.183, - "in_contact_object": "shirt", - "on_which_hand": "none", - "on_which_hand_adjacency": "both", - "primitive_index": 1, - "start_timestamp": 10.0 - } - ] - }, - "metric": "3d_proximity", - "n_contacts_from_measured_joint": 2005, - "n_contacts_from_prior_filled_joint": 0, - "n_frames": 1211, - "n_frames_in_contact": 1013, - "n_objects": 1, - "note": "Upgraded from 2D IoU/adjacency to 3D PROXIMITY (lidar3d P3) + debounced (Phase 4 LID3D-7): per hand per frame, the min 3D distance between hand_joints_3d.npz joints_world (valid-depth joints only) and the object_mask surface back-projected to world via depth + camera_pose, then median + hysteresis + dwell + FSM. The frozen hand_object_contact.npz carries the debounced per-hand contact bool + min_dist_m + grasp_state + contact_strength + grasp_fsm_state.", - "npz_path": "hand_object_contact.npz", - "object_ids": [ - "1" - ], - "per_frame": [ - { - "frame": 0, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "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 - }, - { - "frame": 1, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "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 - }, - { - "frame": 2, - 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"right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", "right_in_contact": false, - "right_min_dist_m": 0.08976 + "right_min_dist_m": null }, { "frame": 38, "left_contact_from_measured_joint": false, - "left_contact_strength": 1.0, + "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.00741, + "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": 0.10116 + "right_min_dist_m": null }, { "frame": 39, "left_contact_from_measured_joint": false, - "left_contact_strength": 1.0, + "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": 0.1387, + "left_min_dist_m": null, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -12113,10 +22697,10 @@ { 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+ "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "left_min_dist_m": 0.01477, + "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00537 + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.03083 }, { "frame": 140, "left_contact_from_measured_joint": true, "left_contact_strength": 1.0, - "left_grasp_fsm_state": "CLOSED", + "left_grasp_fsm_state": "CLOSING", "left_in_contact": true, - "left_min_dist_m": 0.01272, - "right_contact_from_measured_joint": true, + "left_min_dist_m": 0.01453, + "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.0093 + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.03297 }, { "frame": 141, @@ -13429,12 +24013,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01708, - "right_contact_from_measured_joint": true, + "left_min_dist_m": 0.01656, + "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00831 + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.0708 }, { "frame": 142, @@ -13442,12 +24026,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01037, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.009 + "left_min_dist_m": 0.02389, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.5, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.06903 }, { "frame": 143, @@ -13455,12 +24039,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00645, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00721 + "left_min_dist_m": 0.01577, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.5, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.02216 }, { "frame": 144, @@ -13468,12 +24052,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00552, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00733 + "left_min_dist_m": 0.01602, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.5, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.0735 }, { "frame": 145, @@ -13481,12 +24065,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00622, - "right_contact_from_measured_joint": true, + "left_min_dist_m": 0.01619, + "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.01176 + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.07916 }, { "frame": 146, @@ -13494,12 +24078,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01178, - "right_contact_from_measured_joint": true, + "left_min_dist_m": 0.01754, + "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.01056 + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.01599 }, { "frame": 147, @@ -13507,12 +24091,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00715, - "right_contact_from_measured_joint": true, + "left_min_dist_m": 0.01904, + "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.01147 + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.01816 }, { "frame": 148, @@ -13520,12 +24104,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01198, - "right_contact_from_measured_joint": true, + "left_min_dist_m": 0.04445, + "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00761 + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.01847 }, { "frame": 149, @@ -13533,12 +24117,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01407, - "right_contact_from_measured_joint": true, + "left_min_dist_m": 0.01244, + "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.01087 + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.01962 }, { "frame": 150, @@ -13546,12 +24130,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01261, - "right_contact_from_measured_joint": true, + "left_min_dist_m": 0.02489, + "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00631 + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.00453 }, { "frame": 151, @@ -13559,12 +24143,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01067, - "right_contact_from_measured_joint": true, + "left_min_dist_m": 0.01839, + "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00762 + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.00609 }, { "frame": 152, @@ -13572,12 +24156,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01064, - "right_contact_from_measured_joint": true, + "left_min_dist_m": 0.01697, + "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.01402 + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.06299 }, { "frame": 153, @@ -13585,12 +24169,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01071, - "right_contact_from_measured_joint": true, + "left_min_dist_m": 0.01897, + "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00563 + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.01655 }, { "frame": 154, @@ -13598,12 +24182,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01066, - "right_contact_from_measured_joint": true, + "left_min_dist_m": 0.01834, + "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.01266 + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.01816 }, { "frame": 155, @@ -13611,90 +24195,90 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01238, - "right_contact_from_measured_joint": true, + "left_min_dist_m": 0.03211, + "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.0065 + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.01691 }, { "frame": 156, "left_contact_from_measured_joint": true, - "left_contact_strength": 1.0, + "left_contact_strength": 0.5, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00759, - "right_contact_from_measured_joint": true, + "left_min_dist_m": 0.05001, + "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00994 + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.02226 }, { "frame": 157, "left_contact_from_measured_joint": true, - "left_contact_strength": 1.0, + "left_contact_strength": 0.5, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01203, - "right_contact_from_measured_joint": true, + "left_min_dist_m": 0.06228, + "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00431 + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.01618 }, { "frame": 158, "left_contact_from_measured_joint": true, - "left_contact_strength": 1.0, + "left_contact_strength": 0.5, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01185, - "right_contact_from_measured_joint": true, + "left_min_dist_m": 0.05491, + "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00638 + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.01834 }, { "frame": 159, "left_contact_from_measured_joint": true, - "left_contact_strength": 1.0, + "left_contact_strength": 0.5, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01171, - "right_contact_from_measured_joint": true, + "left_min_dist_m": 0.06104, + "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00959 + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.01844 }, { "frame": 160, "left_contact_from_measured_joint": true, - "left_contact_strength": 1.0, + "left_contact_strength": 0.5, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02941, - "right_contact_from_measured_joint": true, + "left_min_dist_m": 0.06571, + "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00702 + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.01461 }, { "frame": 161, "left_contact_from_measured_joint": true, - "left_contact_strength": 1.0, + "left_contact_strength": 0.5, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02223, - "right_contact_from_measured_joint": true, + "left_min_dist_m": 0.06477, + "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00817 + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.01598 }, { "frame": 162, @@ -13702,12 +24286,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02524, - "right_contact_from_measured_joint": true, + "left_min_dist_m": 0.01855, + "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.0097 + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.0192 }, { "frame": 163, @@ -13715,12 +24299,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02284, - "right_contact_from_measured_joint": true, + "left_min_dist_m": 0.04814, + "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00574 + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.01369 }, { "frame": 164, @@ -13728,12 +24312,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00963, - "right_contact_from_measured_joint": true, + "left_min_dist_m": 0.02023, + "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.01182 + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.01958 }, { "frame": 165, @@ -13741,12 +24325,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0121, - "right_contact_from_measured_joint": true, + "left_min_dist_m": 0.04735, + "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00781 + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.00498 }, { "frame": 166, @@ -13754,12 +24338,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01221, - "right_contact_from_measured_joint": true, + "left_min_dist_m": 0.04837, + "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.01277 + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.01506 }, { "frame": 167, @@ -13767,12 +24351,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01529, - "right_contact_from_measured_joint": true, + "left_min_dist_m": 0.06078, + "right_contact_from_measured_joint": false, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00703 + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.01491 }, { "frame": 168, @@ -13780,12 +24364,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01044, + "left_min_dist_m": 0.02097, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", + "right_grasp_fsm_state": "CLOSING", "right_in_contact": true, - "right_min_dist_m": 0.0069 + "right_min_dist_m": 0.0182 }, { "frame": 169, @@ -13793,12 +24377,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02385, + "left_min_dist_m": 0.04122, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00638 + "right_min_dist_m": 0.01793 }, { "frame": 170, @@ -13806,12 +24390,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01346, + "left_min_dist_m": 0.06051, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01261 + "right_min_dist_m": 0.0229 }, { "frame": 171, @@ -13819,12 +24403,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01037, + "left_min_dist_m": 0.01417, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00951 + "right_min_dist_m": 0.00387 }, { "frame": 172, @@ -13832,12 +24416,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00892, + "left_min_dist_m": 0.01505, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0097 + "right_min_dist_m": 0.02039 }, { "frame": 173, @@ -13845,12 +24429,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01246, + "left_min_dist_m": 0.01906, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00657 + "right_min_dist_m": 0.01619 }, { "frame": 174, @@ -13858,12 +24442,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01418, + "left_min_dist_m": 0.02145, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00966 + "right_min_dist_m": 0.01413 }, { "frame": 175, @@ -13871,12 +24455,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01211, + "left_min_dist_m": 0.02191, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00874 + "right_min_dist_m": 0.01819 }, { "frame": 176, @@ -13884,12 +24468,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01763, + "left_min_dist_m": 0.02537, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00625 + "right_min_dist_m": 0.01906 }, { "frame": 177, @@ -13897,12 +24481,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01451, + "left_min_dist_m": 0.02162, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0097 + "right_min_dist_m": 0.01863 }, { "frame": 178, @@ -13910,12 +24494,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00779, + "left_min_dist_m": 0.03013, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00408 + "right_min_dist_m": 0.01848 }, { "frame": 179, @@ -13923,12 +24507,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00798, + "left_min_dist_m": 0.02714, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00399 + "right_min_dist_m": 0.01428 }, { "frame": 180, @@ -13936,12 +24520,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01149, + "left_min_dist_m": 0.03263, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00973 + "right_min_dist_m": 0.01409 }, { "frame": 181, @@ -13949,12 +24533,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00906, + "left_min_dist_m": 0.02913, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00592 + "right_min_dist_m": 0.01836 }, { "frame": 182, @@ -13962,12 +24546,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01022, + "left_min_dist_m": 0.03345, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00533 + "right_min_dist_m": 0.01259 }, { "frame": 183, @@ -13975,12 +24559,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00536, + "left_min_dist_m": 0.03433, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00496 + "right_min_dist_m": 0.01424 }, { "frame": 184, @@ -13988,12 +24572,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0117, + "left_min_dist_m": 0.02271, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00527 + "right_min_dist_m": 0.01662 }, { "frame": 185, @@ -14001,12 +24585,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00678, + "left_min_dist_m": 0.04459, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00592 + "right_min_dist_m": 0.00436 }, { "frame": 186, @@ -14014,12 +24598,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01335, + "left_min_dist_m": 0.05066, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00556 + "right_min_dist_m": 0.00598 }, { "frame": 187, @@ -14027,64 +24611,64 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0153, + "left_min_dist_m": 0.0399, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00581 + "right_min_dist_m": 0.00419 }, { "frame": 188, "left_contact_from_measured_joint": true, - "left_contact_strength": 1.0, + "left_contact_strength": 0.5, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01797, + "left_min_dist_m": 0.03971, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00451 + "right_min_dist_m": 0.00459 }, { "frame": 189, "left_contact_from_measured_joint": true, - "left_contact_strength": 1.0, + "left_contact_strength": 0.5, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00882, + "left_min_dist_m": 0.06041, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00742 + "right_min_dist_m": 0.0041 }, { "frame": 190, "left_contact_from_measured_joint": true, - "left_contact_strength": 1.0, + "left_contact_strength": 0.5, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01906, + "left_min_dist_m": 0.06076, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00918 + "right_min_dist_m": 0.00589 }, { "frame": 191, "left_contact_from_measured_joint": true, - "left_contact_strength": 1.0, + "left_contact_strength": 0.5, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00686, + "left_min_dist_m": 0.05327, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00312 + "right_min_dist_m": 0.00361 }, { "frame": 192, @@ -14092,12 +24676,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00714, + "left_min_dist_m": 0.04852, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00604 + "right_min_dist_m": 0.00315 }, { "frame": 193, @@ -14105,12 +24689,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00902, + "left_min_dist_m": 0.04417, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00648 + "right_min_dist_m": 0.0048 }, { "frame": 194, @@ -14118,12 +24702,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01117, + "left_min_dist_m": 0.03191, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00625 + "right_min_dist_m": 0.00453 }, { "frame": 195, @@ -14131,12 +24715,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00414, + "left_min_dist_m": 0.03475, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00402 + "right_min_dist_m": 0.00554 }, { "frame": 196, @@ -14144,12 +24728,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0055, + "left_min_dist_m": 0.04214, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0049 + "right_min_dist_m": 0.0105 }, { "frame": 197, @@ -14157,12 +24741,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00331, + "left_min_dist_m": 0.03396, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00427 + "right_min_dist_m": 0.00532 }, { "frame": 198, @@ -14170,12 +24754,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00568, + "left_min_dist_m": 0.03205, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00273 + "right_min_dist_m": 0.00773 }, { "frame": 199, @@ -14183,12 +24767,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00659, + "left_min_dist_m": 0.03459, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00538 + "right_min_dist_m": 0.00623 }, { "frame": 200, @@ -14196,12 +24780,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00421, + "left_min_dist_m": 0.06093, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00349 + "right_min_dist_m": 0.00446 }, { "frame": 201, @@ -14209,12 +24793,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00391, + "left_min_dist_m": 0.0161, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0045 + "right_min_dist_m": 0.0096 }, { "frame": 202, @@ -14222,12 +24806,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00684, + "left_min_dist_m": 0.06049, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00499 + "right_min_dist_m": 0.00626 }, { "frame": 203, @@ -14235,12 +24819,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00498, + "left_min_dist_m": 0.04164, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00418 + "right_min_dist_m": 0.0057 }, { "frame": 204, @@ -14248,12 +24832,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00431, + "left_min_dist_m": 0.04053, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00375 + "right_min_dist_m": 0.00762 }, { "frame": 205, @@ -14261,12 +24845,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00906, + "left_min_dist_m": 0.03968, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0038 + "right_min_dist_m": 0.00555 }, { "frame": 206, @@ -14274,12 +24858,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00913, + "left_min_dist_m": 0.03059, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00555 + "right_min_dist_m": 0.00607 }, { "frame": 207, @@ -14287,12 +24871,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0183, + "left_min_dist_m": 0.03526, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00595 + "right_min_dist_m": 0.00753 }, { "frame": 208, @@ -14300,12 +24884,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0059, + "left_min_dist_m": 0.00981, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0083 + "right_min_dist_m": 0.00616 }, { "frame": 209, @@ -14313,12 +24897,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02262, + "left_min_dist_m": 0.01247, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00438 + "right_min_dist_m": 0.00707 }, { "frame": 210, @@ -14326,12 +24910,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01843, + "left_min_dist_m": 0.012, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0068 + "right_min_dist_m": 0.00524 }, { "frame": 211, @@ -14339,12 +24923,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01878, + "left_min_dist_m": 0.01027, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00924 + "right_min_dist_m": 0.0028 }, { "frame": 212, @@ -14352,12 +24936,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00471, + "left_min_dist_m": 0.01043, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00636 + "right_min_dist_m": 0.00454 }, { "frame": 213, @@ -14365,12 +24949,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00615, + "left_min_dist_m": 0.01123, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01392 + "right_min_dist_m": 0.00462 }, { "frame": 214, @@ -14378,12 +24962,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00484, + "left_min_dist_m": 0.0107, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01292 + "right_min_dist_m": 0.00643 }, { "frame": 215, @@ -14391,12 +24975,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01478, + "left_min_dist_m": 0.01329, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01725 + "right_min_dist_m": 0.00325 }, { "frame": 216, @@ -14404,12 +24988,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01242, + "left_min_dist_m": 0.01358, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01262 + "right_min_dist_m": 0.00407 }, { "frame": 217, @@ -14422,7 +25006,7 @@ "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00699 + "right_min_dist_m": 0.00294 }, { "frame": 218, @@ -14430,12 +25014,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00355, + "left_min_dist_m": 0.00846, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00562 + "right_min_dist_m": 0.00473 }, { "frame": 219, @@ -14443,12 +25027,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0072, + "left_min_dist_m": 0.01453, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00689 + "right_min_dist_m": 0.00348 }, { "frame": 220, @@ -14456,12 +25040,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01266, + "left_min_dist_m": 0.0289, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01013 + "right_min_dist_m": 0.00503 }, { "frame": 221, @@ -14469,12 +25053,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01677, + "left_min_dist_m": 0.01642, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01164 + "right_min_dist_m": 0.00315 }, { "frame": 222, @@ -14482,12 +25066,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01222, + "left_min_dist_m": 0.01455, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01106 + "right_min_dist_m": 0.00565 }, { "frame": 223, @@ -14495,12 +25079,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01067, + "left_min_dist_m": 0.01355, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00494 + "right_min_dist_m": 0.00382 }, { "frame": 224, @@ -14508,12 +25092,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00463, + "left_min_dist_m": 0.03129, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00599 + "right_min_dist_m": 0.00535 }, { "frame": 225, @@ -14521,12 +25105,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00511, + "left_min_dist_m": 0.0148, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00812 + "right_min_dist_m": 0.00482 }, { "frame": 226, @@ -14534,12 +25118,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00602, + "left_min_dist_m": 0.01667, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01185 + "right_min_dist_m": 0.00357 }, { "frame": 227, @@ -14547,12 +25131,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00577, + "left_min_dist_m": 0.01198, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00773 + "right_min_dist_m": 0.00519 }, { "frame": 228, @@ -14560,12 +25144,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00519, + "left_min_dist_m": 0.03223, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00987 + "right_min_dist_m": 0.00282 }, { "frame": 229, @@ -14573,12 +25157,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00372, + "left_min_dist_m": 0.02979, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00399 + "right_min_dist_m": 0.00394 }, { "frame": 230, @@ -14586,12 +25170,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00931, + "left_min_dist_m": 0.03057, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01164 + "right_min_dist_m": 0.00513 }, { "frame": 231, @@ -14599,12 +25183,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00715, + "left_min_dist_m": 0.03477, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00554 + "right_min_dist_m": 0.00388 }, { "frame": 232, @@ -14612,12 +25196,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00281, + "left_min_dist_m": 0.03181, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00768 + "right_min_dist_m": 0.00467 }, { "frame": 233, @@ -14625,12 +25209,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00689, + "left_min_dist_m": 0.03668, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00857 + "right_min_dist_m": 0.00271 }, { "frame": 234, @@ -14638,12 +25222,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00863, + "left_min_dist_m": 0.03392, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01155 + "right_min_dist_m": 0.00493 }, { "frame": 235, @@ -14651,12 +25235,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01908, + "left_min_dist_m": 0.03181, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00705 + "right_min_dist_m": 0.00303 }, { "frame": 236, @@ -14664,12 +25248,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01365, + "left_min_dist_m": 0.02841, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0057 + "right_min_dist_m": 0.00279 }, { "frame": 237, @@ -14677,12 +25261,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01889, + "left_min_dist_m": 0.03222, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00851 + "right_min_dist_m": 0.00325 }, { "frame": 238, @@ -14690,12 +25274,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01473, + "left_min_dist_m": 0.02839, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00842 + "right_min_dist_m": 0.00253 }, { "frame": 239, @@ -14703,12 +25287,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0135, + "left_min_dist_m": 0.02921, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00525 + "right_min_dist_m": 0.00344 }, { "frame": 240, @@ -14716,12 +25300,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01464, + "left_min_dist_m": 0.02571, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00637 + "right_min_dist_m": 0.00359 }, { "frame": 241, @@ -14729,12 +25313,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01833, + "left_min_dist_m": 0.02268, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0074 + "right_min_dist_m": 0.00422 }, { "frame": 242, @@ -14742,12 +25326,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00674, + "left_min_dist_m": 0.02484, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01076 + "right_min_dist_m": 0.00332 }, { "frame": 243, @@ -14755,12 +25339,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01038, + "left_min_dist_m": 0.02518, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00693 + "right_min_dist_m": 0.00382 }, { "frame": 244, @@ -14768,12 +25352,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0102, + "left_min_dist_m": 0.02075, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0073 + "right_min_dist_m": 0.00422 }, { "frame": 245, @@ -14781,12 +25365,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01211, + "left_min_dist_m": 0.02281, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01191 + "right_min_dist_m": 0.00378 }, { "frame": 246, @@ -14794,12 +25378,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01112, + "left_min_dist_m": 0.02259, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01049 + "right_min_dist_m": 0.00195 }, { "frame": 247, @@ -14807,12 +25391,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01356, + "left_min_dist_m": 0.02186, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00986 + "right_min_dist_m": 0.00263 }, { "frame": 248, @@ -14820,12 +25404,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0143, + "left_min_dist_m": 0.01202, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00733 + "right_min_dist_m": 0.00296 }, { "frame": 249, @@ -14833,12 +25417,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00673, + "left_min_dist_m": 0.01768, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00494 + "right_min_dist_m": 0.00347 }, { "frame": 250, @@ -14846,12 +25430,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01115, + "left_min_dist_m": 0.01547, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00845 + "right_min_dist_m": 0.00389 }, { "frame": 251, @@ -14859,12 +25443,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01276, + "left_min_dist_m": 0.01547, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0217 + "right_min_dist_m": 0.01014 }, { "frame": 252, @@ -14872,12 +25456,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01267, + "left_min_dist_m": 0.01494, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.02317 + "right_min_dist_m": 0.00938 }, { "frame": 253, @@ -14885,12 +25469,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01107, + "left_min_dist_m": 0.01524, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.02334 + "right_min_dist_m": 0.00597 }, { "frame": 254, @@ -14898,12 +25482,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00902, + "left_min_dist_m": 0.01437, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0263 + "right_min_dist_m": 0.00444 }, { "frame": 255, @@ -14911,12 +25495,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00821, + "left_min_dist_m": 0.0168, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01025 + "right_min_dist_m": 0.00605 }, { "frame": 256, @@ -14924,12 +25508,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01128, + "left_min_dist_m": 0.01532, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01688 + "right_min_dist_m": 0.00356 }, { "frame": 257, @@ -14937,12 +25521,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01242, + "left_min_dist_m": 0.01748, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00981 + "right_min_dist_m": 0.00464 }, { "frame": 258, @@ -14950,12 +25534,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01481, + "left_min_dist_m": 0.01601, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01374 + "right_min_dist_m": 0.00609 }, { "frame": 259, @@ -14963,12 +25547,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00904, + "left_min_dist_m": 0.01942, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01084 + "right_min_dist_m": 0.00365 }, { "frame": 260, @@ -14976,12 +25560,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01188, + "left_min_dist_m": 0.01589, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01726 + "right_min_dist_m": 0.00315 }, { "frame": 261, @@ -14989,12 +25573,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01001, + "left_min_dist_m": 0.01957, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01907 + "right_min_dist_m": 0.0025 }, { "frame": 262, @@ -15002,12 +25586,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00748, + "left_min_dist_m": 0.02155, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01205 + "right_min_dist_m": 0.00369 }, { "frame": 263, @@ -15015,12 +25599,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00998, + "left_min_dist_m": 0.02314, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0073 + "right_min_dist_m": 0.00282 }, { "frame": 264, @@ -15028,12 +25612,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01053, + "left_min_dist_m": 0.01739, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00821 + "right_min_dist_m": 0.00259 }, { "frame": 265, @@ -15041,12 +25625,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0125, + "left_min_dist_m": 0.01901, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00887 + "right_min_dist_m": 0.00972 }, { "frame": 266, @@ -15054,12 +25638,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01241, + "left_min_dist_m": 0.02042, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00683 + "right_min_dist_m": 0.00288 }, { "frame": 267, @@ -15067,12 +25651,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00378, + "left_min_dist_m": 0.01577, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00843 + "right_min_dist_m": 0.00358 }, { "frame": 268, @@ -15080,12 +25664,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02725, + "left_min_dist_m": 0.01902, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00724 + "right_min_dist_m": 0.00323 }, { "frame": 269, @@ -15093,12 +25677,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01667, + "left_min_dist_m": 0.016, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00566 + "right_min_dist_m": 0.00898 }, { "frame": 270, @@ -15106,12 +25690,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02873, + "left_min_dist_m": 0.01528, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00851 + "right_min_dist_m": 0.00643 }, { "frame": 271, @@ -15119,12 +25703,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.03738, + "left_min_dist_m": 0.01545, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00916 + "right_min_dist_m": 0.00538 }, { "frame": 272, @@ -15132,12 +25716,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02906, + "left_min_dist_m": 0.01547, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00614 + "right_min_dist_m": 0.00384 }, { "frame": 273, @@ -15145,12 +25729,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02858, + "left_min_dist_m": 0.01477, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00475 + "right_min_dist_m": 0.00472 }, { "frame": 274, @@ -15158,12 +25742,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01236, + "left_min_dist_m": 0.01831, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00726 + "right_min_dist_m": 0.00271 }, { "frame": 275, @@ -15171,12 +25755,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.03998, + "left_min_dist_m": 0.01751, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00886 + "right_min_dist_m": 0.00236 }, { "frame": 276, @@ -15184,12 +25768,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02149, + "left_min_dist_m": 0.01531, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.009 + "right_min_dist_m": 0.0034 }, { "frame": 277, @@ -15197,12 +25781,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0152, + "left_min_dist_m": 0.01538, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01125 + "right_min_dist_m": 0.00355 }, { "frame": 278, @@ -15210,12 +25794,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01756, + "left_min_dist_m": 0.01511, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01524 + "right_min_dist_m": 0.00247 }, { "frame": 279, @@ -15223,12 +25807,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01344, + "left_min_dist_m": 0.01386, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01835 + "right_min_dist_m": 0.00302 }, { "frame": 280, @@ -15236,12 +25820,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0164, + "left_min_dist_m": 0.01131, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01423 + "right_min_dist_m": 0.00191 }, { "frame": 281, @@ -15249,12 +25833,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01661, + "left_min_dist_m": 0.01084, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00887 + "right_min_dist_m": 0.00798 }, { "frame": 282, @@ -15262,12 +25846,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0397, + "left_min_dist_m": 0.01235, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01188 + "right_min_dist_m": 0.0072 }, { "frame": 283, @@ -15275,12 +25859,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.03854, + "left_min_dist_m": 0.0103, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01225 + "right_min_dist_m": 0.00648 }, { "frame": 284, @@ -15288,12 +25872,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01494, + "left_min_dist_m": 0.01119, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00724 + "right_min_dist_m": 0.00625 }, { "frame": 285, @@ -15301,12 +25885,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0308, + "left_min_dist_m": 0.00943, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00868 + "right_min_dist_m": 0.00672 }, { "frame": 286, @@ -15314,12 +25898,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.03837, + "left_min_dist_m": 0.0095, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01147 + "right_min_dist_m": 0.00486 }, { "frame": 287, @@ -15327,12 +25911,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.03277, + "left_min_dist_m": 0.01246, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.008 + "right_min_dist_m": 0.00492 }, { "frame": 288, @@ -15340,12 +25924,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02619, + "left_min_dist_m": 0.00581, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0066 + "right_min_dist_m": 0.00699 }, { "frame": 289, @@ -15353,12 +25937,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02108, + "left_min_dist_m": 0.00571, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00586 + "right_min_dist_m": 0.00643 }, { "frame": 290, @@ -15366,12 +25950,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02469, + "left_min_dist_m": 0.00647, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01158 + "right_min_dist_m": 0.00563 }, { "frame": 291, @@ -15379,12 +25963,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01432, + "left_min_dist_m": 0.01142, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01259 + "right_min_dist_m": 0.00577 }, { "frame": 292, @@ -15392,12 +25976,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0118, + "left_min_dist_m": 0.01313, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00872 + "right_min_dist_m": 0.00591 }, { "frame": 293, @@ -15405,12 +25989,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01299, + "left_min_dist_m": 0.00986, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01068 + "right_min_dist_m": 0.00576 }, { "frame": 294, @@ -15418,12 +26002,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01612, + "left_min_dist_m": 0.01013, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01201 + "right_min_dist_m": 0.00579 }, { "frame": 295, @@ -15431,12 +26015,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0132, + "left_min_dist_m": 0.01091, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0076 + "right_min_dist_m": 0.00253 }, { "frame": 296, @@ -15444,12 +26028,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0237, + "left_min_dist_m": 0.01112, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00818 + "right_min_dist_m": 0.00413 }, { "frame": 297, @@ -15457,12 +26041,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02448, + "left_min_dist_m": 0.00566, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00821 + "right_min_dist_m": 0.00546 }, { "frame": 298, @@ -15470,12 +26054,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01517, + "left_min_dist_m": 0.00545, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01421 + "right_min_dist_m": 0.00499 }, { "frame": 299, @@ -15483,12 +26067,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00997, + "left_min_dist_m": 0.00939, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01566 + "right_min_dist_m": 0.00519 }, { "frame": 300, @@ -15496,12 +26080,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01075, + "left_min_dist_m": 0.01253, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01349 + "right_min_dist_m": 0.00397 }, { "frame": 301, @@ -15509,12 +26093,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00638, + "left_min_dist_m": 0.00978, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00931 + "right_min_dist_m": 0.00463 }, { "frame": 302, @@ -15522,12 +26106,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0069, + "left_min_dist_m": 0.01371, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01175 + "right_min_dist_m": 0.00516 }, { "frame": 303, @@ -15535,12 +26119,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02182, + "left_min_dist_m": 0.00914, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01166 + "right_min_dist_m": 0.00406 }, { "frame": 304, @@ -15548,12 +26132,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00568, + "left_min_dist_m": 0.00889, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01084 + "right_min_dist_m": 0.00413 }, { "frame": 305, @@ -15561,12 +26145,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01062, + "left_min_dist_m": 0.01028, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01115 + "right_min_dist_m": 0.00295 }, { "frame": 306, @@ -15574,12 +26158,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00674, + "left_min_dist_m": 0.0101, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00645 + "right_min_dist_m": 0.00377 }, { "frame": 307, @@ -15587,12 +26171,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00597, + "left_min_dist_m": 0.00648, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01345 + "right_min_dist_m": 0.00276 }, { "frame": 308, @@ -15600,12 +26184,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00835, + "left_min_dist_m": 0.0109, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00801 + "right_min_dist_m": 0.00198 }, { "frame": 309, @@ -15613,12 +26197,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00505, + "left_min_dist_m": 0.0141, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00902 + "right_min_dist_m": 0.00137 }, { "frame": 310, @@ -15626,12 +26210,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0065, + "left_min_dist_m": 0.01009, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00871 + "right_min_dist_m": 0.0045 }, { "frame": 311, @@ -15639,12 +26223,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00675, + "left_min_dist_m": 0.01227, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00933 + "right_min_dist_m": 0.00307 }, { "frame": 312, @@ -15652,12 +26236,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00669, + "left_min_dist_m": 0.00869, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01951 + "right_min_dist_m": 0.00441 }, { "frame": 313, @@ -15665,12 +26249,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00702, + "left_min_dist_m": 0.01172, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01973 + "right_min_dist_m": 0.00324 }, { "frame": 314, @@ -15678,12 +26262,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01182, + "left_min_dist_m": 0.01305, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01281 + "right_min_dist_m": 0.00487 }, { "frame": 315, @@ -15691,12 +26275,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01263, + "left_min_dist_m": 0.01381, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01097 + "right_min_dist_m": 0.00531 }, { "frame": 316, @@ -15704,12 +26288,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00715, + "left_min_dist_m": 0.01796, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01709 + "right_min_dist_m": 0.00481 }, { "frame": 317, @@ -15717,12 +26301,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01009, + "left_min_dist_m": 0.01753, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01497 + "right_min_dist_m": 0.00498 }, { "frame": 318, @@ -15730,12 +26314,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01343, + "left_min_dist_m": 0.01883, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0131 + "right_min_dist_m": 0.00519 }, { "frame": 319, @@ -15743,12 +26327,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01779, + "left_min_dist_m": 0.02026, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00804 + "right_min_dist_m": 0.00463 }, { "frame": 320, @@ -15756,12 +26340,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02422, + "left_min_dist_m": 0.01844, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0085 + "right_min_dist_m": 0.00269 }, { "frame": 321, @@ -15769,12 +26353,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01503, + "left_min_dist_m": 0.01877, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01085 + "right_min_dist_m": 0.00124 }, { "frame": 322, @@ -15782,12 +26366,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01459, + "left_min_dist_m": 0.01683, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0148 + "right_min_dist_m": 0.00268 }, { "frame": 323, @@ -15795,12 +26379,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00984, + "left_min_dist_m": 0.01494, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01587 + "right_min_dist_m": 0.00338 }, { "frame": 324, @@ -15808,12 +26392,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0274, + "left_min_dist_m": 0.01324, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01558 + "right_min_dist_m": 0.00161 }, { "frame": 325, @@ -15821,12 +26405,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01594, + "left_min_dist_m": 0.01852, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00783 + "right_min_dist_m": 0.00302 }, { "frame": 326, @@ -15834,12 +26418,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00635, + "left_min_dist_m": 0.02103, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0108 + "right_min_dist_m": 0.0025 }, { "frame": 327, @@ -15847,12 +26431,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01514, + "left_min_dist_m": 0.02513, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01181 + "right_min_dist_m": 0.00178 }, { "frame": 328, @@ -15860,12 +26444,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0069, + "left_min_dist_m": 0.02293, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00585 + "right_min_dist_m": 0.00304 }, { "frame": 329, @@ -15873,12 +26457,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.006, + "left_min_dist_m": 0.02167, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00527 + "right_min_dist_m": 0.00412 }, { "frame": 330, @@ -15886,12 +26470,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00644, + "left_min_dist_m": 0.03962, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00495 + "right_min_dist_m": 0.00343 }, { "frame": 331, @@ -15899,12 +26483,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00551, + "left_min_dist_m": 0.03857, "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 + "right_min_dist_m": 0.00469 }, { "frame": 332, @@ -15912,12 +26496,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00842, + "left_min_dist_m": 0.0266, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01022 + "right_min_dist_m": 0.00306 }, { "frame": 333, @@ -15925,12 +26509,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00707, + "left_min_dist_m": 0.02765, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00777 + "right_min_dist_m": 0.0042 }, { "frame": 334, @@ -15938,12 +26522,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00988, + "left_min_dist_m": 0.02423, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01443 + "right_min_dist_m": 0.00514 }, { "frame": 335, @@ -15951,12 +26535,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00468, + "left_min_dist_m": 0.01948, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01 + "right_min_dist_m": 0.00577 }, { "frame": 336, @@ -15964,12 +26548,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00622, + "left_min_dist_m": 0.01364, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0103 + "right_min_dist_m": 0.00372 }, { "frame": 337, @@ -15977,12 +26561,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00406, + "left_min_dist_m": 0.01264, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01063 + "right_min_dist_m": 0.00125 }, { "frame": 338, @@ -15990,12 +26574,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00753, + "left_min_dist_m": 0.01098, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00903 + "right_min_dist_m": 0.0031 }, { "frame": 339, @@ -16003,12 +26587,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00977, + "left_min_dist_m": 0.01, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01539 + "right_min_dist_m": 0.00528 }, { "frame": 340, @@ -16016,12 +26600,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01063, + "left_min_dist_m": 0.00752, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01543 + "right_min_dist_m": 0.0052 }, { "frame": 341, @@ -16029,12 +26613,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01292, + "left_min_dist_m": 0.00771, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0104 + "right_min_dist_m": 0.0023 }, { "frame": 342, @@ -16042,12 +26626,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01298, + "left_min_dist_m": 0.00969, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0147 + "right_min_dist_m": 0.00251 }, { "frame": 343, @@ -16055,12 +26639,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01356, + "left_min_dist_m": 0.00913, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0176 + "right_min_dist_m": 0.00194 }, { "frame": 344, @@ -16068,12 +26652,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01169, + "left_min_dist_m": 0.00906, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00803 + "right_min_dist_m": 0.00147 }, { "frame": 345, @@ -16081,12 +26665,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01451, + "left_min_dist_m": 0.00995, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01024 + "right_min_dist_m": 0.00163 }, { "frame": 346, @@ -16094,12 +26678,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01796, + "left_min_dist_m": 0.0105, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01146 + "right_min_dist_m": 0.00218 }, { "frame": 347, @@ -16107,12 +26691,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02065, + "left_min_dist_m": 0.00969, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01091 + "right_min_dist_m": 0.00146 }, { "frame": 348, @@ -16120,12 +26704,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01105, + "left_min_dist_m": 0.00993, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01415 + "right_min_dist_m": 0.00242 }, { "frame": 349, @@ -16133,12 +26717,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01475, + "left_min_dist_m": 0.00693, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00815 + "right_min_dist_m": 0.00324 }, { "frame": 350, @@ -16146,12 +26730,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00515, + "left_min_dist_m": 0.00661, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01131 + "right_min_dist_m": 0.00452 }, { "frame": 351, @@ -16159,12 +26743,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00987, + "left_min_dist_m": 0.00511, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01287 + "right_min_dist_m": 0.00108 }, { "frame": 352, @@ -16172,12 +26756,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01572, + "left_min_dist_m": 0.00342, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01137 + "right_min_dist_m": 0.00076 }, { "frame": 353, @@ -16185,12 +26769,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.005, + "left_min_dist_m": 0.00369, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01091 + "right_min_dist_m": 0.0008 }, { "frame": 354, @@ -16198,12 +26782,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01005, + "left_min_dist_m": 0.00188, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01091 + "right_min_dist_m": 0.00341 }, { "frame": 355, @@ -16211,12 +26795,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01245, + "left_min_dist_m": 0.00115, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00941 + "right_min_dist_m": 0.00519 }, { "frame": 356, @@ -16224,12 +26808,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0091, + "left_min_dist_m": 0.00756, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01391 + "right_min_dist_m": 0.00275 }, { "frame": 357, @@ -16237,12 +26821,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01004, + "left_min_dist_m": 0.00895, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00908 + "right_min_dist_m": 0.00173 }, { "frame": 358, @@ -16250,12 +26834,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00883, + "left_min_dist_m": 0.00769, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00484 + "right_min_dist_m": 0.00126 }, { "frame": 359, @@ -16263,12 +26847,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00989, + "left_min_dist_m": 0.00856, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01348 + "right_min_dist_m": 0.00248 }, { "frame": 360, @@ -16276,12 +26860,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00654, + "left_min_dist_m": 0.00932, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0267 + "right_min_dist_m": 0.00303 }, { "frame": 361, @@ -16289,12 +26873,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00431, + "left_min_dist_m": 0.01071, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01737 + "right_min_dist_m": 0.00467 }, { "frame": 362, @@ -16302,12 +26886,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00519, + "left_min_dist_m": 0.00687, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.02304 + "right_min_dist_m": 0.00573 }, { "frame": 363, @@ -16315,12 +26899,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00665, + "left_min_dist_m": 0.01064, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01905 + "right_min_dist_m": 0.00723 }, { "frame": 364, @@ -16328,12 +26912,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01303, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.01199 + "left_min_dist_m": 0.01091, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPENING", + "right_in_contact": false, + "right_min_dist_m": 0.17804 }, { "frame": 365, @@ -16341,12 +26925,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01751, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.02391 + "left_min_dist_m": 0.01029, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.17864 }, { "frame": 366, @@ -16354,12 +26938,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01324, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.01694 + "left_min_dist_m": 0.0053, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.18201 }, { "frame": 367, @@ -16367,12 +26951,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00915, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.01889 + "left_min_dist_m": 0.00466, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.19309 }, { "frame": 368, @@ -16380,12 +26964,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01017, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.02916 + "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": 0.17946 }, { "frame": 369, @@ -16393,12 +26977,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01328, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.02786 + "left_min_dist_m": 0.01103, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.19561 }, { "frame": 370, @@ -16406,12 +26990,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01167, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.02541 + "left_min_dist_m": 0.01191, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.19422 }, { "frame": 371, @@ -16419,12 +27003,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0097, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.0265 + "left_min_dist_m": 0.01227, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.20858 }, { "frame": 372, @@ -16432,12 +27016,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00783, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.04636 + "left_min_dist_m": 0.00814, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.20744 }, { "frame": 373, @@ -16445,12 +27029,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00867, + "left_min_dist_m": 0.00601, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", + "right_grasp_fsm_state": "CLOSING", "right_in_contact": true, - "right_min_dist_m": 0.04429 + "right_min_dist_m": 0.00226 }, { "frame": 374, @@ -16458,12 +27042,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00651, + "left_min_dist_m": 0.01042, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.03589 + "right_min_dist_m": 0.00458 }, { "frame": 375, @@ -16471,12 +27055,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01597, + "left_min_dist_m": 0.00626, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.02516 + "right_min_dist_m": 0.00528 }, { "frame": 376, @@ -16484,12 +27068,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01062, + "left_min_dist_m": 0.00687, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.02226 + "right_min_dist_m": 0.00166 }, { "frame": 377, @@ -16497,12 +27081,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01576, + "left_min_dist_m": 0.01124, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.03196 + "right_min_dist_m": 0.00263 }, { "frame": 378, @@ -16510,12 +27094,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01469, + "left_min_dist_m": 0.01075, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.028 + "right_min_dist_m": 0.00057 }, { "frame": 379, @@ -16523,12 +27107,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00714, + "left_min_dist_m": 0.01176, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.04141 + "right_min_dist_m": 0.00223 }, { "frame": 380, @@ -16536,12 +27120,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01181, + "left_min_dist_m": 0.01155, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.03945 + "right_min_dist_m": 0.0026 }, { "frame": 381, @@ -16549,12 +27133,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00652, + "left_min_dist_m": 0.01061, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.03405 + "right_min_dist_m": 0.00235 }, { "frame": 382, @@ -16562,12 +27146,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01447, + "left_min_dist_m": 0.01043, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.04282 + "right_min_dist_m": 0.00234 }, { "frame": 383, @@ -16575,12 +27159,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01632, + "left_min_dist_m": 0.00917, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.04629 + "right_min_dist_m": 0.00306 }, { "frame": 384, @@ -16588,12 +27172,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00649, + "left_min_dist_m": 0.00971, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.03098 + "right_min_dist_m": 0.00631 }, { "frame": 385, @@ -16601,12 +27185,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00617, + "left_min_dist_m": 0.01118, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.04382 + "right_min_dist_m": 0.0054 }, { "frame": 386, @@ -16614,12 +27198,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01139, + "left_min_dist_m": 0.01044, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.04172 + "right_min_dist_m": 0.00522 }, { "frame": 387, @@ -16627,12 +27211,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01139, + "left_min_dist_m": 0.00973, "right_contact_from_measured_joint": true, - "right_contact_strength": 0.5, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.05583 + "right_min_dist_m": 0.00598 }, { "frame": 388, @@ -16640,12 +27224,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01111, + "left_min_dist_m": 0.00967, "right_contact_from_measured_joint": true, - "right_contact_strength": 0.5, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.05485 + "right_min_dist_m": 0.00081 }, { "frame": 389, @@ -16653,12 +27237,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01216, + "left_min_dist_m": 0.0097, "right_contact_from_measured_joint": true, - "right_contact_strength": 0.5, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.05044 + "right_min_dist_m": 0.00049 }, { "frame": 390, @@ -16666,12 +27250,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00493, + "left_min_dist_m": 0.00891, "right_contact_from_measured_joint": true, - "right_contact_strength": 0.5, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.04849 + "right_min_dist_m": 0.00334 }, { "frame": 391, @@ -16679,12 +27263,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00865, + "left_min_dist_m": 0.0075, "right_contact_from_measured_joint": true, - "right_contact_strength": 0.5, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.05267 + "right_min_dist_m": 0.00316 }, { "frame": 392, @@ -16692,12 +27276,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00735, + "left_min_dist_m": 0.00703, "right_contact_from_measured_joint": true, - "right_contact_strength": 0.5, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.05164 + "right_min_dist_m": 0.00153 }, { "frame": 393, @@ -16705,12 +27289,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00817, + "left_min_dist_m": 0.00708, "right_contact_from_measured_joint": true, - "right_contact_strength": 0.5, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.05276 + "right_min_dist_m": 0.00191 }, { "frame": 394, @@ -16718,12 +27302,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00682, + "left_min_dist_m": 0.00709, "right_contact_from_measured_joint": true, - "right_contact_strength": 0.5, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.06361 + "right_min_dist_m": 0.00689 }, { "frame": 395, @@ -16731,12 +27315,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02621, + "left_min_dist_m": 0.00479, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.04479 + "right_min_dist_m": 0.00769 }, { "frame": 396, @@ -16744,12 +27328,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02168, + "left_min_dist_m": 0.00646, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.03452 + "right_min_dist_m": 0.00622 }, { "frame": 397, @@ -16757,12 +27341,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02495, + "left_min_dist_m": 0.00652, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.04849 + "right_min_dist_m": 0.00376 }, { "frame": 398, @@ -16770,12 +27354,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.03109, + "left_min_dist_m": 0.00663, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.05944 + "right_min_dist_m": 0.00485 }, { "frame": 399, @@ -16783,38 +27367,38 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.05144, + "left_min_dist_m": 0.00681, "right_contact_from_measured_joint": true, - "right_contact_strength": 0.5, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.042 + "right_min_dist_m": 0.00456 }, { "frame": 400, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.5, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.05165, + "left_min_dist_m": 0.00521, "right_contact_from_measured_joint": true, - "right_contact_strength": 0.5, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.06954 + "right_min_dist_m": 0.00339 }, { "frame": 401, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.5, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00427, + "left_min_dist_m": 0.00533, "right_contact_from_measured_joint": true, - "right_contact_strength": 0.5, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.08204 + "right_min_dist_m": 0.0032 }, { "frame": 402, @@ -16822,12 +27406,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.07353, + "left_min_dist_m": 0.00754, "right_contact_from_measured_joint": true, - "right_contact_strength": 0.5, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.04452 + "right_min_dist_m": 0.00349 }, { "frame": 403, @@ -16835,12 +27419,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00789, + "left_min_dist_m": 0.00357, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0715 + "right_min_dist_m": 0.00227 }, { "frame": 404, @@ -16848,12 +27432,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01102, + "left_min_dist_m": 0.00975, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.04498 + "right_min_dist_m": 0.0029 }, { "frame": 405, @@ -16861,12 +27445,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02093, + "left_min_dist_m": 0.00359, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.03767 + "right_min_dist_m": 0.00293 }, { "frame": 406, @@ -16874,12 +27458,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01971, + "left_min_dist_m": 0.00968, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.03984 + "right_min_dist_m": 0.00518 }, { "frame": 407, @@ -16887,12 +27471,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.04462, + "left_min_dist_m": 0.00298, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.02104 + "right_min_dist_m": 0.00258 }, { "frame": 408, @@ -16900,12 +27484,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.04321, + "left_min_dist_m": 0.0075, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01566 + "right_min_dist_m": 0.00076 }, { "frame": 409, @@ -16913,12 +27497,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0283, + "left_min_dist_m": 0.00848, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00947 + "right_min_dist_m": 0.00231 }, { "frame": 410, @@ -16926,12 +27510,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01782, + "left_min_dist_m": 0.00721, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.02452 + "right_min_dist_m": 0.00098 }, { "frame": 411, @@ -16939,12 +27523,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02514, + "left_min_dist_m": 0.00595, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01066 + "right_min_dist_m": 0.00407 }, { "frame": 412, @@ -16952,12 +27536,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01742, + "left_min_dist_m": 0.00223, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01084 + "right_min_dist_m": 0.00863 }, { "frame": 413, @@ -16965,12 +27549,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01717, + "left_min_dist_m": 0.00502, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01256 + "right_min_dist_m": 0.00675 }, { "frame": 414, @@ -16978,12 +27562,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0156, + "left_min_dist_m": 0.00542, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00828 + "right_min_dist_m": 0.00687 }, { "frame": 415, @@ -16991,12 +27575,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01526, + "left_min_dist_m": 0.00603, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00674 + "right_min_dist_m": 0.00531 }, { "frame": 416, @@ -17004,12 +27588,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01924, + "left_min_dist_m": 0.00561, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01448 + "right_min_dist_m": 0.0072 }, { "frame": 417, @@ -17017,12 +27601,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0069, + "left_min_dist_m": 0.00644, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00589 + "right_min_dist_m": 0.00796 }, { "frame": 418, @@ -17030,12 +27614,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0084, + "left_min_dist_m": 0.00503, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00924 + "right_min_dist_m": 0.01123 }, { "frame": 419, @@ -17043,12 +27627,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00631, + "left_min_dist_m": 0.00597, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00585 + "right_min_dist_m": 0.00588 }, { "frame": 420, @@ -17056,12 +27640,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01502, + "left_min_dist_m": 0.00642, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00781 + "right_min_dist_m": 0.00292 }, { "frame": 421, @@ -17069,12 +27653,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01533, + "left_min_dist_m": 0.00164, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00548 + "right_min_dist_m": 0.00522 }, { "frame": 422, @@ -17082,12 +27666,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01685, + "left_min_dist_m": 0.00239, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0103 + "right_min_dist_m": 0.00222 }, { "frame": 423, @@ -17095,12 +27679,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01184, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00927 + "left_min_dist_m": 0.00451, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPENING", + "right_in_contact": false, + "right_min_dist_m": 0.16945 }, { "frame": 424, @@ -17108,12 +27692,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01168, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.01048 + "left_min_dist_m": 0.00616, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.17037 }, { "frame": 425, @@ -17121,12 +27705,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00967, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00804 + "left_min_dist_m": 0.00427, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.16956 }, { "frame": 426, @@ -17134,12 +27718,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0203, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00634 + "left_min_dist_m": 0.00414, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.16822 }, { "frame": 427, @@ -17147,12 +27731,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02243, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00997 + "left_min_dist_m": 0.00541, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.17129 }, { "frame": 428, @@ -17160,12 +27744,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00833, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.01098 + "left_min_dist_m": 0.00644, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.16756 }, { "frame": 429, @@ -17173,12 +27757,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01578, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00726 + "left_min_dist_m": 0.00724, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.16299 }, { "frame": 430, @@ -17186,12 +27770,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0112, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00845 + "left_min_dist_m": 0.00454, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.16574 }, { "frame": 431, @@ -17199,12 +27783,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00385, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00796 + "left_min_dist_m": 0.00662, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.16391 }, { "frame": 432, @@ -17212,12 +27796,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00663, + "left_min_dist_m": 0.00523, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", + "right_grasp_fsm_state": "CLOSING", "right_in_contact": true, - "right_min_dist_m": 0.00874 + "right_min_dist_m": 0.00646 }, { "frame": 433, @@ -17225,12 +27809,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.007, + "left_min_dist_m": 0.00266, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00787 + "right_min_dist_m": 0.0056 }, { "frame": 434, @@ -17238,12 +27822,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00952, + "left_min_dist_m": 0.00396, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00881 + "right_min_dist_m": 0.00644 }, { "frame": 435, @@ -17251,12 +27835,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00707, + "left_min_dist_m": 0.00779, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00609 + "right_min_dist_m": 0.00482 }, { "frame": 436, @@ -17264,12 +27848,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01077, + "left_min_dist_m": 0.0012, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00491 + "right_min_dist_m": 0.00472 }, { "frame": 437, @@ -17277,12 +27861,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00882, + "left_min_dist_m": 0.00464, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00952 + "right_min_dist_m": 0.00273 }, { "frame": 438, @@ -17290,12 +27874,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01786, + "left_min_dist_m": 0.00318, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00963 + "right_min_dist_m": 0.00525 }, { "frame": 439, @@ -17303,12 +27887,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00779, + "left_min_dist_m": 0.00481, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00892 + "right_min_dist_m": 0.00311 }, { "frame": 440, @@ -17316,12 +27900,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01028, + "left_min_dist_m": 0.00556, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01017 + "right_min_dist_m": 0.00725 }, { "frame": 441, @@ -17329,12 +27913,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01457, + "left_min_dist_m": 0.00461, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0117 + "right_min_dist_m": 0.00836 }, { "frame": 442, @@ -17342,12 +27926,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00733, + "left_min_dist_m": 0.00329, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01008 + "right_min_dist_m": 0.00848 }, { "frame": 443, @@ -17355,12 +27939,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0069, + "left_min_dist_m": 0.0071, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00644 + "right_min_dist_m": 0.00764 }, { "frame": 444, @@ -17368,12 +27952,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00556, + "left_min_dist_m": 0.00369, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00774 + "right_min_dist_m": 0.00722 }, { "frame": 445, @@ -17381,12 +27965,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01199, + "left_min_dist_m": 0.00315, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00523 + "right_min_dist_m": 0.00574 }, { "frame": 446, @@ -17394,12 +27978,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00896, + "left_min_dist_m": 0.00465, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00951 + "right_min_dist_m": 0.00274 }, { "frame": 447, @@ -17407,12 +27991,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01226, + "left_min_dist_m": 0.00917, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01037 + "right_min_dist_m": 0.00405 }, { "frame": 448, @@ -17420,12 +28004,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00937, + "left_min_dist_m": 0.00339, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00623 + "right_min_dist_m": 0.00718 }, { "frame": 449, @@ -17433,12 +28017,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00992, + "left_min_dist_m": 0.00535, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00693 + "right_min_dist_m": 0.00357 }, { "frame": 450, @@ -17446,12 +28030,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02622, + "left_min_dist_m": 0.00209, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00708 + "right_min_dist_m": 0.00301 }, { "frame": 451, @@ -17459,12 +28043,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00893, + "left_min_dist_m": 0.00832, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00646 + "right_min_dist_m": 0.00285 }, { "frame": 452, @@ -17472,12 +28056,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00347, + "left_min_dist_m": 0.00698, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00893 + "right_min_dist_m": 0.00357 }, { "frame": 453, @@ -17485,12 +28069,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01303, + "left_min_dist_m": 0.01535, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01241 + "right_min_dist_m": 0.0051 }, { "frame": 454, @@ -17498,12 +28082,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01018, + "left_min_dist_m": 0.01431, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01272 + "right_min_dist_m": 0.00388 }, { "frame": 455, @@ -17511,12 +28095,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01311, + "left_min_dist_m": 0.01147, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01322 + "right_min_dist_m": 0.00281 }, { "frame": 456, @@ -17524,12 +28108,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.03142, + "left_min_dist_m": 0.01159, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0146 + "right_min_dist_m": 0.00798 }, { "frame": 457, @@ -17537,12 +28121,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02258, + "left_min_dist_m": 0.01314, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00966 + "right_min_dist_m": 0.00408 }, { "frame": 458, @@ -17550,12 +28134,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00997, + "left_min_dist_m": 0.01157, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00547 + "right_min_dist_m": 0.00126 }, { "frame": 459, @@ -17563,12 +28147,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00453, + "left_min_dist_m": 0.01194, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00697 + "right_min_dist_m": 0.00411 }, { "frame": 460, @@ -17576,12 +28160,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01011, + "left_min_dist_m": 0.0108, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01687 + "right_min_dist_m": 0.00536 }, { "frame": 461, @@ -17589,12 +28173,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00437, + "left_min_dist_m": 0.01262, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01376 + "right_min_dist_m": 0.00326 }, { "frame": 462, @@ -17602,12 +28186,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00622, + "left_min_dist_m": 0.0135, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01333 + "right_min_dist_m": 0.00453 }, { "frame": 463, @@ -17615,12 +28199,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00685, + "left_min_dist_m": 0.01307, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01033 + "right_min_dist_m": 0.00301 }, { "frame": 464, @@ -17628,12 +28212,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00691, + "left_min_dist_m": 0.00864, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01158 + "right_min_dist_m": 0.00103 }, { "frame": 465, @@ -17641,12 +28225,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00577, + "left_min_dist_m": 0.00879, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0076 + "right_min_dist_m": 0.00423 }, { "frame": 466, @@ -17654,12 +28238,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00661, + "left_min_dist_m": 0.00844, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00935 + "right_min_dist_m": 0.001 }, { "frame": 467, @@ -17667,12 +28251,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00503, + "left_min_dist_m": 0.00864, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00621 + "right_min_dist_m": 0.00417 }, { "frame": 468, @@ -17680,12 +28264,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00331, + "left_min_dist_m": 0.00827, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00449 + "right_min_dist_m": 0.00371 }, { "frame": 469, @@ -17693,12 +28277,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00685, + "left_min_dist_m": 0.00906, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00964 + "right_min_dist_m": 0.00464 }, { "frame": 470, @@ -17706,12 +28290,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00667, + "left_min_dist_m": 0.0094, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00629 + "right_min_dist_m": 0.00433 }, { "frame": 471, @@ -17719,12 +28303,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00699, + "left_min_dist_m": 0.00837, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00697 + "right_min_dist_m": 0.00305 }, { "frame": 472, @@ -17732,12 +28316,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00641, + "left_min_dist_m": 0.01008, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00568 + "right_min_dist_m": 0.00385 }, { "frame": 473, @@ -17745,12 +28329,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00636, + "left_min_dist_m": 0.01001, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01421 + "right_min_dist_m": 0.00229 }, { "frame": 474, @@ -17758,12 +28342,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00675, + "left_min_dist_m": 0.00997, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0082 + "right_min_dist_m": 0.00348 }, { "frame": 475, @@ -17771,12 +28355,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00628, + "left_min_dist_m": 0.01055, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00833 + "right_min_dist_m": 0.00345 }, { "frame": 476, @@ -17784,12 +28368,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00542, + "left_min_dist_m": 0.01151, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00714 + "right_min_dist_m": 0.00032 }, { "frame": 477, @@ -17797,12 +28381,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00547, + "left_min_dist_m": 0.01309, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00627 + "right_min_dist_m": 0.00442 }, { "frame": 478, @@ -17810,12 +28394,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00561, + "left_min_dist_m": 0.01227, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00496 + "right_min_dist_m": 0.00547 }, { "frame": 479, @@ -17823,12 +28407,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00398, + "left_min_dist_m": 0.00446, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00709 + "right_min_dist_m": 0.00475 }, { "frame": 480, @@ -17836,12 +28420,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00549, + "left_min_dist_m": 0.0125, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00497 + "right_min_dist_m": 0.00426 }, { "frame": 481, @@ -17849,12 +28433,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00275, + "left_min_dist_m": 0.00601, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00556 + "right_min_dist_m": 0.00407 }, { "frame": 482, @@ -17862,12 +28446,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00639, + "left_min_dist_m": 0.00476, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00562 + "right_min_dist_m": 0.00395 }, { "frame": 483, @@ -17875,12 +28459,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00687, + "left_min_dist_m": 0.00627, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01081 + "right_min_dist_m": 0.0039 }, { "frame": 484, @@ -17888,12 +28472,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00384, + "left_min_dist_m": 0.00636, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00689 + "right_min_dist_m": 0.00352 }, { "frame": 485, @@ -17901,12 +28485,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00693, + "left_min_dist_m": 0.00586, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00564 + "right_min_dist_m": 0.00364 }, { "frame": 486, @@ -17914,12 +28498,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01249, + "left_min_dist_m": 0.0067, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01128 + "right_min_dist_m": 0.00048 }, { "frame": 487, @@ -17927,12 +28511,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00695, + "left_min_dist_m": 0.0057, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00765 + "right_min_dist_m": 0.00225 }, { "frame": 488, @@ -17940,12 +28524,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00429, + "left_min_dist_m": 0.0075, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00584 + "right_min_dist_m": 0.00101 }, { "frame": 489, @@ -17953,12 +28537,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0073, + "left_min_dist_m": 0.00465, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00584 + "right_min_dist_m": 0.0027 }, { "frame": 490, @@ -17966,12 +28550,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01592, + "left_min_dist_m": 0.00923, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0073 + "right_min_dist_m": 0.0022 }, { "frame": 491, @@ -17979,12 +28563,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00313, + "left_min_dist_m": 0.01183, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01231 + "right_min_dist_m": 0.00166 }, { "frame": 492, @@ -17992,12 +28576,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00695, + "left_min_dist_m": 0.00766, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0095 + "right_min_dist_m": 0.00091 }, { "frame": 493, @@ -18005,12 +28589,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00507, + "left_min_dist_m": 0.00475, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01018 + "right_min_dist_m": 0.00071 }, { "frame": 494, @@ -18018,12 +28602,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0076, + "left_min_dist_m": 0.00747, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00789 + "right_min_dist_m": 0.00235 }, { "frame": 495, @@ -18031,12 +28615,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00604, + "left_min_dist_m": 0.00536, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.02101 + "right_min_dist_m": 0.00203 }, { "frame": 496, @@ -18044,12 +28628,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00592, + "left_min_dist_m": 0.00587, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01142 + "right_min_dist_m": 0.00305 }, { "frame": 497, @@ -18057,12 +28641,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00924, + "left_min_dist_m": 0.00716, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01597 + "right_min_dist_m": 0.00347 }, { "frame": 498, @@ -18070,12 +28654,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00343, + "left_min_dist_m": 0.00841, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01779 + "right_min_dist_m": 0.00349 }, { "frame": 499, @@ -18083,12 +28667,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00601, + "left_min_dist_m": 0.00533, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.02678 + "right_min_dist_m": 0.00203 }, { "frame": 500, @@ -18096,12 +28680,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0047, + "left_min_dist_m": 0.00998, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01496 + "right_min_dist_m": 0.00189 }, { "frame": 501, @@ -18109,12 +28693,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01065, + "left_min_dist_m": 0.00606, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01949 + "right_min_dist_m": 0.00437 }, { "frame": 502, @@ -18122,12 +28706,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01067, + "left_min_dist_m": 0.00446, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.02224 + "right_min_dist_m": 0.00244 }, { "frame": 503, @@ -18135,12 +28719,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01684, + "left_min_dist_m": 0.00432, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.02276 + "right_min_dist_m": 0.00382 }, { "frame": 504, @@ -18148,12 +28732,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00731, + "left_min_dist_m": 0.00661, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00901 + "right_min_dist_m": 0.0028 }, { "frame": 505, @@ -18161,12 +28745,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0113, + "left_min_dist_m": 0.00371, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00683 + "right_min_dist_m": 0.00573 }, { "frame": 506, @@ -18174,12 +28758,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00878, + "left_min_dist_m": 0.00382, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01155 + "right_min_dist_m": 0.00061 }, { "frame": 507, @@ -18187,12 +28771,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01281, + "left_min_dist_m": 0.0051, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00897 + "right_min_dist_m": 0.00284 }, { "frame": 508, @@ -18200,12 +28784,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01273, + "left_min_dist_m": 0.00651, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00579 + "right_min_dist_m": 0.00501 }, { "frame": 509, @@ -18213,12 +28797,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01151, + "left_min_dist_m": 0.00408, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01017 + "right_min_dist_m": 0.00341 }, { "frame": 510, @@ -18226,12 +28810,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00998, + "left_min_dist_m": 0.00741, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01021 + "right_min_dist_m": 0.00498 }, { "frame": 511, @@ -18239,12 +28823,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01048, + "left_min_dist_m": 0.0045, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00721 + "right_min_dist_m": 0.00682 }, { "frame": 512, @@ -18252,12 +28836,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01116, + "left_min_dist_m": 0.00623, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01113 + "right_min_dist_m": 0.00518 }, { "frame": 513, @@ -18265,12 +28849,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00699, + "left_min_dist_m": 0.00887, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00278 + "right_min_dist_m": 0.00488 }, { "frame": 514, @@ -18278,12 +28862,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00587, + "left_min_dist_m": 0.00548, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01332 + "right_min_dist_m": 0.00546 }, { "frame": 515, @@ -18291,12 +28875,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00322, + "left_min_dist_m": 0.00312, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00178 + "right_min_dist_m": 0.00469 }, { "frame": 516, @@ -18304,12 +28888,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00542, + "left_min_dist_m": 0.00589, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00726 + "right_min_dist_m": 0.00415 }, { "frame": 517, @@ -18317,12 +28901,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00692, + "left_min_dist_m": 0.00487, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00238 + "right_min_dist_m": 0.00441 }, { "frame": 518, @@ -18330,12 +28914,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00333, + "left_min_dist_m": 0.00321, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00358 + "right_min_dist_m": 0.00433 }, { "frame": 519, @@ -18343,12 +28927,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00748, + "left_min_dist_m": 0.00385, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00747 + "right_min_dist_m": 0.00405 }, { "frame": 520, @@ -18356,12 +28940,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00295, + "left_min_dist_m": 0.00269, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01128 + "right_min_dist_m": 0.00059 }, { "frame": 521, @@ -18369,12 +28953,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0068, + "left_min_dist_m": 0.00244, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00851 + "right_min_dist_m": 0.00172 }, { "frame": 522, @@ -18382,12 +28966,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00742, + "left_min_dist_m": 0.00235, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00986 + "right_min_dist_m": 0.00209 }, { "frame": 523, @@ -18395,12 +28979,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00432, + "left_min_dist_m": 0.00323, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00373 + "right_min_dist_m": 0.00228 }, { "frame": 524, @@ -18408,12 +28992,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0079, + "left_min_dist_m": 0.00394, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00627 + "right_min_dist_m": 0.00066 }, { "frame": 525, @@ -18421,12 +29005,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01032, + "left_min_dist_m": 0.00513, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00886 + "right_min_dist_m": 0.00282 }, { "frame": 526, @@ -18434,12 +29018,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01066, + "left_min_dist_m": 0.00232, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01522 + "right_min_dist_m": 0.00156 }, { "frame": 527, @@ -18447,12 +29031,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00879, + "left_min_dist_m": 0.00351, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00663 + "right_min_dist_m": 0.00443 }, { "frame": 528, @@ -18460,12 +29044,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00762, + "left_min_dist_m": 0.00343, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00722 + "right_min_dist_m": 0.00418 }, { "frame": 529, @@ -18473,12 +29057,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0092, + "left_min_dist_m": 0.00197, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01035 + "right_min_dist_m": 0.00457 }, { "frame": 530, @@ -18486,12 +29070,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00586, + "left_min_dist_m": 0.00124, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00664 + "right_min_dist_m": 0.00401 }, { "frame": 531, @@ -18499,12 +29083,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01422, + "left_min_dist_m": 0.00272, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00788 + "right_min_dist_m": 0.00411 }, { "frame": 532, @@ -18512,12 +29096,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01155, + "left_min_dist_m": 0.00208, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00632 + "right_min_dist_m": 0.00282 }, { "frame": 533, @@ -18525,12 +29109,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02756, + "left_min_dist_m": 0.00319, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00428 + "right_min_dist_m": 0.00421 }, { "frame": 534, @@ -18538,12 +29122,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02442, + "left_min_dist_m": 0.01211, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00956 + "right_min_dist_m": 0.0016 }, { "frame": 535, @@ -18551,12 +29135,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.03292, + "left_min_dist_m": 0.00199, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01128 + "right_min_dist_m": 0.00639 }, { "frame": 536, @@ -18564,12 +29148,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02493, + "left_min_dist_m": 0.00217, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.02283 + "right_min_dist_m": 0.00242 }, { "frame": 537, @@ -18577,12 +29161,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02833, + "left_min_dist_m": 0.00269, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.02015 + "right_min_dist_m": 0.00089 }, { "frame": 538, @@ -18590,12 +29174,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02145, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.01985 + "left_min_dist_m": 0.0026, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPENING", + "right_in_contact": false, + "right_min_dist_m": 0.14207 }, { "frame": 539, @@ -18603,12 +29187,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02619, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.01444 + "left_min_dist_m": 0.00309, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.15062 }, { "frame": 540, @@ -18616,12 +29200,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02102, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.02122 + "left_min_dist_m": 0.00337, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.15551 }, { "frame": 541, @@ -18629,12 +29213,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01429, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00771 + "left_min_dist_m": 0.0034, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.14383 }, { "frame": 542, @@ -18642,12 +29226,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0108, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00841 + "left_min_dist_m": 0.00238, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.14672 }, { "frame": 543, @@ -18655,12 +29239,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.004, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00297 + "left_min_dist_m": 0.00251, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.15861 }, { "frame": 544, @@ -18668,12 +29252,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.008, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00677 + "left_min_dist_m": 0.00224, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.15195 }, { "frame": 545, @@ -18681,12 +29265,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01014, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00796 + "left_min_dist_m": 0.01137, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.18128 }, { "frame": 546, @@ -18694,12 +29278,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00419, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00954 + "left_min_dist_m": 0.01106, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.17192 }, { "frame": 547, @@ -18707,12 +29291,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00576, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00748 + "left_min_dist_m": 0.01085, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.14345 }, { "frame": 548, @@ -18720,12 +29304,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00428, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00846 + "left_min_dist_m": 0.01129, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.16474 }, { "frame": 549, @@ -18733,12 +29317,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01085, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00605 + "left_min_dist_m": 0.0113, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.16811 }, { "frame": 550, @@ -18746,12 +29330,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00621, + "left_min_dist_m": 0.01145, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", + "right_grasp_fsm_state": "CLOSING", "right_in_contact": true, - "right_min_dist_m": 0.01008 + "right_min_dist_m": 0.00564 }, { "frame": 551, @@ -18759,12 +29343,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00646, + "left_min_dist_m": 0.01191, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00498 + "right_min_dist_m": 0.00702 }, { "frame": 552, @@ -18772,12 +29356,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00871, + "left_min_dist_m": 0.0122, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00734 + "right_min_dist_m": 0.00241 }, { "frame": 553, @@ -18785,12 +29369,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00435, + "left_min_dist_m": 0.01177, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00692 + "right_min_dist_m": 0.00298 }, { "frame": 554, @@ -18798,12 +29382,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00656, + "left_min_dist_m": 0.01141, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01042 + "right_min_dist_m": 0.00094 }, { "frame": 555, @@ -18811,12 +29395,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00716, + "left_min_dist_m": 0.01099, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01395 + "right_min_dist_m": 0.00343 }, { "frame": 556, @@ -18824,12 +29408,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00493, + "left_min_dist_m": 0.00265, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00655 + "right_min_dist_m": 0.00393 }, { "frame": 557, @@ -18837,12 +29421,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00526, + "left_min_dist_m": 0.00542, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00389 + "right_min_dist_m": 0.00285 }, { "frame": 558, @@ -18850,12 +29434,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00654, + "left_min_dist_m": 0.00561, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00878 + "right_min_dist_m": 0.00253 }, { "frame": 559, @@ -18863,12 +29447,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01093, + "left_min_dist_m": 0.00293, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00575 + "right_min_dist_m": 0.0019 }, { "frame": 560, @@ -18876,12 +29460,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00417, + "left_min_dist_m": 0.00569, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00326 + "right_min_dist_m": 0.00099 }, { "frame": 561, @@ -18889,12 +29473,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00741, + "left_min_dist_m": 0.00367, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00704 + "right_min_dist_m": 0.00097 }, { "frame": 562, @@ -18902,12 +29486,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00476, + "left_min_dist_m": 0.00559, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00582 + "right_min_dist_m": 0.00414 }, { "frame": 563, @@ -18915,12 +29499,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00481, + "left_min_dist_m": 0.00324, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00984 + "right_min_dist_m": 0.00364 }, { "frame": 564, @@ -18928,12 +29512,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00562, + "left_min_dist_m": 0.0063, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00549 + "right_min_dist_m": 0.00512 }, { "frame": 565, @@ -18941,12 +29525,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01156, + "left_min_dist_m": 0.00503, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00878 + "right_min_dist_m": 0.00197 }, { "frame": 566, @@ -18954,12 +29538,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01206, + "left_min_dist_m": 0.00713, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0085 + "right_min_dist_m": 0.00223 }, { "frame": 567, @@ -18967,12 +29551,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00297, + "left_min_dist_m": 0.0112, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00364 + "right_min_dist_m": 0.00215 }, { "frame": 568, @@ -18980,12 +29564,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00503, + "left_min_dist_m": 0.00541, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00567 + "right_min_dist_m": 0.00096 }, { "frame": 569, @@ -18993,12 +29577,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00999, + "left_min_dist_m": 0.00543, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00691 + "right_min_dist_m": 0.00309 }, { "frame": 570, @@ -19006,12 +29590,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00696, + "left_min_dist_m": 0.00771, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00508 + "right_min_dist_m": 0.00221 }, { "frame": 571, @@ -19019,12 +29603,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00893, + "left_min_dist_m": 0.00132, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00308 + "right_min_dist_m": 0.0019 }, { "frame": 572, @@ -19032,12 +29616,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00436, + "left_min_dist_m": 0.01186, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00722 + "right_min_dist_m": 0.00515 }, { "frame": 573, @@ -19045,12 +29629,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0041, + "left_min_dist_m": 0.00372, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00734 + "right_min_dist_m": 0.00421 }, { "frame": 574, @@ -19058,12 +29642,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00443, + "left_min_dist_m": 0.00334, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00363 + "right_min_dist_m": 0.00249 }, { "frame": 575, @@ -19071,12 +29655,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00633, + "left_min_dist_m": 0.00425, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0041 + "right_min_dist_m": 0.00449 }, { "frame": 576, @@ -19084,12 +29668,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00528, + "left_min_dist_m": 0.00512, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00372 + "right_min_dist_m": 0.00304 }, { "frame": 577, @@ -19097,12 +29681,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0089, + "left_min_dist_m": 0.00283, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00337 + "right_min_dist_m": 0.0026 }, { "frame": 578, @@ -19110,12 +29694,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00319, + "left_min_dist_m": 0.00403, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00419 + "right_min_dist_m": 0.00347 }, { "frame": 579, @@ -19123,12 +29707,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00732, + "left_min_dist_m": 0.00265, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00485 + "right_min_dist_m": 0.00275 }, { "frame": 580, @@ -19136,12 +29720,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00409, + "left_min_dist_m": 0.00395, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00466 + "right_min_dist_m": 0.00256 }, { "frame": 581, @@ -19149,12 +29733,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00396, + "left_min_dist_m": 0.0041, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00445 + "right_min_dist_m": 0.00453 }, { "frame": 582, @@ -19162,12 +29746,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00272, + "left_min_dist_m": 0.00341, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00484 + "right_min_dist_m": 0.00312 }, { "frame": 583, @@ -19175,12 +29759,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00593, + "left_min_dist_m": 0.00258, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00558 + "right_min_dist_m": 0.00248 }, { "frame": 584, @@ -19188,12 +29772,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00291, + "left_min_dist_m": 0.00303, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00426 + "right_min_dist_m": 0.00328 }, { "frame": 585, @@ -19201,12 +29785,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00809, + "left_min_dist_m": 0.00264, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.003 + "right_min_dist_m": 0.00146 }, { "frame": 586, @@ -19214,12 +29798,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00293, + "left_min_dist_m": 0.00295, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00281 + "right_min_dist_m": 0.00254 }, { "frame": 587, @@ -19227,12 +29811,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0061, + "left_min_dist_m": 0.00461, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00505 + "right_min_dist_m": 0.00255 }, { "frame": 588, @@ -19240,12 +29824,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00315, + "left_min_dist_m": 0.00408, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00436 + "right_min_dist_m": 0.00278 }, { "frame": 589, @@ -19253,12 +29837,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00278, + "left_min_dist_m": 0.00445, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00484 + "right_min_dist_m": 0.00607 }, { "frame": 590, @@ -19266,12 +29850,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00422, + "left_min_dist_m": 0.00425, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00624 + "right_min_dist_m": 0.03313 }, { "frame": 591, @@ -19279,12 +29863,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00493, + "left_min_dist_m": 0.00287, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00359 + "right_min_dist_m": 0.00912 }, { "frame": 592, @@ -19292,12 +29876,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0074, + "left_min_dist_m": 0.00506, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00478 + "right_min_dist_m": 0.00981 }, { "frame": 593, @@ -19305,12 +29889,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00526, + "left_min_dist_m": 0.00457, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00348 + "right_min_dist_m": 0.01118 }, { "frame": 594, @@ -19318,12 +29902,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00707, + "left_min_dist_m": 0.00458, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0042 + "right_min_dist_m": 0.01067 }, { "frame": 595, @@ -19331,12 +29915,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00708, + "left_min_dist_m": 0.00498, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00504 + "right_min_dist_m": 0.00553 }, { "frame": 596, @@ -19344,12 +29928,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00663, + "left_min_dist_m": 0.00543, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00525 + "right_min_dist_m": 0.00671 }, { "frame": 597, @@ -19357,12 +29941,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00772, + "left_min_dist_m": 0.00301, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00589 + "right_min_dist_m": 0.00579 }, { "frame": 598, @@ -19370,12 +29954,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00619, + "left_min_dist_m": 0.00319, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00729 + "right_min_dist_m": 0.00481 }, { "frame": 599, @@ -19383,12 +29967,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00713, + "left_min_dist_m": 0.00524, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00282 + "right_min_dist_m": 0.00296 }, { "frame": 600, @@ -19396,12 +29980,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00587, + "left_min_dist_m": 0.00492, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00601 + "right_min_dist_m": 0.00273 }, { "frame": 601, @@ -19414,7 +29998,7 @@ "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00663 + "right_min_dist_m": 0.00165 }, { "frame": 602, @@ -19422,12 +30006,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00734, + "left_min_dist_m": 0.00098, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00465 + "right_min_dist_m": 0.00759 }, { "frame": 603, @@ -19435,12 +30019,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00797, + "left_min_dist_m": 0.00368, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00828 + "right_min_dist_m": 0.00186 }, { "frame": 604, @@ -19448,12 +30032,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00741, + "left_min_dist_m": 0.00224, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00563 + "right_min_dist_m": 0.00761 }, { "frame": 605, @@ -19461,12 +30045,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00849, + "left_min_dist_m": 0.00326, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00751 + "right_min_dist_m": 0.00418 }, { "frame": 606, @@ -19474,12 +30058,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01134, + "left_min_dist_m": 0.00321, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00599 + "right_min_dist_m": 0.00308 }, { "frame": 607, @@ -19487,12 +30071,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00589, + "left_min_dist_m": 0.00391, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0055 + "right_min_dist_m": 0.00315 }, { "frame": 608, @@ -19500,12 +30084,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00819, + "left_min_dist_m": 0.00223, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00732 + "right_min_dist_m": 0.00593 }, { "frame": 609, @@ -19513,12 +30097,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00754, + "left_min_dist_m": 0.00568, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0123 + "right_min_dist_m": 0.0042 }, { "frame": 610, @@ -19526,12 +30110,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00591, + "left_min_dist_m": 0.00416, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00653 + "right_min_dist_m": 0.00505 }, { "frame": 611, @@ -19539,12 +30123,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00657, + "left_min_dist_m": 0.00569, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00397 + "right_min_dist_m": 0.00561 }, { "frame": 612, @@ -19552,12 +30136,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00905, + "left_min_dist_m": 0.00327, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00676 + "right_min_dist_m": 0.0058 }, { "frame": 613, @@ -19565,12 +30149,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01161, + "left_min_dist_m": 0.00282, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01144 + "right_min_dist_m": 0.00603 }, { "frame": 614, @@ -19578,12 +30162,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00523, + "left_min_dist_m": 0.00162, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00874 + "right_min_dist_m": 0.00506 }, { "frame": 615, @@ -19591,12 +30175,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01311, + "left_min_dist_m": 0.00296, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01484 + "right_min_dist_m": 0.00542 }, { "frame": 616, @@ -19604,12 +30188,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01315, + "left_min_dist_m": 0.00258, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00499 + "right_min_dist_m": 0.00367 }, { "frame": 617, @@ -19617,12 +30201,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01337, + "left_min_dist_m": 0.00257, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00521 + "right_min_dist_m": 0.00387 }, { "frame": 618, @@ -19630,12 +30214,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01079, + "left_min_dist_m": 0.00427, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.02677 + "right_min_dist_m": 0.00436 }, { "frame": 619, @@ -19643,12 +30227,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01006, + "left_min_dist_m": 0.00438, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.02056 + "right_min_dist_m": 0.00411 }, { "frame": 620, @@ -19656,12 +30240,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01797, + "left_min_dist_m": 0.0028, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00412 + "right_min_dist_m": 0.00074 }, { "frame": 621, @@ -19669,12 +30253,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01636, + "left_min_dist_m": 0.00457, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00524 + "right_min_dist_m": 0.00768 }, { "frame": 622, @@ -19682,12 +30266,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01637, + "left_min_dist_m": 0.00414, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00411 + "right_min_dist_m": 0.00835 }, { "frame": 623, @@ -19695,12 +30279,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01675, + "left_min_dist_m": 0.00321, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01952 + "right_min_dist_m": 0.00575 }, { "frame": 624, @@ -19708,12 +30292,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01815, + "left_min_dist_m": 0.00362, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00635 + "right_min_dist_m": 0.00931 }, { "frame": 625, @@ -19721,12 +30305,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0094, + "left_min_dist_m": 0.00277, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0085 + "right_min_dist_m": 0.00394 }, { "frame": 626, @@ -19734,12 +30318,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00844, + "left_min_dist_m": 0.00261, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00809 + "right_min_dist_m": 0.00243 }, { "frame": 627, @@ -19747,12 +30331,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01244, + "left_min_dist_m": 0.00341, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00492 + "right_min_dist_m": 0.00267 }, { "frame": 628, @@ -19760,12 +30344,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00833, + "left_min_dist_m": 0.00287, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00564 + "right_min_dist_m": 0.00466 }, { "frame": 629, @@ -19773,12 +30357,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01108, + "left_min_dist_m": 0.00248, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00706 + "right_min_dist_m": 0.01183 }, { "frame": 630, @@ -19786,12 +30370,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01047, + "left_min_dist_m": 0.00208, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01485 + "right_min_dist_m": 0.00182 }, { "frame": 631, @@ -19799,12 +30383,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01069, + "left_min_dist_m": 0.00275, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01289 + "right_min_dist_m": 0.00235 }, { "frame": 632, @@ -19812,12 +30396,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00488, + "left_min_dist_m": 0.00341, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01057 + "right_min_dist_m": 0.00208 }, { "frame": 633, @@ -19825,12 +30409,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00642, + "left_min_dist_m": 0.00115, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01476 + "right_min_dist_m": 0.00359 }, { "frame": 634, @@ -19838,12 +30422,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00629, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.0165 + "left_min_dist_m": 0.00197, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPENING", + "right_in_contact": false, + "right_min_dist_m": 0.16463 }, { "frame": 635, @@ -19851,12 +30435,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00674, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.01638 + "left_min_dist_m": 0.00518, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.16609 }, { "frame": 636, @@ -19864,12 +30448,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00829, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.01788 + "left_min_dist_m": 0.00529, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.15962 }, { "frame": 637, @@ -19877,12 +30461,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00765, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.01242 + "left_min_dist_m": 0.00407, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.13845 }, { "frame": 638, @@ -19890,12 +30474,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00681, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.01155 + "left_min_dist_m": 0.00427, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.15068 }, { "frame": 639, @@ -19903,12 +30487,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01346, + "left_min_dist_m": 0.00535, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", + "right_grasp_fsm_state": "CLOSING", "right_in_contact": true, - "right_min_dist_m": 0.01704 + "right_min_dist_m": 0.00541 }, { "frame": 640, @@ -19916,12 +30500,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0153, + "left_min_dist_m": 0.006, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.02555 + "right_min_dist_m": 0.00918 }, { "frame": 641, @@ -19929,12 +30513,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00852, + "left_min_dist_m": 0.00623, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.04498 + "right_min_dist_m": 0.00678 }, { "frame": 642, @@ -19942,12 +30526,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00944, + "left_min_dist_m": 0.00455, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01763 + "right_min_dist_m": 0.00728 }, { "frame": 643, @@ -19955,12 +30539,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02454, + "left_min_dist_m": 0.00502, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.027 + "right_min_dist_m": 0.0071 }, { "frame": 644, @@ -19968,12 +30552,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00854, + "left_min_dist_m": 0.00541, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.02079 + "right_min_dist_m": 0.00374 }, { "frame": 645, @@ -19981,12 +30565,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01516, + "left_min_dist_m": 0.00589, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01787 + "right_min_dist_m": 0.00715 }, { "frame": 646, @@ -19994,12 +30578,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01528, + "left_min_dist_m": 0.00449, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0188 + "right_min_dist_m": 0.00982 }, { "frame": 647, @@ -20007,12 +30591,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0058, + "left_min_dist_m": 0.00354, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01672 + "right_min_dist_m": 0.00839 }, { "frame": 648, @@ -20020,12 +30604,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01937, + "left_min_dist_m": 0.00406, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01334 + "right_min_dist_m": 0.01 }, { "frame": 649, @@ -20033,12 +30617,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01869, + "left_min_dist_m": 0.00432, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00901 + "right_min_dist_m": 0.00917 }, { "frame": 650, @@ -20046,12 +30630,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01287, + "left_min_dist_m": 0.00478, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00858 + "right_min_dist_m": 0.00898 }, { "frame": 651, @@ -20059,12 +30643,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00675, + "left_min_dist_m": 0.00433, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00799 + "right_min_dist_m": 0.00937 }, { "frame": 652, @@ -20072,12 +30656,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00947, + "left_min_dist_m": 0.0047, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0108 + "right_min_dist_m": 0.00159 }, { "frame": 653, @@ -20085,12 +30669,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00743, + "left_min_dist_m": 0.00446, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01316 + "right_min_dist_m": 0.00216 }, { "frame": 654, @@ -20098,12 +30682,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00775, + "left_min_dist_m": 0.00454, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01118 + "right_min_dist_m": 0.0073 }, { "frame": 655, @@ -20111,12 +30695,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00681, + "left_min_dist_m": 0.00397, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01252 + "right_min_dist_m": 0.00294 }, { "frame": 656, @@ -20124,12 +30708,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00594, + "left_min_dist_m": 0.00404, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0186 + "right_min_dist_m": 0.00246 }, { "frame": 657, @@ -20137,12 +30721,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00627, + "left_min_dist_m": 0.00374, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01369 + "right_min_dist_m": 0.00285 }, { "frame": 658, @@ -20150,12 +30734,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00573, + "left_min_dist_m": 0.00433, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.03957 + "right_min_dist_m": 0.00693 }, { "frame": 659, @@ -20163,12 +30747,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00515, + "left_min_dist_m": 0.00162, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.05124 + "right_min_dist_m": 0.00503 }, { "frame": 660, @@ -20176,12 +30760,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00633, + "left_min_dist_m": 0.00299, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01387 + "right_min_dist_m": 0.00475 }, { "frame": 661, @@ -20189,12 +30773,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.04201, + "left_min_dist_m": 0.00362, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.02209 + "right_min_dist_m": 0.00263 }, { "frame": 662, @@ -20202,12 +30786,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.046, + "left_min_dist_m": 0.00161, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.02799 + "right_min_dist_m": 0.00348 }, { "frame": 663, @@ -20215,12 +30799,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0085, + "left_min_dist_m": 0.0022, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00909 + "right_min_dist_m": 0.00344 }, { "frame": 664, @@ -20228,12 +30812,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00506, + "left_min_dist_m": 0.00222, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01201 + "right_min_dist_m": 0.00634 }, { "frame": 665, @@ -20241,12 +30825,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0057, + "left_min_dist_m": 0.00257, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0082 + "right_min_dist_m": 0.00391 }, { "frame": 666, @@ -20254,12 +30838,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00774, + "left_min_dist_m": 0.00337, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01184 + "right_min_dist_m": 0.00323 }, { "frame": 667, @@ -20267,12 +30851,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00565, + "left_min_dist_m": 0.0023, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00913 + "right_min_dist_m": 0.00603 }, { "frame": 668, @@ -20280,12 +30864,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00694, + "left_min_dist_m": 0.00211, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00852 + "right_min_dist_m": 0.00288 }, { "frame": 669, @@ -20293,12 +30877,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00613, + "left_min_dist_m": 0.0019, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01178 + "right_min_dist_m": 0.00237 }, { "frame": 670, @@ -20306,12 +30890,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00411, + "left_min_dist_m": 0.00176, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01733 + "right_min_dist_m": 0.00674 }, { "frame": 671, @@ -20319,12 +30903,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00412, + "left_min_dist_m": 0.00249, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00884 + "right_min_dist_m": 0.00496 }, { "frame": 672, @@ -20332,12 +30916,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01769, + "left_min_dist_m": 0.00331, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01395 + "right_min_dist_m": 0.0012 }, { "frame": 673, @@ -20345,12 +30929,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02239, + "left_min_dist_m": 0.00245, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.02464 + "right_min_dist_m": 0.00126 }, { "frame": 674, @@ -20358,12 +30942,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00859, + "left_min_dist_m": 0.00259, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01862 + "right_min_dist_m": 0.00453 }, { "frame": 675, @@ -20371,12 +30955,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01778, + "left_min_dist_m": 0.00319, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0205 + "right_min_dist_m": 0.0019 }, { "frame": 676, @@ -20384,12 +30968,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01559, + "left_min_dist_m": 0.00231, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.03206 + "right_min_dist_m": 0.00589 }, { "frame": 677, @@ -20397,12 +30981,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00877, + "left_min_dist_m": 0.00191, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.02236 + "right_min_dist_m": 0.00581 }, { "frame": 678, @@ -20410,12 +30994,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00608, + "left_min_dist_m": 0.00241, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.05683 + "right_min_dist_m": 0.00251 }, { "frame": 679, @@ -20423,12 +31007,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01773, + "left_min_dist_m": 0.00289, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.02063 + "right_min_dist_m": 0.0074 }, { "frame": 680, @@ -20436,12 +31020,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00469, + "left_min_dist_m": 0.00127, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01435 + "right_min_dist_m": 0.00693 }, { "frame": 681, @@ -20449,12 +31033,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00579, + "left_min_dist_m": 0.00282, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00379 + "right_min_dist_m": 0.00593 }, { "frame": 682, @@ -20462,12 +31046,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00305, + "left_min_dist_m": 0.00214, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00221 + "right_min_dist_m": 0.00552 }, { "frame": 683, @@ -20475,12 +31059,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01175, + "left_min_dist_m": 0.00229, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00689 + "right_min_dist_m": 0.00216 }, { "frame": 684, @@ -20488,12 +31072,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0292, + "left_min_dist_m": 0.00198, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01095 + "right_min_dist_m": 0.00146 }, { "frame": 685, @@ -20501,12 +31085,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02687, + "left_min_dist_m": 0.00237, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01915 + "right_min_dist_m": 0.00077 }, { "frame": 686, @@ -20514,12 +31098,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.04016, + "left_min_dist_m": 0.00295, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.03045 + "right_min_dist_m": 0.00258 }, { "frame": 687, @@ -20527,12 +31111,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02736, + "left_min_dist_m": 0.00293, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0213 + "right_min_dist_m": 0.00147 }, { "frame": 688, @@ -20540,12 +31124,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00913, + "left_min_dist_m": 0.00292, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01515 + "right_min_dist_m": 0.00169 }, { "frame": 689, @@ -20553,12 +31137,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01747, + "left_min_dist_m": 0.00231, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00686 + "right_min_dist_m": 0.00246 }, { "frame": 690, @@ -20566,12 +31150,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00948, + "left_min_dist_m": 0.00298, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01292 + "right_min_dist_m": 0.00189 }, { "frame": 691, @@ -20579,12 +31163,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01086, + "left_min_dist_m": 0.00339, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0105 + "right_min_dist_m": 0.00309 }, { "frame": 692, @@ -20592,12 +31176,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02771, + "left_min_dist_m": 0.00229, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00816 + "right_min_dist_m": 0.00402 }, { "frame": 693, @@ -20605,12 +31189,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02396, + "left_min_dist_m": 0.00355, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00673 + "right_min_dist_m": 0.00286 }, { "frame": 694, @@ -20618,12 +31202,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0377, + "left_min_dist_m": 0.00314, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00979 + "right_min_dist_m": 0.00275 }, { "frame": 695, @@ -20631,12 +31215,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.03348, + "left_min_dist_m": 0.00235, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0179 + "right_min_dist_m": 0.00388 }, { "frame": 696, @@ -20644,12 +31228,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01664, + "left_min_dist_m": 0.00247, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.011 + "right_min_dist_m": 0.00505 }, { "frame": 697, @@ -20657,12 +31241,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0114, + "left_min_dist_m": 0.0015, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00859 + "right_min_dist_m": 0.00532 }, { "frame": 698, @@ -20670,12 +31254,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01328, + "left_min_dist_m": 0.00219, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0052 + "right_min_dist_m": 0.00702 }, { "frame": 699, @@ -20683,12 +31267,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00087, + "left_min_dist_m": 0.00386, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00903 + "right_min_dist_m": 0.00307 }, { "frame": 700, @@ -20696,12 +31280,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00747, + "left_min_dist_m": 0.00346, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00914 + "right_min_dist_m": 0.0056 }, { "frame": 701, @@ -20709,12 +31293,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0074, + "left_min_dist_m": 0.00317, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01439 + "right_min_dist_m": 0.00431 }, { "frame": 702, @@ -20722,12 +31306,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00398, + "left_min_dist_m": 0.00294, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00343 + "right_min_dist_m": 0.00565 }, { "frame": 703, @@ -20735,12 +31319,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00583, + "left_min_dist_m": 0.00259, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01206 + "right_min_dist_m": 0.00815 }, { "frame": 704, @@ -20748,12 +31332,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00726, + "left_min_dist_m": 0.00233, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00639 + "right_min_dist_m": 0.00315 }, { "frame": 705, @@ -20761,12 +31345,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01266, + "left_min_dist_m": 0.00271, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01108 + "right_min_dist_m": 0.00247 }, { "frame": 706, @@ -20774,12 +31358,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01654, + "left_min_dist_m": 0.00308, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01102 + "right_min_dist_m": 0.00671 }, { "frame": 707, @@ -20787,12 +31371,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0231, + "left_min_dist_m": 0.0043, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00713 + "right_min_dist_m": 0.00383 }, { "frame": 708, @@ -20800,12 +31384,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01357, + "left_min_dist_m": 0.00972, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00817 + "right_min_dist_m": 0.00315 }, { "frame": 709, @@ -20813,12 +31397,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02157, + "left_min_dist_m": 0.00973, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00857 + "right_min_dist_m": 0.00386 }, { "frame": 710, @@ -20826,12 +31410,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01623, + "left_min_dist_m": 0.00949, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00634 + "right_min_dist_m": 0.0044 }, { "frame": 711, @@ -20839,12 +31423,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01882, + "left_min_dist_m": 0.0095, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00354 + "right_min_dist_m": 0.00379 }, { "frame": 712, @@ -20852,12 +31436,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0125, + "left_min_dist_m": 0.00826, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00406 + "right_min_dist_m": 0.00472 }, { "frame": 713, @@ -20865,12 +31449,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00653, + "left_min_dist_m": 0.00913, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00417 + "right_min_dist_m": 0.0048 }, { "frame": 714, @@ -20878,12 +31462,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00166, + "left_min_dist_m": 0.0096, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00243 + "right_min_dist_m": 0.00494 }, { "frame": 715, @@ -20891,12 +31475,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00312, + "left_min_dist_m": 0.00816, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00344 + "right_min_dist_m": 0.00609 }, { "frame": 716, @@ -20904,12 +31488,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01546, + "left_min_dist_m": 0.00789, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00259 + "right_min_dist_m": 0.00403 }, { "frame": 717, @@ -20917,12 +31501,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01251, + "left_min_dist_m": 0.00831, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00414 + "right_min_dist_m": 0.00258 }, { "frame": 718, @@ -20930,12 +31514,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00482, + "left_min_dist_m": 0.0014, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00258 + "right_min_dist_m": 0.0025 }, { "frame": 719, @@ -20943,12 +31527,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00293, + "left_min_dist_m": 0.00349, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00276 + "right_min_dist_m": 0.00237 }, { "frame": 720, @@ -20956,12 +31540,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00705, + "left_min_dist_m": 0.00374, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00367 + "right_min_dist_m": 0.00272 }, { "frame": 721, @@ -20969,12 +31553,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00778, + "left_min_dist_m": 0.00354, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0023 + "right_min_dist_m": 0.00264 }, { "frame": 722, @@ -20982,12 +31566,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00299, + "left_min_dist_m": 0.00283, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00063 + "right_min_dist_m": 0.00266 }, { "frame": 723, @@ -20995,12 +31579,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0026, + "left_min_dist_m": 0.00238, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00082 + "right_min_dist_m": 0.002 }, { "frame": 724, @@ -21008,12 +31592,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00367, + "left_min_dist_m": 0.0015, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00378 + "right_min_dist_m": 0.002 }, { "frame": 725, @@ -21021,12 +31605,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00232, + "left_min_dist_m": 0.00304, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00334 + "right_min_dist_m": 0.00175 }, { "frame": 726, @@ -21034,12 +31618,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0045, + "left_min_dist_m": 0.00187, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00366 + "right_min_dist_m": 0.00411 }, { "frame": 727, @@ -21047,12 +31631,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 5e-05, + "left_min_dist_m": 0.00441, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00099 + "right_min_dist_m": 0.0033 }, { "frame": 728, @@ -21060,12 +31644,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00172, + "left_min_dist_m": 0.00184, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00501 + "right_min_dist_m": 0.00305 }, { "frame": 729, @@ -21073,12 +31657,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00136, + "left_min_dist_m": 0.00175, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00504 + "right_min_dist_m": 0.00301 }, { "frame": 730, @@ -21086,12 +31670,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00432, + "left_min_dist_m": 0.0036, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00646 + "right_min_dist_m": 0.00414 }, { "frame": 731, @@ -21099,12 +31683,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00471, + "left_min_dist_m": 0.00272, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0065 + "right_min_dist_m": 0.00076 }, { "frame": 732, @@ -21112,12 +31696,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0031, + "left_min_dist_m": 0.00361, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00582 + "right_min_dist_m": 0.00108 }, { "frame": 733, @@ -21125,12 +31709,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00375, + "left_min_dist_m": 0.00363, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00163 + "right_min_dist_m": 0.00239 }, { "frame": 734, @@ -21138,12 +31722,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00238, + "left_min_dist_m": 0.00311, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00854 + "right_min_dist_m": 0.00239 }, { "frame": 735, @@ -21151,12 +31735,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00419, + "left_min_dist_m": 0.00473, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01831 + "right_min_dist_m": 0.00362 }, { "frame": 736, @@ -21164,12 +31748,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00374, + "left_min_dist_m": 0.00184, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01608 + "right_min_dist_m": 0.0102 }, { "frame": 737, @@ -21177,12 +31761,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00181, + "left_min_dist_m": 0.00462, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01292 + "right_min_dist_m": 0.00834 }, { "frame": 738, @@ -21190,12 +31774,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00482, + "left_min_dist_m": 0.00338, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00705 + "right_min_dist_m": 0.0092 }, { "frame": 739, @@ -21203,12 +31787,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00323, + "left_min_dist_m": 0.00438, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00486 + "right_min_dist_m": 0.00811 }, { "frame": 740, @@ -21216,12 +31800,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00284, + "left_min_dist_m": 0.00382, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01004 + "right_min_dist_m": 0.00807 }, { "frame": 741, @@ -21229,12 +31813,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00734, + "left_min_dist_m": 0.00213, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00471 + "right_min_dist_m": 0.00819 }, { "frame": 742, @@ -21242,12 +31826,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01449, + "left_min_dist_m": 0.00374, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00967 + "right_min_dist_m": 0.0094 }, { "frame": 743, @@ -21255,12 +31839,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00469, + "left_min_dist_m": 0.00595, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00446 + "right_min_dist_m": 0.01049 }, { "frame": 744, @@ -21268,12 +31852,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00887, + "left_min_dist_m": 0.00263, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0038 + "right_min_dist_m": 0.00849 }, { "frame": 745, @@ -21281,12 +31865,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00278, + "left_min_dist_m": 0.00664, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00739 + "right_min_dist_m": 0.0057 }, { "frame": 746, @@ -21294,12 +31878,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00457, + "left_min_dist_m": 0.00505, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00923 + "right_min_dist_m": 0.00795 }, { "frame": 747, @@ -21307,12 +31891,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00292, + "left_min_dist_m": 0.00298, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01103 + "right_min_dist_m": 0.00905 }, { "frame": 748, @@ -21320,12 +31904,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01248, + "left_min_dist_m": 0.0052, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00606 + "right_min_dist_m": 0.00621 }, { "frame": 749, @@ -21333,12 +31917,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00447, + "left_min_dist_m": 0.00317, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00624 + "right_min_dist_m": 0.00453 }, { "frame": 750, @@ -21346,12 +31930,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01077, + "left_min_dist_m": 0.00597, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01055 + "right_min_dist_m": 0.00589 }, { "frame": 751, @@ -21359,12 +31943,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01187, + "left_min_dist_m": 0.00556, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00529 + "right_min_dist_m": 0.00623 }, { "frame": 752, @@ -21372,12 +31956,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01756, + "left_min_dist_m": 0.00676, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00802 + "right_min_dist_m": 0.00601 }, { "frame": 753, @@ -21385,12 +31969,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0219, + "left_min_dist_m": 0.00641, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01031 + "right_min_dist_m": 0.00168 }, { "frame": 754, @@ -21398,12 +31982,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01326, + "left_min_dist_m": 0.00197, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00877 + "right_min_dist_m": 0.00468 }, { "frame": 755, @@ -21411,12 +31995,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01689, + "left_min_dist_m": 0.00223, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00386 + "right_min_dist_m": 0.00479 }, { "frame": 756, @@ -21424,12 +32008,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02093, + "left_min_dist_m": 0.00343, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00875 + "right_min_dist_m": 0.0018 }, { "frame": 757, @@ -21437,12 +32021,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02394, + "left_min_dist_m": 0.00327, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00317 + "right_min_dist_m": 0.00084 }, { "frame": 758, @@ -21450,12 +32034,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02189, + "left_min_dist_m": 0.00663, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00694 + "right_min_dist_m": 0.01138 }, { "frame": 759, @@ -21463,12 +32047,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02768, + "left_min_dist_m": 0.0015, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00398 + "right_min_dist_m": 0.00197 }, { "frame": 760, @@ -21476,12 +32060,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02032, + "left_min_dist_m": 0.00178, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00382 + "right_min_dist_m": 0.01067 }, { "frame": 761, @@ -21489,12 +32073,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.03272, + "left_min_dist_m": 0.00225, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00687 + "right_min_dist_m": 0.00771 }, { "frame": 762, @@ -21502,12 +32086,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.03495, + "left_min_dist_m": 0.00686, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00522 + "right_min_dist_m": 0.00208 }, { "frame": 763, @@ -21515,12 +32099,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01059, + "left_min_dist_m": 0.00657, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00321 + "right_min_dist_m": 0.00506 }, { "frame": 764, @@ -21528,12 +32112,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02707, + "left_min_dist_m": 0.00664, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00584 + "right_min_dist_m": 0.00688 }, { "frame": 765, @@ -21541,12 +32125,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01181, + "left_min_dist_m": 0.00684, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00541 + "right_min_dist_m": 0.00763 }, { "frame": 766, @@ -21554,12 +32138,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02178, + "left_min_dist_m": 0.00324, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0063 + "right_min_dist_m": 0.00804 }, { "frame": 767, @@ -21567,12 +32151,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02823, + "left_min_dist_m": 0.00126, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00515 + "right_min_dist_m": 0.00806 }, { "frame": 768, @@ -21580,12 +32164,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02407, + "left_min_dist_m": 0.00506, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00477 + "right_min_dist_m": 0.01002 }, { "frame": 769, @@ -21593,12 +32177,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02353, + "left_min_dist_m": 0.00289, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00701 + "right_min_dist_m": 0.00972 }, { "frame": 770, @@ -21606,12 +32190,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02775, + "left_min_dist_m": 0.00213, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00563 + "right_min_dist_m": 0.00522 }, { "frame": 771, @@ -21619,12 +32203,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00638, + "left_min_dist_m": 0.00261, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00473 + "right_min_dist_m": 0.00616 }, { "frame": 772, @@ -21632,12 +32216,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00335, + "left_min_dist_m": 0.0026, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00486 + "right_min_dist_m": 0.00366 }, { "frame": 773, @@ -21645,12 +32229,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.03277, + "left_min_dist_m": 0.00341, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00396 + "right_min_dist_m": 0.00534 }, { "frame": 774, @@ -21658,12 +32242,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02284, + "left_min_dist_m": 0.00341, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0039 + "right_min_dist_m": 0.00795 }, { "frame": 775, @@ -21671,12 +32255,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00381, + "left_min_dist_m": 0.00181, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00558 + "right_min_dist_m": 0.00998 }, { "frame": 776, @@ -21684,12 +32268,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02289, + "left_min_dist_m": 0.00403, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00441 + "right_min_dist_m": 0.00166 }, { "frame": 777, @@ -21697,12 +32281,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02104, + "left_min_dist_m": 0.00293, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00506 + "right_min_dist_m": 0.00421 }, { "frame": 778, @@ -21710,12 +32294,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00975, + "left_min_dist_m": 0.00427, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00421 + "right_min_dist_m": 0.00221 }, { "frame": 779, @@ -21723,12 +32307,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00623, + "left_min_dist_m": 0.00324, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00302 + "right_min_dist_m": 0.00442 }, { "frame": 780, @@ -21736,12 +32320,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00696, + "left_min_dist_m": 0.00348, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0042 + "right_min_dist_m": 0.00486 }, { "frame": 781, @@ -21749,12 +32333,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00983, + "left_min_dist_m": 0.004, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00457 + "right_min_dist_m": 0.00565 }, { "frame": 782, @@ -21762,12 +32346,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01073, + "left_min_dist_m": 0.00332, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00269 + "right_min_dist_m": 0.00377 }, { "frame": 783, @@ -21775,12 +32359,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00862, + "left_min_dist_m": 0.0041, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00303 + "right_min_dist_m": 0.00345 }, { "frame": 784, @@ -21788,12 +32372,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00301, + "left_min_dist_m": 0.00397, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00466 + "right_min_dist_m": 0.00499 }, { "frame": 785, @@ -21801,12 +32385,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00535, + "left_min_dist_m": 0.00185, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00435 + "right_min_dist_m": 0.00313 }, { "frame": 786, @@ -21814,12 +32398,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00798, + "left_min_dist_m": 0.00103, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00662 + "right_min_dist_m": 0.00283 }, { "frame": 787, @@ -21827,12 +32411,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00552, + "left_min_dist_m": 0.00291, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00374 + "right_min_dist_m": 0.00495 }, { "frame": 788, @@ -21840,12 +32424,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00565, + "left_min_dist_m": 0.00295, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00535 + "right_min_dist_m": 0.00501 }, { "frame": 789, @@ -21853,12 +32437,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00303, + "left_min_dist_m": 0.00315, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00212 + "right_min_dist_m": 0.00659 }, { "frame": 790, @@ -21866,12 +32450,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00198, + "left_min_dist_m": 0.00249, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00182 + "right_min_dist_m": 0.00886 }, { "frame": 791, @@ -21879,12 +32463,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00961, + "left_min_dist_m": 0.00424, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00337 + "right_min_dist_m": 0.00674 }, { "frame": 792, @@ -21892,12 +32476,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00783, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00344 + "left_min_dist_m": 0.00269, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPENING", + "right_in_contact": false, + "right_min_dist_m": 0.15322 }, { "frame": 793, @@ -21905,12 +32489,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00531, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00781 + "left_min_dist_m": 0.0023, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.1521 }, { "frame": 794, @@ -21918,12 +32502,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00859, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00599 + "left_min_dist_m": 0.00252, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.15004 }, { "frame": 795, @@ -21931,12 +32515,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00469, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00331 + "left_min_dist_m": 0.00272, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.1486 }, { "frame": 796, @@ -21944,12 +32528,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00559, + "left_min_dist_m": 0.00099, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", + "right_grasp_fsm_state": "CLOSING", "right_in_contact": true, - "right_min_dist_m": 0.00831 + "right_min_dist_m": 0.00516 }, { "frame": 797, @@ -21957,12 +32541,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00801, + "left_min_dist_m": 0.00282, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0031 + "right_min_dist_m": 0.00538 }, { "frame": 798, @@ -21970,12 +32554,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01016, + "left_min_dist_m": 0.00262, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00482 + "right_min_dist_m": 0.00222 }, { "frame": 799, @@ -21983,12 +32567,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00768, + "left_min_dist_m": 0.00213, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00599 + "right_min_dist_m": 0.00336 }, { "frame": 800, @@ -21996,12 +32580,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00146, + "left_min_dist_m": 0.00214, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00761 + "right_min_dist_m": 0.00553 }, { "frame": 801, @@ -22009,12 +32593,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00352, + "left_min_dist_m": 0.00322, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00614 + "right_min_dist_m": 0.0006 }, { "frame": 802, @@ -22022,12 +32606,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00591, + "left_min_dist_m": 0.00288, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0049 + "right_min_dist_m": 0.0012 }, { "frame": 803, @@ -22035,12 +32619,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0085, + "left_min_dist_m": 0.00344, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00648 + "right_min_dist_m": 0.00375 }, { "frame": 804, @@ -22048,12 +32632,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00836, + "left_min_dist_m": 0.00199, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00654 + "right_min_dist_m": 0.00736 }, { "frame": 805, @@ -22061,12 +32645,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00399, + "left_min_dist_m": 0.00404, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00672 + "right_min_dist_m": 0.00605 }, { "frame": 806, @@ -22074,12 +32658,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00403, + "left_min_dist_m": 0.00328, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00938 + "right_min_dist_m": 0.00662 }, { "frame": 807, @@ -22087,12 +32671,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0052, + "left_min_dist_m": 0.0028, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00498 + "right_min_dist_m": 0.00409 }, { "frame": 808, @@ -22100,12 +32684,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00307, + "left_min_dist_m": 0.00319, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00525 + "right_min_dist_m": 0.00576 }, { "frame": 809, @@ -22113,12 +32697,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00392, + "left_min_dist_m": 0.00256, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00658 + "right_min_dist_m": 0.00574 }, { "frame": 810, @@ -22126,12 +32710,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00595, + "left_min_dist_m": 0.00946, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00679 + "right_min_dist_m": 0.00597 }, { "frame": 811, @@ -22139,12 +32723,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00744, + "left_min_dist_m": 0.00399, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00869 + "right_min_dist_m": 0.00505 }, { "frame": 812, @@ -22152,12 +32736,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00427, + "left_min_dist_m": 0.00226, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00866 + "right_min_dist_m": 0.00511 }, { "frame": 813, @@ -22165,12 +32749,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00494, + "left_min_dist_m": 0.0021, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00944 + "right_min_dist_m": 0.0049 }, { "frame": 814, @@ -22178,12 +32762,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00253, + "left_min_dist_m": 0.00318, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0058 + "right_min_dist_m": 0.00303 }, { "frame": 815, @@ -22191,12 +32775,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00729, + "left_min_dist_m": 0.00338, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0081 + "right_min_dist_m": 0.00445 }, { "frame": 816, @@ -22204,12 +32788,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00423, + "left_min_dist_m": 0.00205, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00873 + "right_min_dist_m": 0.00379 }, { "frame": 817, @@ -22217,12 +32801,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00661, + "left_min_dist_m": 0.00238, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00568 + "right_min_dist_m": 0.0046 }, { "frame": 818, @@ -22230,12 +32814,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00342, + "left_min_dist_m": 0.0017, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00793 + "right_min_dist_m": 0.00598 }, { "frame": 819, @@ -22243,12 +32827,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01154, + "left_min_dist_m": 0.00152, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00585 + "right_min_dist_m": 0.00493 }, { "frame": 820, @@ -22256,12 +32840,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00656, + "left_min_dist_m": 0.00401, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00812 + "right_min_dist_m": 0.00455 }, { "frame": 821, @@ -22269,12 +32853,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00543, + "left_min_dist_m": 0.00147, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01078 + "right_min_dist_m": 0.00295 }, { "frame": 822, @@ -22282,12 +32866,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00664, + "left_min_dist_m": 0.0044, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00568 + "right_min_dist_m": 0.00217 }, { "frame": 823, @@ -22295,12 +32879,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00606, + "left_min_dist_m": 0.00528, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00453 + "right_min_dist_m": 0.00153 }, { "frame": 824, @@ -22308,12 +32892,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00659, + "left_min_dist_m": 0.00324, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01099 + "right_min_dist_m": 0.00271 }, { "frame": 825, @@ -22321,12 +32905,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00761, + "left_min_dist_m": 0.00296, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01096 + "right_min_dist_m": 0.00412 }, { "frame": 826, @@ -22334,12 +32918,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00606, + "left_min_dist_m": 0.0026, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00466 + "right_min_dist_m": 0.00729 }, { "frame": 827, @@ -22347,12 +32931,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0065, + "left_min_dist_m": 0.00237, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00608 + "right_min_dist_m": 0.00229 }, { "frame": 828, @@ -22360,12 +32944,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00359, + "left_min_dist_m": 0.00201, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00276 + "right_min_dist_m": 0.00483 }, { "frame": 829, @@ -22373,12 +32957,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00557, + "left_min_dist_m": 0.00226, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0045 + "right_min_dist_m": 0.00513 }, { "frame": 830, @@ -22386,12 +32970,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00474, + "left_min_dist_m": 0.00274, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00496 + "right_min_dist_m": 0.00226 }, { "frame": 831, @@ -22399,12 +32983,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01106, + "left_min_dist_m": 0.00275, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00432 + "right_min_dist_m": 0.00438 }, { "frame": 832, @@ -22412,12 +32996,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01161, + "left_min_dist_m": 0.00198, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.005 + "right_min_dist_m": 0.0029 }, { "frame": 833, @@ -22425,12 +33009,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01169, + "left_min_dist_m": 0.00319, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00281 + "right_min_dist_m": 0.00233 }, { "frame": 834, @@ -22438,12 +33022,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01339, + "left_min_dist_m": 0.00299, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00405 + "right_min_dist_m": 0.00179 }, { "frame": 835, @@ -22451,12 +33035,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00639, + "left_min_dist_m": 0.00421, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00667 + "right_min_dist_m": 0.00324 }, { "frame": 836, @@ -22464,12 +33048,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01468, + "left_min_dist_m": 0.00229, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00636 + "right_min_dist_m": 0.00171 }, { "frame": 837, @@ -22477,12 +33061,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00523, + "left_min_dist_m": 0.0039, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00803 + "right_min_dist_m": 0.00237 }, { "frame": 838, @@ -22490,12 +33074,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01115, + "left_min_dist_m": 0.00205, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00556 + "right_min_dist_m": 0.04979 }, { "frame": 839, @@ -22503,12 +33087,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00475, + "left_min_dist_m": 0.0024, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00466 + "right_min_dist_m": 0.00876 }, { "frame": 840, @@ -22516,12 +33100,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00335, + "left_min_dist_m": 0.00162, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00562 + "right_min_dist_m": 0.01337 }, { "frame": 841, @@ -22529,12 +33113,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00359, + "left_min_dist_m": 0.00285, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00626 + "right_min_dist_m": 0.00575 }, { "frame": 842, @@ -22542,12 +33126,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00699, + "left_min_dist_m": 0.00803, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00634 + "right_min_dist_m": 0.00833 }, { "frame": 843, @@ -22555,12 +33139,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00182, + "left_min_dist_m": 0.00966, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00692 + "right_min_dist_m": 0.00428 }, { "frame": 844, @@ -22568,12 +33152,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00427, + "left_min_dist_m": 0.00943, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00595 + "right_min_dist_m": 0.00365 }, { "frame": 845, @@ -22581,12 +33165,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00697, + "left_min_dist_m": 0.00229, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00635 + "right_min_dist_m": 0.01138 }, { "frame": 846, @@ -22594,12 +33178,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00748, + "left_min_dist_m": 0.00107, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00383 + "right_min_dist_m": 0.00521 }, { "frame": 847, @@ -22607,12 +33191,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0114, + "left_min_dist_m": 0.00249, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0019 + "right_min_dist_m": 0.0221 }, { "frame": 848, @@ -22620,12 +33204,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01028, + "left_min_dist_m": 0.00243, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00439 + "right_min_dist_m": 0.0477 }, { "frame": 849, @@ -22633,12 +33217,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0062, + "left_min_dist_m": 0.00268, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00314 + "right_min_dist_m": 0.01194 }, { "frame": 850, @@ -22646,12 +33230,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00339, + "left_min_dist_m": 0.0023, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0081 + "right_min_dist_m": 0.00242 }, { "frame": 851, @@ -22659,12 +33243,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00604, + "left_min_dist_m": 0.00237, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01408 + "right_min_dist_m": 0.00587 }, { "frame": 852, @@ -22672,12 +33256,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00641, + "left_min_dist_m": 0.00297, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01372 + "right_min_dist_m": 0.01435 }, { "frame": 853, @@ -22685,12 +33269,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00751, + "left_min_dist_m": 0.00349, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00824 + "right_min_dist_m": 0.00574 }, { "frame": 854, @@ -22698,12 +33282,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01562, + "left_min_dist_m": 0.00442, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00984 + "right_min_dist_m": 0.00402 }, { "frame": 855, @@ -22711,12 +33295,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01434, + "left_min_dist_m": 0.00321, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00922 + "right_min_dist_m": 0.00565 }, { "frame": 856, @@ -22724,12 +33308,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01353, + "left_min_dist_m": 0.00342, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00778 + "right_min_dist_m": 0.00329 }, { "frame": 857, @@ -22737,12 +33321,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01364, + "left_min_dist_m": 0.00474, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00769 + "right_min_dist_m": 0.00462 }, { "frame": 858, @@ -22750,12 +33334,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0123, + "left_min_dist_m": 0.00258, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00801 + "right_min_dist_m": 0.00327 }, { "frame": 859, @@ -22763,12 +33347,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01916, + "left_min_dist_m": 0.00284, "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 + "right_min_dist_m": 0.00442 }, { "frame": 860, @@ -22776,12 +33360,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01144, + "left_min_dist_m": 0.00575, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00443 + "right_min_dist_m": 0.00242 }, { "frame": 861, @@ -22789,12 +33373,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01916, + "left_min_dist_m": 0.00361, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00512 + "right_min_dist_m": 0.0026 }, { "frame": 862, @@ -22802,12 +33386,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01729, + "left_min_dist_m": 0.00762, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00488 + "right_min_dist_m": 0.0021 }, { "frame": 863, @@ -22815,12 +33399,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0108, + "left_min_dist_m": 0.00264, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00298 + "right_min_dist_m": 0.00406 }, { "frame": 864, @@ -22828,12 +33412,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00953, + "left_min_dist_m": 0.00725, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00519 + "right_min_dist_m": 0.00399 }, { "frame": 865, @@ -22841,12 +33425,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01866, + "left_min_dist_m": 0.00204, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00326 + "right_min_dist_m": 0.0055 }, { "frame": 866, @@ -22854,12 +33438,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01775, + "left_min_dist_m": 0.0044, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00541 + "right_min_dist_m": 0.01253 }, { "frame": 867, @@ -22867,12 +33451,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01542, + "left_min_dist_m": 0.00394, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00579 + "right_min_dist_m": 0.00215 }, { "frame": 868, @@ -22880,12 +33464,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01108, + "left_min_dist_m": 0.00555, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00298 + "right_min_dist_m": 0.00311 }, { "frame": 869, @@ -22893,12 +33477,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00512, + "left_min_dist_m": 0.00558, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00422 + "right_min_dist_m": 0.00535 }, { "frame": 870, @@ -22906,12 +33490,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00555, + "left_min_dist_m": 0.00563, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00355 + "right_min_dist_m": 0.0022 }, { "frame": 871, @@ -22919,12 +33503,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00563, + "left_min_dist_m": 0.00548, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00609 + "right_min_dist_m": 0.00223 }, { "frame": 872, @@ -22932,12 +33516,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00546, + "left_min_dist_m": 0.00677, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00386 + "right_min_dist_m": 0.01615 }, { "frame": 873, @@ -22945,12 +33529,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00551, + "left_min_dist_m": 0.00547, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00562 + "right_min_dist_m": 0.00296 }, { "frame": 874, @@ -22958,12 +33542,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01642, + "left_min_dist_m": 0.00609, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00408 + "right_min_dist_m": 0.01393 }, { "frame": 875, @@ -22971,12 +33555,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01299, + "left_min_dist_m": 0.00481, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00583 + "right_min_dist_m": 0.00568 }, { "frame": 876, @@ -22984,12 +33568,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01485, + "left_min_dist_m": 0.00473, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0045 + "right_min_dist_m": 0.01015 }, { "frame": 877, @@ -22997,12 +33581,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01104, + "left_min_dist_m": 0.00527, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00399 + "right_min_dist_m": 0.01057 }, { "frame": 878, @@ -23010,12 +33594,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02384, + "left_min_dist_m": 0.00405, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00697 + "right_min_dist_m": 0.00726 }, { "frame": 879, @@ -23023,12 +33607,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02015, + "left_min_dist_m": 0.00438, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00796 + "right_min_dist_m": 0.00712 }, { "frame": 880, @@ -23036,12 +33620,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01957, + "left_min_dist_m": 0.00215, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00731 + "right_min_dist_m": 0.00444 }, { "frame": 881, @@ -23049,12 +33633,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0196, + "left_min_dist_m": 0.00216, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00766 + "right_min_dist_m": 0.0055 }, { "frame": 882, @@ -23062,12 +33646,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01117, + "left_min_dist_m": 0.00505, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00781 + "right_min_dist_m": 0.00674 }, { "frame": 883, @@ -23075,12 +33659,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00838, + "left_min_dist_m": 0.003, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00347 + "right_min_dist_m": 0.00526 }, { "frame": 884, @@ -23088,12 +33672,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01154, + "left_min_dist_m": 0.00315, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00533 + "right_min_dist_m": 0.00385 }, { "frame": 885, @@ -23101,12 +33685,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01568, + "left_min_dist_m": 0.00252, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00591 + "right_min_dist_m": 0.00318 }, { "frame": 886, @@ -23114,12 +33698,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01666, + "left_min_dist_m": 0.00233, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00646 + "right_min_dist_m": 0.00502 }, { "frame": 887, @@ -23127,12 +33711,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0073, + "left_min_dist_m": 0.00189, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0063 + "right_min_dist_m": 0.00484 }, { "frame": 888, @@ -23140,12 +33724,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00731, + "left_min_dist_m": 0.0026, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0037 + "right_min_dist_m": 0.0054 }, { "frame": 889, @@ -23153,12 +33737,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01046, + "left_min_dist_m": 0.0026, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00491 + "right_min_dist_m": 0.00967 }, { "frame": 890, @@ -23166,12 +33750,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00788, + "left_min_dist_m": 0.00232, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00279 + "right_min_dist_m": 0.00321 }, { "frame": 891, @@ -23179,12 +33763,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0083, + "left_min_dist_m": 0.0078, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00371 + "right_min_dist_m": 0.00522 }, { "frame": 892, @@ -23192,12 +33776,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0157, + "left_min_dist_m": 0.00201, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00455 + "right_min_dist_m": 0.0025 }, { "frame": 893, @@ -23205,12 +33789,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01795, + "left_min_dist_m": 0.00242, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00368 + "right_min_dist_m": 0.00957 }, { "frame": 894, @@ -23218,12 +33802,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01032, + "left_min_dist_m": 0.00202, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00463 + "right_min_dist_m": 0.00644 }, { "frame": 895, @@ -23231,12 +33815,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00252, + "left_min_dist_m": 0.00209, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00396 + "right_min_dist_m": 0.00609 }, { "frame": 896, @@ -23244,12 +33828,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00755, + "left_min_dist_m": 0.00264, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00381 + "right_min_dist_m": 0.00929 }, { "frame": 897, @@ -23257,12 +33841,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0046, + "left_min_dist_m": 0.00291, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00694 + "right_min_dist_m": 0.00731 }, { "frame": 898, @@ -23270,12 +33854,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01109, + "left_min_dist_m": 0.0029, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00824 + "right_min_dist_m": 0.0057 }, { "frame": 899, @@ -23283,12 +33867,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01225, + "left_min_dist_m": 0.00254, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01032 + "right_min_dist_m": 0.00587 }, { "frame": 900, @@ -23296,12 +33880,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00414, + "left_min_dist_m": 0.00286, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00604 + "right_min_dist_m": 0.00409 }, { "frame": 901, @@ -23309,12 +33893,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0065, + "left_min_dist_m": 0.00678, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00512 + "right_min_dist_m": 0.00645 }, { "frame": 902, @@ -23322,12 +33906,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01662, + "left_min_dist_m": 0.00638, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00488 + "right_min_dist_m": 0.00655 }, { "frame": 903, @@ -23335,12 +33919,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00866, + "left_min_dist_m": 0.00662, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00362 + "right_min_dist_m": 0.00477 }, { "frame": 904, @@ -23348,12 +33932,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00596, + "left_min_dist_m": 0.00707, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00496 + "right_min_dist_m": 0.00397 }, { "frame": 905, @@ -23361,12 +33945,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00633, + "left_min_dist_m": 0.00663, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00654 + "right_min_dist_m": 0.00454 }, { "frame": 906, @@ -23374,12 +33958,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00943, + "left_min_dist_m": 0.00748, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00763 + "right_min_dist_m": 0.00147 }, { "frame": 907, @@ -23387,12 +33971,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00369, + "left_min_dist_m": 0.00685, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00532 + "right_min_dist_m": 0.0029 }, { "frame": 908, @@ -23400,12 +33984,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0142, + "left_min_dist_m": 0.00362, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00778 + "right_min_dist_m": 0.00225 }, { "frame": 909, @@ -23413,12 +33997,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.012, + "left_min_dist_m": 0.0022, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00687 + "right_min_dist_m": 0.0018 }, { "frame": 910, @@ -23426,12 +34010,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01698, + "left_min_dist_m": 0.00255, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00541 + "right_min_dist_m": 0.00147 }, { "frame": 911, @@ -23439,12 +34023,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01769, + "left_min_dist_m": 0.00274, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00644 + "right_min_dist_m": 0.00265 }, { "frame": 912, @@ -23452,12 +34036,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00684, + "left_min_dist_m": 0.00361, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00304 + "right_min_dist_m": 0.00209 }, { "frame": 913, @@ -23465,12 +34049,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00629, + "left_min_dist_m": 0.00329, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00294 + "right_min_dist_m": 0.00335 }, { "frame": 914, @@ -23478,12 +34062,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00797, + "left_min_dist_m": 0.00556, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00728 + "right_min_dist_m": 0.00213 }, { "frame": 915, @@ -23491,12 +34075,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00956, + "left_min_dist_m": 0.00819, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00516 + "right_min_dist_m": 0.00216 }, { "frame": 916, @@ -23504,12 +34088,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01216, + "left_min_dist_m": 0.00769, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00311 + "right_min_dist_m": 0.00445 }, { "frame": 917, @@ -23517,12 +34101,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01233, + "left_min_dist_m": 0.00906, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0049 + "right_min_dist_m": 0.00266 }, { "frame": 918, @@ -23530,12 +34114,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01622, + "left_min_dist_m": 0.00878, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00521 + "right_min_dist_m": 0.00242 }, { "frame": 919, @@ -23543,12 +34127,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00593, + "left_min_dist_m": 0.00115, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00783 + "right_min_dist_m": 0.00324 }, { "frame": 920, @@ -23556,12 +34140,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00672, + "left_min_dist_m": 0.00701, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00352 + "right_min_dist_m": 0.00297 }, { "frame": 921, @@ -23569,12 +34153,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0058, + "left_min_dist_m": 0.00458, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00606 + "right_min_dist_m": 0.00295 }, { "frame": 922, @@ -23582,12 +34166,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00271, + "left_min_dist_m": 0.01045, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00467 + "right_min_dist_m": 0.00414 }, { "frame": 923, @@ -23595,12 +34179,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00443, + "left_min_dist_m": 0.0091, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00861 + "right_min_dist_m": 0.00296 }, { "frame": 924, @@ -23608,12 +34192,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00577, + "left_min_dist_m": 0.01065, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00892 + "right_min_dist_m": 0.00256 }, { "frame": 925, @@ -23621,12 +34205,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00931, + "left_min_dist_m": 0.01152, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00543 + "right_min_dist_m": 0.00399 }, { "frame": 926, @@ -23634,12 +34218,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01012, + "left_min_dist_m": 0.00889, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00451 + "right_min_dist_m": 0.00469 }, { "frame": 927, @@ -23647,12 +34231,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00694, + "left_min_dist_m": 0.01096, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00467 + "right_min_dist_m": 0.00377 }, { "frame": 928, @@ -23660,12 +34244,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00349, + "left_min_dist_m": 0.01262, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00468 + "right_min_dist_m": 0.00255 }, { "frame": 929, @@ -23673,12 +34257,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00584, + "left_min_dist_m": 0.01206, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00593 + "right_min_dist_m": 0.00208 }, { "frame": 930, @@ -23686,12 +34270,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00715, + "left_min_dist_m": 0.0155, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0046 + "right_min_dist_m": 0.00102 }, { "frame": 931, @@ -23699,12 +34283,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00455, + "left_min_dist_m": 0.01213, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00575 + "right_min_dist_m": 0.00181 }, { "frame": 932, @@ -23712,12 +34296,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00684, + "left_min_dist_m": 0.01232, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00348 + "right_min_dist_m": 0.00554 }, { "frame": 933, @@ -23725,12 +34309,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00722, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00349 + "left_min_dist_m": 0.01109, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPENING", + "right_in_contact": false, + "right_min_dist_m": 0.11348 }, { "frame": 934, @@ -23738,12 +34322,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00418, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00277 + "left_min_dist_m": 0.01372, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.1103 }, { "frame": 935, @@ -23751,12 +34335,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00748, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00425 + "left_min_dist_m": 0.0138, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.1109 }, { "frame": 936, @@ -23764,12 +34348,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00727, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00327 + "left_min_dist_m": 0.01421, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.10767 }, { "frame": 937, @@ -23777,12 +34361,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00947, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00361 + "left_min_dist_m": 0.011, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.0895 }, { "frame": 938, @@ -23790,12 +34374,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00531, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00173 + "left_min_dist_m": 0.01037, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.08232 }, { "frame": 939, @@ -23803,12 +34387,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00661, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00446 + "left_min_dist_m": 0.01102, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.08032 }, { "frame": 940, @@ -23816,12 +34400,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00956, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00165 + "left_min_dist_m": 0.01066, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.08026 }, { "frame": 941, @@ -23829,12 +34413,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0095, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00345 + "left_min_dist_m": 0.01099, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.08124 }, { "frame": 942, @@ -23842,12 +34426,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00878, - "right_contact_from_measured_joint": true, - "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", - "right_in_contact": true, - "right_min_dist_m": 0.00328 + "left_min_dist_m": 0.0119, + "right_contact_from_measured_joint": false, + "right_contact_strength": 0.0, + "right_grasp_fsm_state": "OPEN", + "right_in_contact": false, + "right_min_dist_m": 0.06909 }, { "frame": 943, @@ -23855,12 +34439,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01141, + "left_min_dist_m": 0.01076, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, - "right_grasp_fsm_state": "CLOSED", + "right_grasp_fsm_state": "CLOSING", "right_in_contact": true, - "right_min_dist_m": 0.00522 + "right_min_dist_m": 0.00209 }, { "frame": 944, @@ -23868,12 +34452,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01656, + "left_min_dist_m": 0.01053, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00468 + "right_min_dist_m": 0.00271 }, { "frame": 945, @@ -23881,12 +34465,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01923, + "left_min_dist_m": 0.01124, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00717 + "right_min_dist_m": 0.00302 }, { "frame": 946, @@ -23894,12 +34478,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02254, + "left_min_dist_m": 0.01137, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00311 + "right_min_dist_m": 0.00356 }, { "frame": 947, @@ -23907,12 +34491,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01846, + "left_min_dist_m": 0.01096, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00804 + "right_min_dist_m": 0.00507 }, { "frame": 948, @@ -23920,12 +34504,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01823, + "left_min_dist_m": 0.01087, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00708 + "right_min_dist_m": 0.00504 }, { "frame": 949, @@ -23933,12 +34517,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02171, + "left_min_dist_m": 0.00335, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00679 + "right_min_dist_m": 0.00439 }, { "frame": 950, @@ -23946,12 +34530,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02213, + "left_min_dist_m": 0.00281, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00482 + "right_min_dist_m": 0.00212 }, { "frame": 951, @@ -23959,12 +34543,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01769, + "left_min_dist_m": 0.00253, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00193 + "right_min_dist_m": 0.00256 }, { "frame": 952, @@ -23972,12 +34556,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01771, + "left_min_dist_m": 0.01103, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00326 + "right_min_dist_m": 0.00435 }, { "frame": 953, @@ -23985,12 +34569,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02269, + "left_min_dist_m": 0.01151, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00326 + "right_min_dist_m": 0.00202 }, { "frame": 954, @@ -23998,12 +34582,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0288, + "left_min_dist_m": 0.00217, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00291 + "right_min_dist_m": 0.0022 }, { "frame": 955, @@ -24011,12 +34595,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02711, + "left_min_dist_m": 0.01098, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00382 + "right_min_dist_m": 0.00227 }, { "frame": 956, @@ -24024,12 +34608,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02854, + "left_min_dist_m": 0.00211, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00779 + "right_min_dist_m": 0.00422 }, { "frame": 957, @@ -24037,12 +34621,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02809, + "left_min_dist_m": 0.00125, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0103 + "right_min_dist_m": 0.00462 }, { "frame": 958, @@ -24050,12 +34634,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02805, + "left_min_dist_m": 0.00108, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00577 + "right_min_dist_m": 0.00617 }, { "frame": 959, @@ -24063,12 +34647,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02678, + "left_min_dist_m": 0.0029, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00877 + "right_min_dist_m": 0.00701 }, { "frame": 960, @@ -24076,12 +34660,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02707, + "left_min_dist_m": 0.00205, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0098 + "right_min_dist_m": 0.00637 }, { "frame": 961, @@ -24089,12 +34673,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02202, + "left_min_dist_m": 0.00244, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01523 + "right_min_dist_m": 0.00756 }, { "frame": 962, @@ -24102,12 +34686,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02535, + "left_min_dist_m": 0.00265, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0106 + "right_min_dist_m": 0.00952 }, { "frame": 963, @@ -24115,12 +34699,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02386, + "left_min_dist_m": 0.00417, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00577 + "right_min_dist_m": 0.00902 }, { "frame": 964, @@ -24128,12 +34712,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00428, + "left_min_dist_m": 0.00308, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00176 + "right_min_dist_m": 0.00896 }, { "frame": 965, @@ -24141,12 +34725,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01261, + "left_min_dist_m": 0.00292, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00868 + "right_min_dist_m": 0.0055 }, { "frame": 966, @@ -24154,12 +34738,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00751, + "left_min_dist_m": 0.0029, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00867 + "right_min_dist_m": 0.00406 }, { "frame": 967, @@ -24167,12 +34751,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01003, + "left_min_dist_m": 0.00456, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00766 + "right_min_dist_m": 0.00675 }, { "frame": 968, @@ -24180,12 +34764,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01027, + "left_min_dist_m": 0.00279, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00837 + "right_min_dist_m": 0.00359 }, { "frame": 969, @@ -24193,12 +34777,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00904, + "left_min_dist_m": 0.00473, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00799 + "right_min_dist_m": 0.00309 }, { "frame": 970, @@ -24206,12 +34790,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01041, + "left_min_dist_m": 0.00384, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00852 + "right_min_dist_m": 0.00384 }, { "frame": 971, @@ -24219,12 +34803,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00903, + "left_min_dist_m": 0.00283, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00588 + "right_min_dist_m": 0.00283 }, { "frame": 972, @@ -24232,12 +34816,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01003, + "left_min_dist_m": 0.00475, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00588 + "right_min_dist_m": 0.00492 }, { "frame": 973, @@ -24245,12 +34829,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00707, + "left_min_dist_m": 0.00068, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00553 + "right_min_dist_m": 0.00217 }, { "frame": 974, @@ -24258,12 +34842,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00791, + "left_min_dist_m": 0.00487, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00736 + "right_min_dist_m": 0.00292 }, { "frame": 975, @@ -24271,12 +34855,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00738, + "left_min_dist_m": 0.00462, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00962 + "right_min_dist_m": 0.00411 }, { "frame": 976, @@ -24284,12 +34868,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00462, + "left_min_dist_m": 0.00232, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00988 + "right_min_dist_m": 0.00372 }, { "frame": 977, @@ -24297,12 +34881,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0027, + "left_min_dist_m": 0.00244, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00631 + "right_min_dist_m": 0.00403 }, { "frame": 978, @@ -24310,12 +34894,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00474, + "left_min_dist_m": 0.00277, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00626 + "right_min_dist_m": 0.00526 }, { "frame": 979, @@ -24323,12 +34907,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00211, + "left_min_dist_m": 0.00259, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00568 + "right_min_dist_m": 0.00558 }, { "frame": 980, @@ -24336,12 +34920,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00453, + "left_min_dist_m": 0.00267, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0033 + "right_min_dist_m": 0.00511 }, { "frame": 981, @@ -24349,12 +34933,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0043, + "left_min_dist_m": 0.00247, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00545 + "right_min_dist_m": 0.00568 }, { "frame": 982, @@ -24362,12 +34946,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00462, + "left_min_dist_m": 0.00197, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00426 + "right_min_dist_m": 0.0053 }, { "frame": 983, @@ -24375,12 +34959,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00388, + "left_min_dist_m": 0.00278, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00529 + "right_min_dist_m": 0.00569 }, { "frame": 984, @@ -24388,12 +34972,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00403, + "left_min_dist_m": 0.00249, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00643 + "right_min_dist_m": 0.00657 }, { "frame": 985, @@ -24401,12 +34985,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00253, + "left_min_dist_m": 0.00282, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00612 + "right_min_dist_m": 0.0044 }, { "frame": 986, @@ -24414,12 +34998,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00307, + "left_min_dist_m": 0.00245, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00622 + "right_min_dist_m": 0.00755 }, { "frame": 987, @@ -24427,12 +35011,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00318, + "left_min_dist_m": 0.00321, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00702 + "right_min_dist_m": 0.00743 }, { "frame": 988, @@ -24440,12 +35024,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00429, + "left_min_dist_m": 0.00326, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0041 + "right_min_dist_m": 0.00455 }, { "frame": 989, @@ -24453,12 +35037,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00341, + "left_min_dist_m": 0.00302, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00451 + "right_min_dist_m": 0.00345 }, { "frame": 990, @@ -24466,12 +35050,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00418, + "left_min_dist_m": 0.00229, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00211 + "right_min_dist_m": 0.0113 }, { "frame": 991, @@ -24479,12 +35063,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00225, + "left_min_dist_m": 0.00195, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00283 + "right_min_dist_m": 0.01344 }, { "frame": 992, @@ -24492,12 +35076,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00236, + "left_min_dist_m": 0.00219, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00281 + "right_min_dist_m": 0.01306 }, { "frame": 993, @@ -24505,12 +35089,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00393, + "left_min_dist_m": 0.00418, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00288 + "right_min_dist_m": 0.01116 }, { "frame": 994, @@ -24518,12 +35102,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00275, + "left_min_dist_m": 0.00215, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00315 + "right_min_dist_m": 0.00576 }, { "frame": 995, @@ -24531,12 +35115,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00298, + "left_min_dist_m": 0.00391, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00379 + "right_min_dist_m": 0.01191 }, { "frame": 996, @@ -24544,12 +35128,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0034, + "left_min_dist_m": 0.00341, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00459 + "right_min_dist_m": 0.01353 }, { "frame": 997, @@ -24557,12 +35141,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00407, + "left_min_dist_m": 0.00294, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00621 + "right_min_dist_m": 0.01404 }, { "frame": 998, @@ -24570,12 +35154,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0038, + "left_min_dist_m": 0.00354, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0033 + "right_min_dist_m": 0.01169 }, { "frame": 999, @@ -24583,12 +35167,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00386, + "left_min_dist_m": 0.00234, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00282 + "right_min_dist_m": 0.00971 }, { "frame": 1000, @@ -24596,12 +35180,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00308, + "left_min_dist_m": 0.00294, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00209 + "right_min_dist_m": 0.01379 }, { "frame": 1001, @@ -24609,12 +35193,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00256, + "left_min_dist_m": 0.00343, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00487 + "right_min_dist_m": 0.01608 }, { "frame": 1002, @@ -24622,12 +35206,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00409, + "left_min_dist_m": 0.00371, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00275 + "right_min_dist_m": 0.01378 }, { "frame": 1003, @@ -24635,12 +35219,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00514, + "left_min_dist_m": 0.00607, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00335 + "right_min_dist_m": 0.01247 }, { "frame": 1004, @@ -24648,12 +35232,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00352, + "left_min_dist_m": 0.00781, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00309 + "right_min_dist_m": 0.0032 }, { "frame": 1005, @@ -24661,12 +35245,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0045, + "left_min_dist_m": 0.00678, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00354 + "right_min_dist_m": 0.01301 }, { "frame": 1006, @@ -24674,12 +35258,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00378, + "left_min_dist_m": 0.00644, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00335 + "right_min_dist_m": 0.00431 }, { "frame": 1007, @@ -24687,12 +35271,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00316, + "left_min_dist_m": 0.00712, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0028 + "right_min_dist_m": 0.00595 }, { "frame": 1008, @@ -24700,12 +35284,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00315, + "left_min_dist_m": 0.00916, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00306 + "right_min_dist_m": 0.00547 }, { "frame": 1009, @@ -24713,12 +35297,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00578, + "left_min_dist_m": 0.00475, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0042 + "right_min_dist_m": 0.01174 }, { "frame": 1010, @@ -24726,12 +35310,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01296, + "left_min_dist_m": 0.005, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00327 + "right_min_dist_m": 0.01379 }, { "frame": 1011, @@ -24739,12 +35323,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01262, + "left_min_dist_m": 0.00538, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00194 + "right_min_dist_m": 0.01265 }, { "frame": 1012, @@ -24752,12 +35336,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00503, + "left_min_dist_m": 0.00687, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00327 + "right_min_dist_m": 0.00632 }, { "frame": 1013, @@ -24765,12 +35349,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00713, + "left_min_dist_m": 0.00832, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00172 + "right_min_dist_m": 0.01334 }, { "frame": 1014, @@ -24778,12 +35362,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00531, + "left_min_dist_m": 0.00503, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00299 + "right_min_dist_m": 0.00471 }, { "frame": 1015, @@ -24791,12 +35375,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00461, + "left_min_dist_m": 0.00943, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00281 + "right_min_dist_m": 0.00139 }, { "frame": 1016, @@ -24804,12 +35388,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00729, + "left_min_dist_m": 0.0098, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00274 + "right_min_dist_m": 0.00685 }, { "frame": 1017, @@ -24817,12 +35401,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0061, + "left_min_dist_m": 0.0006, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00184 + "right_min_dist_m": 0.01306 }, { "frame": 1018, @@ -24830,12 +35414,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0032, + "left_min_dist_m": 0.00099, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00353 + "right_min_dist_m": 0.01174 }, { "frame": 1019, @@ -24843,12 +35427,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00295, + "left_min_dist_m": 0.00079, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00296 + "right_min_dist_m": 0.00222 }, { "frame": 1020, @@ -24856,12 +35440,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0034, + "left_min_dist_m": 0.00091, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00262 + "right_min_dist_m": 0.00291 }, { "frame": 1021, @@ -24869,12 +35453,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00267, + "left_min_dist_m": 0.00077, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00367 + "right_min_dist_m": 0.0026 }, { "frame": 1022, @@ -24882,12 +35466,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00334, + "left_min_dist_m": 0.00107, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00277 + "right_min_dist_m": 0.00372 }, { "frame": 1023, @@ -24895,12 +35479,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00338, + "left_min_dist_m": 0.00182, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00471 + "right_min_dist_m": 0.00566 }, { "frame": 1024, @@ -24908,12 +35492,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0021, + "left_min_dist_m": 0.00244, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00476 + "right_min_dist_m": 0.00293 }, { "frame": 1025, @@ -24921,12 +35505,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00226, + "left_min_dist_m": 0.00394, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00289 + "right_min_dist_m": 0.00362 }, { "frame": 1026, @@ -24934,12 +35518,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00293, + "left_min_dist_m": 0.00331, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00392 + "right_min_dist_m": 0.00592 }, { "frame": 1027, @@ -24947,12 +35531,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0007, + "left_min_dist_m": 0.00636, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00305 + "right_min_dist_m": 0.00808 }, { "frame": 1028, @@ -24960,12 +35544,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00096, + "left_min_dist_m": 0.01044, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00344 + "right_min_dist_m": 0.00387 }, { "frame": 1029, @@ -24973,12 +35557,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00569, + "left_min_dist_m": 0.00713, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00233 + "right_min_dist_m": 0.00821 }, { "frame": 1030, @@ -24986,12 +35570,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00519, + "left_min_dist_m": 0.00448, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00224 + "right_min_dist_m": 0.01114 }, { "frame": 1031, @@ -24999,12 +35583,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00321, + "left_min_dist_m": 0.01115, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00332 + "right_min_dist_m": 0.00486 }, { "frame": 1032, @@ -25012,12 +35596,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00202, + "left_min_dist_m": 0.01335, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.003 + "right_min_dist_m": 0.00463 }, { "frame": 1033, @@ -25025,12 +35609,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0019, + "left_min_dist_m": 0.01266, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00203 + "right_min_dist_m": 0.01003 }, { "frame": 1034, @@ -25038,12 +35622,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00299, + "left_min_dist_m": 0.0154, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00205 + "right_min_dist_m": 0.01713 }, { "frame": 1035, @@ -25051,12 +35635,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00231, + "left_min_dist_m": 0.01718, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00365 + "right_min_dist_m": 0.01818 }, { "frame": 1036, @@ -25064,12 +35648,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00252, + "left_min_dist_m": 0.01642, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00349 + "right_min_dist_m": 0.01491 }, { "frame": 1037, @@ -25077,12 +35661,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00291, + "left_min_dist_m": 0.01677, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00311 + "right_min_dist_m": 0.01088 }, { "frame": 1038, @@ -25090,12 +35674,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00243, + "left_min_dist_m": 0.01439, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00283 + "right_min_dist_m": 0.00464 }, { "frame": 1039, @@ -25103,12 +35687,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00315, + "left_min_dist_m": 0.0173, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00385 + "right_min_dist_m": 0.00632 }, { "frame": 1040, @@ -25116,12 +35700,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00221, + "left_min_dist_m": 0.00271, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00267 + "right_min_dist_m": 0.00603 }, { "frame": 1041, @@ -25129,12 +35713,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00287, + "left_min_dist_m": 0.00822, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00315 + "right_min_dist_m": 0.00925 }, { "frame": 1042, @@ -25142,12 +35726,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00094, + "left_min_dist_m": 0.01801, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00348 + "right_min_dist_m": 0.01179 }, { "frame": 1043, @@ -25155,12 +35739,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00275, + "left_min_dist_m": 0.01646, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00284 + "right_min_dist_m": 0.01313 }, { "frame": 1044, @@ -25168,12 +35752,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00381, + "left_min_dist_m": 0.01639, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00244 + "right_min_dist_m": 0.01855 }, { "frame": 1045, @@ -25181,12 +35765,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0038, + "left_min_dist_m": 0.0019, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00232 + "right_min_dist_m": 0.01193 }, { "frame": 1046, @@ -25194,12 +35778,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00283, + "left_min_dist_m": 0.01398, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00263 + "right_min_dist_m": 0.00725 }, { "frame": 1047, @@ -25207,12 +35791,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00356, + "left_min_dist_m": 0.00276, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00418 + "right_min_dist_m": 0.00669 }, { "frame": 1048, @@ -25220,12 +35804,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00375, + "left_min_dist_m": 0.01363, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00256 + "right_min_dist_m": 0.00845 }, { "frame": 1049, @@ -25233,12 +35817,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00387, + "left_min_dist_m": 0.01398, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00267 + "right_min_dist_m": 0.01371 }, { "frame": 1050, @@ -25246,12 +35830,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.003, + "left_min_dist_m": 0.01494, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00285 + "right_min_dist_m": 0.01149 }, { "frame": 1051, @@ -25259,12 +35843,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0037, + "left_min_dist_m": 0.0198, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00328 + "right_min_dist_m": 0.0068 }, { "frame": 1052, @@ -25272,12 +35856,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00296, + "left_min_dist_m": 0.01518, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00312 + "right_min_dist_m": 0.00676 }, { "frame": 1053, @@ -25285,12 +35869,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0029, + "left_min_dist_m": 0.01313, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00228 + "right_min_dist_m": 0.00664 }, { "frame": 1054, @@ -25298,12 +35882,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00236, + "left_min_dist_m": 0.01349, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00311 + "right_min_dist_m": 0.00717 }, { "frame": 1055, @@ -25311,12 +35895,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0033, + "left_min_dist_m": 0.01495, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.0027 + "right_min_dist_m": 0.00734 }, { "frame": 1056, @@ -25324,12 +35908,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00237, + "left_min_dist_m": 0.0122, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00392 + "right_min_dist_m": 0.01051 }, { "frame": 1057, @@ -25337,12 +35921,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00253, + "left_min_dist_m": 0.01203, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00268 + "right_min_dist_m": 0.01279 }, { "frame": 1058, @@ -25350,12 +35934,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00246, + "left_min_dist_m": 0.01161, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00228 + "right_min_dist_m": 0.01362 }, { "frame": 1059, @@ -25363,12 +35947,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00228, + "left_min_dist_m": 0.01028, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00438 + "right_min_dist_m": 0.01233 }, { "frame": 1060, @@ -25376,12 +35960,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0042, + "left_min_dist_m": 0.00918, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00294 + "right_min_dist_m": 0.00991 }, { "frame": 1061, @@ -25389,12 +35973,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00288, + "left_min_dist_m": 0.00918, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00281 + "right_min_dist_m": 0.00767 }, { "frame": 1062, @@ -25402,12 +35986,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00285, + "left_min_dist_m": 0.0097, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00307 + "right_min_dist_m": 0.00805 }, { "frame": 1063, @@ -25415,12 +35999,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00281, + "left_min_dist_m": 0.00971, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00298 + "right_min_dist_m": 0.0105 }, { "frame": 1064, @@ -25428,12 +36012,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00289, + "left_min_dist_m": 0.00969, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00409 + "right_min_dist_m": 0.00721 }, { "frame": 1065, @@ -25441,12 +36025,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00333, + "left_min_dist_m": 0.00947, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00245 + "right_min_dist_m": 0.00575 }, { "frame": 1066, @@ -25454,12 +36038,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00194, + "left_min_dist_m": 0.00999, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00332 + "right_min_dist_m": 0.00536 }, { "frame": 1067, @@ -25467,12 +36051,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00079, + "left_min_dist_m": 0.0106, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00314 + "right_min_dist_m": 0.00451 }, { "frame": 1068, @@ -25480,12 +36064,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00275, + "left_min_dist_m": 0.01095, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00313 + "right_min_dist_m": 0.00667 }, { "frame": 1069, @@ -25493,12 +36077,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00224, + "left_min_dist_m": 0.01333, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00402 + "right_min_dist_m": 0.01106 }, { "frame": 1070, @@ -25506,12 +36090,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0029, + "left_min_dist_m": 0.01452, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00262 + "right_min_dist_m": 0.01405 }, { "frame": 1071, @@ -25519,12 +36103,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00268, + "left_min_dist_m": 0.01562, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00373 + "right_min_dist_m": 0.00591 }, { "frame": 1072, @@ -25532,12 +36116,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0008, + "left_min_dist_m": 0.0168, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00467 + "right_min_dist_m": 0.03431 }, { "frame": 1073, @@ -25545,12 +36129,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0045, + "left_min_dist_m": 0.01181, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00514 + "right_min_dist_m": 0.00614 }, { "frame": 1074, @@ -25558,12 +36142,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01279, + "left_min_dist_m": 0.01472, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00594 + "right_min_dist_m": 0.01362 }, { "frame": 1075, @@ -25571,12 +36155,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00635, + "left_min_dist_m": 0.0132, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00358 + "right_min_dist_m": 0.00988 }, { "frame": 1076, @@ -25584,12 +36168,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.0017, + "left_min_dist_m": 0.01051, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00368 + "right_min_dist_m": 0.01549 }, { "frame": 1077, @@ -25597,12 +36181,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.02626, + "left_min_dist_m": 0.01059, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00966 + "right_min_dist_m": 0.01016 }, { "frame": 1078, @@ -25610,12 +36194,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00083, + "left_min_dist_m": 0.01452, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00437 + "right_min_dist_m": 0.00464 }, { "frame": 1079, @@ -25623,12 +36207,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01999, + "left_min_dist_m": 0.01276, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00515 + "right_min_dist_m": 0.0058 }, { "frame": 1080, @@ -25636,12 +36220,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01849, + "left_min_dist_m": 0.01719, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00525 + "right_min_dist_m": 0.00883 }, { "frame": 1081, @@ -25649,12 +36233,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00567, + "left_min_dist_m": 0.014, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00638 + "right_min_dist_m": 0.01212 }, { "frame": 1082, @@ -25662,12 +36246,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00899, + "left_min_dist_m": 0.01205, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00577 + "right_min_dist_m": 0.01086 }, { "frame": 1083, @@ -25675,12 +36259,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.04679, + "left_min_dist_m": 0.01394, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00906 + "right_min_dist_m": 0.01551 }, { "frame": 1084, @@ -25688,12 +36272,12 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.04361, + "left_min_dist_m": 0.01235, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00453 + "right_min_dist_m": 0.03166 }, { "frame": 1085, @@ -25701,77 +36285,77 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.04134, + "left_min_dist_m": 0.01224, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00591 + "right_min_dist_m": 0.02724 }, { "frame": 1086, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.5, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.05321, + "left_min_dist_m": 0.01025, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.00631 + "right_min_dist_m": 0.00822 }, { "frame": 1087, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.5, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.05698, + "left_min_dist_m": 0.01037, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01467 + "right_min_dist_m": 0.0118 }, { "frame": 1088, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.5, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.05653, + "left_min_dist_m": 0.01004, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01223 + "right_min_dist_m": 0.01337 }, { "frame": 1089, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.5, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.06088, + "left_min_dist_m": 0.01236, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01061 + "right_min_dist_m": 0.0107 }, { "frame": 1090, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.5, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.07065, + "left_min_dist_m": 0.11631, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01922 + "right_min_dist_m": 0.01273 }, { "frame": 1091, @@ -25779,51 +36363,51 @@ "left_contact_strength": 0.5, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.08793, + "left_min_dist_m": 0.00895, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01135 + "right_min_dist_m": 0.0156 }, { "frame": 1092, "left_contact_from_measured_joint": true, - "left_contact_strength": 1.0, + "left_contact_strength": 0.5, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.01564, + "left_min_dist_m": 0.10455, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01273 + "right_min_dist_m": 0.00372 }, { "frame": 1093, "left_contact_from_measured_joint": true, - "left_contact_strength": 1.0, + "left_contact_strength": 0.5, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00892, + "left_min_dist_m": 0.10561, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01176 + "right_min_dist_m": 0.01026 }, { "frame": 1094, "left_contact_from_measured_joint": true, - "left_contact_strength": 1.0, + "left_contact_strength": 0.5, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.00704, + "left_min_dist_m": 0.01841, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01283 + "right_min_dist_m": 0.00884 }, { "frame": 1095, @@ -25831,662 +36415,662 @@ "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.06023, + "left_min_dist_m": 0.1009, "right_contact_from_measured_joint": true, "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.01239 + "right_min_dist_m": 0.00799 }, { "frame": 1096, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.5, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.04581, + "left_min_dist_m": 0.01265, "right_contact_from_measured_joint": true, - "right_contact_strength": 0.5, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.09371 + "right_min_dist_m": 0.01193 }, { "frame": 1097, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.5, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.06117, + "left_min_dist_m": 0.00932, "right_contact_from_measured_joint": true, - "right_contact_strength": 0.5, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.09779 + "right_min_dist_m": 0.01712 }, { "frame": 1098, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.5, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.08338, + "left_min_dist_m": 0.01428, "right_contact_from_measured_joint": true, - "right_contact_strength": 0.5, + "right_contact_strength": 1.0, "right_grasp_fsm_state": "CLOSED", "right_in_contact": true, - "right_min_dist_m": 0.10867 + "right_min_dist_m": 0.01358 }, { "frame": 1099, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.5, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.12801, - "right_contact_from_measured_joint": false, - "right_contact_strength": 0.0, - "right_grasp_fsm_state": "OPENING", - "right_in_contact": false, - "right_min_dist_m": 0.1217 + "left_min_dist_m": 0.11922, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.01339 }, { "frame": 1100, "left_contact_from_measured_joint": true, - "left_contact_strength": 0.0, + "left_contact_strength": 1.0, "left_grasp_fsm_state": "CLOSED", "left_in_contact": true, - "left_min_dist_m": 0.11859, - "right_contact_from_measured_joint": false, - "right_contact_strength": 0.0, - "right_grasp_fsm_state": "OPEN", - "right_in_contact": false, - "right_min_dist_m": 0.12499 + "left_min_dist_m": 0.01013, + "right_contact_from_measured_joint": true, + "right_contact_strength": 1.0, + "right_grasp_fsm_state": "CLOSED", + "right_in_contact": true, + "right_min_dist_m": 0.01193 }, { "frame": 1101, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPENING", - "left_in_contact": false, - "left_min_dist_m": 0.14938, - "right_contact_from_measured_joint": false, - "right_contact_strength": 0.0, - "right_grasp_fsm_state": "OPEN", - "right_in_contact": false, - "right_min_dist_m": 0.13864 + 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"left_in_contact": false, - "left_min_dist_m": null, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.01116, "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": 0.15446 }, { "frame": 1143, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": null, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.01146, "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": 0.16861 }, { "frame": 1144, - "left_contact_from_measured_joint": false, - "left_contact_strength": 0.0, - "left_grasp_fsm_state": "OPEN", - "left_in_contact": false, - "left_min_dist_m": null, + "left_contact_from_measured_joint": true, + "left_contact_strength": 1.0, + "left_grasp_fsm_state": "CLOSED", + "left_in_contact": true, + "left_min_dist_m": 0.01309, "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": 0.1455 }, { "frame": 1145, "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": null, + "left_min_dist_m": 0.2829, "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": 0.31375 }, { "frame": 1146, @@ -26494,12 +37078,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.28778, "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": 0.30479 }, { "frame": 1147, @@ -26507,12 +37091,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.28466, "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": 0.30126 }, { "frame": 1148, @@ -26520,12 +37104,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.27924, "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": 0.33392 }, { "frame": 1149, @@ -26533,12 +37117,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.27441, "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": 0.33077 }, { "frame": 1150, @@ -26546,12 +37130,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.27719, "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": 0.33261 }, { "frame": 1151, @@ -26559,7 +37143,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.28311, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -26572,7 +37156,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.28332, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -26585,7 +37169,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.28589, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -26598,12 +37182,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.29132, "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": 0.32571 }, { "frame": 1155, @@ -26611,7 +37195,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.29072, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -26624,7 +37208,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.29821, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -26637,12 +37221,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.29562, "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": 0.3251 }, { "frame": 1158, @@ -26650,12 +37234,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.29818, "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": 0.35849 }, { "frame": 1159, @@ -26663,12 +37247,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.27726, "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": 0.41254 }, { "frame": 1160, @@ -26676,7 +37260,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.30941, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -26689,12 +37273,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.30575, "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": 1.66284 }, { "frame": 1162, @@ -26702,12 +37286,12 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.30299, "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": 1.72647 }, { "frame": 1163, @@ -26715,7 +37299,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.28972, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -26728,7 +37312,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.28882, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -26741,7 +37325,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.31359, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -26754,7 +37338,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.32234, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -26767,7 +37351,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.32102, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -26780,7 +37364,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.32843, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -26793,7 +37377,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.32922, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -26806,7 +37390,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.31909, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -26897,7 +37481,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.1822, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -26910,7 +37494,7 @@ "left_contact_strength": 0.0, "left_grasp_fsm_state": "OPEN", "left_in_contact": false, - "left_min_dist_m": null, + "left_min_dist_m": 0.21697, "right_contact_from_measured_joint": false, "right_contact_strength": 0.0, "right_grasp_fsm_state": "OPEN", @@ -27332,6 +37916,58 @@ "right_grasp_fsm_state": "OPEN", "right_in_contact": false, "right_min_dist_m": null + }, + { + "frame": 1211, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 1212, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 1213, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 + }, + { + "frame": 1214, + "left_contact_from_measured_joint": false, + "left_contact_strength": 0.0, + "left_grasp_fsm_state": "OPEN", + "left_in_contact": false, + "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 } ], "scene_union_reduction": "any(per_hand_object_contact, axis=2)", @@ -27339,35 +37975,131 @@ "threshold_validated": true, "version": "0.4.3" }, + "object_geometry": { + "classified_by": "label_keyword_heuristic", + "note": "Per-object metric mask-cloud (centroid_world + extent_m, meters) back-projected from object_mask via depth + camera_pose. Deformable/cloth objects get this cloud ONLY (6-DoF is structurally ill-defined \u2192 cloth_degraded). Rigid objects carry the metric extent but their 6-DoF pose is rigid_deferred (no model-free engine built \u2014 license+GPU gated, P2-3). classified_by is a LEXICAL keyword heuristic, NOT a learned classifier.", + "objects": [ + { + "centroid_world": [ + -0.1556268036365509, + 0.3732733726501465, + 0.25788697600364685 + ], + "classified_by": "label_keyword_heuristic", + "extent_m": [ + 0.19042988121509552, + 0.24302291870117188, + 0.12887513637542725 + ], + "is_deformable": false, + "label": "broom", + "n_frames_with_cloud": 1166, + "n_present_frames": 1166, + "object_id": "obj_broom", + "pose_status": "rigid_deferred" + }, + { + "centroid_world": [ + 0.028445350006222725, + 0.35304388403892517, + 0.3138432204723358 + ], + "classified_by": "label_keyword_heuristic", + "extent_m": [ + 0.1770828515291214, + 0.22670336067676544, + 0.0704524889588356 + ], + "is_deformable": false, + "label": "dustpan", + "n_frames_with_cloud": 1215, + "n_present_frames": 1215, + "object_id": "obj_dustpan", + "pose_status": "rigid_deferred" + } + ], + "source": "object_geometry_scaffold", + "version": "0.1.0" + }, + "object_object_contact": { + "adjacency_px": 8, + "debounce": { + "assert_frames": 6, + "fps": 60.0, + "median_window_frames": 11, + "release_frames": 12 + }, + "metric": "visible_mask_adjacency+surface_proximity", + "n_frames": 1215, + "n_pair_contact_cells": 405, + "npz_path": "object_object_contact.npz", + "object_ids": [ + "obj_broom", + "obj_dustpan" + ], + "pair_dist_m": 0.02, + "provenance": "contact_from_measured_surface=true means both visible object masks yielded LiDAR surface points and proximity confirmed contact; false contact is supported by visible-mask adjacency only", + "version": "0.1.0" + }, + "object_pose": { + "objects": [ + { + "n_present_frames": 1166, + "obj_T_world_is_placeholder": true, + "object_id": "obj_broom", + "pose_status": "rigid_deferred" + }, + { + "n_present_frames": 1215, + "obj_T_world_is_placeholder": true, + "object_id": "obj_dustpan", + "pose_status": "rigid_deferred" + } + ], + "path": "object_pose.npz", + "pose_source": "object_geometry_scaffold", + "status_legend": { + "cloth_degraded": "deformable object \u2014 NO 6-DoF (ill-defined); metric mask-cloud in extensions.object_geometry", + "rigid_deferred": "rigid object \u2014 6-DoF DEFERRED (no model-free engine built; license+GPU gated). obj_T_world is an identity placeholder; trust pose_status, not the matrix." + }, + "version": "0.1.0" + }, + "phase_plan_windowing": { + "n_phases": 2, + "slot_selection": "phase_plan_multi", + "windowed": true + }, "studio": { "review_state": { "history": [ { "action": "submit", - "at": "2026-08-04T08:27:55.950064+00:00", + "at": "2026-08-09T11:00:21.863879+00:00", "by": "reviewer", "from": "draft", "to": "in_review" }, { "action": "approve", - "at": "2026-08-04T08:27:58.289427+00:00", + "at": "2026-08-09T11:00:24.975227+00:00", "by": "reviewer", "from": "in_review", - "qa_score": 4, + "qa_score": 5, "to": "approved" } ], - "qa_score": 4, + "qa_score": 5, "reviewer_id": "reviewer", "status": "approved", - "updated_at": "2026-08-04T08:27:58.289427+00:00" + "updated_at": "2026-08-09T11:00:24.975227+00:00" }, "reviewed_steps": [ "keysteps", "verify" ], "verified_frames": { + "0": true, + "100": true, "1000": true, "10000": true, "10017": true, @@ -27438,14 +38170,40 @@ "11000": true, "11017": true, "11033": true, + "11050": true, + "11067": true, + "11083": true, + "11100": true, + "11117": true, + "11133": true, + "11150": true, "11167": true, "1117": true, "11183": true, "11200": true, "11217": true, "11233": true, + "11250": true, + "11267": true, + "11283": true, + "11300": true, + "11317": true, "1133": true, + "11333": true, + "11350": true, + "11367": true, + "11383": true, + "11400": true, + "11417": true, + "11433": true, + "11450": true, + "11467": true, + "11483": true, "1150": true, + "11500": true, + "11517": true, + "11533": true, + "11550": true, "11567": true, "11583": true, "11600": true, @@ -27455,19 +38213,66 @@ "11667": true, "1167": true, "11683": true, + "117": true, "11700": true, "11717": true, "11733": true, "11750": true, "11767": true, + "11783": true, + "11800": true, + "11817": true, "1183": true, + "11833": true, + "11850": true, + "11867": true, + "11883": true, + "11900": true, + "11917": true, + "11933": true, + "11950": true, + "11967": true, + "11983": true, "1200": true, + "12000": true, + "12017": true, + "12033": true, + "12050": true, + "12067": true, + "12083": true, + "12100": true, + "12117": true, + "12133": true, + "12150": true, + "12167": true, "1217": true, + "12183": true, + "12200": true, "12217": true, "12233": true, "12250": true, + "12267": true, + "12283": true, + "12300": true, + "12317": true, "1233": true, + "12333": true, + "12350": true, + "12367": true, + "12383": true, + "12400": true, + "12417": true, + "12433": true, + "12450": true, + "12467": true, + "12483": true, "1250": true, + "12500": true, + "12517": true, + "12533": true, + "12550": true, + "12567": true, + "12583": true, "12600": true, "12617": true, "12633": true, @@ -27514,6 +38319,7 @@ "13250": true, "13267": true, "13283": true, + "133": true, "13300": true, "13317": true, "1333": true, @@ -27611,6 +38417,9 @@ "14717": true, "14733": true, "14750": true, + "14767": true, + "14783": true, + "14800": true, "14817": true, "1483": true, "14833": true, @@ -27623,7 +38432,13 @@ "14950": true, "14967": true, "14983": true, + "150": true, "1500": true, + "15000": true, + "15017": true, + "15033": true, + "15050": true, + "15067": true, "15083": true, "15100": true, "15117": true, @@ -27731,6 +38546,7 @@ "16667": true, "1667": true, "16683": true, + "167": true, "16700": true, "16717": true, "16733": true, @@ -27750,6 +38566,7 @@ "16950": true, "16967": true, "16983": true, + "17": true, "1700": true, "17000": true, "17017": true, @@ -27836,6 +38653,7 @@ "18250": true, "18267": true, "18283": true, + "183": true, "18300": true, "18317": true, "1833": true, @@ -27852,14 +38670,122 @@ "1850": true, "18500": true, "18517": true, + "18533": true, + "18550": true, + "18567": true, + "18583": true, + "18600": true, + "18617": true, + "18633": true, + "18650": true, + "18667": true, "1867": true, + "18683": true, + "18700": true, + "18717": true, + "18733": true, + "18750": true, + "18767": true, + "18783": true, + "18800": true, + "18817": true, "1883": true, + "18833": true, + "18850": true, + "18867": true, + "18883": true, + "18900": true, + "18917": true, + "18933": true, + "18950": true, + "18967": true, + "18983": true, "1900": true, + "19000": true, + "19017": true, + "19033": true, + "19050": true, + "19067": true, + "19083": true, + "19100": true, + "19117": true, + "19133": true, + "19150": true, + "19167": true, "1917": true, + "19183": true, + "19200": true, + "19217": true, + "19233": true, + "19250": true, + "19267": true, + "19283": true, + "19300": true, + "19317": true, "1933": true, + "19333": true, + "19350": true, + "19367": true, + "19383": true, + "19400": true, + "19417": true, + "19433": true, + "19450": true, + "19467": true, + "19483": true, "1950": true, + "19500": true, + "19517": true, + "19533": true, + "19550": true, + "19567": true, + "19583": true, + "19600": true, + "19617": true, + "19633": true, + "19650": true, + "19667": true, "1967": true, + "19683": true, + "19700": true, + "19717": true, + "19733": true, + "19750": true, + "19767": true, + "19783": true, + "19800": true, + "19817": true, "1983": true, + "19833": true, + "19850": true, + "19867": true, + "19883": true, + "19900": true, + "19917": true, + "19933": true, + "19950": true, + "19967": true, + "19983": true, + "200": true, + "2000": true, + "20000": true, + "20017": true, + "20033": true, + "20050": true, + "20067": true, + "20083": true, + "20100": true, + "20117": true, + "20133": true, + "20150": true, + "20167": true, + "2017": true, + "20183": true, + "20200": true, + "20217": true, + "20233": true, + "2033": true, + "2050": true, "2067": true, "2083": true, "2100": true, @@ -27867,6 +38793,7 @@ "2133": true, "2150": true, "2167": true, + "217": true, "2183": true, "2200": true, "2217": true, @@ -27876,6 +38803,7 @@ "2283": true, "2300": true, "2317": true, + "233": true, "2333": true, "2350": true, "2367": true, @@ -27886,6 +38814,7 @@ "2450": true, "2467": true, "2483": true, + "250": true, "2500": true, "2517": true, "2533": true, @@ -27897,13 +38826,62 @@ "2633": true, "2650": true, "2667": true, + "267": true, + "2683": true, + "2700": true, + "2717": true, + "2733": true, + "2750": true, + "2767": true, + "2783": true, + "2800": true, + "2817": true, + "283": true, + "2833": true, + "2850": true, + "2867": true, + "2883": true, + "2900": true, + "2917": true, + "2933": true, + "2950": true, + "2967": true, + "2983": true, + "300": true, + "3000": true, + "3017": true, + "3033": true, + "3050": true, + "3067": true, + "3083": true, + "3100": true, + "3117": true, + "3133": true, + "3150": true, + "3167": true, + "317": true, + "3183": true, + "3200": true, + "3217": true, "3233": true, "3250": true, "3267": true, + "3283": true, + "33": true, + "3300": true, + "3317": true, + "333": true, + "3333": true, + "3350": true, + "3367": true, + "3383": true, + "3400": true, + "3417": true, "3433": true, "3450": true, "3467": true, "3483": true, + "350": true, "3500": true, "3517": true, "3533": true, @@ -27915,6 +38893,7 @@ "3633": true, "3650": true, "3667": true, + "367": true, "3683": true, "3700": true, "3717": true, @@ -27924,13 +38903,18 @@ "3783": true, "3800": true, "3817": true, + "383": true, "3833": true, "3850": true, "3867": true, + "3883": true, + "3900": true, + "3917": true, "3933": true, "3950": true, "3967": true, "3983": true, + "400": true, "4000": true, "4017": true, "4033": true, @@ -27942,6 +38926,7 @@ "4133": true, "4150": true, "4167": true, + "417": true, "4183": true, "4200": true, "4217": true, @@ -27951,6 +38936,7 @@ "4283": true, "4300": true, "4317": true, + "433": true, "4333": true, "4350": true, "4367": true, @@ -27961,6 +38947,7 @@ "4450": true, "4467": true, "4483": true, + "450": true, "4500": true, "4517": true, "4533": true, @@ -27972,6 +38959,7 @@ "4633": true, "4650": true, "4667": true, + "467": true, "4683": true, "4700": true, "4717": true, @@ -27981,6 +38969,7 @@ "4783": true, "4800": true, "4817": true, + "483": true, "4833": true, "4850": true, "4867": true, @@ -27991,6 +38980,8 @@ "4950": true, "4967": true, "4983": true, + "50": true, + "500": true, "5000": true, "5017": true, "5033": true, @@ -28002,6 +38993,7 @@ "5133": true, "5150": true, "5167": true, + "517": true, "5183": true, "5200": true, "5217": true, @@ -28011,6 +39003,7 @@ "5283": true, "5300": true, "5317": true, + "533": true, "5333": true, "5350": true, "5367": true, @@ -28021,13 +39014,19 @@ "5450": true, "5467": true, "5483": true, + "550": true, "5500": true, "5517": true, + "5533": true, + "5550": true, + "5567": true, + "5583": true, "5600": true, "5617": true, "5633": true, "5650": true, "5667": true, + "567": true, "5683": true, "5700": true, "5717": true, @@ -28037,6 +39036,7 @@ "5783": true, "5800": true, "5817": true, + "583": true, "5833": true, "5850": true, "5867": true, @@ -28047,15 +39047,29 @@ "5950": true, "5967": true, "5983": true, + "600": true, "6000": true, "6017": true, "6033": true, "6050": true, + "6067": true, + "6083": true, + "6100": true, "6117": true, + "6133": true, + "6150": true, + "6167": true, + "617": true, + "6183": true, "6200": true, + "6217": true, + "6233": true, + "6250": true, + "6267": true, "6283": true, "6300": true, "6317": true, + "633": true, "6333": true, "6350": true, "6367": true, @@ -28066,6 +39080,7 @@ "6450": true, "6467": true, "6483": true, + "650": true, "6500": true, "6517": true, "6533": true, @@ -28077,7 +39092,9 @@ "6633": true, "6650": true, "6667": true, + "667": true, "6683": true, + "67": true, "6700": true, "6717": true, "6733": true, @@ -28086,6 +39103,7 @@ "6783": true, "6800": true, "6817": true, + "683": true, "6833": true, "6850": true, "6867": true, @@ -28096,6 +39114,7 @@ "6950": true, "6967": true, "6983": true, + "700": true, "7000": true, "7017": true, "7033": true, @@ -28107,6 +39126,7 @@ "7133": true, "7150": true, "7167": true, + "717": true, "7183": true, "7200": true, "7217": true, @@ -28116,9 +39136,19 @@ "7283": true, "7300": true, "7317": true, + "733": true, "7333": true, "7350": true, "7367": true, + "7383": true, + "7400": true, + "7417": true, + "7433": true, + "7450": true, + "7467": true, + "7483": true, + "750": true, + "7500": true, "7517": true, "7533": true, "7550": true, @@ -28128,12 +39158,49 @@ "7617": true, "7633": true, "7650": true, + "7667": true, + "767": true, + "7683": true, + "7700": true, + "7717": true, + "7733": true, + "7750": true, + "7767": true, + "7783": true, + "7800": true, + "7817": true, "783": true, + "7833": true, + "7850": true, + "7867": true, + "7883": true, + "7900": true, + "7917": true, + "7933": true, + "7950": true, + "7967": true, + "7983": true, "800": true, + "8000": true, + "8017": true, + "8033": true, + "8050": true, + "8067": true, + "8083": true, + "8100": true, + "8117": true, + "8133": true, + "8150": true, "8167": true, "817": true, "8183": true, + "8200": true, + "8217": true, + "8233": true, + "8250": true, + "8267": true, "8283": true, + "83": true, "8300": true, "8317": true, "833": true, @@ -28151,6 +39218,13 @@ "8500": true, "8517": true, "8533": true, + "8550": true, + "8567": true, + "8583": true, + "8600": true, + "8617": true, + "8633": true, + "8650": true, "8667": true, "867": true, "8683": true, @@ -28243,114 +39317,130 @@ }, "task_hierarchy": { "coverage_complete": true, - "goal_echoed_task": true, + "goal_echoed_task": false, "goal_source": "vlm", "grounding_checked": true, "nodes": [ { - "end_time": 9.0, + "end_time": 3.083, "is_essential": true, "keystep_ref": 0, - "label": "fold cloth into rectangle", + "label": "pick up brush and dustpan from table", "node_id": "e0", "spans": [ { "action_ref": 0, "actor_kind": "both_hands", - "end_time": 9.0, - "evidence": "Hands fold the cloth into a rectangle.", - "label": "fold cloth into rectangle", - "object": "cloth", + "confidence": "high", + "end_time": 3.083, + "evidence": "Both hands reach to the table and close on the brush and the dustpan.", + "grounded": true, + "label": "pick up brush and dustpan from table", + "object": "brush and dustpan", + "object_candidates": [ + { + "evidence": "Hands use brush to sweep crumpled paper into the dustpan.", + "label": "paper", + "role": "workpiece", + "track": true + }, + { + "evidence": "hand holds dustpan and positions it", + "label": "dustpan", + "role": "container", + "track": true + }, + { + "evidence": "hand holds brush and moves it", + "label": "brush", + "role": "tool", + "track": true + }, + { + "evidence": "paper pieces are moved by the brush", + "label": "paper pieces", + "role": "workpiece", + "track": true + } + ], "span_id": "s0", + "span_source": "human", "start_time": 0.0 } ], "start_time": 0.0, - "sub_goal": "fold_cloth" + "sub_goal": null }, { - "end_time": 13.5, + "end_time": 14.6, "is_essential": true, "keystep_ref": 1, - "label": "fold cloth into rectangle", - "node_id": "e1", + "label": "sweep debris into dustpan", + "node_id": "eh0b07f2fc", "spans": [ { "action_ref": 1, "actor_kind": "both_hands", - "end_time": 13.5, - "evidence": "Hands fold the cloth into a rectangle a second time.", - "label": "fold cloth into rectangle", - "object": "cloth", - "span_id": "s1", - "start_time": 9.0 + "confidence": "high", + "end_time": 14.6, + "evidence": "", + "grounded": true, + "label": "sweep debris into dustpan", + "object": "debris", + "object_candidates": [], + "span_id": "h0b07f2fc", + "span_source": "human", + "start_time": 3.083 } ], - "start_time": 9.0, - "sub_goal": "fold_cloth" + "start_time": 3.083 }, { - "end_time": 17.5, + "end_time": 20.25, "is_essential": true, "keystep_ref": 2, - "label": "fold cloth into rectangle", - "node_id": "e2", + "label": "place brush and dustpan on table", + "node_id": "ehd5d5c373", "spans": [ { "action_ref": 2, "actor_kind": "both_hands", - "end_time": 17.5, - "evidence": "Hands fold the cloth into a rectangle a third time.", - "label": "fold cloth into rectangle", - "object": "cloth", - "span_id": "s2", - "start_time": 13.5 - } - ], - "start_time": 13.5, - "sub_goal": "fold_cloth" - }, - { - "end_time": 20.183, - "is_essential": true, - "keystep_ref": 3, - "label": "leave cloth on table", - "node_id": "e3", - "spans": [ - { - "action_ref": 3, - "actor_kind": "both_hands", - "end_time": 20.183, - "evidence": "Hands release the folded cloth on the table and move out of frame.", - "label": "leave cloth on table", - "object": "cloth", - "span_id": "s3", - "start_time": 17.5 + "confidence": "high", + "end_time": 20.25, + "evidence": "", + "grounded": true, + "label": "place brush and dustpan on table", + "object": "brush and dustpan", + "object_candidates": [], + "span_id": "hd5d5c373", + "span_source": "human", + "start_time": 14.6 } ], - "start_time": 17.5, - "sub_goal": "leave_cloth" + "start_time": 14.6 } ], "span_source": "vlm", - "task_goal": "fold_laundry", + "task_goal": "sweep paper into dustpan", "task_mismatch": false, "task_mismatch_reason": "", "tracking_mode_proposal": { - "mode": "review", + "mode": "phase_plan_multi", "object_labels": [ - "shirt", - "hands" + "paper", + "dustpan", + "brush", + "paper pieces" ], - "reason": "The primary focus is on the transformation of a single item of laundry (the shirt)." + "reason": "Multiple objects (dustpan, brush, paper) are actively manipulated and interact during the sweeping process.; excluded body part(s) from the object roster: hands (hands are a separate stream, never a tracked object)" }, "version": "0.1.0", - "vlm_goal": "fold_laundry", + "vlm_goal": "sweep paper into dustpan", "vlm_model": "gemini-2.5-flash" }, "visibility": { "hand_occlusion": { - "n_frames": 1211, + "n_frames": 1215, "n_left_occluded": 6, "n_right_occluded": 6, "note": "A hand-occluded frame means the hand mask is absent while the object is present and the hand is present nearby \u2014 MediaPipe keypoints there are low-trust (the flag GATES them; keypoints are not re-run).", @@ -28422,17 +39512,17 @@ }, { "frame": 13, - "left_occluded": true, + "left_occluded": false, "right_occluded": false }, { "frame": 14, - "left_occluded": true, + "left_occluded": false, "right_occluded": false }, { "frame": 15, - "left_occluded": true, + "left_occluded": false, "right_occluded": false }, { @@ -28528,17 +39618,17 @@ { "frame": 34, "left_occluded": false, - "right_occluded": true + "right_occluded": false }, { "frame": 35, "left_occluded": false, - "right_occluded": true + "right_occluded": false }, { "frame": 36, "left_occluded": false, - "right_occluded": true + "right_occluded": false }, { "frame": 37, @@ -28757,23 +39847,23 @@ }, { "frame": 80, - "left_occluded": false, + "left_occluded": true, "right_occluded": false }, { "frame": 81, - "left_occluded": false, - "right_occluded": false + "left_occluded": true, + "right_occluded": true }, { "frame": 82, - "left_occluded": false, - "right_occluded": false + "left_occluded": true, + "right_occluded": true }, { "frame": 83, "left_occluded": false, - "right_occluded": false + "right_occluded": true }, { "frame": 84, @@ -33948,17 +45038,17 @@ { "frame": 1118, "left_occluded": false, - "right_occluded": true + "right_occluded": false }, { "frame": 1119, "left_occluded": false, - "right_occluded": true + "right_occluded": false }, { "frame": 1120, "left_occluded": false, - "right_occluded": true + "right_occluded": false }, { "frame": 1121, @@ -33972,17 +45062,17 @@ }, { "frame": 1123, - "left_occluded": true, + "left_occluded": false, "right_occluded": false }, { "frame": 1124, - "left_occluded": true, + "left_occluded": false, "right_occluded": false }, { "frame": 1125, - "left_occluded": true, + "left_occluded": false, "right_occluded": false }, { @@ -34178,17 +45268,17 @@ { "frame": 1164, "left_occluded": false, - "right_occluded": false + "right_occluded": true }, { "frame": 1165, "left_occluded": false, - "right_occluded": false + "right_occluded": true }, { "frame": 1166, "left_occluded": false, - "right_occluded": false + "right_occluded": true }, { "frame": 1167, @@ -34252,17 +45342,17 @@ }, { "frame": 1179, - "left_occluded": false, + "left_occluded": true, "right_occluded": false }, { "frame": 1180, - "left_occluded": false, + "left_occluded": true, "right_occluded": false }, { "frame": 1181, - "left_occluded": false, + "left_occluded": true, "right_occluded": false }, { @@ -34405,34 +45495,6140 @@ "left_occluded": false, "right_occluded": false }, - { - "frame": 1210, - "left_occluded": false, - "right_occluded": false - } - ], - "version": "0.2", - "window": 3 - }, - "object": { - "conf_threshold": 0.5, - "n_absent": 0, - "n_frames": 1211, - "n_low_conf": 0, - "n_objects": 1, - "n_occluded": 0, - "n_visible": 1211, - "object_ids": [ - "1" - ], - "objects": [ + { + "frame": 1210, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 1211, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 1212, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 1213, + "left_occluded": false, + "right_occluded": false + }, + { + "frame": 1214, + "left_occluded": false, + "right_occluded": false + } + ], + "version": "0.2", + "window": 3 + }, + "object": { + "conf_threshold": 0.5, + "n_absent": 0, + "n_frames": 1215, + "n_low_conf": 0, + "n_objects": 2, + "n_occluded": 0, + "n_visible": 1215, + "object_ids": [ + "obj_broom", + "obj_dustpan" + ], + "objects": [ + { + "n_absent": 0, + "n_frames": 1215, + "n_low_conf": 0, + "n_occluded": 49, + "n_visible": 1166, + "object_id": "obj_broom", + "per_frame": [ + { + "confidence": 1.0, + "frame": 0, + "state": "visible" + }, + { + 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+ }, + { + "confidence": 1.0, + "frame": 1211, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 1212, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 1213, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 1214, + "state": "visible" } ] } @@ -46547,6 +63763,26 @@ "confidence": 1.0, "frame": 1210, "state": "visible" + }, + { + "confidence": 1.0, + "frame": 1211, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 1212, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 1213, + "state": "visible" + }, + { + "confidence": 1.0, + "frame": 1214, + "state": "visible" } ], "scene_level_union": true, @@ -46563,14 +63799,14 @@ "frame_rate": null, "has_mano_params": true, "joints_per_hand": 21, - "n_frames": 1211, + "n_frames": 1215, "source": "hamer", - "world_frame_available": false + "world_frame_available": true }, "hand_pose_path": "hamer.npz", "hand_segmentation": { "frame_rate": null, - "n_frames": 1211, + "n_frames": 1215, "n_objects": 2, "obj_id_to_handedness": { "0": "left", @@ -46583,56 +63819,58 @@ "keysteps": [ { "best_view": "ego", - "end_time": 9.0, + "end_time": 3.083, "is_essential": true, "keystep_timing_source": "human", "start_time": 0.0, - "step_description": "fold cloth into rectangle", + "step_description": "sweep paper into dustpan", "step_id": 0, - "step_name": "fold cloth into rectangle", - "step_unique_id": 61367716522068 - }, - { - "best_view": "ego", - "end_time": 13.5, - "is_essential": true, - "keystep_timing_source": "human", - "start_time": 9.0, - "step_description": "fold cloth into rectangle", - "step_id": 1, - "step_name": "fold cloth into rectangle", - "step_unique_id": 61367716529987 + "step_name": "pick up brush and dustpan from table", + "step_unique_id": 132021212305719 }, { "best_view": "ego", - "end_time": 17.5, + "end_time": 14.6, "is_essential": true, "keystep_timing_source": "human", - "start_time": 13.5, - "step_description": "fold cloth into rectangle", - 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"n_frames_present": 1166, + "object_id": "obj_broom", + "phrase": "broom" + }, + { + "label": "dustpan", + "n_frames_present": 1215, + "object_id": "obj_dustpan", + "phrase": "dustpan" + } + ], "seed_source": "agent_tracker", "source": "sam3" }, @@ -46640,11 +63878,11 @@ "participant_id": "J", "recovery_events": [], "success_status": "success", - "task_id": "fold_laundry", - "task_label": "fold_laundry", + "task_id": "sweep", + "task_label": "sweep", "transcript_path": null, "views": { - "ego": "019fbdfa-6dbd-7c90-938b-c476032bab5b.mp4", + "ego": "019fc1d5-6845-7442-98c2-545d93c1b2e4.mp4", "overhead": null } } \ No newline at end of file diff --git a/meta/episodes/chunk-000/file-000.parquet b/meta/episodes/chunk-000/file-000.parquet index 236195ea18be2140679079f2067e1d7ca3a4ef4e..70cd600ae4b87a0295a343b2b3d5c82af56f8832 100644 --- a/meta/episodes/chunk-000/file-000.parquet +++ b/meta/episodes/chunk-000/file-000.parquet @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:74d6b08c38e5078701e46d6cc3b11cdd2384c0f7015c229d50891c7af55f5bb3 -size 336756 +oid sha256:11714e5966fc8a76ce5dc1f83f0ce0dd0656b4c0fe183b556bbba255fee127c6 +size 443261 diff --git a/meta/info.json b/meta/info.json index 20d038abd23f7c35533cf2e8dd531c02d93270dd..859ad7963a31933e90bdbaa89b04196a202d7816 100644 --- a/meta/info.json +++ b/meta/info.json @@ -1,12 +1,12 @@ { "codebase_version": "v3.0", - "fps": 10, + "fps": 15, "features": { "observation.images.ego": { "dtype": "image", "shape": [ - 256, - 256, + 512, + 384, 3 ], "names": [ @@ -85,7 +85,7 @@ "video.width": 192, "video.codec": "hevc", "video.pix_fmt": "gray12le", - "video.fps": 10, + "video.fps": 15, "video.channels": 1, "has_audio": false, "video.g": 2, @@ -134,8 +134,8 @@ "observation.images.object_mask": { "dtype": "video", "shape": [ - 256, - 256, + 512, + 384, 3 ], "names": [ @@ -144,11 +144,11 @@ "channel" ], "info": { - "video.height": 256, - "video.width": 256, + "video.height": 512, + "video.width": 384, "video.codec": "av1", "video.pix_fmt": "yuv420p", - "video.fps": 10, + "video.fps": 15, "video.channels": 3, "has_audio": false, "video.g": 2, @@ -163,8 +163,8 @@ "observation.images.hand_mask": { "dtype": "video", "shape": [ - 256, - 256, + 512, + 384, 3 ], "names": [ @@ -173,11 +173,11 @@ "channel" ], "info": { - "video.height": 256, - "video.width": 256, + "video.height": 512, + "video.width": 384, "video.codec": "av1", "video.pix_fmt": "yuv420p", - "video.fps": 10, + "video.fps": 15, "video.channels": 3, "has_audio": false, "video.g": 2, @@ -225,9 +225,9 @@ "names": null } }, - "total_episodes": 23, - "total_frames": 4393, - "total_tasks": 3, + "total_episodes": 32, + "total_frames": 6865, + "total_tasks": 4, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, @@ -235,7 +235,7 @@ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "robot_type": "human_ego", "splits": { - "train": "0:23" + "train": "0:32" }, "foundry": 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