Merge full-se3-rigid: per-segment rigid hand-object bind + STATIC T-lock (object jitter ~0 within grasp, static objects perfectly fixed) (15/106)

samples/-5nmuwQ0kwA_383.0_387.0/hand_verts.bin

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:583bb26f453f92fa4a74bf7af7d8c4e497e6e095222226e6a0268804a0c5b9fb
+oid sha256:90dac07ce8ec26247e5e4851aa8e0304311d453b9f476aeee01f1dc5c05eed04
 size 541488

samples/-5nmuwQ0kwA_383.0_387.0/object_obb.bin

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:eccd9b2b110c9c09fa9879d99be29d79791ef847a13a5fd93cf7dee283daec43
+oid sha256:4579858c78f04a22719b441f4b1a80128d05a67d1dc2b145fcae14a7f41d9670
 size 96

samples/-5nmuwQ0kwA_383.0_387.0/object_pose.bin

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e219adc2afe48e690edb7b2afe95ece51d8e209f3d8ac3de83efdedb0040ece7
+oid sha256:629c6fc2676299185ac23c2875b305cc1c02d7419299ad701df2bc909e62253c
 size 1856

samples/-5nmuwQ0kwA_383.0_387.0/pose_track.json

@@ -9,22 +9,22 @@
     "T_seq": [
       [
         [
-          0.030833544209599495,
-          -0.9920880198478699,
-          -0.12169907987117767,
+          0.9951331615447998,
+          -0.010569381527602673,
+          0.09797094017267227,
           -0.1288900226354599
         ],
         [
-          -0.4043688476085663,
-          -0.12372932583093643,
-          0.9061881303787231,
+          0.06971685588359833,
+          -0.6271165609359741,
+          -0.7757990956306458,
           -0.03741880878806114
         ],
         [
-          -0.9140760898590088,
-          0.021270325407385826,
-          -0.4049845039844513,
-          0.7247934341430664
+          0.0696389302611351,
+          0.778853714466095,
+          -0.6233276724815369,
+          0.7241299152374268
         ],
         [
           0.0,
@@ -35,22 +35,22 @@
       ],
       [
         [
-          0.06802748143672943,
-          -0.9963090419769287,
-          0.052349887788295746,
+          0.9848743081092834,
+          -0.14939641952514648,
+          0.08776840567588806,
           -0.1494252234697342
         ],
         [
-          -0.28373008966445923,
-          0.030985232442617416,
-          0.9584034085273743,
+          -0.05217554420232773,
+          -0.7387351393699646,
+          -0.6719732880592346,
           -0.023169375956058502
         ],
         [
-          -0.9564881324768066,
-          -0.0800510123372078,
-          -0.2805750072002411,
-          0.724693238735199
+          0.16522802412509918,
+          0.6572299003601074,
+          -0.7353560924530029,
+          0.7247671484947205
         ],
         [
           0.0,
@@ -61,22 +61,22 @@
       ],
       [
         [
-          0.10195325314998627,
-          -0.9800750017166138,
-          0.17046555876731873,
+          0.960320770740509,
+          -0.2574383318424225,
+          0.10728279501199722,
           -0.16928495466709137
         ],
         [
-          -0.22173942625522614,
-          0.1446579396724701,
-          0.964316189289093,
+          -0.14408299326896667,
+          -0.7873014807701111,
+          -0.5994968414306641,
           -0.006605102214962244
         ],
         [
-          -0.9697613716125488,
-          -0.13611410558223724,
-          -0.20257291197776794,
-          0.7243735194206238
+          0.2387973964214325,
+          0.5602516531944275,
+          -0.7931544184684753,
+          0.7255464196205139
         ],
         [
           0.0,
@@ -87,22 +87,22 @@
       ],
       [
         [
-          0.12090606242418289,
-          -0.9613718390464783,
-          0.2472769170999527,
+          0.9330077171325684,
+          -0.3407919704914093,
+          0.11557468771934509,
           -0.18383274972438812
         ],
         [
-          -0.20701852440834045,
-          0.21920713782310486,
-          0.9534629583358765,
+          -0.20902341604232788,
+          -0.774662971496582,
+          -0.5968303680419922,
           0.009292351081967354
         ],
         [
-          -0.9708372950553894,
-          -0.16647034883499146,
-          -0.1725182980298996,
-          0.7236915826797485
+          0.29292646050453186,
+          0.5326895117759705,
+          -0.793999969959259,
+          0.7259785532951355
         ],
         [
           0.0,
@@ -113,22 +113,22 @@
       ],
       [
         [
-          0.12465053051710129,
-          -0.9456362724304199,
-          0.30039024353027344,
+          0.9051265716552734,
+          -0.40553879737854004,
+          0.1276097446680069,
           -0.1907833367586136
         ],
         [
-          -0.22455908358097076,
-          0.2680082321166992,
-          0.936880350112915,
+          -0.25623562932014465,
+          -0.7598853707313538,
+          -0.5974256992340088,
           0.02217043749988079
         ],
         [
-          -0.9664551019668579,
-          -0.1842379868030548,
-          -0.17894384264945984,
-          0.7224959135055542
+          0.33924809098243713,
+          0.5080476999282837,
+          -0.7917059063911438,
+          0.7254598140716553
         ],
         [
           0.0,
@@ -139,22 +139,22 @@
       ],
       [
         [
-          0.11535272747278214,
-          -0.9293842911720276,
-          0.35062599182128906,
+          0.9004525542259216,
+          -0.425481915473938,
+          0.09027938544750214,
           -0.1905273199081421
         ],
         [
-          -0.25820350646972656,
-          0.312794029712677,
-          0.91405189037323,
+          -0.2894279956817627,
+          -0.7410690188407898,
+          -0.6058449149131775,
           0.031345561146736145
         ],
         [
-          -0.959179162979126,
-          -0.19597123563289642,
-          -0.2038886398077011,
-          0.7206858992576599
+          0.32467934489250183,
+          0.5194052457809448,
+          -0.7904438376426697,
+          0.7236320376396179
         ],
         [
           0.0,
@@ -165,22 +165,22 @@
       ],
       [
         [
-          0.09613922238349915,
-          -0.9125379323959351,
-          0.39753207564353943,
+          0.8860822916030884,
+          -0.46270203590393066,
+          0.027658484876155853,
           -0.18467462062835693
         ],
         [
-          -0.29801276326179504,
-          0.35467275977134705,
-          0.8862255215644836,
+          -0.34198376536369324,
+          -0.6928520202636719,
+          -0.6348252892494202,
           0.037530988454818726
         ],
         [
-          -0.9497081637382507,
-          -0.2036706656217575,
-          -0.23784998059272766,
-          0.7182815670967102
+          0.3128982186317444,
+          0.5530487298965454,
+          -0.7721604704856873,
+          0.7205318808555603
         ],
         [
           0.0,
@@ -191,22 +191,22 @@
       ],
       [
         [
-          0.08727016299962997,
-          -0.8905695080757141,
-          0.4463965892791748,
+          0.8473513722419739,
+          -0.5310303568840027,
+          -0.0015564450295642018,
           -0.17450733482837677
         ],
         [
-          -0.33320745825767517,
-          0.39620035886764526,
-          0.8555688261985779,
+          -0.4031830132007599,
+          -0.6414355635643005,
+          -0.6526896953582764,
           0.041891682893037796
         ],
         [
-          -0.9388059973716736,
-          -0.2234083116054535,
-          -0.26216790080070496,
-          0.7154621481895447
+          0.3455996811389923,
+          0.5536850690841675,
+          -0.7576237320899963,
+          0.7163940668106079
         ],
         [
           0.0,
@@ -217,22 +217,22 @@
       ],
       [
         [
-          0.11085517704486847,
-          -0.8530069589614868,
-          0.509990394115448,
+          0.8003634214401245,
+          -0.5992180109024048,
+          -0.018873710185289383,
           -0.1605338603258133
         ],
         [
-          -0.3740355968475342,
-          0.4396148920059204,
-          0.8166003227233887,
+          -0.4614919126033783,
+          -0.5956993103027344,
+          -0.6573944687843323,
           0.04525548219680786
         ],
         [
-          -0.9207651615142822,
-          -0.28127893805503845,
-          -0.27032139897346497,
-          0.7125495076179504
+          0.3826795816421509,
+          0.534864604473114,
+          -0.7533101439476013,
+          0.7117332220077515
         ],
         [
           0.0,
@@ -243,22 +243,22 @@
       ],
       [
         [
-          0.14137767255306244,
-          -0.7886974811553955,
-          0.598304808139801,
+          0.7536574006080627,
+          -0.6571987867355347,
+          -0.009501449763774872,
           -0.14320096373558044
         ],
         [
-          -0.43948236107826233,
-          0.49155041575431824,
-          0.7518200874328613,
+          -0.47878605127334595,
+          -0.5390400886535645,
+          -0.6929644346237183,
           0.04774351790547371
         ],
         [
-          -0.8870555758476257,
-          -0.36923497915267944,
-          -0.2771243751049042,
-          0.7099356651306152
+          0.45029374957084656,
+          0.5268070101737976,
+          -0.7209091186523438,
+          0.7071986198425293
         ],
         [
           0.0,
@@ -269,22 +269,22 @@
       ],
       [
         [
-          0.1234944760799408,
-          -0.7191091775894165,
-          0.6838356256484985,
+          0.669316291809082,
+          -0.7429031133651733,
+          0.010517189279198647,
           -0.12384898215532303
         ],
         [
-          -0.5442842841148376,
-          0.5271236896514893,
-          0.6526064872741699,
+          -0.4975036382675171,
+          -0.4586479961872101,
+          -0.7362962365150452,
           0.048695363104343414
         ],
         [
-          -0.829761266708374,
-          -0.45279428362846375,
-          -0.3263029456138611,
-          0.7079924941062927
+          0.5518204569816589,
+          0.4875827431678772,
+          -0.676577627658844,
+          0.7036836743354797
         ],
         [
           0.0,
@@ -295,22 +295,22 @@
       ],
       [
         [
-          0.031952373683452606,
-          -0.6887400150299072,
-          0.7243039608001709,
+          0.5476243495941162,
+          -0.8356693983078003,
+          -0.04200330004096031,
           -0.10559607297182083
         ],
         [
-          -0.6687734723091125,
-          0.5238151550292969,
-          0.5275980234146118,
+          -0.5229406952857971,
+          -0.30263814330101013,
+          -0.7968331575393677,
           0.0470174215734005
         ],
         [
-          -0.7427792549133301,
-          -0.5012533068656921,
-          -0.44387391209602356,
-          0.7069458961486816
+          0.6531773209571838,
+          0.45833051204681396,
+          -0.602737545967102,
+          0.7023699283599854
         ],
         [
           0.0,
@@ -321,22 +321,22 @@
       ],
       [
         [
-          -0.08781693875789642,
-          -0.7279462218284607,
-          0.6799871325492859,
+          0.5031023621559143,
+          -0.8093893527984619,
+          -0.30294695496559143,
           -0.09309463948011398
         ],
         [
-          -0.7771303057670593,
-          0.4771144390106201,
-          0.4104025661945343,
+          -0.568743884563446,
+          -0.04614657536149025,
+          -0.8212190866470337,
           0.04198625683784485
         ],
         [
-          -0.6231826543807983,
-          -0.49239832162857056,
-          -0.6076078414916992,
-          0.7068008184432983
+          0.6507061123847961,
+          0.5854565501213074,
+          -0.4835517108440399,
+          0.7029240727424622
         ],
         [
           0.0,
@@ -347,22 +347,22 @@
       ],
       [
         [
-          -0.1792949140071869,
-          -0.8072386384010315,
-          0.5623336434364319,
+          0.6126464009284973,
+          -0.5935651659965515,
+          -0.5218665599822998,
           -0.09077753871679306
         ],
         [
-          -0.8353117108345032,
-          0.42687585949897766,
-          0.3464554250240326,
+          -0.5619399547576904,
+          0.1371847242116928,
+          -0.8157228827476501,
           0.03432203456759453
         ],
         [
-          -0.5197188258171082,
-          -0.40760618448257446,
-          -0.7508325576782227,
-          0.7073251008987427
+          0.555776834487915,
+          0.7930073738098145,
+          -0.2495022565126419,
+          0.7051957249641418
         ],
         [
           0.0,
@@ -373,22 +373,22 @@
       ],
       [
         [
-          -0.21033428609371185,
-          -0.8699750304222107,
-          0.4459853768348694,
+          0.7764691114425659,
+          -0.3854285776615143,
+          -0.49853846430778503,
           -0.09999742358922958
         ],
         [
-          -0.8446085453033447,
-          0.39144402742385864,
-          0.36525052785873413,
+          -0.5036579966545105,
+          0.09587658196687698,
+          -0.858566403388977,
           0.026533382013440132
         ],
         [
-          -0.4923371374607086,
-          -0.29985836148262024,
-          -0.8171224594116211,
-          0.7081183195114136
+          0.3787142038345337,
+          0.9177432060241699,
+          -0.11967896670103073,
+          0.708469033241272
         ],
         [
           0.0,
@@ -399,22 +399,22 @@
       ],
       [
         [
-          -0.184928759932518,
-          -0.9009949564933777,
-          0.39244043827056885,
+          0.879673957824707,
+          -0.3339330852031708,
+          -0.3386184871196747,
           -0.11722487956285477
         ],
         [
-          -0.8047509789466858,
-          0.3680385947227478,
-          0.46575045585632324,
+          -0.38656753301620483,
+          -0.0873284563422203,
+          -0.9181172251701355,
           0.02190028503537178
         ],
         [
-          -0.5640720129013062,
-          -0.22968615591526031,
-          -0.7931374311447144,
-          0.7087458968162537
+          0.2770186960697174,
+          0.9385427236557007,
+          -0.20590826869010925,
+          0.7110398411750793
         ],
         [
           0.0,
@@ -425,22 +425,22 @@
       ],
       [
         [
-          -0.09808062016963959,
-          -0.9035496711730957,
-          0.4171069264411926,
+          0.8642133474349976,
+          -0.4493740499019623,
+          -0.22627022862434387,
           -0.1351986527442932
         ],
         [
-          -0.7165178060531616,
-          0.35498353838920593,
-          0.6004905104637146,
+          -0.39263975620269775,
+          -0.321173757314682,
+          -0.8617896437644958,
           0.022515837103128433
         ],
         [
-          -0.6906391382217407,
-          -0.23996804654598236,
-          -0.6822264790534973,
-          0.7088836431503296
+          0.3145938813686371,
+          0.833612859249115,
+          -0.45400476455688477,
+          0.7117929458618164
         ],
         [
           0.0,
@@ -451,22 +451,22 @@
       ],
       [
         [
-          0.015616415068507195,
-          -0.8711712956428528,
-          0.49073082208633423,
+          0.7599729299545288,
+          -0.6440881490707397,
+          -0.08712981641292572,
           -0.14664024114608765
         ],
         [
-          -0.6050177812576294,
-          0.3825128674507141,
-          0.698310375213623,
+          -0.4662180542945862,
+          -0.4468108117580414,
+          -0.7635448575019836,
           0.027911894023418427
         ],
         [
-          -0.7960588335990906,
-          -0.30780595541000366,
-          -0.521100640296936,
-          0.7084115743637085
+          0.45285969972610474,
+          0.6208949685096741,
+          -0.6398496627807617,
+          0.7108902335166931
         ],
         [
           0.0,
@@ -477,22 +477,22 @@
       ],
       [
         [
-          0.11158837378025055,
-          -0.814479410648346,
-          0.5693604946136475,
+          0.6825355291366577,
+          -0.7308328747749329,
+          0.005353549029678106,
           -0.1477542370557785
         ],
         [
-          -0.5352127552032471,
-          0.4334878921508789,
-          0.7250072360038757,
+          -0.5048985481262207,
+          -0.47680291533470154,
+          -0.7195389866828918,
           0.03551500663161278
         ],
         [
-          -0.8373143672943115,
-          -0.38563138246536255,
-          -0.3875475823879242,
-          0.7074217200279236
+          0.5284153819084167,
+          0.4884079694747925,
+          -0.6944313049316406,
+          0.7082730531692505
         ],
         [
           0.0,
@@ -503,22 +503,22 @@
       ],
       [
         [
-          0.1678064465522766,
-          -0.7631177306175232,
-          0.6240931749343872,
+          0.6767870783805847,
+          -0.7361779808998108,
+          0.0010933874873444438,
           -0.13904108107089996
         ],
         [
-          -0.5171754360198975,
-          0.47081148624420166,
-          0.7147489786148071,
+          -0.4650079905986786,
+          -0.428644061088562,
+          -0.7746171951293945,
           0.042441826313734055
         ],
         [
-          -0.8392678499221802,
-          -0.4427051544189453,
-          -0.3156605660915375,
-          0.7061470746994019
+          0.5707248449325562,
+          0.5237424373626709,
+          -0.6324294209480286,
+          0.7053200006484985
         ],
         [
           0.0,
@@ -529,22 +529,22 @@
       ],
       [
         [
-          0.1942257136106491,
-          -0.7352453470230103,
-          0.6493771076202393,
+          0.6878488659858704,
+          -0.7258058190345764,
+          -0.008362643420696259,
           -0.12360826879739761
         ],
         [
-          -0.5387204885482788,
-          0.47327572107315063,
-          0.6969866156578064,
+          -0.44812116026878357,
+          -0.4155663251876831,
+          -0.7915124893188477,
           0.046940699219703674
         ],
         [
-          -0.8197906017303467,
-          -0.4852055013179779,
-          -0.3041694462299347,
-          0.7048481106758118
+          0.5710091590881348,
+          0.5481883883476257,
+          -0.6110957264900208,
+          0.7031002044677734
         ],
         [
           0.0,
@@ -555,22 +555,22 @@
       ],
       [
         [
-          0.1752479374408722,
-          -0.7213988900184631,
-          0.6699789762496948,
+          0.6556891202926636,
+          -0.7549433708190918,
+          -0.01150019932538271,
           -0.10479240864515305
         ],
         [
-          -0.5719541907310486,
-          0.47929704189300537,
-          0.6656897068023682,
+          -0.4637250006198883,
+          -0.3906443417072296,
+          -0.7952081561088562,
           0.048411332070827484
         ],
         [
-          -0.8013467192649841,
-          -0.499858021736145,
-          -0.32861125469207764,
-          0.7037205696105957
+          0.5958446860313416,
+          0.5267422795295715,
+          -0.6062273383140564,
+          0.7018043994903564
         ],
         [
           0.0,
@@ -581,22 +581,22 @@
       ],
       [
         [
-          0.09574366360902786,
-          -0.7063152194023132,
-          0.7013928890228271,
+          0.624965250492096,
+          -0.7791383862495422,
+          -0.048599034547805786,
           -0.08494649827480316
         ],
         [
-          -0.6142294406890869,
-          0.5125606656074524,
-          0.600003182888031,
+          -0.5014721155166626,
+          -0.35297250747680664,
+          -0.7898962497711182,
           0.04662211611866951
         ],
         [
-          -0.7832977771759033,
-          -0.4882626533508301,
-          -0.3847651481628418,
-          0.702810525894165
+          0.5982844233512878,
+          0.5180287957191467,
+          -0.6113117337226868,
+          0.7014732360839844
         ],
         [
           0.0,
@@ -607,22 +607,22 @@
       ],
       [
         [
-          -0.04399136081337929,
-          -0.70210862159729,
-          0.7107096910476685,
+          0.5850202441215515,
+          -0.7957063317298889,
+          -0.1568523645401001,
           -0.06565357744693756
         ],
         [
-          -0.6713789105415344,
-          0.5475847721099854,
-          0.49940094351768494,
+          -0.5478167533874512,
+          -0.24508889019489288,
+          -0.7998926043510437,
           0.04117891192436218
         ],
         [
-          -0.7398074865341187,
-          -0.4551861882209778,
-          -0.4954698979854584,
-          0.7020369172096252
+          0.5980369448661804,
+          0.5538797378540039,
+          -0.5792831778526306,
+          0.7020557522773743
         ],
         [
           0.0,
@@ -633,22 +633,22 @@
       ],
       [
         [
-          -0.220606729388237,
-          -0.7314037084579468,
-          0.6452761292457581,
+          0.5416700839996338,
+          -0.7463372945785522,
+          -0.38674816489219666,
           -0.04845161736011505
         ],
         [
-          -0.7552053332328796,
-          0.5467603802680969,
-          0.361549437046051,
+          -0.64048832654953,
+          -0.06847595423460007,
+          -0.764909029006958,
           0.03166000917553902
         ],
         [
-          -0.6172500252723694,
-          -0.4075557291507721,
-          -0.6729789972305298,
-          0.701257586479187
+          0.5443971753120422,
+          0.6620360016822815,
+          -0.5151116847991943,
+          0.7028872966766357
         ],
         [
           0.0,
@@ -659,22 +659,22 @@
       ],
       [
         [
-          -0.3905940353870392,
-          -0.7862010598182678,
-          0.47887808084487915,
+          0.5789214372634888,
+          -0.495100200176239,
+          -0.6478624939918518,
           -0.035078056156635284
         ],
         [
-          -0.8355022668838501,
-          0.5211610198020935,
-          0.17414693534374237,
+          -0.6689147353172302,
+          0.16597513854503632,
+          -0.7245725393295288,
           0.018287885934114456
         ],
         [
-          -0.38648709654808044,
-          -0.33208295702934265,
-          -0.8604351282119751,
-          0.7003622651100159
+          0.4662650525569916,
+          0.8528352975845337,
+          -0.23509323596954346,
+          0.7027266621589661
         ],
         [
           0.0,
@@ -685,22 +685,22 @@
       ],
       [
         [
-          -0.43204519152641296,
-          -0.8638613224029541,
-          0.25899913907051086,
+          0.7166330814361572,
+          -0.1467752307653427,
+          -0.681831419467926,
           -0.026675602421164513
         ],
         [
-          -0.8985734581947327,
-          0.43680626153945923,
-          -0.04202453792095184,
+          -0.5882470011711121,
+          0.3980172276496887,
+          -0.7039515376091003,
           0.0024217490572482347
         ],
         [
-          -0.07682906836271286,
-          -0.2508862614631653,
-          -0.964962899684906,
-          0.6993277668952942
+          0.3747033178806305,
+          0.9055602550506592,
+          0.19889222085475922,
+          0.7004134654998779
         ],
         [
           0.0,
@@ -711,22 +711,22 @@
       ],
       [
         [
-          -0.27075985074043274,
-          -0.9612632989883423,
-          0.051594920456409454,
+          0.8513835668563843,
+          0.0440807119011879,
+          -0.5226881504058838,
           -0.02294252999126911
         ],
         [
-          -0.9179343581199646,
-          0.24166777729988098,
-          -0.31463176012039185,
+          -0.42703691124916077,
+          0.6369021534919739,
+          -0.6418684720993042,
           -0.013535753823816776
         ],
         [
-          0.2899751365184784,
-          -0.1325504034757614,
-          -0.9478105306625366,
-          0.6982080340385437
+          0.30460718274116516,
+          0.7696834206581116,
+          0.561072051525116,
+          0.6957906484603882
         ],
         [
           0.0,
@@ -737,22 +737,22 @@
       ],
       [
         [
-          0.11262132972478867,
-          -0.9931848645210266,
-          -0.030005136504769325,
+          0.9599631428718567,
+          0.017894096672534943,
+          -0.27955424785614014,
           -0.0222480446100235
         ],
         [
-          -0.7655487060546875,
-          -0.06747882813215256,
-          -0.6398294568061829,
+          -0.13615305721759796,
+          0.9019554853439331,
+          -0.409803181886673,
           -0.027012141421437263
         ],
         [
-          0.6334441900253296,
-          0.0950288400053978,
-          -0.7679309248924255,
-          0.69708651304245
+          0.24481242895126343,
+          0.43145811557769775,
+          0.868280291557312,
+          0.6900599002838135
         ],
         [
           0.0,

samples/-5nmuwQ0kwA_383.0_387.0/recording.viser

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:629de4255c0ef0bc81a6cc03d6b2a01c17256ed7b01cc0ff3309fb9c79cc3502
-size 1015523
+oid sha256:2c0981ba6d04fcb99d7dd5747d553c4a53e2e4b96cde40c4afad690fb19ae49a
+size 1015304