P4: remove 6 likely-DUP AMBIG phantom oids (5 clips, heuristic d3d<0.7m+size_ratio>0.5)
Browse files- samples/-20k07PjLTA_48.0_52.4/mask.mp4 +2 -2
- samples/-20k07PjLTA_48.0_52.4/masks.npz +2 -2
- samples/-20k07PjLTA_48.0_52.4/object_obb.bin +2 -2
- samples/-20k07PjLTA_48.0_52.4/object_pose.bin +2 -2
- samples/-20k07PjLTA_48.0_52.4/pose_track.json +0 -2585
- samples/-20k07PjLTA_48.0_52.4/recording.viser +2 -2
- samples/-20k07PjLTA_48.0_52.4/scene.json +3 -48
- samples/-20k07PjLTA_48.0_52.4/signals.json +1 -1
samples/-20k07PjLTA_48.0_52.4/mask.mp4
CHANGED
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@@ -1,3 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:
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| 3 |
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size
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version https://git-lfs.github.com/spec/v1
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oid sha256:633c9575fcba471ff8dbae6503ec8aeef2e659493fadd5553851fa498a63ba98
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size 113406
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samples/-20k07PjLTA_48.0_52.4/masks.npz
CHANGED
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@@ -1,3 +1,3 @@
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oid sha256:
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oid sha256:200f7d4c331dcb425c687a5db760f6c9fc170f41ed4ae4a050514c7649c82864
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size 116006
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samples/-20k07PjLTA_48.0_52.4/object_obb.bin
CHANGED
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samples/-20k07PjLTA_48.0_52.4/object_pose.bin
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| 5156 |
-
false,
|
| 5157 |
-
false,
|
| 5158 |
-
false,
|
| 5159 |
-
false,
|
| 5160 |
-
false,
|
| 5161 |
-
false,
|
| 5162 |
-
false,
|
| 5163 |
-
false,
|
| 5164 |
-
false,
|
| 5165 |
-
false,
|
| 5166 |
-
false,
|
| 5167 |
-
false,
|
| 5168 |
-
false,
|
| 5169 |
-
false
|
| 5170 |
-
]
|
| 5171 |
-
},
|
| 5172 |
"2": {
|
| 5173 |
"mode": "position_first",
|
| 5174 |
"algo_version": "v1-position-first",
|
|
|
|
| 2584 |
false
|
| 2585 |
]
|
| 2586 |
},
|
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|
| 2587 |
"2": {
|
| 2588 |
"mode": "position_first",
|
| 2589 |
"algo_version": "v1-position-first",
|
samples/-20k07PjLTA_48.0_52.4/recording.viser
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d5ae4c80c3fe21ff67411b870b397a287f03ded2761842563d6d4066bf752083
|
| 3 |
+
size 3774580
|
samples/-20k07PjLTA_48.0_52.4/scene.json
CHANGED
|
@@ -63,27 +63,6 @@
|
|
| 63 |
],
|
| 64 |
"canonical_scale": 0.3651278018951416
|
| 65 |
},
|
| 66 |
-
{
|
| 67 |
-
"id": 1,
|
| 68 |
-
"prompt": "red bowl",
|
| 69 |
-
"color_hex": "#6a9460",
|
| 70 |
-
"ply": "objects/obj_1.ply",
|
| 71 |
-
"n_points": 44448,
|
| 72 |
-
"scale_correction": 0.33846068382263184,
|
| 73 |
-
"tracker_ok": true,
|
| 74 |
-
"canonical_translation": [
|
| 75 |
-
-0.590521514415741,
|
| 76 |
-
-0.296978235244751,
|
| 77 |
-
1.4451658725738525
|
| 78 |
-
],
|
| 79 |
-
"canonical_rotation_quat": [
|
| 80 |
-
0.10368770360946655,
|
| 81 |
-
0.17569828033447266,
|
| 82 |
-
0.8350603580474854,
|
| 83 |
-
0.5109336376190186
|
| 84 |
-
],
|
| 85 |
-
"canonical_scale": 0.33846068382263184
|
| 86 |
-
},
|
| 87 |
{
|
| 88 |
"id": 2,
|
| 89 |
"prompt": "red bowl",
|
|
@@ -172,13 +151,13 @@
|
|
| 172 |
"object_pose_traj": "object_pose.bin",
|
| 173 |
"object_pose_shape": [
|
| 174 |
67,
|
| 175 |
-
|
| 176 |
4,
|
| 177 |
4
|
| 178 |
],
|
| 179 |
"object_obb": "object_obb.bin",
|
| 180 |
"object_obb_shape": [
|
| 181 |
-
|
| 182 |
8,
|
| 183 |
3
|
| 184 |
],
|
|
@@ -205,7 +184,6 @@
|
|
| 205 |
],
|
| 206 |
"oids": [
|
| 207 |
0,
|
| 208 |
-
1,
|
| 209 |
2,
|
| 210 |
3,
|
| 211 |
4,
|
|
@@ -219,7 +197,7 @@
|
|
| 219 |
},
|
| 220 |
"stats": {
|
| 221 |
"n_frames": 67,
|
| 222 |
-
"n_objects":
|
| 223 |
"has_grasp": false,
|
| 224 |
"mean_trust": null,
|
| 225 |
"mean_iou": null,
|
|
@@ -249,29 +227,6 @@
|
|
| 249 |
"is_static_global": false,
|
| 250 |
"n_state_frames": 67
|
| 251 |
},
|
| 252 |
-
"1": {
|
| 253 |
-
"path": null,
|
| 254 |
-
"anchor_fitness": null,
|
| 255 |
-
"median_chamfer_mm": null,
|
| 256 |
-
"mean_iou": null,
|
| 257 |
-
"grasp_rate": 0.0,
|
| 258 |
-
"trust_rate": 0.0,
|
| 259 |
-
"tracking_status": "ok",
|
| 260 |
-
"state_counts": {
|
| 261 |
-
"static": 67,
|
| 262 |
-
"grasped_l": 0,
|
| 263 |
-
"grasped_r": 0,
|
| 264 |
-
"grasped_both": 0,
|
| 265 |
-
"moving": 0
|
| 266 |
-
},
|
| 267 |
-
"state_fractions": {
|
| 268 |
-
"static": 1.0,
|
| 269 |
-
"grasped": 0.0,
|
| 270 |
-
"moving": 0.0
|
| 271 |
-
},
|
| 272 |
-
"is_static_global": true,
|
| 273 |
-
"n_state_frames": 67
|
| 274 |
-
},
|
| 275 |
"2": {
|
| 276 |
"path": null,
|
| 277 |
"anchor_fitness": null,
|
|
|
|
| 63 |
],
|
| 64 |
"canonical_scale": 0.3651278018951416
|
| 65 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 66 |
{
|
| 67 |
"id": 2,
|
| 68 |
"prompt": "red bowl",
|
|
|
|
| 151 |
"object_pose_traj": "object_pose.bin",
|
| 152 |
"object_pose_shape": [
|
| 153 |
67,
|
| 154 |
+
5,
|
| 155 |
4,
|
| 156 |
4
|
| 157 |
],
|
| 158 |
"object_obb": "object_obb.bin",
|
| 159 |
"object_obb_shape": [
|
| 160 |
+
5,
|
| 161 |
8,
|
| 162 |
3
|
| 163 |
],
|
|
|
|
| 184 |
],
|
| 185 |
"oids": [
|
| 186 |
0,
|
|
|
|
| 187 |
2,
|
| 188 |
3,
|
| 189 |
4,
|
|
|
|
| 197 |
},
|
| 198 |
"stats": {
|
| 199 |
"n_frames": 67,
|
| 200 |
+
"n_objects": 5,
|
| 201 |
"has_grasp": false,
|
| 202 |
"mean_trust": null,
|
| 203 |
"mean_iou": null,
|
|
|
|
| 227 |
"is_static_global": false,
|
| 228 |
"n_state_frames": 67
|
| 229 |
},
|
|
|
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|
|
|
|
|
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|
|
|
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|
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|
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|
|
|
|
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|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
| 230 |
"2": {
|
| 231 |
"path": null,
|
| 232 |
"anchor_fitness": null,
|
samples/-20k07PjLTA_48.0_52.4/signals.json
CHANGED
|
@@ -1 +1 @@
|
|
| 1 |
-
{"n_frames": 67, "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], "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], "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], "motion": [0.0, 11.67261791229248, 9.51314926147461, 3.2015621662139893, 11.76860237121582, 3.1622776985168457, 7.82623815536499, 6.946221828460693, 7.158910751342773, 5.315073013305664, 9.552486419677734, 7.280109882354736, 11.88486385345459, 8.514693260192871, 10.511898040771484, 12.165525436401367, 3.9051249027252197, 18.560710906982422, 3.605551242828369, 4.031128883361816, 1.5, 2.692582368850708, 4.4721360206604, 3.605551242828369, 13.209844589233398, 18.821529388427734, 12.103718757629395, 10.977249145507812, 13.656499862670898, 14.508618354797363, 18.55397605895996, 22.803508758544922, 19.678668975830078, 130.5, 15.913830757141113, 15.89024829864502, 47.92963409423828, 8.5440034866333, 130.5, 20.056171417236328, 20.2237491607666, 10.012492179870605, 19.5, 19.24188232421875, 5.656854152679443, 14.577380180358887, 15.660459518432617, 15.81138801574707, 9.861541748046875, 24.351591110229492, 27.408939361572266, 1.1180340051651, 24.52039909362793, 21.005950927734375, 8.246211051940918, 10.0, 26.800186157226562, 12.658988952636719, 14.317821502685547, 25.67586326599121, 130.50096130371094, 16.155494689941406, 20.886598587036133, 9.178779602050781, 130.00096130371094, 130.00096130371094, 16.031219482421875]}, "per_object": {"0": {"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, true, 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, true, false, false, false, true, true, 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", "moving", "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", "moving", "static", "static", "static", "moving", "moving", "static"]}, "
|
|
|
|
| 1 |
+
{"n_frames": 67, "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], "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], "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], "motion": [0.0, 11.67261791229248, 9.51314926147461, 3.2015621662139893, 11.76860237121582, 3.1622776985168457, 7.82623815536499, 6.946221828460693, 7.158910751342773, 5.315073013305664, 9.552486419677734, 7.280109882354736, 11.88486385345459, 8.514693260192871, 10.511898040771484, 12.165525436401367, 3.9051249027252197, 18.560710906982422, 3.605551242828369, 4.031128883361816, 1.5, 2.692582368850708, 4.4721360206604, 3.605551242828369, 13.209844589233398, 18.821529388427734, 12.103718757629395, 10.977249145507812, 13.656499862670898, 14.508618354797363, 18.55397605895996, 22.803508758544922, 19.678668975830078, 130.5, 15.913830757141113, 15.89024829864502, 47.92963409423828, 8.5440034866333, 130.5, 20.056171417236328, 20.2237491607666, 10.012492179870605, 19.5, 19.24188232421875, 5.656854152679443, 14.577380180358887, 15.660459518432617, 15.81138801574707, 9.861541748046875, 24.351591110229492, 27.408939361572266, 1.1180340051651, 24.52039909362793, 21.005950927734375, 8.246211051940918, 10.0, 26.800186157226562, 12.658988952636719, 14.317821502685547, 25.67586326599121, 130.50096130371094, 16.155494689941406, 20.886598587036133, 9.178779602050781, 130.00096130371094, 130.00096130371094, 16.031219482421875]}, "per_object": {"0": {"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, true, 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, true, false, false, false, true, true, 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", "moving", "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", "moving", "static", "static", "static", "moving", "moving", "static"]}, "2": {"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], "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"]}, "3": {"trust": [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], "state": ["grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l", "grasped_l"]}, "4": {"trust": [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], "state": ["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", "moving", "moving", "moving", "moving", "moving", "moving", "moving", "moving", "moving", "moving", "moving"]}, "5": {"trust": [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, 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], "state": ["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", "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"]}}}
|