NaN-flow carry-forward: inherit prev frame's state when flow unreliable

samples/-HIF7MKD1_k_128.3_139.7/object_pose.bin

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d8ff1819d67c6e3a90ab80052ed61c7b7d6edc91e32f92ea12067cafd7693d93
+oid sha256:3e13b1443ffe01f451b82ef6518620dea9096b1ab8e657e400abd7fbd5b90c79
 size 32832

samples/-HIF7MKD1_k_128.3_139.7/pose_track.json

@@ -8788,21 +8788,21 @@
       ],
       [
         [
-          0.9923267960548401,
-          -0.10813343524932861,
-          0.05995573103427887,
+          0.9719213843345642,
+          -0.2295181006193161,
+          0.051868099719285965,
           -0.02505406364798546
         ],
         [
-          -0.014587701298296452,
-          -0.5839158296585083,
-          -0.8116831183433533,
+          -0.0899549275636673,
+          -0.5661013126373291,
+          -0.8194128274917603,
           -0.11443104594945908
         ],
         [
-          0.12277918308973312,
-          0.8045803308486938,
-          -0.5810127258300781,
+          0.2174326777458191,
+          0.7917390465736389,
+          -0.5708522796630859,
           0.9960854053497314
         ],
         [
@@ -8814,21 +8814,21 @@
       ],
       [
         [
-          0.9447408318519592,
-          -0.3278120160102844,
-          0.0020194079261273146,
+          0.9685337543487549,
+          -0.24878475069999695,
+          0.0069636753760278225,
           -0.028459051623940468
         ],
         [
-          -0.18520769476890564,
-          -0.5388235449790955,
-          -0.821807324886322,
+          -0.13741427659988403,
+          -0.5578715205192566,
+          -0.818472146987915,
           -0.1152859479188919
         ],
         [
-          0.270486444234848,
-          0.7760209441184998,
-          -0.5697618722915649,
+          0.20750823616981506,
+          0.7917609810829163,
+          -0.574504017829895,
           0.9899642467498779
         ],
         [
@@ -8840,21 +8840,21 @@
       ],
       [
         [
-          0.9557603597640991,
-          -0.2936113774776459,
-          -0.01773344725370407,
+          0.9997297525405884,
+          -0.02238924615085125,
+          -0.006253362167626619,
           -0.03393359109759331
         ],
         [
-          -0.18260438740253448,
-          -0.544987142086029,
-          -0.8183181881904602,
+          -0.018245482817292213,
+          -0.5890575051307678,
+          -0.8078851103782654,
           -0.11556278169155121
         ],
         [
-          0.23060303926467896,
-          0.7853543162345886,
-          -0.5744917988777161,
+          0.014404349029064178,
+          0.807780921459198,
+          -0.5893068313598633,
           0.9847928881645203
         ],
         [
@@ -8866,21 +8866,21 @@
       ],
       [
         [
-          0.9939097762107849,
-          0.10795638710260391,
-          -0.022108418866991997,
+          0.8571715354919434,
+          0.5145989060401917,
+          -0.02109331078827381,
           -0.04076860472559929
         ],
         [
-          0.04779643565416336,
-          -0.6031022667884827,
-          -0.7962305545806885,
+          0.31020498275756836,
+          -0.54853755235672,
+          -0.7764531373977661,
           -0.11530371755361557
         ],
         [
-          -0.09929181635379791,
-          0.7903246283531189,
-          -0.6045891642570496,
+          -0.4111323952674866,
+          0.6590102314949036,
+          -0.6298218965530396,
           0.9809560775756836
         ],
         [
@@ -8892,21 +8892,21 @@
       ],
       [
         [
-          0.898844838142395,
-          0.43771666288375854,
-          -0.021956447511911392,
+          0.6792251467704773,
+          0.733460545539856,
+          -0.026244543492794037,
           -0.048255015164613724
         ],
         [
-          0.2529763877391815,
-          -0.5590892434120178,
-          -0.7895708680152893,
+          0.45507922768592834,
+          -0.4489445686340332,
+          -0.7689939141273499,
           -0.11455089598894119
         ],
         [
-          -0.35788393020629883,
-          0.704147219657898,
-          -0.6132664680480957,
+          -0.5758090615272522,
+          0.5103766918182373,
+          -0.6387171149253845,
           0.9788383841514587
         ],
         [
@@ -8918,21 +8918,21 @@
       ],
       [
         [
-          0.8932561874389648,
-          0.44917169213294983,
-          -0.018388496711850166,
+          0.6932513117790222,
+          0.7201685905456543,
+          -0.027565471827983856,
           -0.05568374693393707
         ],
         [
-          0.27318304777145386,
-          -0.5748485922813416,
-          -0.7713106870651245,
+          0.4586985111236572,
+          -0.47040924429893494,
+          -0.7538639307022095,
           -0.11334648728370667
         ],
         [
-          -0.3570215106010437,
-          0.6839545965194702,
-          -0.6361931562423706,
+          -0.5558761954307556,
+          0.5099729299545288,
+          -0.6564520597457886,
           0.9788244366645813
         ],
         [
@@ -8944,21 +8944,21 @@
       ],
       [
         [
-          0.9701735973358154,
-          0.2422984391450882,
-          0.007392275147140026,
+          0.8602100014686584,
+          0.5099071860313416,
+          -0.005783411208540201,
           -0.0623457171022892
         ],
         [
-          0.1668107658624649,
-          -0.6451699733734131,
-          -0.7456070780754089,
+          0.34458860754966736,
+          -0.5896040797233582,
+          -0.7304969429969788,
           -0.11173263937234879
         ],
         [
-          -0.17589014768600464,
-          0.7246013879776001,
-          -0.6663448214530945,
+          -0.37589552998542786,
+          0.6263878345489502,
+          -0.6828914880752563,
           0.9812988042831421
         ],
         [
@@ -8970,21 +8970,21 @@
       ],
       [
         [
-          0.9766634702682495,
-          -0.20542454719543457,
-          0.06268340349197388,
+          0.9920818209648132,
+          -0.11002190411090851,
+          0.06057064235210419,
           -0.06753185391426086
         ],
         [
-          -0.09575582295656204,
-          -0.6777229309082031,
-          -0.7290558815002441,
+          -0.0328705720603466,
+          -0.6929248571395874,
+          -0.7202601432800293,
           -0.10975152254104614
         ],
         [
-          0.19224794209003448,
-          0.7060399651527405,
-          -0.6815778017044067,
+          0.12121529132127762,
+          0.7125660181045532,
+          -0.6910547018051147,
           0.9866461157798767
         ],
         [
@@ -8996,21 +8996,21 @@
       ],
       [
         [
-          0.9301024675369263,
-          -0.3517571687698364,
-          0.10571787506341934,
+          0.8829011917114258,
+          -0.45800915360450745,
+          0.10350390523672104,
           -0.07053308188915253
         ],
         [
-          -0.1737794727087021,
-          -0.675006091594696,
-          -0.7170547246932983,
+          -0.2448071837425232,
+          -0.6370835304260254,
+          -0.7308857440948486,
           -0.10744528472423553
         ],
         [
-          0.32358935475349426,
-          0.6485627889633179,
-          -0.6889529824256897,
+          0.40069299936294556,
+          0.6199614405632019,
+          -0.6746057868003845,
           0.9952509999275208
         ],
         [
@@ -10998,10 +10998,10 @@
       ]
     ],
     "tracking_status": "ok",
-    "note": "phase_d state-machine: wrist=0 static=168 tracked=3  mc_static=False  scale=0.329  grasp_src=vetoed (pkl)",
+    "note": "phase_d state-machine: wrist=0 static=167 tracked=4  mc_static=False  scale=0.329  grasp_src=vetoed (pkl)",
     "n_frames_wrist": 0,
-    "n_frames_static": 168,
-    "n_frames_tracked": 3,
+    "n_frames_static": 167,
+    "n_frames_tracked": 4,
     "state_per_frame": [
       "static",
       "static",
@@ -11093,7 +11093,7 @@
       "static",
       "static",
       "moving",
-      "static",
+      "moving",
       "moving",
       "static",
       "static",
@@ -12207,11 +12207,11 @@
     ],
     "global_span_px": 24.582605361938477,
     "state_counts": {
-      "static": 168,
+      "static": 167,
       "grasped_l": 0,
       "grasped_r": 0,
       "grasped_both": 0,
-      "moving": 3
+      "moving": 4
     },
     "wrist_used_per_frame": [
       false,
@@ -12823,7 +12823,7 @@
       false,
       false,
       true,
-      false,
+      true,
       true,
       false,
       false,

samples/-HIF7MKD1_k_128.3_139.7/recording.viser

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a53386882e1665f64be8ac8704e01d8d3fe5093305f687cdf46fd42308a7b742
-size 5982150
+oid sha256:a2f2a38e76109da9c6abf46b95fed0664b0add4fbbc38eb0960a5bb3529ab2d5
+size 5982162

samples/-HIF7MKD1_k_128.3_139.7/scene.json

@@ -189,19 +189,19 @@
       "median_chamfer_mm": null,
       "mean_iou": null,
       "grasp_rate": 0.0,
-      "trust_rate": 0.017543859649122806,
+      "trust_rate": 0.023391812865497075,
       "tracking_status": "ok",
       "state_counts": {
-        "static": 168,
+        "static": 167,
         "grasped_l": 0,
         "grasped_r": 0,
         "grasped_both": 0,
-        "moving": 3
+        "moving": 4
       },
       "state_fractions": {
-        "static": 0.9824561403508771,
+        "static": 0.9766081871345029,
         "grasped": 0.0,
-        "moving": 0.017543859649122806
+        "moving": 0.023391812865497075
       },
       "is_static_global": false,
       "n_state_frames": 171

samples/-HIF7MKD1_k_128.3_139.7/signals.json

@@ -1 +1 @@
-{"n_frames": 171, "scene": {"contact_l": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "contact_r": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "grasp": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "motion": [0.0, 5.590169906616211, 32.06633758544922, 20.880613327026367, 11.67261791229248, 31.535694122314453, 9.5, 1.1180340051651, 2.692582368850708, 8.9442720413208, 2.0615527629852295, 2.8284270763397217, 9.552486419677734, 3.2015621662139893, 6.103277683258057, 10.404326438903809, 2.692582368850708, 6.72681188583374, 4.5, 2.5, 5.5, 6.8007354736328125, 5.5, 8.0, 43.502872467041016, 16.278820037841797, 4.031128883361816, 9.192388534545898, 0.0, 3.1622776985168457, 38.327537536621094, 8.514693260192871, 3.5, 2.5, 5.5, 7.017834186553955, 44.0113639831543, 4.123105525970459, 5.024937629699707, 10.440306663513184, 6.264982223510742, 22.671567916870117, 23.50531768798828, 6.363961219787598, 11.67261791229248, 10.547511100769043, 5.0, 14.916434288024902, 44.41846466064453, 9.192388534545898, 3.605551242828369, 3.0, 2.2360680103302, 3.2015621662139893, 20.124610900878906, 8.246211051940918, 13.124404907226562, 3.1622776985168457, 5.099019527435303, 2.0615527629852295, 3.1622776985168457, 3.535533905029297, 2.0615527629852295, 4.0, 1.0, 2.5, 1.0, 0.5, 0.5, 1.8027756214141846, 1.5, 2.5, 11.67261791229248, 4.527692794799805, 35.53167724609375, 12.589678764343262, 2.692582368850708, 52.63079071044922, 46.74665832519531, 1.0, 2.5, 1.1180340051651, 1.0, 3.041381359100342, 4.5, 3.041381359100342, 8.062257766723633, 8.200610160827637, 2.5, 11.0, 21.02379608154297, 89.005615234375, 33.35416030883789, 4.7434163093566895, 2.5495097637176514, 4.7434163093566895, 2.0615527629852295, 2.2360680103302, 1.5811388492584229, 2.5495097637176514, 4.4721360206604, 4.0, 12.257650375366211, 1.1180340051651, 5.408327102661133, 2.0, 0.7071067690849304, 30.504098892211914, 2.0615527629852295, 0.5, 3.1622776985168457, 1.5811388492584229, 0.7071067690849304, 1.5811388492584229, 1.0, 1.0, 1.1180340051651, 0.7071067690849304, 0.0, 9.013877868652344, 3.5, 1.0, 24.90983772277832, 24.020824432373047, 0.5, 25.0, 24.90983772277832, 2.8284270763397217, 20.98809242248535, 15.532224655151367, 16.007810592651367, 9.5, 4.527692794799805, 5.0, 3.041381359100342, 0.7071067690849304, 0.5, 5.024937629699707, 3.5, 5.7008771896362305, 17.442764282226562, 32.25678253173828, 4.527692794799805, 8.558621406555176, 8.015609741210938, 2.0, 11.101801872253418, 13.928388595581055, 15.89024829864502, 16.0, 4.031128883361816, 2.5495097637176514, 2.0615527629852295, 2.5495097637176514, 1.4142135381698608, 2.0615527629852295, 2.5, 0.5, 1.5811388492584229, 1.5811388492584229, 2.0615527629852295, 3.3541018962860107, 2.0615527629852295, 4.924428939819336, 2.0, 2.0, 2.0615527629852295, 0.5, 0.5, 1.0, 2.5]}, "per_object": {"0": {"trust": [false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, true, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false], "state": ["static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "moving", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static"]}, "1": {"trust": [false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, true, false, true, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, true, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false], "state": ["static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "moving", "static", "moving", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "moving", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static"]}, "2": {"trust": [false, false, false, false, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, true, true, true, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false], "state": ["static", "static", "static", "static", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "moving", "moving", "moving", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static"]}}}
+{"n_frames": 171, "scene": {"contact_l": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "contact_r": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "grasp": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "motion": [0.0, 5.590169906616211, 32.06633758544922, 20.880613327026367, 11.67261791229248, 31.535694122314453, 9.5, 1.1180340051651, 2.692582368850708, 8.9442720413208, 2.0615527629852295, 2.8284270763397217, 9.552486419677734, 3.2015621662139893, 6.103277683258057, 10.404326438903809, 2.692582368850708, 6.72681188583374, 4.5, 2.5, 5.5, 6.8007354736328125, 5.5, 8.0, 43.502872467041016, 16.278820037841797, 4.031128883361816, 9.192388534545898, 0.0, 3.1622776985168457, 38.327537536621094, 8.514693260192871, 3.5, 2.5, 5.5, 7.017834186553955, 44.0113639831543, 4.123105525970459, 5.024937629699707, 10.440306663513184, 6.264982223510742, 22.671567916870117, 23.50531768798828, 6.363961219787598, 11.67261791229248, 10.547511100769043, 5.0, 14.916434288024902, 44.41846466064453, 9.192388534545898, 3.605551242828369, 3.0, 2.2360680103302, 3.2015621662139893, 20.124610900878906, 8.246211051940918, 13.124404907226562, 3.1622776985168457, 5.099019527435303, 2.0615527629852295, 3.1622776985168457, 3.535533905029297, 2.0615527629852295, 4.0, 1.0, 2.5, 1.0, 0.5, 0.5, 1.8027756214141846, 1.5, 2.5, 11.67261791229248, 4.527692794799805, 35.53167724609375, 12.589678764343262, 2.692582368850708, 52.63079071044922, 46.74665832519531, 1.0, 2.5, 1.1180340051651, 1.0, 3.041381359100342, 4.5, 3.041381359100342, 8.062257766723633, 8.200610160827637, 2.5, 11.0, 21.02379608154297, 89.005615234375, 33.35416030883789, 4.7434163093566895, 2.5495097637176514, 4.7434163093566895, 2.0615527629852295, 2.2360680103302, 1.5811388492584229, 2.5495097637176514, 4.4721360206604, 4.0, 12.257650375366211, 1.1180340051651, 5.408327102661133, 2.0, 0.7071067690849304, 30.504098892211914, 2.0615527629852295, 0.5, 3.1622776985168457, 1.5811388492584229, 0.7071067690849304, 1.5811388492584229, 1.0, 1.0, 1.1180340051651, 0.7071067690849304, 0.0, 9.013877868652344, 3.5, 1.0, 24.90983772277832, 24.020824432373047, 0.5, 25.0, 24.90983772277832, 2.8284270763397217, 20.98809242248535, 15.532224655151367, 16.007810592651367, 9.5, 4.527692794799805, 5.0, 3.041381359100342, 0.7071067690849304, 0.5, 5.024937629699707, 3.5, 5.7008771896362305, 17.442764282226562, 32.25678253173828, 4.527692794799805, 8.558621406555176, 8.015609741210938, 2.0, 11.101801872253418, 13.928388595581055, 15.89024829864502, 16.0, 4.031128883361816, 2.5495097637176514, 2.0615527629852295, 2.5495097637176514, 1.4142135381698608, 2.0615527629852295, 2.5, 0.5, 1.5811388492584229, 1.5811388492584229, 2.0615527629852295, 3.3541018962860107, 2.0615527629852295, 4.924428939819336, 2.0, 2.0, 2.0615527629852295, 0.5, 0.5, 1.0, 2.5]}, "per_object": {"0": {"trust": [false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, true, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false], "state": ["static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "moving", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static"]}, "1": {"trust": [false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, true, true, true, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, true, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false], "state": ["static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "moving", "moving", "moving", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "moving", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static"]}, "2": {"trust": [false, false, false, false, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, true, true, true, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false], "state": ["static", "static", "static", "static", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "grasped_r", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "moving", "moving", "moving", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static"]}}}