diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..7541c620c176e6a39801cf7ddefdd0c58e03ffdb --- /dev/null +++ b/README.md @@ -0,0 +1,89 @@ +--- +pretty_name: RevoBench Refactor — Ten Accepted Multimodal Episodes +language: +- en +tags: +- robotics +- lerobot +- tactile +- simulation +--- + +# RevoBench-Refactor: ten-task reference batch + +This batch contains **10 accepted simulated demonstrations, 29,170 frames at 60 Hz, and 140 synchronized videos** (486.17 seconds of robot time). Each task contributes one complete episode. The robot is the new RevoTron with textured, calibrated Revo3 **MT** hands and the approved palm-facing **180° wrist fisheye** cameras. The previous fingertip optical calibration is retained. + +The format is **LeRobot v2.1**, validated with **LeRobot 0.3.3 / PyAV**. These are selected scripted reference executions, not a statistically measured success rate or a large training benchmark. The only split is `train`. + +## Episodes + +| Episode | Task | Frames | Seed | Randomized layout | +|---:|---|---:|---:|:---:| +| 0 | `hammer` | 1403 | 0 | no | +| 1 | `plug_charger` | 2457 | 1 | yes | +| 2 | `tray_carry` | 1676 | 1 | yes | +| 3 | `pour_can` | 3720 | 1 | yes | +| 4 | `cup_hang` | 3892 | 1 | yes | +| 5 | `rotate_knob` | 2230 | 1 | yes | +| 6 | `insert_pipette` | 2551 | 1 | yes | +| 7 | `insert_peg` | 3033 | 1 | yes | +| 8 | `kitchen` | 5424 | 1 | yes | +| 9 | `power_drill` | 2784 | 4 | yes | + +English task instructions are in `meta/tasks.jsonl`. `meta/batch_provenance.json` maps every episode to its original recording. Episode, global-frame, task and tactile-target indices were assigned by the shared exporter; the original per-task datasets remain preserved separately. + +## Recorded fields + +Use `meta/info.json` for exact feature names, shapes and joint ordering. + +| Fields | Shape per frame / interpretation | +|---|---| +| `observation.state`, `action` | `[56]`, measured joint positions and absolute joint commands in radians; observations precede the corresponding command | +| `observation.images.head`, `.wrist_left`, `.wrist_right`, `.overview` | Four RGB videos; the two wrist cameras use 180° fisheye projection | +| `observation.images.tactile_{side}_{finger}` | Ten optical tactile RGB videos, five per hand | +| `observation.tactile_depth.{side}_{finger}` | `[1,240,320]` numeric float32 optical overlap depth in metres | +| `observation.tactile_marker.{side}_{finger}` | `[100,3]` float32 marker displacement in DIP-local coordinates, metres | +| `observation.tactile_marker_valid.{side}_{finger}` | `[100]` fixed boolean calibration validity mask | +| `observation.tactile_pressure.{side}_{region}` | MT regional response vectors, **451 channels per hand** | +| `observation.tactile_tip_wrench.{side}_fingers` | `[5,6]` normal plus friction forces and moments about the DIP origin, in DIP-local coordinates; N and N m | +| `observation.tactile_target_id` | `[1]` dataset-wide target ID; resolve through `meta/tactile_targets.json` | + +Sides are `left` and `right`; fingers are `thumb`, `index`, `middle`, `ring`, `pinky`. Pressure has thumb regions of 31+57 channels, four finger regions of 21+52 each, and 71 palm channels. It is a nonnegative response after column-normalized spatial diffusion, **not Pa or N**, and can exceed 1. Do not clip it to [0,1]. The tactile backend observes one explicitly identified target at a time, not all scene contacts. Per-episode `target_mapping.json` maps original raw target slots to dataset-wide IDs. + +Gains are configuration, not action dimensions. Every task uses hand stiffness/damping 80/8, arm stiffness `[600,600,600,450,450,300,300]` and arm damping 30. Recording/control run at 60 Hz; physics runs at 480 Hz. + +## Reading the data + +Authenticate with an account permitted to read this private dataset (`hf auth login`). Use the pinned LeRobot 0.3.3 reader environment documented in the [code repository](https://github.com/DavidLXu/RevoBench-Refactor/tree/c2646255984794f755e391c18e58c745c63e198e). The snippet downloads a fixed format tag, then loads local files: + +```python +from huggingface_hub import snapshot_download +from lerobot.datasets.lerobot_dataset import LeRobotDataset + +repo_id = "DavidLXu/RevoBench-Refactor" +root = snapshot_download(repo_id, repo_type="dataset", revision="v2.1") +dataset = LeRobotDataset( + repo_id, + root=root, + download_videos=False, + video_backend="pyav", + delta_timestamps={"action": [i / 60 for i in range(16)]}, +) +sample = dataset[0] +print(sample["observation.state"].shape) # torch.Size([56]) +print(sample["action"].shape) # torch.Size([16, 56]) +``` + +For an immutable experiment, replace `v2.1` with this dataset's full Hub commit SHA. Preserve episode boundaries and use `action_is_pad` when training with action chunks. The official reader has been checked at the start, middle and end of all ten episodes, including repeated final-action padding. + +## Evidence and scope + +`meta/validation_summary.json` contains combined-dataset numeric and official-reader validation. The exporter decoded every video to check all frame counts and timestamps. `meta/episodes/episode_XXXXXX/` preserves the original raw manifest, physical report, calibration hashes and target mapping. `meta/acceptance/` contains the selected task acceptance, randomized-layout evidence and individual physical, motion and visual reviews. `meta/file_manifest.json` records payload sizes and SHA-256 hashes, excluding itself. + +These recordings share optical model `physical_geometry_optical_intervals_v1_candidate`. Numeric depth represents the connected target overlap along a calibrated ray at its gel-surface endpoint; it is not measured normal silicone indentation. The tray uses its closed authored source surface rather than the cooked PhysX SDF grid. Real-sensor fidelity has not been established. In the selected tray episode, thumb contact is on the shell outside the calibrated gel, so zero thumb optical response is valid. + +`pour_can` uses the versioned granular surrogate `pour_can_opened_granular_v2_cavity_frame`; its containment predicate remains provisional and does not assert that every particle reaches the bowl. `insert_pipette` ends with the inserted tube still held. `power_drill` demonstrates pickup, non-contact board alignment and upright replacement/release; it does not simulate spindle rotation or drilling. + +Code and reproduction: [RevoBench-Refactor at c264625](https://github.com/DavidLXu/RevoBench-Refactor/tree/c2646255984794f755e391c18e58c745c63e198e), [recording instructions](https://github.com/DavidLXu/RevoBench-Refactor/blob/c2646255984794f755e391c18e58c745c63e198e/docs/REPRODUCE.md), [sensor contract](https://github.com/DavidLXu/RevoBench-Refactor/blob/c2646255984794f755e391c18e58c745c63e198e/docs/SENSOR_MODEL.md), [physical criteria](https://github.com/DavidLXu/RevoBench-Refactor/blob/c2646255984794f755e391c18e58c745c63e198e/docs/VALIDATION.md). + +Robot, task assets, textures and calibration retain their respective upstream provenance; no new blanket asset license is asserted here. See [third-party notices](https://github.com/DavidLXu/RevoBench-Refactor/blob/c2646255984794f755e391c18e58c745c63e198e/docs/THIRD_PARTY.md). 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No velocity/acceleration acceptance threshold is inferred. Not evidence of physical success, collision clearance, or visual smoothness." +} diff --git a/meta/acceptance/cup_hang/local_video_decode.json b/meta/acceptance/cup_hang/local_video_decode.json new file mode 100644 index 0000000000000000000000000000000000000000..1fdb4fea7b78b214128aa040be23cc44a8e7d893 --- /dev/null +++ b/meta/acceptance/cup_hang/local_video_decode.json @@ -0,0 +1,76 @@ +{ + "passed": true, + "videos": [ + { + "file": "observation.images.head.mp4", + "frames": 3892, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.overview.mp4", + "frames": 3892, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_index.mp4", + "frames": 3892, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_middle.mp4", + "frames": 3892, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_pinky.mp4", + "frames": 3892, + "max_timestamp_error_s": 0.0 + }, + { + "file": 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"total_decoded_frames": 54488 +} \ No newline at end of file diff --git a/meta/acceptance/cup_hang/physical_report.json b/meta/acceptance/cup_hang/physical_report.json new file mode 100644 index 0000000000000000000000000000000000000000..32675d34162d28068489c5d98b8c67d32de17db6 --- /dev/null +++ b/meta/acceptance/cup_hang/physical_report.json @@ -0,0 +1,150 @@ +{ + "physical_success": true, + "controller": { + "success": true, + "verification_seconds": 5.0, + "stable_samples": 100, + "verification_samples": 100, + "settled_window": { + "success": true, + "samples": 100, + "supported_samples": 100, + "position_span_m": 0.0001592201297171414, + "cup_axis_excursion_deg": 0.06047491898689111, + "hand_contact_force_max_n": 0.0, + "support_force_min_n": 1.7528207302093506, + "support_force_mean_n": 1.8325703144073486, + "tip_radial_offset_max_m": 0.02411424161230666, + "tip_height_from_bottom_range_m": [ + 0.07106495195929673, + 0.07107156429030496 + ], + "cup_lift_min_m": 0.2559061646461487, 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b/meta/acceptance/cup_hang/recording_identity.json new file mode 100644 index 0000000000000000000000000000000000000000..83af5c56535bfe553953aedae443a86453da5a1c --- /dev/null +++ b/meta/acceptance/cup_hang/recording_identity.json @@ -0,0 +1,277 @@ +{ + "task": "cup_hang", + "frames": 3892, + "fps": 60, + "pilot": false, + "contact_contract": { + "targets": [ + "cup_forest_green" + ], + "target_paths": [ + "/World/envs/env_.*/Objects/cup_forest_green" + ], + "scope": "Merged MT DIP body against identified target only; excludes other objects and self contacts", + "frame": "DIP_Link local frame", + "origin": "DIP_Link origin", + "wrench_units": [ + "N", + "N", + "N", + "N*m", + "N*m", + "N*m" + ], + "marker_units": "m", + "depth_units": "m", + "pressure_units": "nonnegative post-diffusion response, not Pa or N", + "finger_order": [ + "thumb", + "index", + "middle", + "ring", + "pinky" + ], + "pressure_region_order": { + "left": [ + "middle_fingertip", + "middle_fingerpad", + "thumb_fingertip", + "thumb_fingerpad", + "index_fingertip", + "index_fingerpad", + "ring_fingertip", + "ring_fingerpad", + "pinky_fingertip", + "pinky_fingerpad", + "palm" + ], + "right": [ + "middle_fingertip", + "middle_fingerpad", + "thumb_fingertip", + "thumb_fingerpad", + "index_fingertip", + "index_fingerpad", + "ring_fingertip", + "ring_fingerpad", + "pinky_fingertip", + "pinky_fingerpad", + "palm" + ] + }, + "physics_dt": 0.0020833333333333333, + "tactile_history_hz": 60, + "normal_force_sum_checked_every_frame": true + }, + "optical_contact_model": { + "id": "physical_geometry_optical_intervals_v1_candidate", + "targets": { + "cup_forest_green": { + "path": "/World/envs/env_0/Objects/cup_forest_green", + "geometry_file": "optical_geometry/cup_forest_green.json", + "sha256": "e23febde6eb8a20117b412ce046494725d2a1b5579e152253cfc4244ab2bbf35", + "convex_hulls": 16, + "cylinders": 0, + "sdf_source_surface": false + } + }, + "sdf_scope": "Watertight authored SDF source surface, not discrete PhysX SDF grid" + }, + "robot_configuration": { + "max_depenetration_velocity": 1000.0, + "disable_gravity": true, + "effort_limits": { + "right_arm": { + "Joint1_R": 600.0, + "Joint2_R": 600.0, + "Joint3_R": 600.0, + "Joint4_R": 600.0, + "Joint5_R": 200.0, + "Joint6_R": 200.0, + "Joint7_R": 200.0 + }, + "right_fingers": { + "right_thumb_CMP_joint": 5.0, + "right_thumb_CMR_joint": 5.0, + "right_thumb_MCP_joint": 5.0, + "right_thumb_PIP_joint": 5.0, + "right_thumb_DIP_joint": 5.0, + "right_index_MPR_joint": 5.0, + "right_index_MCP_joint": 5.0, + "right_index_PIP_joint": 5.0, + "right_index_DIP_joint": 5.0, + "right_middle_MPR_joint": 5.0, + "right_middle_MCP_joint": 5.0, + "right_middle_PIP_joint": 5.0, + "right_middle_DIP_joint": 5.0, + "right_ring_MPR_joint": 5.0, + "right_ring_MCP_joint": 5.0, + "right_ring_PIP_joint": 5.0, + "right_ring_DIP_joint": 5.0, + "right_little_MPR_joint": 5.0, + "right_little_MCP_joint": 5.0, + "right_little_PIP_joint": 5.0, + 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true, + "reason": "Cup pregrasp/grasp/lift IK and open approach clearance passed" + } + ], + "static_fixtures": [], + "scope": "Reset-only rigid assembly translation; measured IK approach and conservative scene bounds" + }, + "shared_configuration": "../shared_configuration.json", + "shared_configuration_sha256": "83a6126d0f16476d540a55e550c566c5403f4d876a526c0f641be92bd98a5437", + "reference_run": "cup_supported_setdown_generic_full_001", + "final_release_verified": true, + "scope": "Final reviewed reference recording; individual execution, not a success-rate estimate. Original reports copied byte-for-byte. Preview is a decoded frame, not a mockup.", + "preview_frame": 3000, + "preview_camera": "overview", + "motion_report_included": true, + "original_manifest_sha256": "e40b1c0b9a663782b9274586ab2c34e7a1c6e03ac4c099086bdae1b15f2b50ee", + "files": { + "physical_report.json": { + "source": "outputs/cup_supported_setdown_generic_full_001/collection/raw/physical_report.json", + "sha256": "f729e3d3aae90192a333eee4cfcebd1827efb81df697040874dc9726381c2d6a" + }, + "validation_summary.json": { + "source": "outputs/cup_supported_setdown_generic_full_001/lerobot/meta/validation_summary.json", + "sha256": "c8788f8a3253de2c2f0fcec25dcfd4ed0749199a4042bd80fbd40999cba1e2ca" + }, + "preview.jpg": { + "source": "outputs/ten_task_reference_gallery_009/cup_hang.jpg", + "sha256": "8006788db643bdcfa7a81294d8192754178f1cc4674d75708a4e64bd3c52c97c" + }, + "command_continuity.json": { + "source": "outputs/cup_supported_setdown_generic_full_001/command_continuity.json", + "sha256": "5e58262fb21ded264ad490f52439b0477c8c8c6000068dcf779d606af475f6ba" + }, + "visual_review.json": { + "source": "outputs/cup_supported_setdown_generic_full_001/diagnostics/visual_review.json", + "sha256": "8f088f2982e60f0c449bda8ac2654759adf14c9e0c133c6c7feea4cadca82d5e" + }, + "local_video_decode.json": { + "source": "outputs/cup_supported_setdown_generic_full_001/diagnostics/local_video_decode.json", + "sha256": "6ace806be3b7b980e0b910d569fb345d41065756221a85f03767b0bfa4d72ced" + } + } +} diff --git a/meta/acceptance/cup_hang/validation_summary.json b/meta/acceptance/cup_hang/validation_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..630fcce94a64a3feb7c095fe41f76b8b4e858da0 --- /dev/null +++ b/meta/acceptance/cup_hang/validation_summary.json @@ -0,0 +1,62 @@ +{ + "loader": "lerobot 0.3.3 / pyav", + "pilot": false, + "episodes": [ + { + "episode": 0, + "frames": 3892, + "physical_success": true, + "peaks": { + "observation.tactile_target_id": 0.0, + "observation.tactile_depth.left_thumb": 0.0, + "observation.tactile_marker.left_thumb": 0.0, + "observation.tactile_depth.left_index": 0.0, + "observation.tactile_marker.left_index": 0.0, + "observation.tactile_depth.left_middle": 0.0, + "observation.tactile_marker.left_middle": 0.0, + "observation.tactile_depth.left_ring": 0.0, + "observation.tactile_marker.left_ring": 0.0, + "observation.tactile_depth.left_pinky": 0.0, + "observation.tactile_marker.left_pinky": 0.0, + "observation.tactile_pressure.left_middle_fingertip": 0.0, + "observation.tactile_pressure.left_middle_fingerpad": 0.0, + "observation.tactile_pressure.left_thumb_fingertip": 0.0, + "observation.tactile_pressure.left_thumb_fingerpad": 0.0, + "observation.tactile_pressure.left_index_fingertip": 0.0, + "observation.tactile_pressure.left_index_fingerpad": 0.0, + "observation.tactile_pressure.left_ring_fingertip": 0.0, + "observation.tactile_pressure.left_ring_fingerpad": 0.0, + "observation.tactile_pressure.left_pinky_fingertip": 0.0, + "observation.tactile_pressure.left_pinky_fingerpad": 0.0, + "observation.tactile_pressure.left_palm": 0.0, + "observation.tactile_tip_wrench.left_fingers": 0.0, + "observation.tactile_depth.right_thumb": 0.005001786630600691, + "observation.tactile_marker.right_thumb": 0.00035808442044071853, + "observation.tactile_depth.right_index": 0.0036550192162394524, + "observation.tactile_marker.right_index": 0.0008712719427421689, + "observation.tactile_depth.right_middle": 0.004125014878809452, + "observation.tactile_marker.right_middle": 0.0020174281671643257, + "observation.tactile_depth.right_ring": 0.003950603771954775, + "observation.tactile_marker.right_ring": 0.0019017616286873817, + "observation.tactile_depth.right_pinky": 0.0038886358961462975, + "observation.tactile_marker.right_pinky": 0.0017414591275155544, + "observation.tactile_pressure.right_middle_fingertip": 0.0, + "observation.tactile_pressure.right_middle_fingerpad": 0.0, + "observation.tactile_pressure.right_thumb_fingertip": 0.0, + "observation.tactile_pressure.right_thumb_fingerpad": 0.0, + "observation.tactile_pressure.right_index_fingertip": 0.0, + "observation.tactile_pressure.right_index_fingerpad": 0.8248653411865234, + "observation.tactile_pressure.right_ring_fingertip": 0.0, + "observation.tactile_pressure.right_ring_fingerpad": 0.0, + "observation.tactile_pressure.right_pinky_fingertip": 0.9592034816741943, + "observation.tactile_pressure.right_pinky_fingerpad": 0.26676198840141296, + "observation.tactile_pressure.right_palm": 0.0, + "observation.tactile_tip_wrench.right_fingers": 59.452964782714844 + } + } + ], + "frames": 3892, + "action_horizon": 16, + "boundary_padding_verified": true, + "video_counts_and_timestamps": "Fully decoded by shared exporter; loader sampled here" +} diff --git a/meta/acceptance/cup_hang/visual_review.json b/meta/acceptance/cup_hang/visual_review.json new file mode 100644 index 0000000000000000000000000000000000000000..603578b3bb8fad6e2dd39a01bdd8673c9cedd356 --- /dev/null +++ b/meta/acceptance/cup_hang/visual_review.json @@ -0,0 +1,16 @@ +{ + "actual_images_reviewed": [ + "../frames/overview_3000.jpg", + "../frames/overview_3800.jpg", + "../frames/wrist_right_1600.jpg", + "../frames/wrist_left_3000.jpg" + ], + "observations": [ + "New RevoTron body with textured MT hands is present.", + "Overview shows seated cup and subsequent open right hand clear of the cup; cup remains on the rack.", + "Both wrist views retain the circular 180-degree palm-facing layout. Active hand holds the cup close to its wrist camera; object occlusion is expected." + ], + "review_method": "Decoded actual recorded video frames. Browser UI is disabled; no browser playback verification claimed.", + "physical_evidence": "../collection/diagnostics/main_oracle_revalidation.json", + "all_video_decode": "local_video_decode.json" +} \ No newline at end of file diff --git a/meta/acceptance/hammer/command_continuity.json b/meta/acceptance/hammer/command_continuity.json new file mode 100644 index 0000000000000000000000000000000000000000..9b87425d50db514558d844cd11e85bc0c9110284 --- /dev/null +++ b/meta/acceptance/hammer/command_continuity.json @@ -0,0 +1,17 @@ +{ + "dataset": "/home/lixin/RevoBench-refactor/outputs/hammer_generic_full_001/lerobot", + "episodes": [ + { + "episode": 0, + "frames": 1403, + "duration_s": 23.383333333333333, + "max_command_step_rad": 0.03761745884548873, + "peak_joint_speed_rad_s": 2.257081971067017, + "peak_joint_acceleration_rad_s2": 23.839557514209986, + "p99_frame_peak_speed_rad_s": 1.7380444659186505, + "command_holds_over_250ms": [], + "command_hold_total_s": 0 + } + ], + "scope": "Recorded commands only; includes intentional contact/stability holds. No velocity/acceleration acceptance threshold is inferred. Not evidence of physical success, collision clearance, or visual smoothness." +} diff --git a/meta/acceptance/hammer/local_video_decode.json b/meta/acceptance/hammer/local_video_decode.json new file mode 100644 index 0000000000000000000000000000000000000000..f16e8b85035c76861fedf1b615086f8d4f3eacb1 --- /dev/null +++ b/meta/acceptance/hammer/local_video_decode.json @@ -0,0 +1,76 @@ +{ + "passed": true, + "videos": [ + { + "file": "observation.images.head.mp4", + "frames": 1403, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.overview.mp4", + "frames": 1403, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_index.mp4", + "frames": 1403, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_middle.mp4", + "frames": 1403, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_pinky.mp4", + "frames": 1403, + "max_timestamp_error_s": 0.0 + }, + { + "file": 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"scope": "Full local PyAV video decoding with60Hz timestamps; actual-frame review separate." +} \ No newline at end of file diff --git a/meta/acceptance/hammer/physical_report.json b/meta/acceptance/hammer/physical_report.json new file mode 100644 index 0000000000000000000000000000000000000000..ab8879dfac577d08b5f2f27936434b4fcc1e9d6c --- /dev/null +++ b/meta/acceptance/hammer/physical_report.json @@ -0,0 +1,75920 @@ +{ + "success": true, + "grasp_only": false, + "steps": 1403, + "phase": "verify_depth", + "nail_initial_m": 0.0, + "record_fps": 60, + "nail_contact_history": [ + { + "step": 0, + "phase": "raise_hand", + "hammer_n": 0.0, + "hand_n": 0.0 + }, + { + "step": 0, + "phase": "raise_hand", + "hammer_n": 0.0, + "hand_n": 0.0 + }, + { + "step": 0, + "phase": "raise_hand", + "hammer_n": 0.0, + "hand_n": 0.0 + }, + { + "step": 0, + "phase": "raise_hand", + "hammer_n": 0.0, + "hand_n": 0.0 + }, + { + "step": 0, + "phase": "raise_hand", + "hammer_n": 0.0, + "hand_n": 0.0 + }, + { + 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0.0026211293879896402 + ], + "nail_depth": 0.07000000029802322, + "finger_forces": [ + 0.0, + 0.0, + 18.0848331451416, + 0.0, + 0.0, + 3.601773262023926, + 0.0, + 0.0, + 7.771196365356445, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "hand_table_force_n": 0.0 + }, + "actuation": "56 absolute joint positions; fixed shared gains; free dynamic hammer; no attachment", + "physical_success": true, + "validation": { + "success": true, + "errors": [], + "nail_travel_m": 0.07000000029802322, + "hammer_nail_peak_n": 16.141679763793945, + "hand_nail_peak_n": 0.0, + "final_hammer_lift_m": 0.2929563522338867, + "final_hammer_clearance_m": 0.1720559412942454, + "final_thumb_force_n": 18.0848331451416, + "final_opposing_force_n": 11.372969627380371, + "contact_samples": 12627, + "control_steps": 1403, + "recorded_frames": 1403, + "record_fps": 60, + "validation_source": "saved pre-action states, physics-substep contacts and terminal measurements" + }, + "termination_reason": "source_finished" +} diff --git a/meta/acceptance/hammer/preview.jpg b/meta/acceptance/hammer/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..965ee9e6379967b5f7b54bcae58321280e1be05e --- /dev/null +++ b/meta/acceptance/hammer/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7ab764d7ada3d9af084f82af84f863f966c313e9e96efb97c6ec15cdcfd2d3e +size 31327 diff --git a/meta/acceptance/hammer/recording_identity.json b/meta/acceptance/hammer/recording_identity.json new file mode 100644 index 0000000000000000000000000000000000000000..6a59a19909b3ad799a0f1143dd0f675e4789a37f --- /dev/null +++ b/meta/acceptance/hammer/recording_identity.json @@ -0,0 +1,253 @@ +{ + "task": "hammer", + "frames": 1403, + "fps": 60, + "pilot": false, + "contact_contract": { + "targets": [ + "hammer_pair_hammer" + ], + "target_paths": [ + "/World/envs/env_.*/Objects/hammer_pair_hammer" + ], + "scope": "Merged MT DIP body against identified target only; excludes other objects and self contacts", + "frame": "DIP_Link local frame", + "origin": "DIP_Link origin", + "wrench_units": [ + "N", + "N", + "N", + "N*m", + "N*m", + "N*m" + ], + "marker_units": "m", + "depth_units": "m", + "pressure_units": "nonnegative post-diffusion response, not Pa or N", + "finger_order": [ + "thumb", + "index", + "middle", + "ring", + "pinky" + ], + "pressure_region_order": { + "left": [ + "middle_fingertip", + "middle_fingerpad", + "thumb_fingertip", + "thumb_fingerpad", + "index_fingertip", + "index_fingerpad", + "ring_fingertip", + "ring_fingerpad", + "pinky_fingertip", + "pinky_fingerpad", + "palm" + ], + "right": [ + "middle_fingertip", + "middle_fingerpad", + "thumb_fingertip", + "thumb_fingerpad", + "index_fingertip", + "index_fingerpad", + "ring_fingertip", + "ring_fingerpad", + "pinky_fingertip", + "pinky_fingerpad", + "palm" + ] + }, + "physics_dt": 0.0020833333333333333, + "tactile_history_hz": 60, + "normal_force_sum_checked_every_frame": true + }, + "optical_contact_model": { + "id": "physical_geometry_optical_intervals_v1_candidate", + "targets": { + "hammer_pair_hammer": { + "path": "/World/envs/env_0/Objects/hammer_pair_hammer", + "geometry_file": "optical_geometry/hammer_pair_hammer.json", + "sha256": "82c9a60efab7cca5c87c9754ab4c2b7c4929d630abe3881b239d7c776b4cb11a", + "convex_hulls": 154, + "cylinders": 0, + "sdf_source_surface": false + } + }, + "sdf_scope": "Watertight authored SDF source surface, not discrete PhysX SDF grid" + }, + "robot_configuration": { + "max_depenetration_velocity": 1000.0, + "disable_gravity": true, + "effort_limits": { + "right_arm": { + "Joint1_R": 600.0, + "Joint2_R": 600.0, + "Joint3_R": 600.0, + "Joint4_R": 600.0, + "Joint5_R": 200.0, + "Joint6_R": 200.0, + "Joint7_R": 200.0 + }, + "right_fingers": { + "right_thumb_CMP_joint": 5.0, + "right_thumb_CMR_joint": 5.0, + "right_thumb_MCP_joint": 5.0, + "right_thumb_PIP_joint": 5.0, + "right_thumb_DIP_joint": 5.0, + "right_index_MPR_joint": 5.0, + 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"left_middle_MCP_joint": 5.0, + "left_middle_PIP_joint": 5.0, + "left_middle_DIP_joint": 5.0, + "left_ring_MPR_joint": 5.0, + "left_ring_MCP_joint": 5.0, + "left_ring_PIP_joint": 5.0, + "left_ring_DIP_joint": 5.0, + "left_little_MPR_joint": 5.0, + "left_little_MCP_joint": 5.0, + "left_little_PIP_joint": 5.0, + "left_little_DIP_joint": 5.0 + } + }, + "velocity_limits": { + "right_arm": { + "Joint1_R": 6.2832, + "Joint2_R": 6.2832, + "Joint3_R": 6.2832, + "Joint4_R": 6.2832, + "Joint5_R": 6.2832, + "Joint6_R": 6.2832, + "Joint7_R": 6.2832 + }, + "right_fingers": { + "right_thumb_CMP_joint": 10.0, + "right_thumb_CMR_joint": 10.0, + "right_thumb_MCP_joint": 10.0, + "right_thumb_PIP_joint": 10.0, + "right_thumb_DIP_joint": 10.0, + "right_index_MPR_joint": 10.0, + "right_index_MCP_joint": 10.0, + "right_index_PIP_joint": 10.0, + "right_index_DIP_joint": 10.0, + "right_middle_MPR_joint": 10.0, + "right_middle_MCP_joint": 10.0, + "right_middle_PIP_joint": 10.0, + "right_middle_DIP_joint": 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Original reports copied byte-for-byte. Preview is a decoded frame, not a mockup.", + "preview_frame": 1050, + "preview_camera": "overview", + "motion_report_included": true, + "original_manifest_sha256": "169e4911251736d2088c93a0d681692d815fc323fbf3dcf3a360d343ff6434a8", + "files": { + "physical_report.json": { + "source": "outputs/hammer_generic_full_001/collection/raw/physical_report.json", + "sha256": "f2bd3de2479836a95c93af174f1775854e8ea7712cb26f7416747b1a60a6ed52" + }, + "validation_summary.json": { + "source": "outputs/hammer_generic_full_001/lerobot/meta/validation_summary.json", + "sha256": "2a8946015dba1b0c88a5c3ec8467e25229791d079f260791d7043c3ee3480161" + }, + "preview.jpg": { + "source": "outputs/ten_task_reference_gallery_009/hammer.jpg", + "sha256": "b7ab764d7ada3d9af084f82af84f863f966c313e9e96efb97c6ec15cdcfd2d3e" + }, + "command_continuity.json": { + "source": "outputs/hammer_generic_full_001/command_continuity.json", + "sha256": "b9acfbd410cd060f501f073de2016a8b049a8aef55367ac1f4129abe1f69717d" + }, + "visual_review.json": { + "source": "outputs/hammer_generic_full_001/diagnostics/visual_review.json", + "sha256": "1bb7aac64871642b3c85dd2bce0921eb5c4a77b75a8b20798c31ad486b429c12" + }, + "local_video_decode.json": { + "source": "outputs/hammer_generic_full_001/diagnostics/local_video_decode.json", + "sha256": "93551cb9a1e5ad482cd7c3abf4548fc0e046a1a81313eacd2c2e0a339c3b54e1" + } + } +} diff --git a/meta/acceptance/hammer/validation_summary.json b/meta/acceptance/hammer/validation_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..160426aa6d600128dba55e075d9d71bdeab473c9 --- /dev/null +++ b/meta/acceptance/hammer/validation_summary.json @@ -0,0 +1,62 @@ +{ + "loader": "lerobot 0.3.3 / pyav", + "pilot": false, + "episodes": [ + { + "episode": 0, + "frames": 1403, + "physical_success": true, + "peaks": { + "observation.tactile_target_id": 0.0, + "observation.tactile_depth.left_thumb": 0.0, + "observation.tactile_marker.left_thumb": 0.0, + "observation.tactile_depth.left_index": 0.0, + "observation.tactile_marker.left_index": 0.0, + "observation.tactile_depth.left_middle": 0.0, + "observation.tactile_marker.left_middle": 0.0, + "observation.tactile_depth.left_ring": 0.0, + "observation.tactile_marker.left_ring": 0.0, + "observation.tactile_depth.left_pinky": 0.0, + "observation.tactile_marker.left_pinky": 0.0, + "observation.tactile_pressure.left_middle_fingertip": 0.0, + "observation.tactile_pressure.left_middle_fingerpad": 0.0, + "observation.tactile_pressure.left_thumb_fingertip": 0.0, + "observation.tactile_pressure.left_thumb_fingerpad": 0.0, + "observation.tactile_pressure.left_index_fingertip": 0.0, + "observation.tactile_pressure.left_index_fingerpad": 0.0, + "observation.tactile_pressure.left_ring_fingertip": 0.0, + "observation.tactile_pressure.left_ring_fingerpad": 0.0, + "observation.tactile_pressure.left_pinky_fingertip": 0.0, + "observation.tactile_pressure.left_pinky_fingerpad": 0.0, + "observation.tactile_pressure.left_palm": 0.0, + "observation.tactile_tip_wrench.left_fingers": 0.0, + "observation.tactile_depth.right_thumb": 0.0, + "observation.tactile_marker.right_thumb": 0.0, + "observation.tactile_depth.right_index": 0.0026140715926885605, + "observation.tactile_marker.right_index": 0.0011756124440580606, + "observation.tactile_depth.right_middle": 0.0024637016467750072, + "observation.tactile_marker.right_middle": 0.000673512986395508, + "observation.tactile_depth.right_ring": 0.0, + "observation.tactile_marker.right_ring": 0.0, + "observation.tactile_depth.right_pinky": 0.0, + "observation.tactile_marker.right_pinky": 0.0, + "observation.tactile_pressure.right_middle_fingertip": 0.21394596993923187, + "observation.tactile_pressure.right_middle_fingerpad": 0.0, + "observation.tactile_pressure.right_thumb_fingertip": 0.0, + "observation.tactile_pressure.right_thumb_fingerpad": 0.0, + "observation.tactile_pressure.right_index_fingertip": 0.7901650667190552, + "observation.tactile_pressure.right_index_fingerpad": 0.0, + "observation.tactile_pressure.right_ring_fingertip": 0.0, + "observation.tactile_pressure.right_ring_fingerpad": 0.0, + "observation.tactile_pressure.right_pinky_fingertip": 0.0, + "observation.tactile_pressure.right_pinky_fingerpad": 0.0, + "observation.tactile_pressure.right_palm": 0.0, + "observation.tactile_tip_wrench.right_fingers": 20.553298950195312 + } + } + ], + "frames": 1403, + "action_horizon": 16, + "boundary_padding_verified": true, + "video_counts_and_timestamps": "Fully decoded by shared exporter; loader sampled here" +} diff --git a/meta/acceptance/hammer/visual_review.json b/meta/acceptance/hammer/visual_review.json new file mode 100644 index 0000000000000000000000000000000000000000..8a59cace9c3b6cbc54f39610bf0358768855ab22 --- /dev/null +++ b/meta/acceptance/hammer/visual_review.json @@ -0,0 +1,15 @@ +{ + "actual_images_reviewed": [ + "../frames/overview_1050.jpg", + "../frames/overview_1380.jpg", + "../frames/wrist_right_650.jpg", + "../frames/wrist_left_1050.jpg", + "../frames/tactile_right_thumb_650.jpg" + ], + "observations": [ + "Actual recorded frames show new RevoTron body, textured MT hands and circular palm-facing wrist cameras.", + "Hammer held in right hand; nail visibly lower in final overview. Original saved physical validation separately confirms70mm travel and no hand-nail contact.", + "Right thumb optical depth is zero; this is explicitly retained, not artificially populated. Active index/middle depths are nonzero; exact thumb contact geometry remains distinct from body-contact force." + ], + "method": "Decoded actual recorded images; browser UI playback not tested." +} \ No newline at end of file diff --git a/meta/acceptance/insert_peg/command_continuity.json b/meta/acceptance/insert_peg/command_continuity.json new file mode 100644 index 0000000000000000000000000000000000000000..a17e2ef6e22ecd99698b2cef493fbe1e22d8103a --- /dev/null +++ b/meta/acceptance/insert_peg/command_continuity.json @@ -0,0 +1,17 @@ +{ + "dataset": "/home/lixin/RevoBench-refactor/outputs/peg_generic_full_001/lerobot", + "episodes": [ + { + "episode": 0, + "frames": 3033, + "duration_s": 50.55, + "max_command_step_rad": 0.03632622957229614, + "peak_joint_speed_rad_s": 2.1796070325017167, + "peak_joint_acceleration_rad_s2": 22.74196408967841, + "p99_frame_peak_speed_rad_s": 0.8500707398718242, + "command_holds_over_250ms": [], + "command_hold_total_s": 0 + } + ], + "scope": "Recorded commands only; includes intentional contact/stability holds. No velocity/acceleration acceptance threshold is inferred. Not evidence of physical success, collision clearance, or visual smoothness." +} \ No newline at end of file diff --git a/meta/acceptance/insert_peg/local_video_decode.json b/meta/acceptance/insert_peg/local_video_decode.json new file mode 100644 index 0000000000000000000000000000000000000000..ae89a5c48a7f7eaa448dea0cca8a8bd5e78806d2 --- /dev/null +++ b/meta/acceptance/insert_peg/local_video_decode.json @@ -0,0 +1,76 @@ +{ + "passed": true, + "videos": [ + { + "file": "observation.images.head.mp4", + "frames": 3033, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.overview.mp4", + "frames": 3033, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_index.mp4", + "frames": 3033, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_middle.mp4", + "frames": 3033, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_pinky.mp4", + "frames": 3033, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_ring.mp4", + "frames": 3033, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_thumb.mp4", + "frames": 3033, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_right_index.mp4", + "frames": 3033, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_right_middle.mp4", + "frames": 3033, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_right_pinky.mp4", + "frames": 3033, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_right_ring.mp4", + "frames": 3033, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_right_thumb.mp4", + "frames": 3033, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.wrist_left.mp4", + "frames": 3033, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.wrist_right.mp4", + "frames": 3033, + "max_timestamp_error_s": 0.0 + } + ], + "scope": "Full local PyAV video decoding with60Hz timestamps; actual-frame review separate." +} \ No newline at end of file diff --git a/meta/acceptance/insert_peg/physical_report.json b/meta/acceptance/insert_peg/physical_report.json new file mode 100644 index 0000000000000000000000000000000000000000..598d6fca9540a333716a64f0adb785f973cba02b --- /dev/null +++ b/meta/acceptance/insert_peg/physical_report.json @@ -0,0 +1,79 @@ +{ + "physical_success": true, + "controller": { + "stage": "insert_release_withdraw", + "stage_complete": true, + "task_success": true, + "insertion_depth_m": 0.07579230063116776, + "position": [ + -0.07978270947933197, + 0.4334358870983124, + 0.91849684715271 + ], + "pickup": { + "stage": "grasp_lift_pre_alignment", + "stage_complete": true, + "position": [ + -0.07987069338560104, + 0.32881850004196167, + 0.9232978820800781 + ], + "error_m": 0.0002978628588191364, + "angle_error_deg": 0.037354272740013385, + "corrections": [ + { + "position": [ + -0.07987069338560104, + 0.32881850004196167, + 0.9232978820800781 + ], + "error_m": 0.0002978628588191364, + "angle_error_deg": 0.037354272740013385 + } + ], + "task_success": false, + "actuation": "Robot joint targets only; no object attachment or pose writes" + }, + "actuation": "Robot joint targets only; no object attachment or pose writes" + }, + "validation": { + "checks": { + "controller_completed": true, + "final_hold_recorded": true, + "no_hand_fixture_collision": true, + "no_arm_table_collision": true, + "insertion_force_bounded": true, + "inserted_at_least_6cm": true, + "within_aperture": true, + "released": true, + "stable_without_hand": true + }, + "metrics": { + "duration_s": 50.55, + "hand_fixture_peak_n": 0.0, + "peg_fixture_peak_n": 1.7610557079315186, + "arm_table_peak_n": 0.0, + "min_depth_m": 0.07579230063116776, + "min_aperture_margin_m": -4.8993899735838564e-08, + "final_position_range_m": [ + 0.0, + 0.0, + 0.0 + ], + "released_hand_force_n": 0.0 + }, + "all_pass": true, + "note": "Measured physics; fixture contact sampled at 480 Hz. 1 mm geometry tolerance for contact solver. Pickup settling accepted by user; no object pose writes during control." + }, + "control_hz": 60, + "physics_hz": 480.0, + "physical_trace_timing": "after corresponding action", + "observation_timing": "before corresponding action", + "task_physics": { + "hand_effort_limit_nm": 0.8, + "max_depenetration_velocity_m_s": 0.1, + "silicone_contact_stiffness": 280.0, + "silicone_contact_damping": 2.0 + }, + "termination_reason": "source_finished" +} diff --git a/meta/acceptance/insert_peg/preview.jpg b/meta/acceptance/insert_peg/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..353ba9b3a1b1c4941b48f42e967fa366951158ef --- /dev/null +++ b/meta/acceptance/insert_peg/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:432e53a6fca971baee4ab46b19abcfca525d335bc622e81888f9b63844748ae4 +size 37622 diff --git a/meta/acceptance/insert_peg/recording_identity.json b/meta/acceptance/insert_peg/recording_identity.json new file mode 100644 index 0000000000000000000000000000000000000000..420460ecc97e7a035c49744333601d197f53dc19 --- /dev/null +++ b/meta/acceptance/insert_peg/recording_identity.json @@ -0,0 +1,233 @@ +{ + "task": "insert_peg", + "frames": 3033, + "fps": 60, + "pilot": false, + "contact_contract": { + "targets": [ + "peg" + ], + "target_paths": [ + "/World/envs/env_.*/Objects/peg/base" + ], + "scope": "Merged MT DIP body against identified target only; excludes other objects and self contacts", + "frame": "DIP_Link local frame", + "origin": "DIP_Link origin", + "wrench_units": [ + "N", + "N", + "N", + "N*m", + "N*m", + "N*m" + ], + "marker_units": "m", + "depth_units": "m", + "pressure_units": "nonnegative post-diffusion response, not Pa or N", + "finger_order": [ + "thumb", + "index", + "middle", + "ring", + "pinky" + ], + "pressure_region_order": { + "left": [ + "middle_fingertip", + "middle_fingerpad", + "thumb_fingertip", + "thumb_fingerpad", + "index_fingertip", + "index_fingerpad", + "ring_fingertip", + "ring_fingerpad", + "pinky_fingertip", + "pinky_fingerpad", + "palm" + ], + "right": [ + "middle_fingertip", + "middle_fingerpad", + "thumb_fingertip", + "thumb_fingerpad", + "index_fingertip", + "index_fingerpad", + "ring_fingertip", + "ring_fingerpad", + "pinky_fingertip", + "pinky_fingerpad", + "palm" + ] + }, + "physics_dt": 0.0020833333333333333, + "tactile_history_hz": 60, + "normal_force_sum_checked_every_frame": true + }, + "optical_contact_model": { + "id": "physical_geometry_optical_intervals_v1_candidate", + "targets": { + "peg": { + "path": "/World/envs/env_0/Objects/peg/base", + "geometry_file": "optical_geometry/peg.json", + "sha256": "25db9d04cabd849fd8232b3c40020f01141712ccba5d5a1eb149e4aa9c66af76", + "convex_hulls": 1, + "cylinders": 0, + "sdf_source_surface": false + } + }, + "sdf_scope": "Watertight authored SDF source surface, not discrete PhysX SDF grid" + }, + "robot_configuration": { + "max_depenetration_velocity": 0.1, + "disable_gravity": true, + "effort_limits": { + "right_arm": { + "Joint1_R": 600.0, + "Joint2_R": 600.0, + "Joint3_R": 600.0, + "Joint4_R": 600.0, + "Joint5_R": 200.0, + "Joint6_R": 200.0, + "Joint7_R": 200.0 + }, + "right_fingers": 0.8, + "left_arm": { + "Joint1_L": 600.0, + "Joint2_L": 600.0, + "Joint3_L": 600.0, + "Joint4_L": 600.0, + "Joint5_L": 200.0, + "Joint6_L": 200.0, + "Joint7_L": 200.0 + }, + "left_fingers": 0.8 + }, + "velocity_limits": { + "right_arm": { + "Joint1_R": 6.2832, + "Joint2_R": 6.2832, + "Joint3_R": 6.2832, + "Joint4_R": 6.2832, + "Joint5_R": 6.2832, + "Joint6_R": 6.2832, + "Joint7_R": 6.2832 + }, + "right_fingers": { + "right_thumb_CMP_joint": 10.0, + "right_thumb_CMR_joint": 10.0, + "right_thumb_MCP_joint": 10.0, + "right_thumb_PIP_joint": 10.0, + "right_thumb_DIP_joint": 10.0, + "right_index_MPR_joint": 10.0, + "right_index_MCP_joint": 10.0, + "right_index_PIP_joint": 10.0, + "right_index_DIP_joint": 10.0, + "right_middle_MPR_joint": 10.0, + "right_middle_MCP_joint": 10.0, + "right_middle_PIP_joint": 10.0, + "right_middle_DIP_joint": 10.0, + "right_ring_MPR_joint": 10.0, + "right_ring_MCP_joint": 10.0, + "right_ring_PIP_joint": 10.0, + "right_ring_DIP_joint": 10.0, + "right_little_MPR_joint": 10.0, + "right_little_MCP_joint": 10.0, + "right_little_PIP_joint": 10.0, + "right_little_DIP_joint": 10.0 + }, + "left_arm": { + "Joint1_L": 6.2832, + "Joint2_L": 6.2832, + "Joint3_L": 6.2832, + "Joint4_L": 6.2832, + "Joint5_L": 6.2832, + "Joint6_L": 6.2832, + "Joint7_L": 6.2832 + }, + "left_fingers": { + "left_thumb_CMP_joint": 10.0, + "left_thumb_CMR_joint": 10.0, + "left_thumb_MCP_joint": 10.0, + "left_thumb_PIP_joint": 10.0, + "left_thumb_DIP_joint": 10.0, + "left_index_MPR_joint": 10.0, + "left_index_MCP_joint": 10.0, + "left_index_PIP_joint": 10.0, + "left_index_DIP_joint": 10.0, + "left_middle_MPR_joint": 10.0, + "left_middle_MCP_joint": 10.0, + "left_middle_PIP_joint": 10.0, + "left_middle_DIP_joint": 10.0, + "left_ring_MPR_joint": 10.0, + "left_ring_MCP_joint": 10.0, + "left_ring_PIP_joint": 10.0, + "left_ring_DIP_joint": 10.0, + "left_little_MPR_joint": 10.0, + "left_little_MCP_joint": 10.0, + "left_little_PIP_joint": 10.0, + "left_little_DIP_joint": 10.0 + } + } + }, + "seed": 1, + "placement": { + "seed": 1, + "translation_m": [ + 0.00023643249400512323, + 0.00900927392651868, + 0.0 + ], + "group": [ + "peg", + "hole" + ], + "attempts": [ + { + "translation_m": [ + 0.00023643249400512323, + 0.00900927392651868, + 0.0 + ], + "accepted": true, + "reason": "Peg grasp and full approach spline clear the scene" + } + ], + "static_fixtures": [], + "scope": "Reset-only rigid assembly translation; measured IK approach and conservative scene bounds" + }, + "shared_configuration": "../shared_configuration.json", + "shared_configuration_sha256": "83a6126d0f16476d540a55e550c566c5403f4d876a526c0f641be92bd98a5437", + "reference_run": "peg_generic_full_001", + "final_release_verified": true, + "scope": "Final reviewed reference recording; individual execution, not a success-rate estimate. Original reports copied byte-for-byte. Preview is a decoded frame, not a mockup.", + "preview_frame": 2500, + "preview_camera": "overview", + "motion_report_included": true, + "original_manifest_sha256": "cc3a71761e52b73289f905ac019f3cce02634295cda0ede1d24e2efa8e0d13ef", + "files": { + "physical_report.json": { + "source": "outputs/peg_generic_full_001/collection/raw/physical_report.json", + "sha256": "d0c1a44af460dd7c38c0968d3fc5fb0c3343366724957f3450d00fc43d7ea3b4" + }, + "validation_summary.json": { + "source": "outputs/peg_generic_full_001/lerobot/meta/validation_summary.json", + "sha256": "125d3ba2b40a22cd1f07e4452162b02fe352f2e4af83a5d963326e58d4c4faf4" + }, + "preview.jpg": { + "source": "outputs/ten_task_reference_gallery_009/insert_peg.jpg", + "sha256": "432e53a6fca971baee4ab46b19abcfca525d335bc622e81888f9b63844748ae4" + }, + "command_continuity.json": { + "source": "outputs/peg_generic_full_001/command_continuity.json", + "sha256": "6e25b6aec789867951ce03c55c502de05d9c0bac1fdf457b3dae99aade89ed33" + }, + "visual_review.json": { + "source": "outputs/peg_generic_full_001/diagnostics/visual_review.json", + "sha256": "0697a07d6057615c78d4b0748dc4a6580b3fdf54ac9a407dffbe5901881ace62" + }, + "local_video_decode.json": { + "source": "outputs/peg_generic_full_001/diagnostics/local_video_decode.json", + "sha256": "e69f474127f8c4e93669c5ad86caa76ddda742e9aefde95ba9894bbce21de0d5" + } + } +} diff --git a/meta/acceptance/insert_peg/validation_summary.json b/meta/acceptance/insert_peg/validation_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..c6a9bb652d963ed6bd2138e23c7c38cfc4a7582a --- /dev/null +++ b/meta/acceptance/insert_peg/validation_summary.json @@ -0,0 +1,62 @@ +{ + "loader": "lerobot 0.3.3 / pyav", + "pilot": false, + "episodes": [ + { + "episode": 0, + "frames": 3033, + "physical_success": true, + "peaks": { + "observation.tactile_target_id": 0.0, + "observation.tactile_depth.left_thumb": 0.0, + "observation.tactile_marker.left_thumb": 0.0, + "observation.tactile_depth.left_index": 0.0028573274612426758, + "observation.tactile_marker.left_index": 0.0013502088841050863, + "observation.tactile_depth.left_middle": 0.0025032395496964455, + "observation.tactile_marker.left_middle": 0.0011771800927817822, + "observation.tactile_depth.left_ring": 0.0, + "observation.tactile_marker.left_ring": 0.0, + "observation.tactile_depth.left_pinky": 0.0, + "observation.tactile_marker.left_pinky": 0.0, + "observation.tactile_pressure.left_middle_fingertip": 0.0, + "observation.tactile_pressure.left_middle_fingerpad": 0.0, + "observation.tactile_pressure.left_thumb_fingertip": 0.0, + "observation.tactile_pressure.left_thumb_fingerpad": 0.0, + "observation.tactile_pressure.left_index_fingertip": 0.9598420262336731, + "observation.tactile_pressure.left_index_fingerpad": 0.0, + "observation.tactile_pressure.left_ring_fingertip": 0.0, + "observation.tactile_pressure.left_ring_fingerpad": 0.0, + "observation.tactile_pressure.left_pinky_fingertip": 0.0, + "observation.tactile_pressure.left_pinky_fingerpad": 0.0, + "observation.tactile_pressure.left_palm": 0.0, + "observation.tactile_tip_wrench.left_fingers": 3.564378499984741, + "observation.tactile_depth.right_thumb": 0.0, + "observation.tactile_marker.right_thumb": 0.0, + "observation.tactile_depth.right_index": 0.0, + "observation.tactile_marker.right_index": 0.0, + "observation.tactile_depth.right_middle": 0.0, + "observation.tactile_marker.right_middle": 0.0, + "observation.tactile_depth.right_ring": 0.0, + "observation.tactile_marker.right_ring": 0.0, + "observation.tactile_depth.right_pinky": 0.0, + "observation.tactile_marker.right_pinky": 0.0, + "observation.tactile_pressure.right_middle_fingertip": 0.0, + "observation.tactile_pressure.right_middle_fingerpad": 0.0, + "observation.tactile_pressure.right_thumb_fingertip": 0.0, + "observation.tactile_pressure.right_thumb_fingerpad": 0.0, + "observation.tactile_pressure.right_index_fingertip": 0.0, + "observation.tactile_pressure.right_index_fingerpad": 0.0, + "observation.tactile_pressure.right_ring_fingertip": 0.0, + "observation.tactile_pressure.right_ring_fingerpad": 0.0, + "observation.tactile_pressure.right_pinky_fingertip": 0.0, + "observation.tactile_pressure.right_pinky_fingerpad": 0.0, + "observation.tactile_pressure.right_palm": 0.0, + "observation.tactile_tip_wrench.right_fingers": 0.0 + } + } + ], + "frames": 3033, + "action_horizon": 16, + "boundary_padding_verified": true, + "video_counts_and_timestamps": "Fully decoded by shared exporter; loader sampled here" +} diff --git a/meta/acceptance/insert_peg/visual_review.json b/meta/acceptance/insert_peg/visual_review.json new file mode 100644 index 0000000000000000000000000000000000000000..69e49068deafb3aa852e7e48b5c8b28805338939 --- /dev/null +++ b/meta/acceptance/insert_peg/visual_review.json @@ -0,0 +1,10 @@ +{ + "review_method": "Actual decoded frames opened with view_image; no browser playback claim", + "reviewed": [ + "frames/observation.images.overview_2100.jpg", + "frames/observation.images.wrist_left_1000.jpg", + "frames/observation.images.wrist_left_2100.jpg", + "frames/observation.images.overview_2950.jpg" + ], + "observed": "New RevoTron body and textured MT hands; palm-facing wrist fisheye. Peg gripped at1000 and carried toward socket by2100; final overview shows hand withdrawn. Socket partly occludes inserted peg; insertion and release are established by saved physical trace, not by overview alone." +} \ No newline at end of file diff --git a/meta/acceptance/insert_pipette/command_continuity.json b/meta/acceptance/insert_pipette/command_continuity.json new file mode 100644 index 0000000000000000000000000000000000000000..4b0a4f9069802367fa90cb84c106e10b7ed27eed --- /dev/null +++ b/meta/acceptance/insert_pipette/command_continuity.json @@ -0,0 +1,23 @@ +{ + "dataset": "/home/lixin/RevoBench-refactor/outputs/pipette_generic_full_001/lerobot", + "episodes": [ + { + "episode": 0, + "frames": 2551, + "duration_s": 42.516666666666666, + "max_command_step_rad": 0.018638353794813156, + "peak_joint_speed_rad_s": 1.1182543038708017, + "peak_joint_acceleration_rad_s2": 5.8558701385638985, + "p99_frame_peak_speed_rad_s": 0.9795693021858549, + "command_holds_over_250ms": [ + { + "start_s": 39.349998474121094, + "end_s": 42.5, + "duration_s": 3.1500015258789062 + } + ], + "command_hold_total_s": 3.1500015258789062 + } + ], + "scope": "Recorded commands only; includes intentional contact/stability holds. No velocity/acceleration acceptance threshold is inferred. Not evidence of physical success, collision clearance, or visual smoothness." +} diff --git a/meta/acceptance/insert_pipette/local_video_decode.json b/meta/acceptance/insert_pipette/local_video_decode.json new file mode 100644 index 0000000000000000000000000000000000000000..bcba187d4dccb24369276674bebf1f4d800770af --- /dev/null +++ b/meta/acceptance/insert_pipette/local_video_decode.json @@ -0,0 +1,76 @@ +{ + "passed": true, + "videos": [ + { + "file": "observation.images.head.mp4", + "frames": 2551, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.overview.mp4", + "frames": 2551, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_index.mp4", + "frames": 2551, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_middle.mp4", + "frames": 2551, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_pinky.mp4", + "frames": 2551, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_ring.mp4", + "frames": 2551, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_thumb.mp4", + "frames": 2551, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_right_index.mp4", + "frames": 2551, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_right_middle.mp4", + "frames": 2551, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_right_pinky.mp4", + "frames": 2551, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_right_ring.mp4", + "frames": 2551, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_right_thumb.mp4", + "frames": 2551, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.wrist_left.mp4", + "frames": 2551, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.wrist_right.mp4", + "frames": 2551, + "max_timestamp_error_s": 0.0 + } + ], + "scope": "Full local PyAV video decoding with60Hz timestamps; actual-frame review separate." +} \ No newline at end of file diff --git a/meta/acceptance/insert_pipette/physical_report.json b/meta/acceptance/insert_pipette/physical_report.json new file mode 100644 index 0000000000000000000000000000000000000000..afc379d49458bb94532e673642c75f8da3dbfc2e --- /dev/null +++ b/meta/acceptance/insert_pipette/physical_report.json @@ -0,0 +1,49 @@ +{ + "physical_success": true, + "controller": { + "stage": "physical_insert", + "stage_complete": true, + "tip_position": [ + -0.07983522117137909, + 0.5589365363121033, + 0.9081864953041077 + ], + "position_error_m": 0.00015267063995234284, + "angle_error_deg": 0.03739501284909138, + "insertion_completed": true + }, + "validation": { + "all_pass": true, + "checks": { + "stage_complete": true, + "recorded_final_hold": true, + "no_fixture_collision": true, + "no_sampled_arm_table_collision": true, + "tip_above_opening": true, + "tip_points_down": true, + "insertion_depth_valid": true, + "three_fingers_contact": true + }, + "metrics": { + "max_horizontal_tip_error_m": 0.00011220562205831668, + "max_downward_axis_error_deg": 0.039743898946979855, + "minimum_tip_height_above_rim_m": -0.05012339906692509, + "mean_finger_force_n": { + "thumb": 1.5778751148117913, + "index": 0.6738398015499115, + "middle": 1.462263763613171 + } + } + }, + "control_hz": 60, + "physics_hz": 480.0, + "physical_trace_timing": "after corresponding action", + "observation_timing": "before corresponding action", + "task_physics": { + "hand_effort_limit_nm": 0.8, + "max_depenetration_velocity_m_s": 0.1, + "silicone_contact_stiffness": 280.0, + "silicone_contact_damping": 2.0 + }, + "termination_reason": "source_finished" +} diff --git a/meta/acceptance/insert_pipette/preview.jpg b/meta/acceptance/insert_pipette/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..2bbd068279639f13cbd81ed0aad87caac406da6a --- /dev/null +++ b/meta/acceptance/insert_pipette/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad14ee9b6583b6504a928699a10a6bef6a57b4a3c19f779e148eef2e44ae303b +size 37995 diff --git a/meta/acceptance/insert_pipette/recording_identity.json b/meta/acceptance/insert_pipette/recording_identity.json new file mode 100644 index 0000000000000000000000000000000000000000..ee6aa2369fc192373781b4d7ecebd761bdd029b1 --- /dev/null +++ b/meta/acceptance/insert_pipette/recording_identity.json @@ -0,0 +1,273 @@ +{ + "task": "insert_pipette", + "frames": 2551, + "fps": 60, + "pilot": false, + "contact_contract": { + "targets": [ + "pipette" + ], + "target_paths": [ + "/World/envs/env_.*/Objects/pipette" + ], + "scope": "Merged MT DIP body against identified target only; excludes other objects and self contacts", + "frame": "DIP_Link local frame", + "origin": "DIP_Link origin", + "wrench_units": [ + "N", + "N", + "N", + "N*m", + "N*m", + "N*m" + ], + "marker_units": "m", + "depth_units": "m", + "pressure_units": "nonnegative post-diffusion response, not Pa or N", + "finger_order": [ + "thumb", + "index", + "middle", + "ring", + "pinky" + ], + "pressure_region_order": { + "left": [ + "middle_fingertip", + "middle_fingerpad", + "thumb_fingertip", + "thumb_fingerpad", + "index_fingertip", + "index_fingerpad", + "ring_fingertip", + "ring_fingerpad", + "pinky_fingertip", + "pinky_fingerpad", + "palm" + ], + "right": [ + "middle_fingertip", + "middle_fingerpad", + "thumb_fingertip", + "thumb_fingerpad", + "index_fingertip", + "index_fingerpad", + "ring_fingertip", + "ring_fingerpad", + "pinky_fingertip", + "pinky_fingerpad", + "palm" + ] + }, + "physics_dt": 0.0020833333333333333, + "tactile_history_hz": 60, + "normal_force_sum_checked_every_frame": true + }, + "optical_contact_model": { + "id": "physical_geometry_optical_intervals_v1_candidate", + "targets": { + "pipette": { + "path": "/World/envs/env_0/Objects/pipette", + "geometry_file": "optical_geometry/pipette.json", + "sha256": "b616db81abdc8e828b6a9b0be8d54aa82459cef199603abc3d9c8944f23d9233", + "convex_hulls": 29, + "cylinders": 0, + "sdf_source_surface": false + } + }, + "sdf_scope": "Watertight authored SDF source surface, not discrete PhysX SDF grid" + }, + "robot_configuration": { + "max_depenetration_velocity": 0.1, + "disable_gravity": true, + "effort_limits": { + "right_arm": { + "Joint1_R": 600.0, + "Joint2_R": 600.0, + "Joint3_R": 600.0, + "Joint4_R": 600.0, + "Joint5_R": 200.0, + "Joint6_R": 200.0, + "Joint7_R": 200.0 + }, + "right_fingers": 0.8, + "left_arm": { + "Joint1_L": 600.0, + "Joint2_L": 600.0, + "Joint3_L": 600.0, + "Joint4_L": 600.0, + "Joint5_L": 200.0, + "Joint6_L": 200.0, + "Joint7_L": 200.0 + }, + "left_fingers": 0.8 + }, + "velocity_limits": { + "right_arm": { + "Joint1_R": 6.2832, + "Joint2_R": 6.2832, + "Joint3_R": 6.2832, + "Joint4_R": 6.2832, + "Joint5_R": 6.2832, + "Joint6_R": 6.2832, + "Joint7_R": 6.2832 + }, + "right_fingers": { + "right_thumb_CMP_joint": 10.0, + "right_thumb_CMR_joint": 10.0, + "right_thumb_MCP_joint": 10.0, + "right_thumb_PIP_joint": 10.0, + "right_thumb_DIP_joint": 10.0, + "right_index_MPR_joint": 10.0, + "right_index_MCP_joint": 10.0, + "right_index_PIP_joint": 10.0, + "right_index_DIP_joint": 10.0, + "right_middle_MPR_joint": 10.0, + "right_middle_MCP_joint": 10.0, + "right_middle_PIP_joint": 10.0, + "right_middle_DIP_joint": 10.0, + "right_ring_MPR_joint": 10.0, + "right_ring_MCP_joint": 10.0, + "right_ring_PIP_joint": 10.0, + "right_ring_DIP_joint": 10.0, + "right_little_MPR_joint": 10.0, + "right_little_MCP_joint": 10.0, + "right_little_PIP_joint": 10.0, + "right_little_DIP_joint": 10.0 + }, + "left_arm": { + "Joint1_L": 6.2832, + "Joint2_L": 6.2832, + "Joint3_L": 6.2832, + "Joint4_L": 6.2832, + "Joint5_L": 6.2832, + "Joint6_L": 6.2832, + "Joint7_L": 6.2832 + }, + "left_fingers": { + "left_thumb_CMP_joint": 10.0, + "left_thumb_CMR_joint": 10.0, + "left_thumb_MCP_joint": 10.0, + "left_thumb_PIP_joint": 10.0, + "left_thumb_DIP_joint": 10.0, + "left_index_MPR_joint": 10.0, + "left_index_MCP_joint": 10.0, + "left_index_PIP_joint": 10.0, + "left_index_DIP_joint": 10.0, + "left_middle_MPR_joint": 10.0, + "left_middle_MCP_joint": 10.0, + "left_middle_PIP_joint": 10.0, + "left_middle_DIP_joint": 10.0, + "left_ring_MPR_joint": 10.0, + "left_ring_MCP_joint": 10.0, + "left_ring_PIP_joint": 10.0, + "left_ring_DIP_joint": 10.0, + "left_little_MPR_joint": 10.0, + "left_little_MCP_joint": 10.0, + "left_little_PIP_joint": 10.0, + "left_little_DIP_joint": 10.0 + } + } + }, + "seed": 1, + "placement": { + "seed": 1, + "translation_m": [ + 0.00023643249400512323, + 0.009009273926518707, + 0.0 + ], + "group": [ + "pipette", + "glassware" + ], + "attempts": [ + { + "translation_m": [ + 0.00023643249400512323, + 0.009009273926518707, + 0.0 + ], + "accepted": true, + "reason": "Measured IK approach clears table and task mesh bounds" + } + ], + "static_fixtures": [ + { + "prim_path": "/World/envs/env_0/PipetteRest", + "position": [ + -0.2597635675059949, + 0.2465092739265187, + 0.8375 + ], + "size": [ + 0.06, + 0.075, + 0.03 + ] + }, + { + "prim_path": "/World/envs/env_0/PipetteRestRail0", + "position": [ + -0.26606356750599486, + 0.2265092739265187, + 0.8585 + ], + "size": [ + 0.004, + 0.025, + 0.012 + ] + }, + { + "prim_path": "/World/envs/env_0/PipetteRestRail2", + "position": [ + -0.2534635675059949, + 0.2265092739265187, + 0.8585 + ], + "size": [ + 0.004, + 0.025, + 0.012 + ] + } + ], + "scope": "Reset-only rigid assembly translation; 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Original reports copied byte-for-byte. Preview is a decoded frame, not a mockup.", + "preview_frame": 2100, + "preview_camera": "overview", + "motion_report_included": true, + "original_manifest_sha256": "6a9ba93f93aaa0842471b8a714b126789e24413253cc3673a7dfb2a192aab5b1", + "files": { + "physical_report.json": { + "source": "outputs/pipette_generic_full_001/collection/raw/physical_report.json", + "sha256": "e6aa2d584491f0290dd70ddc2a4dbf82837868cdeadc181e74a29c3e24bc399d" + }, + "validation_summary.json": { + "source": "outputs/pipette_generic_full_001/lerobot/meta/validation_summary.json", + "sha256": "faabf2284d4e3d151361d976a42ee761e66acf923f05758c636502ced0d4391b" + }, + "preview.jpg": { + "source": "outputs/ten_task_reference_gallery_009/insert_pipette.jpg", + "sha256": "ad14ee9b6583b6504a928699a10a6bef6a57b4a3c19f779e148eef2e44ae303b" + }, + "command_continuity.json": { + "source": "outputs/pipette_generic_full_001/command_continuity.json", + "sha256": "1014d75c1fdd8f211b43b72c09298aafeb8bbb75e48cda447f1016d3817a7e98" + }, + "visual_review.json": { + "source": "outputs/pipette_generic_full_001/diagnostics/visual_review.json", + "sha256": "6ef040dce8c083531bce3ce5d2f6f77df50c34fac82b9a8f71b256b2797ed775" + }, + "local_video_decode.json": { + "source": "outputs/pipette_generic_full_001/diagnostics/local_video_decode.json", + "sha256": "e582ea5233e2bbdaa61e12e98438b5cca3da433565908b8473e03fe3d66fdda3" + } + } +} diff --git a/meta/acceptance/insert_pipette/validation_summary.json b/meta/acceptance/insert_pipette/validation_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..487c55fe86ec40bf5b2786c9e3fcadb83e316e3e --- /dev/null +++ b/meta/acceptance/insert_pipette/validation_summary.json @@ -0,0 +1,62 @@ +{ + "loader": "lerobot 0.3.3 / pyav", + "pilot": false, + "episodes": [ + { + "episode": 0, + "frames": 2551, + "physical_success": true, + "peaks": { + "observation.tactile_target_id": 0.0, + "observation.tactile_depth.left_thumb": 0.007878092117607594, + "observation.tactile_marker.left_thumb": 0.0006780096446163952, + "observation.tactile_depth.left_index": 0.0017396914772689342, + "observation.tactile_marker.left_index": 0.0006935261189937592, + "observation.tactile_depth.left_middle": 0.0034981518983840942, + "observation.tactile_marker.left_middle": 0.0006417174590751529, + "observation.tactile_depth.left_ring": 0.0, + "observation.tactile_marker.left_ring": 0.0, + "observation.tactile_depth.left_pinky": 0.0, + "observation.tactile_marker.left_pinky": 0.0, + "observation.tactile_pressure.left_middle_fingertip": 0.0, + "observation.tactile_pressure.left_middle_fingerpad": 0.0, + "observation.tactile_pressure.left_thumb_fingertip": 0.0, + "observation.tactile_pressure.left_thumb_fingerpad": 0.0, + "observation.tactile_pressure.left_index_fingertip": 0.0, + "observation.tactile_pressure.left_index_fingerpad": 0.0, + "observation.tactile_pressure.left_ring_fingertip": 0.0, + "observation.tactile_pressure.left_ring_fingerpad": 0.0, + "observation.tactile_pressure.left_pinky_fingertip": 0.0, + "observation.tactile_pressure.left_pinky_fingerpad": 0.0, + "observation.tactile_pressure.left_palm": 0.0, + "observation.tactile_tip_wrench.left_fingers": 3.711230754852295, + "observation.tactile_depth.right_thumb": 0.0, + "observation.tactile_marker.right_thumb": 0.0, + "observation.tactile_depth.right_index": 0.0, + "observation.tactile_marker.right_index": 0.0, + "observation.tactile_depth.right_middle": 0.0, + "observation.tactile_marker.right_middle": 0.0, + "observation.tactile_depth.right_ring": 0.0, + "observation.tactile_marker.right_ring": 0.0, + "observation.tactile_depth.right_pinky": 0.0, + "observation.tactile_marker.right_pinky": 0.0, + "observation.tactile_pressure.right_middle_fingertip": 0.0, + "observation.tactile_pressure.right_middle_fingerpad": 0.0, + "observation.tactile_pressure.right_thumb_fingertip": 0.0, + "observation.tactile_pressure.right_thumb_fingerpad": 0.0, + "observation.tactile_pressure.right_index_fingertip": 0.0, + "observation.tactile_pressure.right_index_fingerpad": 0.0, + "observation.tactile_pressure.right_ring_fingertip": 0.0, + "observation.tactile_pressure.right_ring_fingerpad": 0.0, + "observation.tactile_pressure.right_pinky_fingertip": 0.0, + "observation.tactile_pressure.right_pinky_fingerpad": 0.0, + "observation.tactile_pressure.right_palm": 0.0, + "observation.tactile_tip_wrench.right_fingers": 0.0 + } + } + ], + "frames": 2551, + "action_horizon": 16, + "boundary_padding_verified": true, + "video_counts_and_timestamps": "Fully decoded by shared exporter; loader sampled here" +} diff --git a/meta/acceptance/insert_pipette/visual_review.json b/meta/acceptance/insert_pipette/visual_review.json new file mode 100644 index 0000000000000000000000000000000000000000..25276437649c26c401b103dec1a943c1383c8cb7 --- /dev/null +++ b/meta/acceptance/insert_pipette/visual_review.json @@ -0,0 +1,11 @@ +{ + "method": "Actual decoded images opened with view_image; no browser playback claim", + "frames": [ + "frames/observation.images.wrist_left_900.jpg", + "frames/observation.images.wrist_left_2000.jpg", + "frames/observation.images.overview_2500.jpg", + "frames/observation.images.tactile_left_thumb_2000.jpg" + ], + "observations": "Current RevoTron, textured MT hands, palm-facing180degree fisheye. Pipette held near its stand, moved to flask and held inserted atfinalframe. Optical thumb RGB retains visible marker texture. Original task requires held insertion, not release.", + "scope": "Images support visual inspection; original physical trace and official reader decide numerical acceptance." +} \ No newline at end of file diff --git a/meta/acceptance/kitchen/command_continuity.json b/meta/acceptance/kitchen/command_continuity.json new file mode 100644 index 0000000000000000000000000000000000000000..0ffa12578d329dc2e6f484d6ae26897de34c5f36 --- /dev/null +++ b/meta/acceptance/kitchen/command_continuity.json @@ -0,0 +1,17 @@ +{ + "dataset": "/home/lixin/RevoBench-refactor/outputs/kitchen_original_generic_full_001/lerobot", + "episodes": [ + { + "episode": 0, + "frames": 5424, + "duration_s": 90.4, + "max_command_step_rad": 0.041196200996637344, + "peak_joint_speed_rad_s": 2.4718097766222247, + "peak_joint_acceleration_rad_s2": 67.53093743895498, + "p99_frame_peak_speed_rad_s": 0.9984287246978041, + "command_holds_over_250ms": [], + "command_hold_total_s": 0 + } + ], + "scope": "Recorded commands only; includes intentional contact/stability holds. No velocity/acceleration acceptance threshold is inferred. Not evidence of physical success, collision clearance, or visual smoothness." +} diff --git a/meta/acceptance/kitchen/local_video_decode.json b/meta/acceptance/kitchen/local_video_decode.json new file mode 100644 index 0000000000000000000000000000000000000000..2d54ab933784b272a688259a586e3e0d2068f64e --- /dev/null +++ b/meta/acceptance/kitchen/local_video_decode.json @@ -0,0 +1,76 @@ +{ + "passed": true, + "videos": [ + { + "file": "observation.images.head.mp4", + "frames": 5424, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.overview.mp4", + "frames": 5424, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_index.mp4", + "frames": 5424, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_middle.mp4", + "frames": 5424, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_pinky.mp4", + "frames": 5424, + "max_timestamp_error_s": 0.0 + }, + { + "file": 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"reference_run": "kitchen_original_generic_full_001", + "final_release_verified": true, + "scope": "Final reviewed reference recording; individual execution, not a success-rate estimate. Original reports copied byte-for-byte. Preview is a decoded frame, not a mockup.", + "preview_frame": 3500, + "preview_camera": "overview", + "motion_report_included": true, + "original_manifest_sha256": "55e1cd0891f29708123833ee495c3b51c9d42092e7036d9398479fe6962b1d8d", + "files": { + "physical_report.json": { + "source": "outputs/kitchen_original_generic_full_001/collection/raw/physical_report.json", + "sha256": "3934c4c3851df61aaa673a996dd6ac3f569546f2532a613849587db8b1d4967c" + }, + "validation_summary.json": { + "source": "outputs/kitchen_original_generic_full_001/lerobot/meta/validation_summary.json", + "sha256": "ded7713c61d6d0e80a6318d0760e5865b777f102fbca121b309bbf2d6a1c0c2a" + }, + "preview.jpg": { + "source": "outputs/ten_task_reference_gallery_009/kitchen.jpg", + "sha256": "abfa9bd46f3d7b864610bc6508fe378c29fa423a5c0372281acc2d742c61b81c" + }, + "command_continuity.json": { + "source": "outputs/kitchen_original_generic_full_001/command_continuity.json", + "sha256": "188351b2a3e836f01f6a47c70603bae8cab135e9333cfab96930bb9213ea7bb6" + }, + "visual_review.json": { + "source": "outputs/kitchen_original_generic_full_001/diagnostics/visual_review.json", + "sha256": "714477f5907a2ec3864280995353f3f1ecdda318be076b08dd9c5f6091cf1c63" + }, + "local_video_decode.json": { + "source": "outputs/kitchen_original_generic_full_001/diagnostics/local_video_decode.json", + "sha256": "9322dccd2b3c52e739ad4ba9a89ad1edee83191a0ac5a3ffde980f816ba94142" + } + } +} diff --git a/meta/acceptance/kitchen/validation_summary.json b/meta/acceptance/kitchen/validation_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..608d379a67423e5d95d19c3784764e6e586826b7 --- /dev/null +++ b/meta/acceptance/kitchen/validation_summary.json @@ -0,0 +1,62 @@ +{ + "loader": "lerobot 0.3.3 / pyav", + "pilot": false, + "episodes": [ + { + "episode": 0, + "frames": 5424, + "physical_success": true, + "peaks": { + "observation.tactile_target_id": 2.0, + "observation.tactile_depth.left_thumb": 0.0, + "observation.tactile_marker.left_thumb": 0.0, + "observation.tactile_depth.left_index": 0.0, + "observation.tactile_marker.left_index": 0.0, + "observation.tactile_depth.left_middle": 0.0, + "observation.tactile_marker.left_middle": 0.0, + "observation.tactile_depth.left_ring": 0.0, + "observation.tactile_marker.left_ring": 0.0, + "observation.tactile_depth.left_pinky": 0.0, + "observation.tactile_marker.left_pinky": 0.0, + "observation.tactile_pressure.left_middle_fingertip": 0.0, + "observation.tactile_pressure.left_middle_fingerpad": 0.0, + "observation.tactile_pressure.left_thumb_fingertip": 0.0, + "observation.tactile_pressure.left_thumb_fingerpad": 0.0, + "observation.tactile_pressure.left_index_fingertip": 0.0, + "observation.tactile_pressure.left_index_fingerpad": 0.0, + "observation.tactile_pressure.left_ring_fingertip": 0.0, + "observation.tactile_pressure.left_ring_fingerpad": 0.0, + "observation.tactile_pressure.left_pinky_fingertip": 0.0, + "observation.tactile_pressure.left_pinky_fingerpad": 0.0, + "observation.tactile_pressure.left_palm": 0.0, + "observation.tactile_tip_wrench.left_fingers": 0.0, + "observation.tactile_depth.right_thumb": 0.0, + "observation.tactile_marker.right_thumb": 0.0, + "observation.tactile_depth.right_index": 0.003506897483021021, + "observation.tactile_marker.right_index": 0.003203436266630888, + "observation.tactile_depth.right_middle": 0.0, + "observation.tactile_marker.right_middle": 0.0, + "observation.tactile_depth.right_ring": 0.0, + "observation.tactile_marker.right_ring": 0.0, + "observation.tactile_depth.right_pinky": 0.0, + "observation.tactile_marker.right_pinky": 0.0, + "observation.tactile_pressure.right_middle_fingertip": 0.0, + "observation.tactile_pressure.right_middle_fingerpad": 0.0, + "observation.tactile_pressure.right_thumb_fingertip": 0.0, + "observation.tactile_pressure.right_thumb_fingerpad": 0.0, + "observation.tactile_pressure.right_index_fingertip": 0.8572509288787842, + "observation.tactile_pressure.right_index_fingerpad": 0.0, + "observation.tactile_pressure.right_ring_fingertip": 0.0, + "observation.tactile_pressure.right_ring_fingerpad": 0.0, + "observation.tactile_pressure.right_pinky_fingertip": 0.0, + "observation.tactile_pressure.right_pinky_fingerpad": 0.0, + "observation.tactile_pressure.right_palm": 0.0, + "observation.tactile_tip_wrench.right_fingers": 30.694988250732422 + } + } + ], + "frames": 5424, + "action_horizon": 16, + "boundary_padding_verified": true, + "video_counts_and_timestamps": "Fully decoded by shared exporter; loader sampled here" +} diff --git a/meta/acceptance/kitchen/visual_review.json b/meta/acceptance/kitchen/visual_review.json new file mode 100644 index 0000000000000000000000000000000000000000..7bfe9e66e92b0b6782dcdde2192a279591e50e59 --- /dev/null +++ b/meta/acceptance/kitchen/visual_review.json @@ -0,0 +1,18 @@ +{ + "reviewed": true, + "method": "Actual decoded frames viewed; no browser playback claimed.", + "frames": [ + "overview_1200.jpg", + "overview_4500.jpg", + "head_5350.jpg", + "wrist_left_3000.jpg", + "wrist_right_3000.jpg" + ], + "observations": [ + "Current cute RevoTron with textured MT hands visible.", + "Overview1200 shows lifted yellow food,4500 shows lifted red food and prior foods in bowl.", + "Final head view shows emptied pan, three food pieces in bowl and withdrawn hand.", + "Left fisheye shows palm, pan and opposite hand. Right fisheye shows pinch hand and red food." + ], + "scope": "Actual frame review; physical/numeric/official-reader checks required independently." +} \ No newline at end of file diff --git a/meta/acceptance/plug_charger/command_continuity.json b/meta/acceptance/plug_charger/command_continuity.json new file mode 100644 index 0000000000000000000000000000000000000000..85d26f284bc4dd15d641aa8ef572fd167dbbb6e0 --- /dev/null +++ b/meta/acceptance/plug_charger/command_continuity.json @@ -0,0 +1,17 @@ +{ + "dataset": "/home/lixin/RevoBench-refactor/outputs/charger_generic_full_001/lerobot", + "episodes": [ + { + "episode": 0, + "frames": 2457, + "duration_s": 40.95, + "max_command_step_rad": 0.018723249435424805, + "peak_joint_speed_rad_s": 1.123412108033875, + "peak_joint_acceleration_rad_s2": 6.198452328644964, + "p99_frame_peak_speed_rad_s": 1.1006484987717569, + "command_holds_over_250ms": [], + "command_hold_total_s": 0 + } + ], + "scope": "Recorded commands only; includes intentional contact/stability holds. No velocity/acceleration acceptance threshold is inferred. Not evidence of physical success, collision clearance, or visual smoothness." +} diff --git a/meta/acceptance/plug_charger/local_video_decode.json b/meta/acceptance/plug_charger/local_video_decode.json new file mode 100644 index 0000000000000000000000000000000000000000..09cac298fdb25dd3108853c8595862e07d1855df --- /dev/null +++ b/meta/acceptance/plug_charger/local_video_decode.json @@ -0,0 +1,76 @@ +{ + "passed": true, + "videos": [ + { + "file": "observation.images.head.mp4", + "frames": 2457, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.overview.mp4", + "frames": 2457, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_index.mp4", + "frames": 2457, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_middle.mp4", + "frames": 2457, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_pinky.mp4", + "frames": 2457, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_ring.mp4", + "frames": 2457, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_thumb.mp4", + "frames": 2457, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_right_index.mp4", + "frames": 2457, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_right_middle.mp4", + "frames": 2457, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_right_pinky.mp4", + "frames": 2457, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_right_ring.mp4", + "frames": 2457, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_right_thumb.mp4", + "frames": 2457, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.wrist_left.mp4", + "frames": 2457, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.wrist_right.mp4", + "frames": 2457, + "max_timestamp_error_s": 0.0 + } + ], + "total_decoded_frames": 34398 +} \ No newline at end of file diff --git a/meta/acceptance/plug_charger/physical_report.json b/meta/acceptance/plug_charger/physical_report.json new file mode 100644 index 0000000000000000000000000000000000000000..56ff3e24b44a0b15b6091717a3c2e39a180dd323 --- /dev/null +++ b/meta/acceptance/plug_charger/physical_report.json @@ -0,0 +1,83 @@ +{ + "physical_success": true, + "controller": { + "stage": "physical_insert_release", + "stage_complete": true, + "task_success": false, + "insertion_depth_m": 0.03299952106248871, + "position": [ + -0.03811412304639816, + 0.5422163009643555, + 0.9477719068527222 + ], + "pre_alignment": { + "stage": "grasp_lift_pre_alignment", + "stage_complete": true, + "position": [ + -0.03983257710933685, + 0.478974848985672, + 0.9493460059165955 + ], + "error_m": 0.00017222537452222465, + "angle_error_deg": 0.043012407180736484, + "corrections": [ + { + "position": [ + -0.03983257710933685, + 0.478974848985672, + 0.9493460059165955 + ], + "error_m": 0.00017222537452222465, + "angle_error_deg": 0.043012407180736484 + } + ], + "task_success": false, + "actuation": "Robot joint targets only; no object attachment or pose writes" + }, + "actuation": "Robot joint targets only; no object attachment or pose writes", + "validation_required": true + }, + "validation": { + "stage": "insert_release_withdraw", + "checks": { + "controller_completed": true, + "insertion_hold_recorded": true, + "post_release_hold_recorded": true, + "no_hand_arm_socket_collision": true, + "no_hand_arm_table_collision": true, + "insertion_force_limited": true, + "depth_retained_after_release": true, + "prongs_remain_in_correct_holes": true, + "hand_fully_released": true, + "stable_after_release": true + }, + "metrics": { + "duration_s": 40.95, + "hand_arm_socket_peak_n": 0.0, + "charger_socket_peak_n": 3.3807473182678223, + "hand_arm_table_peak_n": 0.0, + "min_retained_depth_m": 0.032468315133263426, + "min_in_hole_geometry_margin_m": -5.032521509610102e-06, + "post_release_position_range_m": [ + 9.313225746154785e-08, + 5.960464477539063e-08, + 2.980232238769531e-07 + ], + "post_release_max_speed_m_s": 0.008465894166786631, + "post_release_max_hand_force_n": 0.0 + }, + "all_pass": true, + "note": "Actual simulated poses and contacts. Peg-volume clipping against the socket slab checks both prongs; up to 0.5mm solver penetration tolerance. No object pose commands or attachment." + }, + "control_hz": 60, + "physics_hz": 480.0, + "physical_trace_timing": "after corresponding action", + "observation_timing": "before corresponding action", + "task_physics": { + "hand_effort_limit_nm": 0.8, + "max_depenetration_velocity_m_s": 0.1, + "silicone_contact_stiffness": 280.0, + "silicone_contact_damping": 2.0 + }, + "termination_reason": "source_finished" +} diff --git a/meta/acceptance/plug_charger/preview.jpg b/meta/acceptance/plug_charger/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..96ade0e7d63fd7eb3a2de6993bab6966e1f4dab7 --- /dev/null +++ b/meta/acceptance/plug_charger/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29b6b3100c65af1185d492a35aacb309caa0de883374ec5a3be3662ccc38727c +size 37100 diff --git a/meta/acceptance/plug_charger/recording_identity.json b/meta/acceptance/plug_charger/recording_identity.json new file mode 100644 index 0000000000000000000000000000000000000000..e9b78c66f9572de53bcf90d8d14dfff9cdd31bc5 --- /dev/null +++ b/meta/acceptance/plug_charger/recording_identity.json @@ -0,0 +1,233 @@ +{ + "task": "plug_charger", + "frames": 2457, + "fps": 60, + "pilot": false, + "contact_contract": { + "targets": [ + "charger" + ], + "target_paths": [ + "/World/envs/env_.*/Objects/charger/base" + ], + "scope": "Merged MT DIP body against identified target only; excludes other objects and self contacts", + "frame": "DIP_Link local frame", + "origin": "DIP_Link origin", + "wrench_units": [ + "N", + "N", + "N", + "N*m", + "N*m", + "N*m" + ], + "marker_units": "m", + "depth_units": "m", + "pressure_units": "nonnegative post-diffusion response, not Pa or N", + "finger_order": [ + "thumb", + "index", + "middle", + "ring", + "pinky" + ], + "pressure_region_order": { + "left": [ + "middle_fingertip", + "middle_fingerpad", + "thumb_fingertip", + "thumb_fingerpad", + "index_fingertip", + "index_fingerpad", + "ring_fingertip", + "ring_fingerpad", + "pinky_fingertip", + "pinky_fingerpad", + "palm" + ], + "right": [ + "middle_fingertip", + "middle_fingerpad", + "thumb_fingertip", + "thumb_fingerpad", + "index_fingertip", + "index_fingerpad", + "ring_fingertip", + "ring_fingerpad", + "pinky_fingertip", + "pinky_fingerpad", + "palm" + ] + }, + "physics_dt": 0.0020833333333333333, + "tactile_history_hz": 60, + "normal_force_sum_checked_every_frame": true + }, + "optical_contact_model": { + "id": "physical_geometry_optical_intervals_v1_candidate", + "targets": { + "charger": { + "path": "/World/envs/env_0/Objects/charger/base", + "geometry_file": "optical_geometry/charger.json", + "sha256": "684c90d279e031193158ba9c7fd16e111582b172206473efe1bb18713ca48ec7", + "convex_hulls": 3, + "cylinders": 0, + "sdf_source_surface": false + } + }, + "sdf_scope": "Watertight authored SDF source surface, not discrete PhysX SDF grid" + }, + "robot_configuration": { + "max_depenetration_velocity": 0.1, + "disable_gravity": true, + "effort_limits": { + "right_arm": { + "Joint1_R": 600.0, + "Joint2_R": 600.0, + "Joint3_R": 600.0, + "Joint4_R": 600.0, + "Joint5_R": 200.0, + "Joint6_R": 200.0, + "Joint7_R": 200.0 + }, + "right_fingers": 0.8, + "left_arm": { + "Joint1_L": 600.0, + "Joint2_L": 600.0, + "Joint3_L": 600.0, + "Joint4_L": 600.0, + "Joint5_L": 200.0, + "Joint6_L": 200.0, + "Joint7_L": 200.0 + }, + "left_fingers": 0.8 + }, + "velocity_limits": { + "right_arm": { + "Joint1_R": 6.2832, + "Joint2_R": 6.2832, + "Joint3_R": 6.2832, + "Joint4_R": 6.2832, + "Joint5_R": 6.2832, + "Joint6_R": 6.2832, + "Joint7_R": 6.2832 + }, + "right_fingers": { + "right_thumb_CMP_joint": 10.0, + "right_thumb_CMR_joint": 10.0, + "right_thumb_MCP_joint": 10.0, + "right_thumb_PIP_joint": 10.0, + "right_thumb_DIP_joint": 10.0, + "right_index_MPR_joint": 10.0, + "right_index_MCP_joint": 10.0, + "right_index_PIP_joint": 10.0, + "right_index_DIP_joint": 10.0, + "right_middle_MPR_joint": 10.0, + "right_middle_MCP_joint": 10.0, + "right_middle_PIP_joint": 10.0, + "right_middle_DIP_joint": 10.0, + "right_ring_MPR_joint": 10.0, + "right_ring_MCP_joint": 10.0, + "right_ring_PIP_joint": 10.0, + "right_ring_DIP_joint": 10.0, + "right_little_MPR_joint": 10.0, + "right_little_MCP_joint": 10.0, + "right_little_PIP_joint": 10.0, + "right_little_DIP_joint": 10.0 + }, + "left_arm": { + "Joint1_L": 6.2832, + "Joint2_L": 6.2832, + "Joint3_L": 6.2832, + "Joint4_L": 6.2832, + "Joint5_L": 6.2832, + "Joint6_L": 6.2832, + "Joint7_L": 6.2832 + }, + "left_fingers": { + "left_thumb_CMP_joint": 10.0, + "left_thumb_CMR_joint": 10.0, + "left_thumb_MCP_joint": 10.0, + "left_thumb_PIP_joint": 10.0, + "left_thumb_DIP_joint": 10.0, + "left_index_MPR_joint": 10.0, + "left_index_MCP_joint": 10.0, + "left_index_PIP_joint": 10.0, + "left_index_DIP_joint": 10.0, + "left_middle_MPR_joint": 10.0, + "left_middle_MCP_joint": 10.0, + "left_middle_PIP_joint": 10.0, + "left_middle_DIP_joint": 10.0, + "left_ring_MPR_joint": 10.0, + "left_ring_MCP_joint": 10.0, + "left_ring_PIP_joint": 10.0, + "left_ring_DIP_joint": 10.0, + "left_little_MPR_joint": 10.0, + "left_little_MCP_joint": 10.0, + "left_little_PIP_joint": 10.0, + "left_little_DIP_joint": 10.0 + } + } + }, + "seed": 1, + "placement": { + "seed": 1, + "translation_m": [ + 0.00023643249400512323, + 0.00900927392651868, + 0.0 + ], + "group": [ + "charger", + "receptacle" + ], + "attempts": [ + { + "translation_m": [ + 0.00023643249400512323, + 0.00900927392651868, + 0.0 + ], + "accepted": true, + "reason": "Measured IK approach clears table and task mesh bounds" + } + ], + "static_fixtures": [], + "scope": "Reset-only rigid assembly translation; measured IK approach and conservative scene bounds" + }, + "shared_configuration": "../shared_configuration.json", + "shared_configuration_sha256": "83a6126d0f16476d540a55e550c566c5403f4d876a526c0f641be92bd98a5437", + "reference_run": "charger_generic_full_001", + "final_release_verified": true, + "scope": "Final reviewed reference recording; individual execution, not a success-rate estimate. Original reports copied byte-for-byte. Preview is a decoded frame, not a mockup.", + "preview_frame": 2100, + "preview_camera": "overview", + "motion_report_included": true, + "original_manifest_sha256": "abd69efc024c6238fd1b142e864a0cbfc5b6ddd9dbecbb6307fc912c63023527", + "files": { + "physical_report.json": { + "source": "outputs/charger_generic_full_001/collection/raw/physical_report.json", + "sha256": "8b33f9d4fe73b09e29fc714224641e75d6772d4ef29f21b9c53638c741be0fec" + }, + "validation_summary.json": { + "source": "outputs/charger_generic_full_001/lerobot/meta/validation_summary.json", + "sha256": "bcf0167801b8925568c8a00521786ee93703c9ee7859175bd4e558b312634109" + }, + "preview.jpg": { + "source": "outputs/ten_task_reference_gallery_009/plug_charger.jpg", + "sha256": "29b6b3100c65af1185d492a35aacb309caa0de883374ec5a3be3662ccc38727c" + }, + "command_continuity.json": { + "source": "outputs/charger_generic_full_001/command_continuity.json", + "sha256": "57c0d59b64ba2e3f7ae1937317123ee91f160acb286e61526bfef403bbd782fb" + }, + "visual_review.json": { + "source": "outputs/charger_generic_full_001/diagnostics/visual_review.json", + "sha256": "a4253bfcf383a885ad5e1a6398f1c8ef5dca84ac97eb07caf12b2d2c40195c6e" + }, + "local_video_decode.json": { + "source": "outputs/charger_generic_full_001/diagnostics/local_video_decode.json", + "sha256": "38c22f8e216f8381dbfa863a8c1f0a6227da1ac3a48d0c61c9e88d16d160b3c2" + } + } +} diff --git a/meta/acceptance/plug_charger/validation_summary.json b/meta/acceptance/plug_charger/validation_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..ee2ebe66484bea6f6bd4af58e63837578a2c9c8e --- /dev/null +++ b/meta/acceptance/plug_charger/validation_summary.json @@ -0,0 +1,62 @@ +{ + "loader": "lerobot 0.3.3 / pyav", + "pilot": false, + "episodes": [ + { + "episode": 0, + "frames": 2457, + "physical_success": true, + "peaks": { + "observation.tactile_target_id": 0.0, + "observation.tactile_depth.left_thumb": 0.0, + "observation.tactile_marker.left_thumb": 0.0, + "observation.tactile_depth.left_index": 0.0011317641474306583, + "observation.tactile_marker.left_index": 0.00015691950102336705, + "observation.tactile_depth.left_middle": 0.0, + "observation.tactile_marker.left_middle": 0.0, + "observation.tactile_depth.left_ring": 0.0, + "observation.tactile_marker.left_ring": 0.0, + "observation.tactile_depth.left_pinky": 0.0, + "observation.tactile_marker.left_pinky": 0.0, + "observation.tactile_pressure.left_middle_fingertip": 0.0, + "observation.tactile_pressure.left_middle_fingerpad": 0.0, + "observation.tactile_pressure.left_thumb_fingertip": 0.0, + "observation.tactile_pressure.left_thumb_fingerpad": 0.0, + "observation.tactile_pressure.left_index_fingertip": 0.0, + "observation.tactile_pressure.left_index_fingerpad": 0.0, + "observation.tactile_pressure.left_ring_fingertip": 0.0, + "observation.tactile_pressure.left_ring_fingerpad": 0.0, + "observation.tactile_pressure.left_pinky_fingertip": 0.0, + "observation.tactile_pressure.left_pinky_fingerpad": 0.0, + "observation.tactile_pressure.left_palm": 0.0, + "observation.tactile_tip_wrench.left_fingers": 8.431140899658203, + "observation.tactile_depth.right_thumb": 0.0, + "observation.tactile_marker.right_thumb": 0.0, + "observation.tactile_depth.right_index": 0.0, + "observation.tactile_marker.right_index": 0.0, + "observation.tactile_depth.right_middle": 0.0, + "observation.tactile_marker.right_middle": 0.0, + "observation.tactile_depth.right_ring": 0.0, + "observation.tactile_marker.right_ring": 0.0, + "observation.tactile_depth.right_pinky": 0.0, + "observation.tactile_marker.right_pinky": 0.0, + "observation.tactile_pressure.right_middle_fingertip": 0.0, + "observation.tactile_pressure.right_middle_fingerpad": 0.0, + "observation.tactile_pressure.right_thumb_fingertip": 0.0, + "observation.tactile_pressure.right_thumb_fingerpad": 0.0, + "observation.tactile_pressure.right_index_fingertip": 0.0, + "observation.tactile_pressure.right_index_fingerpad": 0.0, + "observation.tactile_pressure.right_ring_fingertip": 0.0, + "observation.tactile_pressure.right_ring_fingerpad": 0.0, + "observation.tactile_pressure.right_pinky_fingertip": 0.0, + "observation.tactile_pressure.right_pinky_fingerpad": 0.0, + "observation.tactile_pressure.right_palm": 0.0, + "observation.tactile_tip_wrench.right_fingers": 0.0 + } + } + ], + "frames": 2457, + "action_horizon": 16, + "boundary_padding_verified": true, + "video_counts_and_timestamps": "Fully decoded by shared exporter; loader sampled here" +} diff --git a/meta/acceptance/plug_charger/visual_review.json b/meta/acceptance/plug_charger/visual_review.json new file mode 100644 index 0000000000000000000000000000000000000000..c78610880ab500fe31aaac009e1d8505ce1caf80 --- /dev/null +++ b/meta/acceptance/plug_charger/visual_review.json @@ -0,0 +1,35 @@ +{ + "reviewed": [ + { + "view": "overview", + "frame": 1500 + }, + { + "view": "overview", + "frame": 2400 + }, + { + "view": "wrist_left", + "frame": 1500 + }, + { + "view": "wrist_left", + "frame": 2400 + }, + { + "view": "head", + "frame": 1500 + }, + { + "view": "tactile_left_thumb", + "frame": 1500 + } + ], + "findings": [ + "New RevoTron body and textured MT hands visible in actual overview frames.", + "Palm-facing180degree wrist fisheye shows held charger before approach and open fingers clear of charger after release.", + "Charger remains in socket at final wrist frame2400; physical report independently confirms retained prong depth and zero hand support.", + "Optical thumb RGB and marker pattern visible. No claim of real-sensor calibration fidelity." + ], + "scope": "Actual decoded simulation frames reviewed; no browser UI playback claim. Official reader and numeric validation remain separate gates." +} \ No newline at end of file diff --git a/meta/acceptance/pour_can/command_continuity.json b/meta/acceptance/pour_can/command_continuity.json new file mode 100644 index 0000000000000000000000000000000000000000..0756e496c7f8255759d6d878af63f567325a5caa --- /dev/null +++ b/meta/acceptance/pour_can/command_continuity.json @@ -0,0 +1,28 @@ +{ + "dataset": "/home/lixin/RevoBench-refactor/outputs/pour_generic_full_002/lerobot", + "episodes": [ + { + "episode": 0, + "frames": 3720, + "duration_s": 62.0, + "max_command_step_rad": 0.0177881121635437, + "peak_joint_speed_rad_s": 1.0673030155642023, + "peak_joint_acceleration_rad_s2": 1.6440292274944548, + "p99_frame_peak_speed_rad_s": 0.925507481689174, + "command_holds_over_250ms": [ + { + "start_s": 30.96666717529297, + "end_s": 34.150001525878906, + "duration_s": 3.1833343505859375 + }, + { + "start_s": 52.43333435058594, + "end_s": 53.0, + "duration_s": 0.5666656494140625 + } + ], + "command_hold_total_s": 3.75 + } + ], + "scope": "Recorded commands only; includes intentional contact/stability holds. No velocity/acceleration acceptance threshold is inferred. Not evidence of physical success, collision clearance, or visual smoothness." +} diff --git a/meta/acceptance/pour_can/local_video_decode.json b/meta/acceptance/pour_can/local_video_decode.json new file mode 100644 index 0000000000000000000000000000000000000000..047310b24e33b844c6a6a2a85b286957cf9a7c6a --- /dev/null +++ b/meta/acceptance/pour_can/local_video_decode.json @@ -0,0 +1,76 @@ +{ + "passed": true, + "videos": [ + { + "file": "observation.images.head.mp4", + "frames": 3720, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.overview.mp4", + "frames": 3720, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_index.mp4", + "frames": 3720, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_middle.mp4", + "frames": 3720, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_pinky.mp4", + "frames": 3720, + "max_timestamp_error_s": 0.0 + }, + { + "file": 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Preview is a decoded frame, not a mockup.", + "preview_frame": 2100, + "preview_camera": "overview", + "motion_report_included": true, + "original_manifest_sha256": "57c003b0d4ecb777c729af0454c5b4337d6d7da194c3a504b1c8c8f3b858e4e8", + "files": { + "physical_report.json": { + "source": "outputs/pour_generic_full_002/collection/raw/physical_report.json", + "sha256": "cddc1c373100f513470c50722eb574a4904e66be6cc2b6ec9c1a23c132dd516c" + }, + "validation_summary.json": { + "source": "outputs/pour_generic_full_002/lerobot/meta/validation_summary.json", + "sha256": "7ded2bf7db454ca25d61426298e91b73ebe84c9472e77c3b6fe049c87a6b9dc0" + }, + "preview.jpg": { + "source": "outputs/ten_task_reference_gallery_009/pour_can.jpg", + "sha256": "936c9f3d9003dc6c7543879b37f26cb8bdb907dcd56ddb45bbd54efa528c55de" + }, + "command_continuity.json": { + "source": "outputs/pour_generic_full_002/command_continuity.json", + "sha256": "77bb05f377e7a9c4444d79577b53280b4dbb546eb738d5be9623213920d9515c" + }, + "visual_review.json": { + "source": "outputs/pour_generic_full_002/diagnostics/visual_review.json", + "sha256": "610fcf5f58c839109376f4915de741c79a210af4ab13ec33aafa29e10176ed0a" + }, + "local_video_decode.json": { + "source": "outputs/pour_generic_full_002/diagnostics/local_video_decode.json", + "sha256": "93570a62026c5ac7c7e4cbfb4a3c7697ed9ef106b11ed5840c80608cc060f82e" + } + } +} diff --git a/meta/acceptance/pour_can/validation_summary.json b/meta/acceptance/pour_can/validation_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..e0be35e58f2ba06fc7ffa12a393298f17ef9cd1b --- /dev/null +++ b/meta/acceptance/pour_can/validation_summary.json @@ -0,0 +1,62 @@ +{ + "loader": "lerobot 0.3.3 / pyav", + "pilot": false, + "episodes": [ + { + "episode": 0, + "frames": 3720, + "physical_success": true, + "peaks": { + "observation.tactile_target_id": 0.0, + "observation.tactile_depth.left_thumb": 0.0, + "observation.tactile_marker.left_thumb": 0.0, + "observation.tactile_depth.left_index": 0.0, + "observation.tactile_marker.left_index": 0.0, + "observation.tactile_depth.left_middle": 0.0, + "observation.tactile_marker.left_middle": 0.0, + "observation.tactile_depth.left_ring": 0.0, + "observation.tactile_marker.left_ring": 0.0, + "observation.tactile_depth.left_pinky": 0.0, + "observation.tactile_marker.left_pinky": 0.0, + "observation.tactile_pressure.left_middle_fingertip": 0.0, + "observation.tactile_pressure.left_middle_fingerpad": 0.0, + "observation.tactile_pressure.left_thumb_fingertip": 0.0, + "observation.tactile_pressure.left_thumb_fingerpad": 0.0, + "observation.tactile_pressure.left_index_fingertip": 0.0, + "observation.tactile_pressure.left_index_fingerpad": 0.0, + "observation.tactile_pressure.left_ring_fingertip": 0.0, + "observation.tactile_pressure.left_ring_fingerpad": 0.0, + "observation.tactile_pressure.left_pinky_fingertip": 0.0, + "observation.tactile_pressure.left_pinky_fingerpad": 0.0, + "observation.tactile_pressure.left_palm": 0.0, + "observation.tactile_tip_wrench.left_fingers": 0.0, + "observation.tactile_depth.right_thumb": 0.0, + "observation.tactile_marker.right_thumb": 0.0, + "observation.tactile_depth.right_index": 0.0, + "observation.tactile_marker.right_index": 0.0, + "observation.tactile_depth.right_middle": 0.00038031255826354027, + "observation.tactile_marker.right_middle": 4.706747131422162e-05, + "observation.tactile_depth.right_ring": 0.000255499966442585, + "observation.tactile_marker.right_ring": 2.1533493054448627e-05, + "observation.tactile_depth.right_pinky": 0.0005598925054073334, + "observation.tactile_marker.right_pinky": 0.00012252709711901844, + "observation.tactile_pressure.right_middle_fingertip": 0.0, + "observation.tactile_pressure.right_middle_fingerpad": 0.0, + "observation.tactile_pressure.right_thumb_fingertip": 0.0, + "observation.tactile_pressure.right_thumb_fingerpad": 0.0, + "observation.tactile_pressure.right_index_fingertip": 0.0, + "observation.tactile_pressure.right_index_fingerpad": 0.0, + "observation.tactile_pressure.right_ring_fingertip": 0.0, + "observation.tactile_pressure.right_ring_fingerpad": 0.0, + "observation.tactile_pressure.right_pinky_fingertip": 0.0, + "observation.tactile_pressure.right_pinky_fingerpad": 0.0, + "observation.tactile_pressure.right_palm": 0.0, + "observation.tactile_tip_wrench.right_fingers": 33.206634521484375 + } + } + ], + "frames": 3720, + "action_horizon": 16, + "boundary_padding_verified": true, + "video_counts_and_timestamps": "Fully decoded by shared exporter; loader sampled here" +} diff --git a/meta/acceptance/pour_can/visual_review.json b/meta/acceptance/pour_can/visual_review.json new file mode 100644 index 0000000000000000000000000000000000000000..89f433de96f8c81e4af925e22b3b8c5c17208691 --- /dev/null +++ b/meta/acceptance/pour_can/visual_review.json @@ -0,0 +1,20 @@ +{ + "reviewed": true, + "method": "Decoded actual recorded frames inspected via view_image; no browser playback claimed.", + "frames": [ + "overview_1700.jpg", + "head_2150.jpg", + "wrist_left_1700.jpg", + "overview_3600.jpg", + "wrist_right_1700.jpg" + ], + "observations": [ + "Cute RevoTron body with textured MT hands visible.", + "Can tilted over patterned bowl; wrist image shows falling yellow grains.", + "Head view shows grains in bowl.", + "Final overview shows upright can on tabletop and open withdrawn hand.", + "Palm-facing fisheye view retains palm and opposing hand/task visibility.", + "Active right wrist view inspected separately; grasped opened can and bowl are visible." + ], + "scope": "Actual image review only; final acceptance also requires official reader, all videos and source audit." +} \ No newline at end of file diff --git a/meta/acceptance/power_drill/command_continuity.json b/meta/acceptance/power_drill/command_continuity.json new file mode 100644 index 0000000000000000000000000000000000000000..199a72295b8d1316260597a0e4126d246643b664 --- /dev/null +++ b/meta/acceptance/power_drill/command_continuity.json @@ -0,0 +1,23 @@ +{ + "dataset": "/home/lixin/RevoBench-refactor/outputs/drill_replanned_placement_generic_full_001/lerobot", + "episodes": [ + { + "episode": 0, + "frames": 2784, + "duration_s": 46.4, + "max_command_step_rad": 0.025313258171081543, + "peak_joint_speed_rad_s": 1.5188186655985352, + "peak_joint_acceleration_rad_s2": 36.03552548546052, + "p99_frame_peak_speed_rad_s": 1.1520174095902953, + "command_holds_over_250ms": [ + { + "start_s": 25.866666793823242, + "end_s": 27.91666603088379, + "duration_s": 2.049999237060547 + } + ], + "command_hold_total_s": 2.049999237060547 + } + ], + "scope": "Recorded commands only; includes intentional contact/stability holds. No velocity/acceleration acceptance threshold is inferred. Not evidence of physical success, collision clearance, or visual smoothness." +} diff --git a/meta/acceptance/power_drill/local_video_decode.json b/meta/acceptance/power_drill/local_video_decode.json new file mode 100644 index 0000000000000000000000000000000000000000..c6a71c1de59a2f697502a5705c4ba53a7b2c6e92 --- /dev/null +++ b/meta/acceptance/power_drill/local_video_decode.json @@ -0,0 +1,76 @@ +{ + "passed": true, + "videos": [ + { + "file": "observation.images.head.mp4", + "frames": 2784, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.overview.mp4", + "frames": 2784, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_index.mp4", + "frames": 2784, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_middle.mp4", + "frames": 2784, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_pinky.mp4", + "frames": 2784, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_ring.mp4", + "frames": 2784, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_thumb.mp4", + "frames": 2784, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_right_index.mp4", + "frames": 2784, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_right_middle.mp4", + "frames": 2784, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_right_pinky.mp4", + "frames": 2784, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_right_ring.mp4", + "frames": 2784, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_right_thumb.mp4", + "frames": 2784, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.wrist_left.mp4", + "frames": 2784, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.wrist_right.mp4", + "frames": 2784, + "max_timestamp_error_s": 0.0 + } + ], + "total_decoded_frames": 38976 +} \ No newline at end of file diff --git a/meta/acceptance/power_drill/physical_report.json b/meta/acceptance/power_drill/physical_report.json new file mode 100644 index 0000000000000000000000000000000000000000..7f889a4361468b5c9ff298a3411062749129581f --- /dev/null +++ b/meta/acceptance/power_drill/physical_report.json @@ -0,0 +1,113 @@ +{ + "physical_success": true, + "controller": { + "stage": "complete_cycle", + "stage_complete": true, + "task_success": true, + "alignment": { + "tip_position": [ + -0.0534338091207045, + 0.5699664309163858, + 0.8811509602440293 + ], + "tip_error_m": 0.00267474860700548, + "axis_error_deg": 0.6168569968904809 + }, + "final_position": [ + -0.3439550995826721, + 0.515753984451294, + 0.9274491667747498 + ], + "final_speed_m_s": 0.0008383852546103299 + }, + "validation": { + "checks": { + "controller_completed": true, + "final_hold_recorded": true, + "real_lift": true, + "no_fixture_collision": true, + "no_sampled_arm_table_collision": true, + "aligned_xy": true, + "axis_down": true, + "stopped_above_board": true, + "stable_hold": true, + "opposing_contacts": true, + "complete_phase_sequence": true, + "final_rest_recorded": true, + "returned_to_start": true, + "placed_on_table": true, + "restored_upright": true, + "settled_after_release": true, + "released": true, + "hand_withdrawn": true + }, + "metrics": { + "duration_s": 46.4, + "max_horizontal_error_m": 0.0027863600033410244, + "max_axis_error_deg": 0.6569435178306197, + "minimum_board_clearance_m": 0.048596384216150756, + "position_range_m": [ + 0.0005085912222801969, + 0.00023834839775660477, + 5.804610727200288e-05 + ], + "mean_finger_force_n": { + "thumb": 11.64068463643392, + "index": 6.122884007294973, + "middle": 2.9353857398033143 + }, + "final_position": [ + -0.3439550995826721, + 0.515753984451294, + 0.9274491667747498 + ], + "return_horizontal_error_m": 0.0031987477946466935, + "final_height_error_m": 2.980232238769531e-07, + "final_position_range_m": [ + 5.364418029785156e-07, + 1.5497207641601562e-06, + 2.980232238769531e-07 + ], + "final_speed_m_s": 0.0012250324822447977, + "final_upright_error_deg": 1.7056872457407326, + "final_finger_contact_n": 0.0, + "final_hand_distance_m": 0.2912883971838572 + }, + "all_pass": true, + "task_finished": true, + "scope": "Physical grasp, non-contact chuck alignment above board, return upright, placement, release and withdrawal. No drilling/spindle actuation. Fixture contacts sampled at 480 Hz, arm/table contacts at 60 Hz." + }, + "control_hz": 60, + "physics_hz": 480.0, + "physical_trace_timing": "after corresponding action", + "observation_timing": "before corresponding action", + "task_physics": { + "hand_effort_limit_nm": { + "left_thumb_CMP_joint": 5.0, + "left_thumb_CMR_joint": 5.0, + "left_thumb_MCP_joint": 5.0, + "left_thumb_PIP_joint": 5.0, + "left_thumb_DIP_joint": 5.0, + "left_index_MPR_joint": 5.0, + "left_index_MCP_joint": 5.0, + "left_index_PIP_joint": 5.0, + "left_index_DIP_joint": 5.0, + "left_middle_MPR_joint": 5.0, + "left_middle_MCP_joint": 5.0, + "left_middle_PIP_joint": 5.0, + "left_middle_DIP_joint": 5.0, + "left_ring_MPR_joint": 5.0, + "left_ring_MCP_joint": 5.0, + "left_ring_PIP_joint": 5.0, + "left_ring_DIP_joint": 5.0, + "left_little_MPR_joint": 5.0, + "left_little_MCP_joint": 5.0, + "left_little_PIP_joint": 5.0, + "left_little_DIP_joint": 5.0 + }, + "max_depenetration_velocity_m_s": 0.1, + "silicone_contact_stiffness": 280.0, + "silicone_contact_damping": 2.0 + }, + "termination_reason": "source_finished" +} diff --git a/meta/acceptance/power_drill/preview.jpg b/meta/acceptance/power_drill/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..cfa88560f6711bb4f7d6970115c7fe944fdf01cb --- /dev/null +++ b/meta/acceptance/power_drill/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da9f59f33c432fdc6efeeaf8ba19ab9ffd88fdd67ad436ab70859ca84ac795ff +size 39376 diff --git a/meta/acceptance/power_drill/recording_identity.json b/meta/acceptance/power_drill/recording_identity.json new file mode 100644 index 0000000000000000000000000000000000000000..08f60834d236a107fe1480fadc9d2599430af3dd --- /dev/null +++ b/meta/acceptance/power_drill/recording_identity.json @@ -0,0 +1,277 @@ +{ + "task": "power_drill", + "frames": 2784, + "fps": 60, + "pilot": false, + "contact_contract": { + "targets": [ + "power_drill" + ], + "target_paths": [ + "/World/envs/env_.*/Objects/power_drill" + ], + "scope": "Merged MT DIP body against identified target only; excludes other objects and self contacts", + "frame": "DIP_Link local frame", + "origin": "DIP_Link origin", + "wrench_units": [ + "N", + "N", + "N", + "N*m", + "N*m", + "N*m" + ], + "marker_units": "m", + "depth_units": "m", + "pressure_units": "nonnegative post-diffusion response, not Pa or N", + "finger_order": [ + "thumb", + "index", + "middle", + "ring", + "pinky" + ], + "pressure_region_order": { + "left": [ + "middle_fingertip", + "middle_fingerpad", + "thumb_fingertip", + "thumb_fingerpad", + "index_fingertip", + "index_fingerpad", + "ring_fingertip", + "ring_fingerpad", + "pinky_fingertip", + "pinky_fingerpad", + "palm" + ], + "right": [ + "middle_fingertip", + "middle_fingerpad", + "thumb_fingertip", + "thumb_fingerpad", + "index_fingertip", + "index_fingerpad", + "ring_fingertip", + "ring_fingerpad", + "pinky_fingertip", + "pinky_fingerpad", + 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"drill_replanned_placement_generic_full_001", + "final_release_verified": true, + "scope": "Final reviewed reference recording; individual execution, not a success-rate estimate. Original reports copied byte-for-byte. Preview is a decoded frame, not a mockup.", + "preview_frame": 1500, + "preview_camera": "overview", + "motion_report_included": true, + "original_manifest_sha256": "c32ca7abe6c5293a1266ebc76b98b7829e103f3635c973234cea4cf540a9c98a", + "files": { + "physical_report.json": { + "source": "outputs/drill_replanned_placement_generic_full_001/collection/raw/physical_report.json", + "sha256": "b7dfd491fffa0777d5374328817f128ad51071dc537515ee93568b151a305c69" + }, + "validation_summary.json": { + "source": "outputs/drill_replanned_placement_generic_full_001/lerobot/meta/validation_summary.json", + "sha256": "80b8ad998b9b75f8f14c40459d4953992a438f8daba7bf8b3e72f6612f2cdeb3" + }, + "preview.jpg": { + "source": "outputs/ten_task_reference_gallery_009/power_drill.jpg", + "sha256": "da9f59f33c432fdc6efeeaf8ba19ab9ffd88fdd67ad436ab70859ca84ac795ff" + }, + "command_continuity.json": { + "source": "outputs/drill_replanned_placement_generic_full_001/command_continuity.json", + "sha256": "9f8f4e373462e7a894cf4f33d39d2f9870b2af767aa12934a14b6f35749904d6" + }, + "visual_review.json": { + "source": "outputs/drill_replanned_placement_generic_full_001/diagnostics/visual_review.json", + "sha256": "a54c0759cc2ea4df717183f5aaa35eb4526ba5a3faf93f9825ef0d81ac8646f2" + }, + "local_video_decode.json": { + "source": "outputs/drill_replanned_placement_generic_full_001/diagnostics/local_video_decode.json", + "sha256": "6c6e4194bbbc3e8e16bb0536b205d9dd80aaf651ef813b1057d25be394b25b07" + } + } +} diff --git a/meta/acceptance/power_drill/validation_summary.json b/meta/acceptance/power_drill/validation_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..28e27b1e206d74d0d48095eb276b6fb1bff2ff17 --- /dev/null +++ b/meta/acceptance/power_drill/validation_summary.json @@ -0,0 +1,62 @@ +{ + "loader": "lerobot 0.3.3 / pyav", + "pilot": false, + "episodes": [ + { + "episode": 0, + "frames": 2784, + "physical_success": true, + "peaks": { + "observation.tactile_target_id": 0.0, + "observation.tactile_depth.left_thumb": 0.012197746895253658, + "observation.tactile_marker.left_thumb": 0.0004958010977134109, + "observation.tactile_depth.left_index": 0.001943950541317463, + "observation.tactile_marker.left_index": 0.0008551047067157924, + "observation.tactile_depth.left_middle": 0.003905386198312044, + "observation.tactile_marker.left_middle": 0.0019297681283205748, + "observation.tactile_depth.left_ring": 0.0037541668862104416, + "observation.tactile_marker.left_ring": 0.001722904504276812, + "observation.tactile_depth.left_pinky": 0.003920217975974083, + "observation.tactile_marker.left_pinky": 0.0014626234769821167, + "observation.tactile_pressure.left_middle_fingertip": 0.959342896938324, + "observation.tactile_pressure.left_middle_fingerpad": 0.0, + "observation.tactile_pressure.left_thumb_fingertip": 1.0730948448181152, + "observation.tactile_pressure.left_thumb_fingerpad": 0.0, + "observation.tactile_pressure.left_index_fingertip": 0.027028758078813553, + "observation.tactile_pressure.left_index_fingerpad": 0.0, + "observation.tactile_pressure.left_ring_fingertip": 0.8867960572242737, + "observation.tactile_pressure.left_ring_fingerpad": 0.0, + "observation.tactile_pressure.left_pinky_fingertip": 0.8423712253570557, + "observation.tactile_pressure.left_pinky_fingerpad": 0.0, + "observation.tactile_pressure.left_palm": 0.0, + "observation.tactile_tip_wrench.left_fingers": 13.92392635345459, + "observation.tactile_depth.right_thumb": 0.0, + "observation.tactile_marker.right_thumb": 0.0, + "observation.tactile_depth.right_index": 0.0, + "observation.tactile_marker.right_index": 0.0, + "observation.tactile_depth.right_middle": 0.0, + "observation.tactile_marker.right_middle": 0.0, + "observation.tactile_depth.right_ring": 0.0, + "observation.tactile_marker.right_ring": 0.0, + "observation.tactile_depth.right_pinky": 0.0, + "observation.tactile_marker.right_pinky": 0.0, + "observation.tactile_pressure.right_middle_fingertip": 0.0, + "observation.tactile_pressure.right_middle_fingerpad": 0.0, + "observation.tactile_pressure.right_thumb_fingertip": 0.0, + "observation.tactile_pressure.right_thumb_fingerpad": 0.0, + "observation.tactile_pressure.right_index_fingertip": 0.0, + "observation.tactile_pressure.right_index_fingerpad": 0.0, + "observation.tactile_pressure.right_ring_fingertip": 0.0, + "observation.tactile_pressure.right_ring_fingerpad": 0.0, + "observation.tactile_pressure.right_pinky_fingertip": 0.0, + "observation.tactile_pressure.right_pinky_fingerpad": 0.0, + "observation.tactile_pressure.right_palm": 0.0, + "observation.tactile_tip_wrench.right_fingers": 0.0 + } + } + ], + "frames": 2784, + "action_horizon": 16, + "boundary_padding_verified": true, + "video_counts_and_timestamps": "Fully decoded by shared exporter; loader sampled here" +} diff --git a/meta/acceptance/power_drill/visual_review.json b/meta/acceptance/power_drill/visual_review.json new file mode 100644 index 0000000000000000000000000000000000000000..9ff9482e43be2fe0631a3da7f81ba2ee1def4091 --- /dev/null +++ b/meta/acceptance/power_drill/visual_review.json @@ -0,0 +1,23 @@ +{ + "reviewed": true, + "actual_images_reviewed": [ + "../frames/overview_600.jpg", + "../frames/overview_1500.jpg", + "../frames/overview_2200.jpg", + "../frames/overview_2783.jpg", + "../frames/head_1500.jpg", + "../frames/head_2783.jpg", + "../frames/wrist_left_1500.jpg", + "../frames/wrist_left_2783.jpg", + "../frames/wrist_right_1500.jpg" + ], + "observations": [ + "The cute new RevoTron body, colored silicone pads, metallic fingers and hand-back material are visible in actual overview frames.", + "The left hand physically holds the drill through lift, chuck-down alignment and upright return. The final head frame shows the drill standing on the table and both hands clear; original physical metrics independently confirm zero final finger contact and 291.29 mm hand distance.", + "Both wrist views preserve the circular palm-facing 180-degree fisheye with fingers extending upward from the palm in the image. The active left wrist clearly shows the grasped drill and the board.", + "The head view sees the drill and board; during chuck-down alignment the forearm partially occludes the left grasp, which is visible in the active wrist and overview streams." + ], + "method": "Viewed nine decoded actual simulation frames; no browser UI playback or real-sensor fidelity claim.", + "video_decode": "local_video_decode.json", + "physical_evidence": "../collection/diagnostics/main_oracle_revalidation.json" +} diff --git a/meta/acceptance/randomization_validation.json b/meta/acceptance/randomization_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..e11b0d654ede950e1163e58c4f39defe6a7fc657 --- /dev/null +++ b/meta/acceptance/randomization_validation.json @@ -0,0 +1,462 @@ +{ + "passed": true, + "tasks": [ + { + "task": "hammer", + "run": "hammer_randomized_full_001", + "seed": 1, + "placement": { + "seed": 1, + "translation_m": [ + 0.00023643249400512323, + 0.00900927392651868, + 0.0 + ], + "group": [ + "hammer_pair_hammer", + "hammer_pair_nail_board" + ], + "attempts": [ + { + "translation_m": [ + 0.00023643249400512323, + 0.00900927392651868, + 0.0 + ], + "accepted": true, + "reason": "Measured IK approach clears table and task mesh bounds" + } + ], + "scope": "Reset-only rigid assembly translation; measured IK approach and conservative scene bounds" + }, + "physical_success": true, + "physical_report_sha256": "156dcb53710a03a8855f999bd1e73a793bda45f8628253da11d1f3de2052a02f", + "official_reader": "lerobot 0.3.3 / pyav", + "boundary_padding_verified": true, + "robot_gain_profile_matches_current": true + }, + { + "task": "plug_charger", + "run": "charger_generic_full_001", + "seed": 1, + "placement": { + "seed": 1, + "translation_m": [ + 0.00023643249400512323, + 0.00900927392651868, + 0.0 + ], + "group": [ + "charger", + "receptacle" + ], + "attempts": [ + { + "translation_m": [ + 0.00023643249400512323, + 0.00900927392651868, + 0.0 + ], + "accepted": true, + "reason": "Measured IK approach clears table and task mesh bounds" + } + ], + "static_fixtures": [], + "scope": "Reset-only rigid assembly translation; measured IK approach and conservative scene bounds" + }, + "physical_success": true, + "physical_report_sha256": "8b33f9d4fe73b09e29fc714224641e75d6772d4ef29f21b9c53638c741be0fec", + "official_reader": "lerobot 0.3.3 / pyav", + "boundary_padding_verified": true, + "robot_gain_profile_matches_current": true + }, + { + "task": "tray_carry", + "run": "tray_thumb_down_generic_full_001", + "seed": 1, + "placement": { + "seed": 1, + "translation_m": [ + 0.00023643249400513364, + 0.00900927392651868, + 0.0 + ], + "group": [ + "tray_food_pair_tray", + "tray_food_pair_beef_stew" + ], + "attempts": [ + { + "translation_m": [ + 0.00023643249400513364, + 0.00900927392651868, + 0.0 + ], + "accepted": true, + "reason": "Both grasp IKs and whole-hand table clearance pass; high approach clears scene bounds" + } + ], + "static_fixtures": [], + "scope": "Reset-only rigid assembly translation; measured IK approach and conservative scene bounds" + }, + "physical_success": true, + "physical_report_sha256": "41d06ce612e20209e3c7b5ca66cd1a689055dfa1691f9462e33cfa13d5eacc14", + "official_reader": "lerobot 0.3.3 / pyav", + "boundary_padding_verified": true, + "robot_gain_profile_matches_current": true + }, + { + "task": "pour_can", + "run": "pour_generic_full_002", + "seed": 1, + "placement": { + "seed": 1, + "translation_m": [ + 0.0002364324940051371, + 0.00900927392651868, + 0.0 + ], + "group": [ + "can", + "bowl", + "particle_00", + "particle_01", + "particle_02", + "particle_03", + "particle_04", + "particle_05", + "particle_06", + "particle_07", + "particle_08", + "particle_09", + "particle_10", + "particle_11", + "particle_12", + "particle_13", + "particle_14", + "particle_15", + "particle_16", + "particle_17", + "particle_18", + "particle_19", + "particle_20", + "particle_21", + "particle_22", + "particle_23", + "particle_24", + "particle_25", + "particle_26", + "particle_27", + "particle_28", + "particle_29", + "particle_30", + "particle_31", + "particle_32", + "particle_33", + "particle_34", + "particle_35", + "particle_36", + "particle_37", + "particle_38", + "particle_39", + "particle_40", + "particle_41", + "particle_42", + "particle_43", + "particle_44", + "particle_45", + "particle_46", + "particle_47", + "particle_48", + "particle_49", + "particle_50", + "particle_51", + "particle_52", + "particle_53", + "particle_54", + "particle_55", + "particle_56", + "particle_57", + "particle_58", + "particle_59", + "particle_60", + "particle_61", + "particle_62", + "particle_63" + ], + "attempts": [ + { + "translation_m": [ + 0.0002364324940051371, + 0.00900927392651868, + 0.0 + ], + "accepted": true, + "reason": "Can pregrasp, grasp and lift IK pass; 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Reset gate covers declared approach geometry; not a guarantee for all layouts or a measured success rate." +} diff --git a/meta/acceptance/release_validation.json b/meta/acceptance/release_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..0f7428a00ef6dbe97e2ac44208199fced4e7b0f4 --- /dev/null +++ b/meta/acceptance/release_validation.json @@ -0,0 +1,440 @@ +{ + "time_utc": "2026-10-26T03:14:18.885162+00:00", + "technical_acceptance_complete": true, + "tasks": [ + { + "task": "hammer", + "reference_run": "hammer_generic_full_001", + "frames": 1403, + "duration_s": 23.383333333333333, + "physical_success": true, + "loader": "lerobot 0.3.3 / pyav", + "action_horizon": 16, + "boundary_padding_verified": true, + "full_decoded_videos": 14, + "decoded_video_frames": 19642, + "actual_frame_review": true, + "command_statistics": { + "episode": 0, + "frames": 1403, + "duration_s": 23.383333333333333, + "max_command_step_rad": 0.03761745884548873, + 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[100%]\n12 passed in 3.04s", + "scope": "Clean final wheel matches main source, including task acceptance metadata; original calibration files and notices retained. This CPU discovery check does not replace recorded simulation evidence." + }, + "asset_bundle": { + "verified": true, + "files": 659, + "manifest": "configs/assets/bundle_manifest.json" + }, + "tests": "12 passed", + "limitations": [ + "Individual executions are not measured success rates or guarantees over the full randomization range.", + "Fresh CPU reader installation verified; blank-machine Isaac installation not executed.", + "Policy model inference and real teleoperation transports remain external adapters.", + "Optical ray depth is not measured real-gel deformation; tactile contact scope is single-target.", + "Pouring uses a provisional granular surrogate; drill task is non-contact alignment, not drilling." + ], + "publication": "Technical gate complete. Git remote publication is verified separately after committing these artifacts.", + "randomization_evidence": "randomization_validation.json" +} diff --git a/meta/acceptance/rotate_knob/command_continuity.json b/meta/acceptance/rotate_knob/command_continuity.json new file mode 100644 index 0000000000000000000000000000000000000000..3365042c93883918be0b9cd889312683be48da7c --- /dev/null +++ b/meta/acceptance/rotate_knob/command_continuity.json @@ -0,0 +1,28 @@ +{ + "dataset": "/home/lixin/RevoBench-refactor/outputs/knob_continuous_generic_full_001/lerobot", + "episodes": [ + { + "episode": 0, + "frames": 2230, + "duration_s": 37.166666666666664, + "max_command_step_rad": 0.029411882162094116, + "peak_joint_speed_rad_s": 1.764739857518883, + "peak_joint_acceleration_rad_s2": 18.00058580813521, + "p99_frame_peak_speed_rad_s": 1.3132213440282543, + "command_holds_over_250ms": [ + { + "start_s": 5.733333110809326, + "end_s": 5.983333110809326, + "duration_s": 0.25 + }, + { + "start_s": 15.850000381469727, + "end_s": 16.91666603088379, + "duration_s": 1.0666656494140625 + } + ], + "command_hold_total_s": 1.3166656494140625 + } + ], + "scope": "Recorded commands only; includes intentional contact/stability holds. No velocity/acceleration acceptance threshold is inferred. Not evidence of physical success, collision clearance, or visual smoothness." +} diff --git a/meta/acceptance/rotate_knob/local_video_decode.json b/meta/acceptance/rotate_knob/local_video_decode.json new file mode 100644 index 0000000000000000000000000000000000000000..f12215ac1a10aa6d10a584e0e25bb463305a1510 --- /dev/null +++ b/meta/acceptance/rotate_knob/local_video_decode.json @@ -0,0 +1,76 @@ +{ + "passed": true, + "videos": [ + { + "file": "observation.images.head.mp4", + "frames": 2230, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.overview.mp4", + "frames": 2230, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_index.mp4", + "frames": 2230, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_middle.mp4", + "frames": 2230, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_pinky.mp4", + "frames": 2230, + "max_timestamp_error_s": 0.0 + }, + { + "file": 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}, + "arm_target_velocity_metrics": { + "maximum_target_velocity_rad_s": 0.11795550584793091, + "phase_peak_target_velocity_rad_s": { + "turn": { + "Joint1_L": 0.014312267303466797, + "Joint2_L": 0.0039768218994140625, + "Joint3_L": 0.005285739898681641, + "Joint4_L": 0.05193471908569336, + "Joint5_L": 0.011533498764038086, + "Joint6_L": 0.11795550584793091, + "Joint7_L": 0.005301833152770996 + }, + "target_hold": { + "Joint1_L": 0.006623268127441406, + "Joint2_L": 0.0019598007202148438, + "Joint3_L": 0.002052783966064453, + "Joint4_L": 0.002624988555908203, + "Joint5_L": 0.0029164552688598633, + "Joint6_L": 0.02790212631225586, + "Joint7_L": 0.0021028518676757812 + } + } + }, + "grasp_quality_notes": [ + "Load sharing is assessed per finger, not by equality of force magnitudes.", + "DIP/PIP/MCP participation is reported separately; these checks do not substitute for visual review of finger spacing.", + "Posture limits include physical-compliance allowance and apply to measured joints during grasp, turn, and target hold." + ] +} \ No newline at end of file diff --git a/meta/acceptance/rotate_knob/physical_report.json b/meta/acceptance/rotate_knob/physical_report.json new file mode 100644 index 0000000000000000000000000000000000000000..e4ca2c0e24df5184e484617031abf3920c8fcd6f --- /dev/null +++ b/meta/acceptance/rotate_knob/physical_report.json @@ -0,0 +1,696 @@ +{ + "physical_success": true, + "validation": { + "success": true, + "checks": { + "physics_substep_evidence_consistent": true, + "physics_contact_force_bounded": true, + "metadata_matches_spec": true, + "consecutive_samples": true, + "untouched_baseline_stable": true, + "phase_order": true, + "no_angle_jumps": true, + "approach_rotation_within_goal_range": true, + "controlled_turn_after_grasp": true, + "multi_finger_grasp_hold": true, + "multi_finger_contact_during_turn": true, + "specified_direction": true, + "turn_reaches_target": true, + "released_hold_duration": true, + "target_held_before_release": true, + "natural_return_after_release": true, + "released_angle_stable": true, + "hand_released": true, + "no_arm_table_contact": true, + "working_clearance": true, + "five_finger_grasp_hold_thumb_shares_load": true, + "five_finger_grasp_hold_index_shares_load": true, + "five_finger_grasp_hold_middle_shares_load": true, + "five_finger_grasp_hold_ring_shares_load": true, + "five_finger_grasp_hold_little_shares_load": true, + "five_finger_turn_thumb_shares_load": true, + "five_finger_turn_index_shares_load": true, + "five_finger_turn_middle_shares_load": true, + "five_finger_turn_ring_shares_load": true, + "five_finger_turn_little_shares_load": true, + "natural_index_mcp_not_hyperextended": true, + "natural_index_dip_not_fully_hooked": true, + "natural_index_dip_pip_coupling": true, + "natural_middle_mcp_not_hyperextended": true, + "natural_middle_dip_not_fully_hooked": true, + "natural_middle_dip_pip_coupling": true, + "natural_ring_mcp_not_hyperextended": true, + "natural_ring_dip_not_fully_hooked": true, + "natural_ring_dip_pip_coupling": true, + "natural_little_mcp_not_hyperextended": true, + "natural_little_dip_not_fully_hooked": true, + "natural_little_dip_pip_coupling": true, + "turn_arm_target_velocity_bounded": true + }, + "failed_checks": [], + "target_delta_deg": 35, + "final_delta_deg": 0.07074006913062372, + "peak_physics_substep_finger_force_n": 3.756373167037964, + "pre_turn_delta_deg": -0.09132808022814705, + "maximum_pre_turn_motion_deg": 1.5688063002229533, + "quality_notes": [], + "max_backtrack_deg": 0.0010339173843207008, + "peak_table_contact_n": 0.0, + "minimum_working_clearance_m": 0.03964140901359836, + "full_cycle_success": true, + "grasp_quality_success": true, + "command_motion_success": true, + "grasp_quality_criteria": { + "contact_threshold_n": 0.05, + "minimum_per_finger_contact_fraction": 0.8, + "contact_required_phases": [ + "grasp_hold", + "turn" + ], + "joint_posture_required_phases": [ + "grasp_hold", + 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}, + "arm_target_velocity_metrics": { + "maximum_target_velocity_rad_s": 0.11795550584793091, + "phase_peak_target_velocity_rad_s": { + "turn": { + "Joint1_L": 0.014312267303466797, + "Joint2_L": 0.0039768218994140625, + "Joint3_L": 0.005285739898681641, + "Joint4_L": 0.05193471908569336, + "Joint5_L": 0.011533498764038086, + "Joint6_L": 0.11795550584793091, + "Joint7_L": 0.005301833152770996 + }, + "target_hold": { + "Joint1_L": 0.006623268127441406, + "Joint2_L": 0.0019598007202148438, + "Joint3_L": 0.002052783966064453, + "Joint4_L": 0.002624988555908203, + "Joint5_L": 0.0029164552688598633, + "Joint6_L": 0.02790212631225586, + "Joint7_L": 0.0021028518676757812 + } + } + }, + "grasp_quality_notes": [ + "Load sharing is assessed per finger, not by equality of force magnitudes.", + "DIP/PIP/MCP participation is reported separately; these checks do not substitute for visual review of finger spacing.", + "Posture limits include physical-compliance allowance and apply to measured joints during grasp, turn, and target hold." + ] + }, + "planner": { + "stage": "full_cycle", + "trajectory_complete": true, + "task_success": false, + "independent_verification_required": true, + "initial_angle_rad": 0.0, + "turned_angle_rad": 0.5981722474098206, + "final_angle_rad": 0.0012346471194177866, + "target_delta_deg": 35.0, + "actual_turn_delta_deg": 34.27274519843801, + "final_delta_deg": 0.07074006913062372, + "actuation": "Robot joint targets only; object joint states and object drives are never commanded during motion. 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Preview is a decoded frame, not a mockup.", + "preview_frame": 1350, + "preview_camera": "overview", + "motion_report_included": true, + "original_manifest_sha256": "858f3eb3aae85be433cc0561bb9eb397fa69a8cbbed04bae758139f489408cf3", + "files": { + "physical_report.json": { + "source": "outputs/knob_continuous_generic_full_001/collection/raw/physical_report.json", + "sha256": "6e9aaa913601c0f6b3bb08153b6caac38047b9a6897706b8279c67183808dc7f" + }, + "validation_summary.json": { + "source": "outputs/knob_continuous_generic_full_001/lerobot/meta/validation_summary.json", + "sha256": "89e39beb579250b68d6e32ceb952a483e93b00eb2e66c394547252b19b7cee0a" + }, + "preview.jpg": { + "source": "outputs/ten_task_reference_gallery_009/rotate_knob.jpg", + "sha256": "96bf04b295b534310527bd0ed2c3d09ae88ecd8bbe7b2fd1e1db6e7fbc5332e8" + }, + "command_continuity.json": { + "source": "outputs/knob_continuous_generic_full_001/command_continuity.json", + "sha256": "2e289940018f986fcd0d86d4cc9f7fc423c2e85e8df41d7d133ffd139ea0783f" + }, + "visual_review.json": { + "source": "outputs/knob_continuous_generic_full_001/diagnostics/visual_review.json", + "sha256": "ff84c45dfe9438dd6de4e7ba880ae7977d39cf54fa0a65af1af5a773cfce741f" + }, + "local_video_decode.json": { + "source": "outputs/knob_continuous_generic_full_001/diagnostics/local_video_decode.json", + "sha256": "9b096da3ac9ba7c3c3744ed3f78fc6caf0da421301ef10c03a3d5b86336d2913" + }, + "main_oracle_revalidation.json": { + "source": "outputs/knob_continuous_generic_full_001/diagnostics/main_oracle_revalidation.json", + "sha256": "6d078be518526bb5f34f2c04656be7cfd0e07461494d8d998895c7a96f9aae9f" + } + } +} diff --git a/meta/acceptance/rotate_knob/validation_summary.json b/meta/acceptance/rotate_knob/validation_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..8cf6c44961c3328e5ca1a2fb7da61fc86b19ef25 --- /dev/null +++ b/meta/acceptance/rotate_knob/validation_summary.json @@ -0,0 +1,62 @@ +{ + "loader": "lerobot 0.3.3 / pyav", + "pilot": false, + "episodes": [ + { + "episode": 0, + "frames": 2230, + "physical_success": true, + "peaks": { + "observation.tactile_target_id": 0.0, + "observation.tactile_depth.left_thumb": 0.0028723319992423058, + "observation.tactile_marker.left_thumb": 4.851905396208167e-05, + "observation.tactile_depth.left_index": 0.0013473426224663854, + "observation.tactile_marker.left_index": 1.8843591533368453e-05, + "observation.tactile_depth.left_middle": 0.0007289471104741096, + "observation.tactile_marker.left_middle": 4.086488115717657e-05, + "observation.tactile_depth.left_ring": 0.0009078027214854956, + "observation.tactile_marker.left_ring": 3.3208110835403204e-05, + "observation.tactile_depth.left_pinky": 0.0, + "observation.tactile_marker.left_pinky": 0.00014100577391218394, + "observation.tactile_pressure.left_middle_fingertip": 0.0, + "observation.tactile_pressure.left_middle_fingerpad": 0.0, + "observation.tactile_pressure.left_thumb_fingertip": 1.0640950202941895, + "observation.tactile_pressure.left_thumb_fingerpad": 0.0, + "observation.tactile_pressure.left_index_fingertip": 0.0, + "observation.tactile_pressure.left_index_fingerpad": 0.0, + "observation.tactile_pressure.left_ring_fingertip": 0.0, + "observation.tactile_pressure.left_ring_fingerpad": 0.0, + "observation.tactile_pressure.left_pinky_fingertip": 0.0, + "observation.tactile_pressure.left_pinky_fingerpad": 0.0, + "observation.tactile_pressure.left_palm": 0.0, + "observation.tactile_tip_wrench.left_fingers": 4.2687087059021, + "observation.tactile_depth.right_thumb": 0.0, + "observation.tactile_marker.right_thumb": 0.0, + "observation.tactile_depth.right_index": 0.0, + "observation.tactile_marker.right_index": 0.0, + "observation.tactile_depth.right_middle": 0.0, + "observation.tactile_marker.right_middle": 0.0, + "observation.tactile_depth.right_ring": 0.0, + "observation.tactile_marker.right_ring": 0.0, + "observation.tactile_depth.right_pinky": 0.0, + "observation.tactile_marker.right_pinky": 0.0, + "observation.tactile_pressure.right_middle_fingertip": 0.0, + "observation.tactile_pressure.right_middle_fingerpad": 0.0, + "observation.tactile_pressure.right_thumb_fingertip": 0.0, + "observation.tactile_pressure.right_thumb_fingerpad": 0.0, + "observation.tactile_pressure.right_index_fingertip": 0.0, + "observation.tactile_pressure.right_index_fingerpad": 0.0, + "observation.tactile_pressure.right_ring_fingertip": 0.0, + "observation.tactile_pressure.right_ring_fingerpad": 0.0, + "observation.tactile_pressure.right_pinky_fingertip": 0.0, + "observation.tactile_pressure.right_pinky_fingerpad": 0.0, + "observation.tactile_pressure.right_palm": 0.0, + "observation.tactile_tip_wrench.right_fingers": 0.0 + } + } + ], + "frames": 2230, + "action_horizon": 16, + "boundary_padding_verified": true, + "video_counts_and_timestamps": "Fully decoded by shared exporter; loader sampled here" +} diff --git a/meta/acceptance/rotate_knob/visual_review.json b/meta/acceptance/rotate_knob/visual_review.json new file mode 100644 index 0000000000000000000000000000000000000000..11bac1e9dc2f83334d92e4844cdd3df003b69b9e --- /dev/null +++ b/meta/acceptance/rotate_knob/visual_review.json @@ -0,0 +1,21 @@ +{ + "task": "rotate_knob", + "frames": 2230, + "duration_s": 37.166666666666664, + "physical_success": true, + "official_reader": "lerobot 0.3.3 / pyav", + "action_horizon": 16, + "all14videos_fully_decoded": true, + "actually_inspected": [ + "overview1350.png", + "wrist_left1350.png", + "wrist_left2100.png", + "wrist_right1350.png", + "tactile_left_thumb1350.png" + ], + "unchanged_robot_calibration_camera_gains_contact_scope": true, + "depth_peak_m": 0.0028723319992423058, + "optical_model": "physical_geometry_optical_intervals_v1_candidate", + "scope": "Full original physical/data checks and decoded key frames passed. Generic optical candidate not globally accepted. Motion reduced1.5167s; remaining contact hold1.3167s not declared fully optimized.", + "browser_ui": "Disabled by Work settings; no UI playback claim" +} \ No newline at end of file diff --git a/meta/acceptance/task_reference_acceptance.json b/meta/acceptance/task_reference_acceptance.json new file mode 100644 index 0000000000000000000000000000000000000000..67764532d477114a1fcc141ab7e30edcfbba2156 --- /dev/null +++ b/meta/acceptance/task_reference_acceptance.json @@ -0,0 +1,138 @@ +{ + "updated_at": "2026-10-26T03:14:18.885162+00:00", + "scope": "Ten selected unified-model reference episodes passed original physical predicates, shared export, official reader/padding, full videos, actual frames, motion and source/package checks. Each task also has a complete randomized success instance; no success-rate claim. Repository publication is tracked separately.", + "distinct_reference_tasks": 10, + "final_release_complete": true, + "tasks": [ + { + "task": "hammer", + "reference_run": "hammer_generic_full_001", + "frames": 1403, + "duration_s": 23.383333333333333, + "seed": 0, + "randomized": false, + "task_source_matches_recorded_snapshot": true, + "optical_model": "physical_geometry_optical_intervals_v1_candidate", + "final_release_verified": true, + "repository_evidence": "docs/reference_evidence/hammer", + "preview_frame": 1050 + }, + { + "task": "plug_charger", + "reference_run": "charger_generic_full_001", + "frames": 2457, + "duration_s": 40.95, + "seed": 1, + "randomized": true, + "task_source_matches_recorded_snapshot": true, + "optical_model": "physical_geometry_optical_intervals_v1_candidate", + "final_release_verified": true, + "repository_evidence": "docs/reference_evidence/plug_charger", + "preview_frame": 2100 + }, + { + "task": "tray_carry", + "reference_run": 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"optical_model": "physical_geometry_optical_intervals_v1_candidate", + "final_release_verified": true, + "repository_evidence": "docs/reference_evidence/cup_hang", + "preview_frame": 3000 + }, + { + "task": "rotate_knob", + "reference_run": "knob_continuous_generic_full_001", + "frames": 2230, + "duration_s": 37.166666666666664, + "seed": 1, + "randomized": true, + "task_source_matches_recorded_snapshot": true, + "optical_model": "physical_geometry_optical_intervals_v1_candidate", + "final_release_verified": true, + "repository_evidence": "docs/reference_evidence/rotate_knob", + "preview_frame": 1350 + }, + { + "task": "insert_pipette", + "reference_run": "pipette_generic_full_001", + "frames": 2551, + "duration_s": 42.516666666666666, + "seed": 1, + "randomized": true, + "task_source_matches_recorded_snapshot": true, + "optical_model": "physical_geometry_optical_intervals_v1_candidate", + "final_release_verified": true, + "repository_evidence": "docs/reference_evidence/insert_pipette", + "preview_frame": 2100 + }, + { + "task": "insert_peg", + "reference_run": "peg_generic_full_001", + "frames": 3033, + "duration_s": 50.55, + "seed": 1, + "randomized": true, + "task_source_matches_recorded_snapshot": true, + "optical_model": "physical_geometry_optical_intervals_v1_candidate", + "final_release_verified": true, + "repository_evidence": "docs/reference_evidence/insert_peg", + "preview_frame": 2500 + }, + { + "task": "kitchen", + "reference_run": "kitchen_original_generic_full_001", + "frames": 5424, + "duration_s": 90.4, + "seed": 1, + "randomized": true, + "task_source_matches_recorded_snapshot": true, + "optical_model": "physical_geometry_optical_intervals_v1_candidate", + "final_release_verified": true, + "repository_evidence": "docs/reference_evidence/kitchen", + "preview_frame": 3500 + }, + { + "task": "power_drill", + "reference_run": "drill_replanned_placement_generic_full_001", + "frames": 2784, + "duration_s": 46.4, + "seed": 4, + "randomized": true, + "task_source_matches_recorded_snapshot": true, + "optical_model": "physical_geometry_optical_intervals_v1_candidate", + "final_release_verified": true, + "repository_evidence": "docs/reference_evidence/power_drill", + "preview_frame": 1500 + } + ] +} diff --git a/meta/acceptance/tray_carry/command_continuity.json b/meta/acceptance/tray_carry/command_continuity.json new file mode 100644 index 0000000000000000000000000000000000000000..52b0c0ab86f72bdd65f7d2003bfae3be3388cb28 --- /dev/null +++ b/meta/acceptance/tray_carry/command_continuity.json @@ -0,0 +1,23 @@ +{ + "dataset": "/home/lixin/RevoBench-refactor/outputs/tray_thumb_down_generic_full_001/lerobot", + "episodes": [ + { + "episode": 0, + "frames": 1676, + "duration_s": 27.933333333333334, + "max_command_step_rad": 0.033385276794433594, + "peak_joint_speed_rad_s": 2.0031185179886988, + "peak_joint_acceleration_rad_s2": 2.467637000342987, + "p99_frame_peak_speed_rad_s": 1.9521448454268424, + "command_holds_over_250ms": [ + { + "start_s": 15.050000190734863, + "end_s": 16.200000762939453, + "duration_s": 1.1500005722045898 + } + ], + "command_hold_total_s": 1.1500005722045898 + } + ], + "scope": "Recorded commands only; includes intentional contact/stability holds. No velocity/acceleration acceptance threshold is inferred. Not evidence of physical success, collision clearance, or visual smoothness." +} diff --git a/meta/acceptance/tray_carry/grip_selection_review.json b/meta/acceptance/tray_carry/grip_selection_review.json new file mode 100644 index 0000000000000000000000000000000000000000..581a44e5358050a46bd809a03d2072598fb48cd2 --- /dev/null +++ b/meta/acceptance/tray_carry/grip_selection_review.json @@ -0,0 +1,19 @@ +{ + "selected_run": "tray_thumb_down_generic_full_001", + "main_change": "Only thumb orientation residual weight0.08 to0.5; exact copied successful controller snapshot.", + "physical_success": true, + "same_original_oracle_revalidated": true, + "hold_tilt_deg": 1.5091808554377644, + "food_drift_m": 0.00013275810058804052, + "return_error_m": 0.0011992076652158786, + "rejected_alternative": "high-entry physical pass but4.97degree hold tilt, versus1.51degree selected", + "optical_assessment": "Both thumb optical channels zero, consistent with measured contact on metal shell outside calibrated gel; eight opposing-finger optical channels respond. No artificial signal or calibration change. Whole-body contact force and pad depth have different contact scope.", + "actual_frame_review": [ + "frames/wrist_left_940.jpg", + "frames/wrist_right_940.jpg", + "frames/overview_940.jpg", + "frames/overview_1600.jpg" + ], + "limits": "Metal-shell thumb contact is retained and disclosed. No claim of real-sensor deformation fidelity or success rates. Final common sensor source release still pending.", + "source_sha256": "e676fcb56bfc906eabe1f765d22c03b352facf2b58f5293fda3788fa17c2f9ae" +} \ No newline at end of file diff --git a/meta/acceptance/tray_carry/local_video_decode.json b/meta/acceptance/tray_carry/local_video_decode.json new file mode 100644 index 0000000000000000000000000000000000000000..3720d388788cf69ad1217aa63e2184e49b565563 --- /dev/null +++ b/meta/acceptance/tray_carry/local_video_decode.json @@ -0,0 +1,76 @@ +{ + "passed": true, + "videos": [ + { + "file": "observation.images.head.mp4", + "frames": 1676, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.overview.mp4", + "frames": 1676, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_index.mp4", + "frames": 1676, + "max_timestamp_error_s": 0.0 + }, + { + "file": "observation.images.tactile_left_middle.mp4", + "frames": 1676, + "max_timestamp_error_s": 0.0 + }, + { + "file": 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{ + "file": "observation.images.wrist_right.mp4", + "frames": 1676, + "max_timestamp_error_s": 0.0 + } + ], + "scope": "Full local PyAV video decoding with60Hz timestamps; actual-frame review separate." +} \ No newline at end of file diff --git a/meta/acceptance/tray_carry/main_oracle_revalidation.json b/meta/acceptance/tray_carry/main_oracle_revalidation.json new file mode 100644 index 0000000000000000000000000000000000000000..afb7c000c5943638403a134d3b10aac98bc7515b --- /dev/null +++ b/meta/acceptance/tray_carry/main_oracle_revalidation.json @@ -0,0 +1,69 @@ +{ + "physical_trace_samples": 1676, + "hold_samples": 60, + "max_lift_m": 0.0950896143913269, + "hold_min_lift_m": 0.09507125616073608, + "hold_max_tilt_deg": 1.5091808554377644, + "max_food_relative_xy_drift_m": 0.00013275810058804052, + "final_tray_xy_error_m": 0.0011992076652158786, + "final_tray_height_error_m": -1.3113021850585938e-06, + "final_tray_speed_m_s": 0.00010230516331897651, + "final_hand_contact_force_sum_N": 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-78.4957987722098 + ] + }, + "success": true +} \ No newline at end of file diff --git a/meta/acceptance/tray_carry/physical_report.json b/meta/acceptance/tray_carry/physical_report.json new file mode 100644 index 0000000000000000000000000000000000000000..73ea064e94032f5e43cb403ceb5fad05d2e48304 --- /dev/null +++ b/meta/acceptance/tray_carry/physical_report.json @@ -0,0 +1,82 @@ +{ + "physical_success": true, + "validation": { + "physical_trace_samples": 1676, + "hold_samples": 60, + "max_lift_m": 0.0950896143913269, + "hold_min_lift_m": 0.09507125616073608, + "hold_max_tilt_deg": 1.5091808554377644, + "max_food_relative_xy_drift_m": 0.00013275810058804052, + "final_tray_xy_error_m": 0.0011992076652158786, + "final_tray_height_error_m": -1.3113021850585938e-06, + "final_tray_speed_m_s": 0.00010230516331897651, + "final_hand_contact_force_sum_N": 0.0, + "contacts": { + "left": { + "thumb": { + "mean_force_N": 2.6256287972132366, + "contact_fraction": 1.0 + }, + "index": { + 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"physical_trace_timing": "after corresponding action", + "task_physics": { + "tray_free": true, + "food_free": true, + "gain_changes": false + }, + "termination_reason": "source_finished" +} diff --git a/meta/acceptance/tray_carry/preview.jpg b/meta/acceptance/tray_carry/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..afed9477453feaa970fc17e9892189dcfaf266bb --- /dev/null +++ b/meta/acceptance/tray_carry/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e72bf92d39742aadb263d058455493e1a5c1bd891d16df6bf4470e4921cdd4c4 +size 32127 diff --git a/meta/acceptance/tray_carry/recording_identity.json b/meta/acceptance/tray_carry/recording_identity.json new file mode 100644 index 0000000000000000000000000000000000000000..46965d3f94ae05969de45114af2cfe8045428052 --- /dev/null +++ b/meta/acceptance/tray_carry/recording_identity.json @@ -0,0 +1,285 @@ +{ + "task": "tray_carry", + "frames": 1676, + "fps": 60, + "pilot": false, + "contact_contract": { + "targets": [ + "tray_food_pair_tray" + ], + "target_paths": [ + "/World/envs/env_.*/Objects/tray_food_pair_tray/E_redtray_28" + ], + "scope": "Merged MT DIP body against identified target only; excludes other objects and self contacts", + "frame": "DIP_Link local frame", + "origin": "DIP_Link origin", + "wrench_units": [ + "N", + "N", + "N", + "N*m", + "N*m", + "N*m" + ], + "marker_units": "m", + "depth_units": "m", + "pressure_units": "nonnegative post-diffusion response, not Pa or N", + "finger_order": [ + "thumb", + "index", + "middle", + "ring", + "pinky" + ], + "pressure_region_order": { + "left": [ + "middle_fingertip", + "middle_fingerpad", + "thumb_fingertip", + "thumb_fingerpad", + "index_fingertip", + "index_fingerpad", + "ring_fingertip", + "ring_fingerpad", + "pinky_fingertip", + "pinky_fingerpad", + "palm" + ], + "right": [ + "middle_fingertip", + "middle_fingerpad", + "thumb_fingertip", + "thumb_fingerpad", + "index_fingertip", + "index_fingerpad", 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Original reports copied byte-for-byte. 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"eb46f665e843385f505ef3297762f7844f05d7ad3d644cf6acab8f0e8ebc4d36" + }, + "visual_review.json": { + "source": "outputs/tray_thumb_down_generic_full_001/diagnostics/visual_review.json", + "sha256": "211faa142c1e2ea489e3b4e6c32b3ab6f94d45fc13d2abcefb8e17840490fcc2" + }, + "local_video_decode.json": { + "source": "outputs/tray_thumb_down_generic_full_001/diagnostics/local_video_decode.json", + "sha256": "12d7b2d82450d31c5077fa761be010af5f2ebcb6451b39c565626be6b7cc8cb7" + }, + "grip_selection_review.json": { + "source": "outputs/tray_thumb_down_generic_full_001/diagnostics/grip_selection_review.json", + "sha256": "30aff93289dfb5d29fe4fa81cbfc01302d7c3e8fe53045ad5e7d3d740bc44cee" + }, + "main_oracle_revalidation.json": { + "source": "outputs/tray_thumb_down_generic_full_001/diagnostics/main_oracle_revalidation.json", + "sha256": "befab93951ba43020d652479f82c095161cffe74bd25b96de0edb72a9bc1dd89" + } + } +} diff --git a/meta/acceptance/tray_carry/validation_summary.json b/meta/acceptance/tray_carry/validation_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..92a8ae2ff4da771099a7e41599dd5a2155533445 --- /dev/null +++ b/meta/acceptance/tray_carry/validation_summary.json @@ -0,0 +1,62 @@ +{ + "loader": "lerobot 0.3.3 / pyav", + "pilot": false, + "episodes": [ + { + "episode": 0, + "frames": 1676, + "physical_success": true, + "peaks": { + "observation.tactile_target_id": 0.0, + "observation.tactile_depth.left_thumb": 0.0, + "observation.tactile_marker.left_thumb": 0.0, + "observation.tactile_depth.left_index": 0.0023643202148377895, + "observation.tactile_marker.left_index": 0.00039211480179801583, + "observation.tactile_depth.left_middle": 0.001993195153772831, + "observation.tactile_marker.left_middle": 0.00047772933612577617, + "observation.tactile_depth.left_ring": 0.002150035696104169, + "observation.tactile_marker.left_ring": 0.000418918818468228, + "observation.tactile_depth.left_pinky": 0.002296970458701253, + 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"observation.tactile_pressure.right_ring_fingerpad": 0.0, + "observation.tactile_pressure.right_pinky_fingertip": 0.722265899181366, + "observation.tactile_pressure.right_pinky_fingerpad": 0.0, + "observation.tactile_pressure.right_palm": 0.0, + "observation.tactile_tip_wrench.right_fingers": 5.823197841644287 + } + } + ], + "frames": 1676, + "action_horizon": 16, + "boundary_padding_verified": true, + "video_counts_and_timestamps": "Fully decoded by shared exporter; loader sampled here" +} diff --git a/meta/acceptance/tray_carry/visual_review.json b/meta/acceptance/tray_carry/visual_review.json new file mode 100644 index 0000000000000000000000000000000000000000..c141a89bd14dded95404819dba1e48b375cc0e5e --- /dev/null +++ b/meta/acceptance/tray_carry/visual_review.json @@ -0,0 +1,11 @@ +{ + "actual_images_reviewed": [ + "../frames/wrist_left_940.jpg", + "../frames/overview_1600.jpg" + ], + "observations": [ + "Four fingers support tray from below, released tray rests on table byframe1600.", + "Thumb appears near tray outer rim; measured contact-source geometry audit identifies contact near metal shell,6.4\u20136.55mm from rubber. Zero optical depth is not filled in. Grip quality revision remains pending." + ], + "method": "Decoded actual recorded images; browser UI playback not tested." +} \ No newline at end of file diff --git a/meta/batch_provenance.json b/meta/batch_provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..d1795b0ae9bf7b3e7a17549cea11d25a18ed65d4 --- /dev/null +++ b/meta/batch_provenance.json @@ -0,0 +1,87 @@ +{ + "code_repository": "https://github.com/DavidLXu/RevoBench-Refactor", + "code_commit": "c2646255984794f755e391c18e58c745c63e198e", + "episodes": [ + { + "episode_index": 0, + "task": "hammer", + "reference_run": "hammer_generic_full_001", + "frames": 1403, + "seed": 0, + "randomized": false + }, + { + "episode_index": 1, + "task": "plug_charger", + "reference_run": "charger_generic_full_001", + "frames": 2457, + "seed": 1, + "randomized": true + }, + { + "episode_index": 2, + "task": "tray_carry", + "reference_run": "tray_thumb_down_generic_full_001", + "frames": 1676, + "seed": 1, + "randomized": true + }, + { + "episode_index": 3, + "task": "pour_can", + "reference_run": "pour_generic_full_002", + "frames": 3720, + "seed": 1, + "randomized": true + }, + { + "episode_index": 4, + "task": "cup_hang", + "reference_run": "cup_supported_setdown_generic_full_001", + "frames": 3892, + "seed": 1, + "randomized": true + }, + { + "episode_index": 5, + "task": "rotate_knob", + "reference_run": "knob_continuous_generic_full_001", + "frames": 2230, + "seed": 1, + "randomized": true + }, + { + "episode_index": 6, + "task": "insert_pipette", + "reference_run": "pipette_generic_full_001", + "frames": 2551, + "seed": 1, + "randomized": true + }, + { + "episode_index": 7, + "task": "insert_peg", + "reference_run": "peg_generic_full_001", + "frames": 3033, + "seed": 1, + "randomized": true + }, + { + "episode_index": 8, + "task": "kitchen", + "reference_run": "kitchen_original_generic_full_001", + "frames": 5424, + "seed": 1, + "randomized": true + }, + { + "episode_index": 9, + "task": "power_drill", + "reference_run": "drill_replanned_placement_generic_full_001", + "frames": 2784, + "seed": 4, + "randomized": true + } + ], + "scope": "Ten final accepted episodes, shared native60Hz export, named56D commands. Original per-task episodes preserved. Dataset-wide target IDs and episode/global/task indices are remapped by the shared exporter." +} diff --git a/meta/episodes.jsonl b/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d555f1daaaf53135e1bd013c084d8e05f54b783b --- /dev/null +++ b/meta/episodes.jsonl @@ -0,0 +1,10 @@ +{"episode_index": 0, "tasks": ["Pick up the hammer and drive the nail into the board."], "length": 1403} +{"episode_index": 1, "tasks": ["Pick up the charger, insert both prongs into the receptacle and release."], "length": 2457} +{"episode_index": 2, "tasks": ["Lift the tray with both hands, place it down and release."], "length": 1676} +{"episode_index": 3, "tasks": ["Pick up the can, pour the particles into the bowl and place the can down."], "length": 3720} +{"episode_index": 4, "tasks": ["Pick up the cup, hang it on the rack, release and withdraw."], "length": 3892} +{"episode_index": 5, "tasks": ["Grasp the knob with five fingers, turn it counterclockwise by 35 degrees, then release and withdraw while it returns naturally."], "length": 2230} +{"episode_index": 6, "tasks": ["Pick up the pipette, turn its tip downward, insert it into the glassware and hold it steadily."], "length": 2551} +{"episode_index": 7, "tasks": ["Pick up the peg, insert it into the hole and release."], "length": 3033} +{"episode_index": 8, "tasks": ["Transfer the potato and two meat pieces from the pot to the bowl."], "length": 5424} +{"episode_index": 9, "tasks": ["Pick up the drill, align its chuck above the board without contact, then return it upright, release and withdraw."], "length": 2784} diff --git a/meta/episodes/episode_000000/physical_report.json b/meta/episodes/episode_000000/physical_report.json new file mode 100644 index 0000000000000000000000000000000000000000..ab8879dfac577d08b5f2f27936434b4fcc1e9d6c --- /dev/null +++ b/meta/episodes/episode_000000/physical_report.json @@ -0,0 +1,75920 @@ +{ + "success": true, + "grasp_only": false, + "steps": 1403, + 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+ "left_ring_fingertip_10_link", + "left_ring_fingertip_11_link", + "left_ring_fingertip_12_link", + "left_ring_fingertip_13_link", + "left_ring_fingertip_14_link", + "left_ring_fingertip_15_link", + "left_ring_fingertip_16_link", + "left_ring_fingertip_17_link", + "left_ring_fingertip_18_link", + "left_ring_fingertip_19_link", + "left_ring_fingertip_20_link", + "left_ring_fingertip_21_link", + "left_ring_fingerpad_41_link", + "left_ring_fingerpad_42_link", + "left_ring_fingerpad_43_link", + "left_ring_fingerpad_44_link", + "left_ring_fingerpad_45_link", + "left_ring_fingerpad_46_link", + "left_ring_fingerpad_47_link", + "left_ring_fingerpad_48_link", + "left_ring_fingerpad_49_link", + "left_ring_fingerpad_50_link", + "left_ring_fingerpad_51_link", + "left_ring_fingerpad_52_link", + "left_ring_fingerpad_1_link", + "left_ring_fingerpad_2_link", + "left_ring_fingerpad_3_link", + "left_ring_fingerpad_4_link", + "left_ring_fingerpad_5_link", + "left_ring_fingerpad_6_link", + "left_ring_fingerpad_7_link", + "left_ring_fingerpad_8_link", + "left_ring_fingerpad_9_link", + "left_ring_fingerpad_10_link", + "left_ring_fingerpad_11_link", + "left_ring_fingerpad_12_link", + "left_ring_fingerpad_13_link", + "left_ring_fingerpad_14_link", + "left_ring_fingerpad_15_link", + "left_ring_fingerpad_16_link", + "left_ring_fingerpad_17_link", + "left_ring_fingerpad_18_link", + "left_ring_fingerpad_19_link", + "left_ring_fingerpad_20_link", + "left_ring_fingerpad_21_link", + "left_ring_fingerpad_22_link", + "left_ring_fingerpad_23_link", + "left_ring_fingerpad_24_link", + "left_ring_fingerpad_25_link", + "left_ring_fingerpad_26_link", + "left_ring_fingerpad_27_link", + "left_ring_fingerpad_28_link", + "left_ring_fingerpad_29_link", + "left_ring_fingerpad_30_link", + "left_ring_fingerpad_31_link", + "left_ring_fingerpad_32_link", + "left_ring_fingerpad_33_link", + "left_ring_fingerpad_34_link", + "left_ring_fingerpad_35_link", + "left_ring_fingerpad_36_link", + "left_ring_fingerpad_37_link", + "left_ring_fingerpad_38_link", + "left_ring_fingerpad_39_link", + "left_ring_fingerpad_40_link", + "left_little_fingertip_1_link", + "left_little_fingertip_2_link", + "left_little_fingertip_3_link", + "left_little_fingertip_4_link", + "left_little_fingertip_5_link", + "left_little_fingertip_6_link", + "left_little_fingertip_7_link", + "left_little_fingertip_8_link", + "left_little_fingertip_9_link", + "left_little_fingertip_10_link", + "left_little_fingertip_11_link", + "left_little_fingertip_12_link", + "left_little_fingertip_13_link", + "left_little_fingertip_14_link", + "left_little_fingertip_15_link", + "left_little_fingertip_16_link", + "left_little_fingertip_17_link", + "left_little_fingertip_18_link", + "left_little_fingertip_19_link", + "left_little_fingertip_20_link", + "left_little_fingertip_21_link", + "left_little_fingerpad_41_link", + "left_little_fingerpad_42_link", + "left_little_fingerpad_43_link", + "left_little_fingerpad_44_link", + "left_little_fingerpad_45_link", + "left_little_fingerpad_46_link", + "left_little_fingerpad_47_link", + "left_little_fingerpad_48_link", + "left_little_fingerpad_49_link", + "left_little_fingerpad_50_link", + "left_little_fingerpad_51_link", + "left_little_fingerpad_52_link", + "left_little_fingerpad_1_link", + "left_little_fingerpad_2_link", + "left_little_fingerpad_3_link", + "left_little_fingerpad_4_link", + "left_little_fingerpad_5_link", + "left_little_fingerpad_6_link", + "left_little_fingerpad_7_link", + "left_little_fingerpad_8_link", + "left_little_fingerpad_9_link", + "left_little_fingerpad_10_link", + "left_little_fingerpad_11_link", + "left_little_fingerpad_12_link", + "left_little_fingerpad_13_link", + "left_little_fingerpad_14_link", + "left_little_fingerpad_15_link", + "left_little_fingerpad_16_link", + "left_little_fingerpad_17_link", + "left_little_fingerpad_18_link", + "left_little_fingerpad_19_link", + "left_little_fingerpad_20_link", + "left_little_fingerpad_21_link", + "left_little_fingerpad_22_link", + "left_little_fingerpad_23_link", + "left_little_fingerpad_24_link", + "left_little_fingerpad_25_link", + "left_little_fingerpad_26_link", + "left_little_fingerpad_27_link", + "left_little_fingerpad_28_link", + "left_little_fingerpad_29_link", + "left_little_fingerpad_30_link", + "left_little_fingerpad_31_link", + "left_little_fingerpad_32_link", + "left_little_fingerpad_33_link", + "left_little_fingerpad_34_link", + "left_little_fingerpad_35_link", + "left_little_fingerpad_36_link", + "left_little_fingerpad_37_link", + "left_little_fingerpad_38_link", + "left_little_fingerpad_39_link", + "left_little_fingerpad_40_link", + "left_hand_touch_1_link", + "left_hand_touch_2_link", + "left_hand_touch_3_link", + "left_hand_touch_4_link", + "left_hand_touch_5_link", + "left_hand_touch_6_link", + "left_hand_touch_7_link", + "left_hand_touch_8_link", + "left_hand_touch_9_link", + "left_hand_touch_10_link", + "left_hand_touch_11_link", + "left_hand_touch_12_link", + "left_hand_touch_13_link", + "left_hand_touch_14_link", + "left_hand_touch_15_link", + "left_hand_touch_16_link", + "left_hand_touch_17_link", + "left_hand_touch_18_link", + "left_hand_touch_19_link", + "left_hand_touch_20_link", + "left_hand_touch_21_link", + "left_hand_touch_22_link", + "left_hand_touch_23_link", + "left_hand_touch_24_link", + "left_hand_touch_25_link", + "left_hand_touch_26_link", + "left_hand_touch_27_link", + "left_hand_touch_28_link", + "left_hand_touch_29_link", + "left_hand_touch_30_link", + "left_hand_touch_31_link", + "left_hand_touch_32_link", + "left_hand_touch_33_link", + "left_hand_touch_34_link", + "left_hand_touch_35_link", + "left_hand_touch_36_link", + "left_hand_touch_37_link", + "left_hand_touch_38_link", + "left_hand_touch_39_link", + "left_hand_touch_40_link", + "left_hand_touch_41_link", + "left_hand_touch_42_link", + "left_hand_touch_43_link", + "left_hand_touch_44_link", + 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"right_ring_fingertip_15_link", + "right_ring_fingertip_16_link", + "right_ring_fingertip_17_link", + "right_ring_fingertip_18_link", + "right_ring_fingertip_19_link", + "right_ring_fingertip_20_link", + "right_ring_fingertip_21_link", + "right_ring_fingerpad_41_link", + "right_ring_fingerpad_42_link", + "right_ring_fingerpad_43_link", + "right_ring_fingerpad_44_link", + "right_ring_fingerpad_45_link", + "right_ring_fingerpad_46_link", + "right_ring_fingerpad_47_link", + "right_ring_fingerpad_48_link", + "right_ring_fingerpad_49_link", + "right_ring_fingerpad_50_link", + "right_ring_fingerpad_51_link", + "right_ring_fingerpad_52_link", + "right_ring_fingerpad_1_link", + "right_ring_fingerpad_2_link", + "right_ring_fingerpad_3_link", + "right_ring_fingerpad_4_link", + "right_ring_fingerpad_5_link", + "right_ring_fingerpad_6_link", + "right_ring_fingerpad_7_link", + "right_ring_fingerpad_8_link", + "right_ring_fingerpad_9_link", + "right_ring_fingerpad_10_link", + "right_ring_fingerpad_11_link", + "right_ring_fingerpad_12_link", + "right_ring_fingerpad_13_link", + "right_ring_fingerpad_14_link", + "right_ring_fingerpad_15_link", + "right_ring_fingerpad_16_link", + "right_ring_fingerpad_17_link", + "right_ring_fingerpad_18_link", + "right_ring_fingerpad_19_link", + "right_ring_fingerpad_20_link", + "right_ring_fingerpad_21_link", + "right_ring_fingerpad_22_link", + "right_ring_fingerpad_23_link", + "right_ring_fingerpad_24_link", + "right_ring_fingerpad_25_link", + "right_ring_fingerpad_26_link", + "right_ring_fingerpad_27_link", + "right_ring_fingerpad_28_link", + "right_ring_fingerpad_29_link", + "right_ring_fingerpad_30_link", + "right_ring_fingerpad_31_link", + "right_ring_fingerpad_32_link", + "right_ring_fingerpad_33_link", + "right_ring_fingerpad_34_link", + "right_ring_fingerpad_35_link", + "right_ring_fingerpad_36_link", + "right_ring_fingerpad_37_link", + "right_ring_fingerpad_38_link", + "right_ring_fingerpad_39_link", + "right_ring_fingerpad_40_link", + "right_little_fingertip_1_link", + "right_little_fingertip_2_link", + "right_little_fingertip_3_link", + "right_little_fingertip_4_link", + "right_little_fingertip_5_link", + "right_little_fingertip_6_link", + "right_little_fingertip_7_link", + "right_little_fingertip_8_link", + "right_little_fingertip_9_link", + "right_little_fingertip_10_link", + "right_little_fingertip_11_link", + "right_little_fingertip_12_link", + "right_little_fingertip_13_link", + "right_little_fingertip_14_link", + "right_little_fingertip_15_link", + "right_little_fingertip_16_link", + "right_little_fingertip_17_link", + "right_little_fingertip_18_link", + "right_little_fingertip_19_link", + "right_little_fingertip_20_link", + "right_little_fingertip_21_link", + "right_little_fingerpad_41_link", + "right_little_fingerpad_42_link", + "right_little_fingerpad_43_link", + "right_little_fingerpad_44_link", + "right_little_fingerpad_45_link", + "right_little_fingerpad_46_link", + "right_little_fingerpad_47_link", + "right_little_fingerpad_48_link", + "right_little_fingerpad_49_link", + "right_little_fingerpad_50_link", + "right_little_fingerpad_51_link", + "right_little_fingerpad_52_link", + "right_little_fingerpad_1_link", + "right_little_fingerpad_2_link", + "right_little_fingerpad_3_link", + "right_little_fingerpad_4_link", + "right_little_fingerpad_5_link", + "right_little_fingerpad_6_link", + "right_little_fingerpad_7_link", + "right_little_fingerpad_8_link", + "right_little_fingerpad_9_link", + "right_little_fingerpad_10_link", + "right_little_fingerpad_11_link", + "right_little_fingerpad_12_link", + "right_little_fingerpad_13_link", + "right_little_fingerpad_14_link", + "right_little_fingerpad_15_link", + "right_little_fingerpad_16_link", + "right_little_fingerpad_17_link", + "right_little_fingerpad_18_link", + "right_little_fingerpad_19_link", + "right_little_fingerpad_20_link", + "right_little_fingerpad_21_link", + "right_little_fingerpad_22_link", + 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"left_thumb_fingerpad_48_link", + "left_thumb_fingerpad_49_link", + "left_thumb_fingerpad_50_link", + "left_thumb_fingerpad_51_link", + "left_thumb_fingerpad_52_link", + "left_thumb_fingerpad_53_link", + "left_thumb_fingerpad_54_link", + "left_thumb_fingerpad_55_link", + "left_thumb_fingerpad_56_link", + "left_thumb_fingerpad_57_link", + "left_thumb_fingerpad_1_link", + "left_thumb_fingerpad_2_link", + "left_thumb_fingerpad_3_link", + "left_thumb_fingerpad_4_link", + "left_thumb_fingerpad_5_link", + "left_thumb_fingerpad_6_link", + "left_thumb_fingerpad_7_link", + "left_thumb_fingerpad_8_link", + "left_thumb_fingerpad_9_link", + "left_thumb_fingerpad_10_link", + "left_thumb_fingerpad_11_link", + "left_thumb_fingerpad_12_link", + "left_thumb_fingerpad_13_link", + "left_thumb_fingerpad_14_link", + "left_thumb_fingerpad_15_link", + "left_thumb_fingerpad_16_link", + "left_thumb_fingerpad_17_link", + "left_thumb_fingerpad_18_link", + "left_thumb_fingerpad_19_link", + "left_thumb_fingerpad_20_link", + "left_thumb_fingerpad_21_link", + "left_thumb_fingerpad_22_link", + "left_thumb_fingerpad_23_link", + "left_thumb_fingerpad_24_link", + "left_thumb_fingerpad_25_link", + "left_thumb_fingerpad_26_link", + "left_thumb_fingerpad_27_link", + "left_thumb_fingerpad_28_link", + "left_thumb_fingerpad_29_link", + "left_thumb_fingerpad_30_link", + "left_thumb_fingerpad_31_link", + "left_thumb_fingerpad_32_link", + "left_thumb_fingerpad_33_link", + "left_thumb_fingerpad_34_link", + "left_thumb_fingerpad_35_link", + "left_thumb_fingerpad_36_link", + "left_thumb_fingerpad_37_link", + "left_thumb_fingerpad_38_link", + "left_thumb_fingerpad_39_link", + "left_thumb_fingerpad_40_link", + "left_thumb_fingerpad_41_link", + "left_thumb_fingerpad_42_link", + "left_thumb_fingerpad_43_link", + "left_thumb_fingerpad_44_link", + "left_thumb_fingerpad_45_link", + "left_index_fingertip_1_link", + "left_index_fingertip_2_link", + "left_index_fingertip_3_link", + "left_index_fingertip_4_link", + "left_index_fingertip_5_link", + "left_index_fingertip_6_link", + "left_index_fingertip_7_link", + "left_index_fingertip_8_link", + "left_index_fingertip_9_link", + "left_index_fingertip_10_link", + "left_index_fingertip_11_link", + "left_index_fingertip_12_link", + "left_index_fingertip_13_link", + "left_index_fingertip_14_link", + "left_index_fingertip_15_link", + "left_index_fingertip_16_link", + "left_index_fingertip_17_link", + "left_index_fingertip_18_link", + "left_index_fingertip_19_link", + "left_index_fingertip_20_link", + "left_index_fingertip_21_link", + "left_index_fingerpad_41_link", + "left_index_fingerpad_42_link", + "left_index_fingerpad_43_link", + "left_index_fingerpad_44_link", + "left_index_fingerpad_45_link", + "left_index_fingerpad_46_link", + "left_index_fingerpad_47_link", + "left_index_fingerpad_48_link", + "left_index_fingerpad_49_link", + "left_index_fingerpad_50_link", + "left_index_fingerpad_51_link", + "left_index_fingerpad_52_link", + "left_index_fingerpad_1_link", + "left_index_fingerpad_2_link", + "left_index_fingerpad_3_link", + "left_index_fingerpad_4_link", + "left_index_fingerpad_5_link", + "left_index_fingerpad_6_link", + "left_index_fingerpad_7_link", + "left_index_fingerpad_8_link", + "left_index_fingerpad_9_link", + "left_index_fingerpad_10_link", + "left_index_fingerpad_11_link", + "left_index_fingerpad_12_link", + "left_index_fingerpad_13_link", + "left_index_fingerpad_14_link", + "left_index_fingerpad_15_link", + "left_index_fingerpad_16_link", + "left_index_fingerpad_17_link", + "left_index_fingerpad_18_link", + "left_index_fingerpad_19_link", + "left_index_fingerpad_20_link", + "left_index_fingerpad_21_link", + "left_index_fingerpad_22_link", + "left_index_fingerpad_23_link", + "left_index_fingerpad_24_link", + "left_index_fingerpad_25_link", + "left_index_fingerpad_26_link", + "left_index_fingerpad_27_link", + "left_index_fingerpad_28_link", + "left_index_fingerpad_29_link", + "left_index_fingerpad_30_link", + "left_index_fingerpad_31_link", + "left_index_fingerpad_32_link", + "left_index_fingerpad_33_link", + "left_index_fingerpad_34_link", + "left_index_fingerpad_35_link", + "left_index_fingerpad_36_link", + "left_index_fingerpad_37_link", + "left_index_fingerpad_38_link", + "left_index_fingerpad_39_link", + "left_index_fingerpad_40_link", + "left_ring_fingertip_1_link", + "left_ring_fingertip_2_link", + "left_ring_fingertip_3_link", + "left_ring_fingertip_4_link", + "left_ring_fingertip_5_link", + "left_ring_fingertip_6_link", + "left_ring_fingertip_7_link", + "left_ring_fingertip_8_link", + "left_ring_fingertip_9_link", + "left_ring_fingertip_10_link", + "left_ring_fingertip_11_link", + "left_ring_fingertip_12_link", + "left_ring_fingertip_13_link", + "left_ring_fingertip_14_link", + "left_ring_fingertip_15_link", + "left_ring_fingertip_16_link", + "left_ring_fingertip_17_link", + "left_ring_fingertip_18_link", + "left_ring_fingertip_19_link", + "left_ring_fingertip_20_link", + "left_ring_fingertip_21_link", + "left_ring_fingerpad_41_link", + "left_ring_fingerpad_42_link", + "left_ring_fingerpad_43_link", + "left_ring_fingerpad_44_link", + "left_ring_fingerpad_45_link", + "left_ring_fingerpad_46_link", + "left_ring_fingerpad_47_link", + "left_ring_fingerpad_48_link", + "left_ring_fingerpad_49_link", + "left_ring_fingerpad_50_link", + "left_ring_fingerpad_51_link", + "left_ring_fingerpad_52_link", + "left_ring_fingerpad_1_link", + "left_ring_fingerpad_2_link", + "left_ring_fingerpad_3_link", + "left_ring_fingerpad_4_link", + "left_ring_fingerpad_5_link", + "left_ring_fingerpad_6_link", + "left_ring_fingerpad_7_link", + "left_ring_fingerpad_8_link", + "left_ring_fingerpad_9_link", + "left_ring_fingerpad_10_link", + "left_ring_fingerpad_11_link", + "left_ring_fingerpad_12_link", + "left_ring_fingerpad_13_link", + "left_ring_fingerpad_14_link", + "left_ring_fingerpad_15_link", + "left_ring_fingerpad_16_link", + "left_ring_fingerpad_17_link", + "left_ring_fingerpad_18_link", + "left_ring_fingerpad_19_link", + "left_ring_fingerpad_20_link", + "left_ring_fingerpad_21_link", + "left_ring_fingerpad_22_link", + "left_ring_fingerpad_23_link", + "left_ring_fingerpad_24_link", + "left_ring_fingerpad_25_link", + "left_ring_fingerpad_26_link", + "left_ring_fingerpad_27_link", + "left_ring_fingerpad_28_link", + "left_ring_fingerpad_29_link", + "left_ring_fingerpad_30_link", + "left_ring_fingerpad_31_link", + "left_ring_fingerpad_32_link", + "left_ring_fingerpad_33_link", + "left_ring_fingerpad_34_link", + "left_ring_fingerpad_35_link", + "left_ring_fingerpad_36_link", + "left_ring_fingerpad_37_link", + "left_ring_fingerpad_38_link", + "left_ring_fingerpad_39_link", + "left_ring_fingerpad_40_link", + "left_little_fingertip_1_link", + "left_little_fingertip_2_link", + "left_little_fingertip_3_link", + "left_little_fingertip_4_link", + "left_little_fingertip_5_link", + "left_little_fingertip_6_link", + "left_little_fingertip_7_link", + "left_little_fingertip_8_link", + "left_little_fingertip_9_link", + "left_little_fingertip_10_link", + "left_little_fingertip_11_link", + "left_little_fingertip_12_link", + "left_little_fingertip_13_link", + "left_little_fingertip_14_link", + "left_little_fingertip_15_link", + "left_little_fingertip_16_link", + "left_little_fingertip_17_link", + "left_little_fingertip_18_link", + "left_little_fingertip_19_link", + "left_little_fingertip_20_link", + "left_little_fingertip_21_link", + "left_little_fingerpad_41_link", + "left_little_fingerpad_42_link", + "left_little_fingerpad_43_link", + "left_little_fingerpad_44_link", + "left_little_fingerpad_45_link", + "left_little_fingerpad_46_link", + "left_little_fingerpad_47_link", + "left_little_fingerpad_48_link", + "left_little_fingerpad_49_link", + "left_little_fingerpad_50_link", + "left_little_fingerpad_51_link", + "left_little_fingerpad_52_link", + "left_little_fingerpad_1_link", + "left_little_fingerpad_2_link", + "left_little_fingerpad_3_link", + "left_little_fingerpad_4_link", + "left_little_fingerpad_5_link", + "left_little_fingerpad_6_link", + "left_little_fingerpad_7_link", + "left_little_fingerpad_8_link", + "left_little_fingerpad_9_link", + "left_little_fingerpad_10_link", + "left_little_fingerpad_11_link", + "left_little_fingerpad_12_link", + "left_little_fingerpad_13_link", + "left_little_fingerpad_14_link", + "left_little_fingerpad_15_link", + "left_little_fingerpad_16_link", + "left_little_fingerpad_17_link", + "left_little_fingerpad_18_link", + "left_little_fingerpad_19_link", + "left_little_fingerpad_20_link", + "left_little_fingerpad_21_link", + "left_little_fingerpad_22_link", + "left_little_fingerpad_23_link", + "left_little_fingerpad_24_link", + "left_little_fingerpad_25_link", + "left_little_fingerpad_26_link", + "left_little_fingerpad_27_link", + "left_little_fingerpad_28_link", + "left_little_fingerpad_29_link", + "left_little_fingerpad_30_link", + "left_little_fingerpad_31_link", + "left_little_fingerpad_32_link", + "left_little_fingerpad_33_link", + "left_little_fingerpad_34_link", + "left_little_fingerpad_35_link", + "left_little_fingerpad_36_link", + "left_little_fingerpad_37_link", + "left_little_fingerpad_38_link", + "left_little_fingerpad_39_link", + "left_little_fingerpad_40_link", + "left_hand_touch_1_link", + "left_hand_touch_2_link", + "left_hand_touch_3_link", + "left_hand_touch_4_link", + "left_hand_touch_5_link", + "left_hand_touch_6_link", + "left_hand_touch_7_link", + "left_hand_touch_8_link", + "left_hand_touch_9_link", + "left_hand_touch_10_link", + "left_hand_touch_11_link", + "left_hand_touch_12_link", + "left_hand_touch_13_link", + "left_hand_touch_14_link", + "left_hand_touch_15_link", + "left_hand_touch_16_link", + "left_hand_touch_17_link", + "left_hand_touch_18_link", + "left_hand_touch_19_link", + "left_hand_touch_20_link", + "left_hand_touch_21_link", + "left_hand_touch_22_link", + "left_hand_touch_23_link", + "left_hand_touch_24_link", + "left_hand_touch_25_link", + "left_hand_touch_26_link", + "left_hand_touch_27_link", + "left_hand_touch_28_link", + "left_hand_touch_29_link", + "left_hand_touch_30_link", + "left_hand_touch_31_link", + "left_hand_touch_32_link", + "left_hand_touch_33_link", + "left_hand_touch_34_link", + "left_hand_touch_35_link", + "left_hand_touch_36_link", + "left_hand_touch_37_link", + "left_hand_touch_38_link", + "left_hand_touch_39_link", + "left_hand_touch_40_link", + "left_hand_touch_41_link", + "left_hand_touch_42_link", + "left_hand_touch_43_link", + "left_hand_touch_44_link", + "left_hand_touch_45_link", + "left_hand_touch_46_link", + "left_hand_touch_47_link", + "left_hand_touch_48_link", + "left_hand_touch_49_link", + "left_hand_touch_50_link", + "left_hand_touch_51_link", + "left_hand_touch_52_link", + "left_hand_touch_53_link", + "left_hand_touch_54_link", + "left_hand_touch_55_link", + "left_hand_touch_56_link", + "left_hand_touch_57_link", + "left_hand_touch_58_link", + "left_hand_touch_59_link", + "left_hand_touch_60_link", + "left_hand_touch_61_link", + "left_hand_touch_62_link", + "left_hand_touch_63_link", + "left_hand_touch_64_link", + "left_hand_touch_65_link", + "left_hand_touch_66_link", + "left_hand_touch_67_link", + "left_hand_touch_68_link", + "left_hand_touch_69_link", + "left_hand_touch_70_link", + "left_hand_touch_71_link" + ], + "primary_points": [ + { + "name": "left_middle_fingertip_1_link", + "joint": "left_middle_fingertip_1_joint", + "side": "left", + "kind": "primary", + "parent_link": "left_middle_DIP_link", + "origin": { + "rpy": "0 0 0", + "xyz": "-0.0027069636753072179 -0.0048133994541148771 0.027399156158422505" + }, + "attachment_link": "left_middle_DIP_link", + "T_attachment_marker": [ + [ + 1.0, + 0.0, + 0.0, + -0.002706963675307218 + ], + [ + 0.0, + 1.0, + 0.0, + -0.004813399454114877 + ], + [ + 0.0, + 0.0, 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"right_thumb_fingerpad_52_link", + "right_thumb_fingerpad_53_link", + "right_thumb_fingerpad_54_link", + "right_thumb_fingerpad_55_link", + "right_thumb_fingerpad_56_link", + "right_thumb_fingerpad_57_link", + "right_thumb_fingerpad_1_link", + "right_thumb_fingerpad_2_link", + "right_thumb_fingerpad_3_link", + "right_thumb_fingerpad_4_link", + "right_thumb_fingerpad_5_link", + "right_thumb_fingerpad_6_link", + "right_thumb_fingerpad_7_link", + "right_thumb_fingerpad_8_link", + "right_thumb_fingerpad_9_link", + "right_thumb_fingerpad_10_link", + "right_thumb_fingerpad_11_link", + "right_thumb_fingerpad_12_link", + "right_thumb_fingerpad_13_link", + "right_thumb_fingerpad_14_link", + "right_thumb_fingerpad_15_link", + "right_thumb_fingerpad_16_link", + "right_thumb_fingerpad_17_link", + "right_thumb_fingerpad_18_link", + "right_thumb_fingerpad_19_link", + "right_thumb_fingerpad_20_link", + "right_thumb_fingerpad_21_link", + "right_thumb_fingerpad_22_link", + "right_thumb_fingerpad_23_link", + "right_thumb_fingerpad_24_link", + "right_thumb_fingerpad_25_link", + "right_thumb_fingerpad_26_link", + "right_thumb_fingerpad_27_link", + "right_thumb_fingerpad_28_link", + "right_thumb_fingerpad_29_link", + "right_thumb_fingerpad_30_link", + "right_thumb_fingerpad_31_link", + "right_thumb_fingerpad_32_link", + "right_thumb_fingerpad_33_link", + "right_thumb_fingerpad_34_link", + "right_thumb_fingerpad_35_link", + "right_thumb_fingerpad_36_link", + "right_thumb_fingerpad_37_link", + "right_thumb_fingerpad_38_link", + "right_thumb_fingerpad_39_link", + "right_thumb_fingerpad_40_link", + "right_thumb_fingerpad_41_link", + "right_thumb_fingerpad_42_link", + "right_thumb_fingerpad_43_link", + "right_thumb_fingerpad_44_link", + "right_thumb_fingerpad_45_link", + "right_index_fingertip_1_link", + "right_index_fingertip_2_link", + "right_index_fingertip_3_link", + "right_index_fingertip_4_link", + "right_index_fingertip_5_link", + "right_index_fingertip_6_link", + "right_index_fingertip_7_link", + "right_index_fingertip_8_link", + "right_index_fingertip_9_link", + "right_index_fingertip_10_link", + "right_index_fingertip_11_link", + "right_index_fingertip_12_link", + "right_index_fingertip_13_link", + "right_index_fingertip_14_link", + "right_index_fingertip_15_link", + "right_index_fingertip_16_link", + "right_index_fingertip_17_link", + "right_index_fingertip_18_link", + "right_index_fingertip_19_link", + "right_index_fingertip_20_link", + "right_index_fingertip_21_link", + "right_index_fingerpad_41_link", + "right_index_fingerpad_42_link", + "right_index_fingerpad_43_link", + "right_index_fingerpad_44_link", + "right_index_fingerpad_45_link", + "right_index_fingerpad_46_link", + "right_index_fingerpad_47_link", + "right_index_fingerpad_48_link", + "right_index_fingerpad_49_link", + "right_index_fingerpad_50_link", + "right_index_fingerpad_51_link", + "right_index_fingerpad_52_link", + "right_index_fingerpad_1_link", + "right_index_fingerpad_2_link", + "right_index_fingerpad_3_link", + "right_index_fingerpad_4_link", + "right_index_fingerpad_5_link", + "right_index_fingerpad_6_link", + "right_index_fingerpad_7_link", + "right_index_fingerpad_8_link", + "right_index_fingerpad_9_link", + "right_index_fingerpad_10_link", + "right_index_fingerpad_11_link", + "right_index_fingerpad_12_link", + "right_index_fingerpad_13_link", + "right_index_fingerpad_14_link", + "right_index_fingerpad_15_link", + "right_index_fingerpad_16_link", + "right_index_fingerpad_17_link", + "right_index_fingerpad_18_link", + "right_index_fingerpad_19_link", + "right_index_fingerpad_20_link", + "right_index_fingerpad_21_link", + "right_index_fingerpad_22_link", + "right_index_fingerpad_23_link", + "right_index_fingerpad_24_link", + "right_index_fingerpad_25_link", + "right_index_fingerpad_26_link", + "right_index_fingerpad_27_link", + "right_index_fingerpad_28_link", + "right_index_fingerpad_29_link", + "right_index_fingerpad_30_link", + "right_index_fingerpad_31_link", + "right_index_fingerpad_32_link", + "right_index_fingerpad_33_link", + "right_index_fingerpad_34_link", + "right_index_fingerpad_35_link", + "right_index_fingerpad_36_link", + "right_index_fingerpad_37_link", + "right_index_fingerpad_38_link", + "right_index_fingerpad_39_link", + "right_index_fingerpad_40_link", + "right_ring_fingertip_1_link", + "right_ring_fingertip_2_link", + "right_ring_fingertip_3_link", + "right_ring_fingertip_4_link", + "right_ring_fingertip_5_link", + "right_ring_fingertip_6_link", + "right_ring_fingertip_7_link", + "right_ring_fingertip_8_link", + "right_ring_fingertip_9_link", + "right_ring_fingertip_10_link", + "right_ring_fingertip_11_link", + "right_ring_fingertip_12_link", + "right_ring_fingertip_13_link", + "right_ring_fingertip_14_link", + "right_ring_fingertip_15_link", + "right_ring_fingertip_16_link", + "right_ring_fingertip_17_link", + "right_ring_fingertip_18_link", + "right_ring_fingertip_19_link", + "right_ring_fingertip_20_link", + "right_ring_fingertip_21_link", + "right_ring_fingerpad_41_link", + "right_ring_fingerpad_42_link", + "right_ring_fingerpad_43_link", + "right_ring_fingerpad_44_link", + "right_ring_fingerpad_45_link", + "right_ring_fingerpad_46_link", + "right_ring_fingerpad_47_link", + "right_ring_fingerpad_48_link", + "right_ring_fingerpad_49_link", + "right_ring_fingerpad_50_link", + "right_ring_fingerpad_51_link", + "right_ring_fingerpad_52_link", + "right_ring_fingerpad_1_link", + "right_ring_fingerpad_2_link", + "right_ring_fingerpad_3_link", + "right_ring_fingerpad_4_link", + "right_ring_fingerpad_5_link", + "right_ring_fingerpad_6_link", + "right_ring_fingerpad_7_link", + "right_ring_fingerpad_8_link", + "right_ring_fingerpad_9_link", + "right_ring_fingerpad_10_link", + "right_ring_fingerpad_11_link", + "right_ring_fingerpad_12_link", + "right_ring_fingerpad_13_link", + "right_ring_fingerpad_14_link", + "right_ring_fingerpad_15_link", + "right_ring_fingerpad_16_link", + "right_ring_fingerpad_17_link", + "right_ring_fingerpad_18_link", + "right_ring_fingerpad_19_link", + "right_ring_fingerpad_20_link", + "right_ring_fingerpad_21_link", + "right_ring_fingerpad_22_link", + "right_ring_fingerpad_23_link", + "right_ring_fingerpad_24_link", + "right_ring_fingerpad_25_link", + "right_ring_fingerpad_26_link", + "right_ring_fingerpad_27_link", + "right_ring_fingerpad_28_link", + "right_ring_fingerpad_29_link", + "right_ring_fingerpad_30_link", + "right_ring_fingerpad_31_link", + "right_ring_fingerpad_32_link", + "right_ring_fingerpad_33_link", + "right_ring_fingerpad_34_link", + "right_ring_fingerpad_35_link", + "right_ring_fingerpad_36_link", + "right_ring_fingerpad_37_link", + "right_ring_fingerpad_38_link", + "right_ring_fingerpad_39_link", + "right_ring_fingerpad_40_link", + "right_little_fingertip_1_link", + "right_little_fingertip_2_link", + "right_little_fingertip_3_link", + "right_little_fingertip_4_link", + "right_little_fingertip_5_link", + "right_little_fingertip_6_link", + "right_little_fingertip_7_link", + "right_little_fingertip_8_link", + "right_little_fingertip_9_link", + "right_little_fingertip_10_link", + "right_little_fingertip_11_link", + "right_little_fingertip_12_link", + "right_little_fingertip_13_link", + "right_little_fingertip_14_link", + "right_little_fingertip_15_link", + "right_little_fingertip_16_link", + "right_little_fingertip_17_link", + "right_little_fingertip_18_link", + "right_little_fingertip_19_link", + "right_little_fingertip_20_link", + "right_little_fingertip_21_link", + "right_little_fingerpad_41_link", + "right_little_fingerpad_42_link", + "right_little_fingerpad_43_link", + "right_little_fingerpad_44_link", + "right_little_fingerpad_45_link", + "right_little_fingerpad_46_link", + "right_little_fingerpad_47_link", + "right_little_fingerpad_48_link", + "right_little_fingerpad_49_link", + "right_little_fingerpad_50_link", + "right_little_fingerpad_51_link", + "right_little_fingerpad_52_link", + "right_little_fingerpad_1_link", + "right_little_fingerpad_2_link", + "right_little_fingerpad_3_link", + "right_little_fingerpad_4_link", + "right_little_fingerpad_5_link", + "right_little_fingerpad_6_link", + "right_little_fingerpad_7_link", + "right_little_fingerpad_8_link", + "right_little_fingerpad_9_link", + "right_little_fingerpad_10_link", + "right_little_fingerpad_11_link", + "right_little_fingerpad_12_link", + "right_little_fingerpad_13_link", + "right_little_fingerpad_14_link", + "right_little_fingerpad_15_link", + "right_little_fingerpad_16_link", + "right_little_fingerpad_17_link", + "right_little_fingerpad_18_link", + "right_little_fingerpad_19_link", + "right_little_fingerpad_20_link", + "right_little_fingerpad_21_link", + "right_little_fingerpad_22_link", + "right_little_fingerpad_23_link", + "right_little_fingerpad_24_link", + "right_little_fingerpad_25_link", + "right_little_fingerpad_26_link", + "right_little_fingerpad_27_link", + "right_little_fingerpad_28_link", + "right_little_fingerpad_29_link", + "right_little_fingerpad_30_link", + "right_little_fingerpad_31_link", + "right_little_fingerpad_32_link", + "right_little_fingerpad_33_link", + "right_little_fingerpad_34_link", + "right_little_fingerpad_35_link", + "right_little_fingerpad_36_link", + "right_little_fingerpad_37_link", + "right_little_fingerpad_38_link", + "right_little_fingerpad_39_link", + "right_little_fingerpad_40_link", + "right_hand_touch_1_link", + "right_hand_touch_2_link", + "right_hand_touch_3_link", + "right_hand_touch_4_link", + "right_hand_touch_5_link", + "right_hand_touch_6_link", + "right_hand_touch_7_link", + "right_hand_touch_8_link", + "right_hand_touch_9_link", + "right_hand_touch_10_link", + "right_hand_touch_11_link", + "right_hand_touch_12_link", + "right_hand_touch_13_link", + "right_hand_touch_14_link", + "right_hand_touch_15_link", + "right_hand_touch_16_link", + "right_hand_touch_17_link", + "right_hand_touch_18_link", + "right_hand_touch_19_link", + "right_hand_touch_20_link", + "right_hand_touch_21_link", + "right_hand_touch_22_link", + "right_hand_touch_23_link", + "right_hand_touch_24_link", + "right_hand_touch_25_link", + "right_hand_touch_26_link", + "right_hand_touch_27_link", + "right_hand_touch_28_link", + "right_hand_touch_29_link", + "right_hand_touch_30_link", + "right_hand_touch_31_link", + "right_hand_touch_32_link", + "right_hand_touch_33_link", + "right_hand_touch_34_link", + "right_hand_touch_35_link", + "right_hand_touch_36_link", + "right_hand_touch_37_link", + "right_hand_touch_38_link", + "right_hand_touch_39_link", + "right_hand_touch_40_link", + "right_hand_touch_41_link", + "right_hand_touch_42_link", + "right_hand_touch_43_link", + "right_hand_touch_44_link", + "right_hand_touch_45_link", + "right_hand_touch_46_link", + "right_hand_touch_47_link", + "right_hand_touch_48_link", + "right_hand_touch_49_link", + "right_hand_touch_50_link", + "right_hand_touch_51_link", + "right_hand_touch_52_link", + "right_hand_touch_53_link", + "right_hand_touch_54_link", + "right_hand_touch_55_link", + "right_hand_touch_56_link", + "right_hand_touch_57_link", + "right_hand_touch_58_link", + "right_hand_touch_59_link", + "right_hand_touch_60_link", + "right_hand_touch_61_link", + "right_hand_touch_62_link", + "right_hand_touch_63_link", + "right_hand_touch_64_link", + "right_hand_touch_65_link", + "right_hand_touch_66_link", + "right_hand_touch_67_link", + "right_hand_touch_68_link", + "right_hand_touch_69_link", + "right_hand_touch_70_link", + "right_hand_touch_71_link" + ], + "primary_points": [ + { + "name": "right_middle_fingertip_1_link", + "joint": "right_middle_fingertip_1_joint", + "side": "right", + "kind": "primary", + "parent_link": "right_middle_DIP_link", + "origin": { + "rpy": "0 0 0", + "xyz": "-0.0029836331545370805 -0.0036066173626019393 0.02758662268793638" + 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"left_middle_fingerpad_8_link", + "left_middle_fingerpad_9_link", + "left_middle_fingerpad_10_link", + "left_middle_fingerpad_11_link", + "left_middle_fingerpad_12_link", + "left_middle_fingerpad_13_link", + "left_middle_fingerpad_14_link", + "left_middle_fingerpad_15_link", + "left_middle_fingerpad_16_link", + "left_middle_fingerpad_17_link", + "left_middle_fingerpad_18_link", + "left_middle_fingerpad_19_link", + "left_middle_fingerpad_20_link", + "left_middle_fingerpad_21_link", + "left_middle_fingerpad_22_link", + "left_middle_fingerpad_23_link", + "left_middle_fingerpad_24_link", + "left_middle_fingerpad_25_link", + "left_middle_fingerpad_26_link", + "left_middle_fingerpad_27_link", + "left_middle_fingerpad_28_link", + "left_middle_fingerpad_29_link", + "left_middle_fingerpad_30_link", + "left_middle_fingerpad_31_link", + "left_middle_fingerpad_32_link", + "left_middle_fingerpad_33_link", + "left_middle_fingerpad_34_link", + "left_middle_fingerpad_35_link", + "left_middle_fingerpad_36_link", + "left_middle_fingerpad_37_link", + "left_middle_fingerpad_38_link", + "left_middle_fingerpad_39_link", + "left_middle_fingerpad_40_link", + "left_thumb_fingertip_1_link", + "left_thumb_fingertip_2_link", + "left_thumb_fingertip_3_link", + "left_thumb_fingertip_4_link", + "left_thumb_fingertip_5_link", + "left_thumb_fingertip_6_link", + "left_thumb_fingertip_7_link", + "left_thumb_fingertip_8_link", + "left_thumb_fingertip_9_link", + "left_thumb_fingertip_10_link", + "left_thumb_fingertip_11_link", + "left_thumb_fingertip_12_link", + "left_thumb_fingertip_13_link", + "left_thumb_fingertip_14_link", + "left_thumb_fingertip_15_link", + "left_thumb_fingertip_16_link", + "left_thumb_fingertip_17_link", + "left_thumb_fingertip_18_link", + "left_thumb_fingertip_19_link", + "left_thumb_fingertip_20_link", + "left_thumb_fingertip_21_link", + "left_thumb_fingertip_22_link", + "left_thumb_fingertip_23_link", + "left_thumb_fingertip_24_link", + "left_thumb_fingertip_25_link", + "left_thumb_fingertip_26_link", + "left_thumb_fingertip_27_link", + "left_thumb_fingertip_28_link", + "left_thumb_fingertip_29_link", + "left_thumb_fingertip_30_link", + "left_thumb_fingertip_31_link", + "left_thumb_fingerpad_46_link", + "left_thumb_fingerpad_47_link", + "left_thumb_fingerpad_48_link", + "left_thumb_fingerpad_49_link", + "left_thumb_fingerpad_50_link", + "left_thumb_fingerpad_51_link", + "left_thumb_fingerpad_52_link", + "left_thumb_fingerpad_53_link", + "left_thumb_fingerpad_54_link", + "left_thumb_fingerpad_55_link", + "left_thumb_fingerpad_56_link", + "left_thumb_fingerpad_57_link", + "left_thumb_fingerpad_1_link", + "left_thumb_fingerpad_2_link", + "left_thumb_fingerpad_3_link", + "left_thumb_fingerpad_4_link", + "left_thumb_fingerpad_5_link", + "left_thumb_fingerpad_6_link", + "left_thumb_fingerpad_7_link", + "left_thumb_fingerpad_8_link", + "left_thumb_fingerpad_9_link", + "left_thumb_fingerpad_10_link", + "left_thumb_fingerpad_11_link", + "left_thumb_fingerpad_12_link", + "left_thumb_fingerpad_13_link", + "left_thumb_fingerpad_14_link", + "left_thumb_fingerpad_15_link", + "left_thumb_fingerpad_16_link", + "left_thumb_fingerpad_17_link", + "left_thumb_fingerpad_18_link", + "left_thumb_fingerpad_19_link", + "left_thumb_fingerpad_20_link", + "left_thumb_fingerpad_21_link", + "left_thumb_fingerpad_22_link", + "left_thumb_fingerpad_23_link", + "left_thumb_fingerpad_24_link", + "left_thumb_fingerpad_25_link", + "left_thumb_fingerpad_26_link", + "left_thumb_fingerpad_27_link", + "left_thumb_fingerpad_28_link", + "left_thumb_fingerpad_29_link", + "left_thumb_fingerpad_30_link", + "left_thumb_fingerpad_31_link", + "left_thumb_fingerpad_32_link", + "left_thumb_fingerpad_33_link", + "left_thumb_fingerpad_34_link", + "left_thumb_fingerpad_35_link", + "left_thumb_fingerpad_36_link", + "left_thumb_fingerpad_37_link", + "left_thumb_fingerpad_38_link", + "left_thumb_fingerpad_39_link", + "left_thumb_fingerpad_40_link", + "left_thumb_fingerpad_41_link", + "left_thumb_fingerpad_42_link", + "left_thumb_fingerpad_43_link", + "left_thumb_fingerpad_44_link", + "left_thumb_fingerpad_45_link", + "left_index_fingertip_1_link", + "left_index_fingertip_2_link", + "left_index_fingertip_3_link", + "left_index_fingertip_4_link", + "left_index_fingertip_5_link", + "left_index_fingertip_6_link", + "left_index_fingertip_7_link", + "left_index_fingertip_8_link", + "left_index_fingertip_9_link", + "left_index_fingertip_10_link", + "left_index_fingertip_11_link", + "left_index_fingertip_12_link", + "left_index_fingertip_13_link", + "left_index_fingertip_14_link", + "left_index_fingertip_15_link", + "left_index_fingertip_16_link", + "left_index_fingertip_17_link", + "left_index_fingertip_18_link", + "left_index_fingertip_19_link", + "left_index_fingertip_20_link", + "left_index_fingertip_21_link", + "left_index_fingerpad_41_link", + "left_index_fingerpad_42_link", + "left_index_fingerpad_43_link", + "left_index_fingerpad_44_link", + "left_index_fingerpad_45_link", + "left_index_fingerpad_46_link", + "left_index_fingerpad_47_link", + "left_index_fingerpad_48_link", + "left_index_fingerpad_49_link", + "left_index_fingerpad_50_link", + "left_index_fingerpad_51_link", + "left_index_fingerpad_52_link", + "left_index_fingerpad_1_link", + "left_index_fingerpad_2_link", + "left_index_fingerpad_3_link", + "left_index_fingerpad_4_link", + "left_index_fingerpad_5_link", + "left_index_fingerpad_6_link", + "left_index_fingerpad_7_link", + "left_index_fingerpad_8_link", + "left_index_fingerpad_9_link", + "left_index_fingerpad_10_link", + "left_index_fingerpad_11_link", + "left_index_fingerpad_12_link", + "left_index_fingerpad_13_link", + "left_index_fingerpad_14_link", + "left_index_fingerpad_15_link", + "left_index_fingerpad_16_link", + "left_index_fingerpad_17_link", + "left_index_fingerpad_18_link", + "left_index_fingerpad_19_link", + "left_index_fingerpad_20_link", + "left_index_fingerpad_21_link", + "left_index_fingerpad_22_link", + "left_index_fingerpad_23_link", + "left_index_fingerpad_24_link", + "left_index_fingerpad_25_link", + "left_index_fingerpad_26_link", + "left_index_fingerpad_27_link", + "left_index_fingerpad_28_link", + "left_index_fingerpad_29_link", + "left_index_fingerpad_30_link", + "left_index_fingerpad_31_link", + "left_index_fingerpad_32_link", + "left_index_fingerpad_33_link", + "left_index_fingerpad_34_link", + "left_index_fingerpad_35_link", + "left_index_fingerpad_36_link", + "left_index_fingerpad_37_link", + "left_index_fingerpad_38_link", + "left_index_fingerpad_39_link", + "left_index_fingerpad_40_link", + "left_ring_fingertip_1_link", + "left_ring_fingertip_2_link", + "left_ring_fingertip_3_link", + "left_ring_fingertip_4_link", + "left_ring_fingertip_5_link", + "left_ring_fingertip_6_link", + "left_ring_fingertip_7_link", + "left_ring_fingertip_8_link", + "left_ring_fingertip_9_link", + "left_ring_fingertip_10_link", + "left_ring_fingertip_11_link", + "left_ring_fingertip_12_link", + "left_ring_fingertip_13_link", + "left_ring_fingertip_14_link", + "left_ring_fingertip_15_link", + "left_ring_fingertip_16_link", + "left_ring_fingertip_17_link", + "left_ring_fingertip_18_link", + "left_ring_fingertip_19_link", + "left_ring_fingertip_20_link", + "left_ring_fingertip_21_link", + "left_ring_fingerpad_41_link", + "left_ring_fingerpad_42_link", + "left_ring_fingerpad_43_link", + "left_ring_fingerpad_44_link", + "left_ring_fingerpad_45_link", + "left_ring_fingerpad_46_link", + "left_ring_fingerpad_47_link", + "left_ring_fingerpad_48_link", + "left_ring_fingerpad_49_link", + "left_ring_fingerpad_50_link", + "left_ring_fingerpad_51_link", + "left_ring_fingerpad_52_link", + "left_ring_fingerpad_1_link", + "left_ring_fingerpad_2_link", + "left_ring_fingerpad_3_link", + "left_ring_fingerpad_4_link", + "left_ring_fingerpad_5_link", + "left_ring_fingerpad_6_link", + "left_ring_fingerpad_7_link", + "left_ring_fingerpad_8_link", + "left_ring_fingerpad_9_link", + "left_ring_fingerpad_10_link", + "left_ring_fingerpad_11_link", + "left_ring_fingerpad_12_link", + "left_ring_fingerpad_13_link", + "left_ring_fingerpad_14_link", + "left_ring_fingerpad_15_link", + "left_ring_fingerpad_16_link", + "left_ring_fingerpad_17_link", + "left_ring_fingerpad_18_link", + "left_ring_fingerpad_19_link", + "left_ring_fingerpad_20_link", + "left_ring_fingerpad_21_link", + "left_ring_fingerpad_22_link", + "left_ring_fingerpad_23_link", + "left_ring_fingerpad_24_link", + "left_ring_fingerpad_25_link", + "left_ring_fingerpad_26_link", + "left_ring_fingerpad_27_link", + "left_ring_fingerpad_28_link", + "left_ring_fingerpad_29_link", + "left_ring_fingerpad_30_link", + "left_ring_fingerpad_31_link", + "left_ring_fingerpad_32_link", + "left_ring_fingerpad_33_link", + "left_ring_fingerpad_34_link", + "left_ring_fingerpad_35_link", + "left_ring_fingerpad_36_link", + "left_ring_fingerpad_37_link", + "left_ring_fingerpad_38_link", + "left_ring_fingerpad_39_link", + "left_ring_fingerpad_40_link", + "left_little_fingertip_1_link", + "left_little_fingertip_2_link", + "left_little_fingertip_3_link", + "left_little_fingertip_4_link", + "left_little_fingertip_5_link", + "left_little_fingertip_6_link", + "left_little_fingertip_7_link", + "left_little_fingertip_8_link", + "left_little_fingertip_9_link", + "left_little_fingertip_10_link", + "left_little_fingertip_11_link", + "left_little_fingertip_12_link", + "left_little_fingertip_13_link", + "left_little_fingertip_14_link", + "left_little_fingertip_15_link", + "left_little_fingertip_16_link", + "left_little_fingertip_17_link", + "left_little_fingertip_18_link", + "left_little_fingertip_19_link", + "left_little_fingertip_20_link", + "left_little_fingertip_21_link", + "left_little_fingerpad_41_link", + "left_little_fingerpad_42_link", + "left_little_fingerpad_43_link", + "left_little_fingerpad_44_link", + "left_little_fingerpad_45_link", + "left_little_fingerpad_46_link", + "left_little_fingerpad_47_link", + "left_little_fingerpad_48_link", + "left_little_fingerpad_49_link", + "left_little_fingerpad_50_link", + "left_little_fingerpad_51_link", + "left_little_fingerpad_52_link", + "left_little_fingerpad_1_link", + "left_little_fingerpad_2_link", + "left_little_fingerpad_3_link", + "left_little_fingerpad_4_link", + "left_little_fingerpad_5_link", + "left_little_fingerpad_6_link", + "left_little_fingerpad_7_link", + "left_little_fingerpad_8_link", + "left_little_fingerpad_9_link", + "left_little_fingerpad_10_link", + "left_little_fingerpad_11_link", + "left_little_fingerpad_12_link", + "left_little_fingerpad_13_link", + "left_little_fingerpad_14_link", + "left_little_fingerpad_15_link", + "left_little_fingerpad_16_link", + "left_little_fingerpad_17_link", + "left_little_fingerpad_18_link", + "left_little_fingerpad_19_link", + "left_little_fingerpad_20_link", + "left_little_fingerpad_21_link", + "left_little_fingerpad_22_link", + "left_little_fingerpad_23_link", + "left_little_fingerpad_24_link", + "left_little_fingerpad_25_link", + "left_little_fingerpad_26_link", + "left_little_fingerpad_27_link", + "left_little_fingerpad_28_link", + "left_little_fingerpad_29_link", + "left_little_fingerpad_30_link", + "left_little_fingerpad_31_link", + "left_little_fingerpad_32_link", + "left_little_fingerpad_33_link", + "left_little_fingerpad_34_link", + "left_little_fingerpad_35_link", + "left_little_fingerpad_36_link", + "left_little_fingerpad_37_link", + "left_little_fingerpad_38_link", + "left_little_fingerpad_39_link", + "left_little_fingerpad_40_link", + "left_hand_touch_1_link", + "left_hand_touch_2_link", + "left_hand_touch_3_link", + "left_hand_touch_4_link", + "left_hand_touch_5_link", + "left_hand_touch_6_link", + "left_hand_touch_7_link", + "left_hand_touch_8_link", + "left_hand_touch_9_link", + "left_hand_touch_10_link", + "left_hand_touch_11_link", + "left_hand_touch_12_link", + "left_hand_touch_13_link", + "left_hand_touch_14_link", + "left_hand_touch_15_link", + "left_hand_touch_16_link", + "left_hand_touch_17_link", + "left_hand_touch_18_link", + "left_hand_touch_19_link", + "left_hand_touch_20_link", + "left_hand_touch_21_link", + "left_hand_touch_22_link", + "left_hand_touch_23_link", + "left_hand_touch_24_link", + "left_hand_touch_25_link", + "left_hand_touch_26_link", + "left_hand_touch_27_link", + "left_hand_touch_28_link", + "left_hand_touch_29_link", + "left_hand_touch_30_link", + "left_hand_touch_31_link", + "left_hand_touch_32_link", + "left_hand_touch_33_link", + "left_hand_touch_34_link", + "left_hand_touch_35_link", + "left_hand_touch_36_link", + "left_hand_touch_37_link", + "left_hand_touch_38_link", + "left_hand_touch_39_link", + "left_hand_touch_40_link", + "left_hand_touch_41_link", + "left_hand_touch_42_link", + "left_hand_touch_43_link", + "left_hand_touch_44_link", + "left_hand_touch_45_link", + "left_hand_touch_46_link", + "left_hand_touch_47_link", + "left_hand_touch_48_link", + "left_hand_touch_49_link", + "left_hand_touch_50_link", + "left_hand_touch_51_link", + "left_hand_touch_52_link", + "left_hand_touch_53_link", + "left_hand_touch_54_link", + "left_hand_touch_55_link", + "left_hand_touch_56_link", + "left_hand_touch_57_link", + "left_hand_touch_58_link", + "left_hand_touch_59_link", + "left_hand_touch_60_link", + "left_hand_touch_61_link", + "left_hand_touch_62_link", + "left_hand_touch_63_link", + "left_hand_touch_64_link", + "left_hand_touch_65_link", + "left_hand_touch_66_link", + "left_hand_touch_67_link", + "left_hand_touch_68_link", + "left_hand_touch_69_link", + "left_hand_touch_70_link", + "left_hand_touch_71_link" + ], + "primary_points": [ + { + "name": "left_middle_fingertip_1_link", + "joint": "left_middle_fingertip_1_joint", + "side": "left", + "kind": "primary", + "parent_link": "left_middle_DIP_link", + "origin": { + "rpy": 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0.028229975948861147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "position_attachment_m": [ + -0.0025827565959885175, + -0.0006140047109797816, + 0.028229975948861147 + ], + "visual_radius_m": 0.0018 + }, + { + "name": "left_middle_fingertip_3_link", + "joint": "left_middle_fingertip_3_joint", + "side": "left", + "kind": "primary", + "parent_link": "left_middle_DIP_link", + "origin": { + "rpy": "0 0 0", + "xyz": "-0.0028677194799641269 0.0035825544330438403 0.027568565441716625" + }, + "attachment_link": "left_middle_DIP_link", + "T_attachment_marker": [ + [ + 1.0, + 0.0, + 0.0, + -0.002867719479964127 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0035825544330438403 + ], + [ + 0.0, + 0.0, + 1.0, + 0.027568565441716625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "position_attachment_m": [ + -0.002867719479964127, + 0.0035825544330438403, + 0.027568565441716625 + ], + "visual_radius_m": 0.0018 + }, + { + "name": "left_middle_fingertip_4_link", + "joint": "left_middle_fingertip_4_joint", + 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"right_middle_fingerpad_19_link", + "right_middle_fingerpad_20_link", + "right_middle_fingerpad_21_link", + "right_middle_fingerpad_22_link", + "right_middle_fingerpad_23_link", + "right_middle_fingerpad_24_link", + "right_middle_fingerpad_25_link", + "right_middle_fingerpad_26_link", + "right_middle_fingerpad_27_link", + "right_middle_fingerpad_28_link", + "right_middle_fingerpad_29_link", + "right_middle_fingerpad_30_link", + "right_middle_fingerpad_31_link", + "right_middle_fingerpad_32_link", + "right_middle_fingerpad_33_link", + "right_middle_fingerpad_34_link", + "right_middle_fingerpad_35_link", + "right_middle_fingerpad_36_link", + "right_middle_fingerpad_37_link", + "right_middle_fingerpad_38_link", + "right_middle_fingerpad_39_link", + "right_middle_fingerpad_40_link", + "right_thumb_fingertip_1_link", + "right_thumb_fingertip_2_link", + "right_thumb_fingertip_3_link", + "right_thumb_fingertip_4_link", + "right_thumb_fingertip_5_link", + "right_thumb_fingertip_6_link", + "right_thumb_fingertip_7_link", + "right_thumb_fingertip_8_link", + "right_thumb_fingertip_9_link", + "right_thumb_fingertip_10_link", + "right_thumb_fingertip_11_link", + "right_thumb_fingertip_12_link", + "right_thumb_fingertip_13_link", + "right_thumb_fingertip_14_link", + "right_thumb_fingertip_15_link", + "right_thumb_fingertip_16_link", + "right_thumb_fingertip_17_link", + "right_thumb_fingertip_18_link", + "right_thumb_fingertip_19_link", + "right_thumb_fingertip_20_link", + "right_thumb_fingertip_21_link", + "right_thumb_fingertip_22_link", + "right_thumb_fingertip_23_link", + "right_thumb_fingertip_24_link", + "right_thumb_fingertip_25_link", + "right_thumb_fingertip_26_link", + "right_thumb_fingertip_27_link", + "right_thumb_fingertip_28_link", + "right_thumb_fingertip_29_link", + "right_thumb_fingertip_30_link", + "right_thumb_fingertip_31_link", + "right_thumb_fingerpad_46_link", + "right_thumb_fingerpad_47_link", + "right_thumb_fingerpad_48_link", + "right_thumb_fingerpad_49_link", + "right_thumb_fingerpad_50_link", + "right_thumb_fingerpad_51_link", + "right_thumb_fingerpad_52_link", + "right_thumb_fingerpad_53_link", + "right_thumb_fingerpad_54_link", + "right_thumb_fingerpad_55_link", + "right_thumb_fingerpad_56_link", + "right_thumb_fingerpad_57_link", + "right_thumb_fingerpad_1_link", + "right_thumb_fingerpad_2_link", + "right_thumb_fingerpad_3_link", + "right_thumb_fingerpad_4_link", + "right_thumb_fingerpad_5_link", + "right_thumb_fingerpad_6_link", + "right_thumb_fingerpad_7_link", + "right_thumb_fingerpad_8_link", + "right_thumb_fingerpad_9_link", + "right_thumb_fingerpad_10_link", + "right_thumb_fingerpad_11_link", + "right_thumb_fingerpad_12_link", + "right_thumb_fingerpad_13_link", + "right_thumb_fingerpad_14_link", + "right_thumb_fingerpad_15_link", + "right_thumb_fingerpad_16_link", + "right_thumb_fingerpad_17_link", + "right_thumb_fingerpad_18_link", + "right_thumb_fingerpad_19_link", + "right_thumb_fingerpad_20_link", + "right_thumb_fingerpad_21_link", + "right_thumb_fingerpad_22_link", + "right_thumb_fingerpad_23_link", + "right_thumb_fingerpad_24_link", + "right_thumb_fingerpad_25_link", + "right_thumb_fingerpad_26_link", + "right_thumb_fingerpad_27_link", + "right_thumb_fingerpad_28_link", + "right_thumb_fingerpad_29_link", + "right_thumb_fingerpad_30_link", + "right_thumb_fingerpad_31_link", + "right_thumb_fingerpad_32_link", + "right_thumb_fingerpad_33_link", + "right_thumb_fingerpad_34_link", + "right_thumb_fingerpad_35_link", + "right_thumb_fingerpad_36_link", + "right_thumb_fingerpad_37_link", + "right_thumb_fingerpad_38_link", + "right_thumb_fingerpad_39_link", + "right_thumb_fingerpad_40_link", + "right_thumb_fingerpad_41_link", + "right_thumb_fingerpad_42_link", + "right_thumb_fingerpad_43_link", + "right_thumb_fingerpad_44_link", + "right_thumb_fingerpad_45_link", + "right_index_fingertip_1_link", + "right_index_fingertip_2_link", + "right_index_fingertip_3_link", + "right_index_fingertip_4_link", + "right_index_fingertip_5_link", + "right_index_fingertip_6_link", + "right_index_fingertip_7_link", + "right_index_fingertip_8_link", + "right_index_fingertip_9_link", + "right_index_fingertip_10_link", + "right_index_fingertip_11_link", + "right_index_fingertip_12_link", + "right_index_fingertip_13_link", + "right_index_fingertip_14_link", + "right_index_fingertip_15_link", + "right_index_fingertip_16_link", + "right_index_fingertip_17_link", + "right_index_fingertip_18_link", + "right_index_fingertip_19_link", + "right_index_fingertip_20_link", + "right_index_fingertip_21_link", + "right_index_fingerpad_41_link", + "right_index_fingerpad_42_link", + "right_index_fingerpad_43_link", + "right_index_fingerpad_44_link", + "right_index_fingerpad_45_link", + "right_index_fingerpad_46_link", + "right_index_fingerpad_47_link", + "right_index_fingerpad_48_link", + "right_index_fingerpad_49_link", + "right_index_fingerpad_50_link", + "right_index_fingerpad_51_link", + "right_index_fingerpad_52_link", + "right_index_fingerpad_1_link", + "right_index_fingerpad_2_link", + "right_index_fingerpad_3_link", + "right_index_fingerpad_4_link", + "right_index_fingerpad_5_link", + "right_index_fingerpad_6_link", + "right_index_fingerpad_7_link", + "right_index_fingerpad_8_link", + "right_index_fingerpad_9_link", + "right_index_fingerpad_10_link", + "right_index_fingerpad_11_link", + "right_index_fingerpad_12_link", + "right_index_fingerpad_13_link", + "right_index_fingerpad_14_link", + "right_index_fingerpad_15_link", + "right_index_fingerpad_16_link", + "right_index_fingerpad_17_link", + "right_index_fingerpad_18_link", + "right_index_fingerpad_19_link", + "right_index_fingerpad_20_link", + "right_index_fingerpad_21_link", + "right_index_fingerpad_22_link", + "right_index_fingerpad_23_link", + "right_index_fingerpad_24_link", + "right_index_fingerpad_25_link", + "right_index_fingerpad_26_link", + "right_index_fingerpad_27_link", + "right_index_fingerpad_28_link", + "right_index_fingerpad_29_link", + "right_index_fingerpad_30_link", + "right_index_fingerpad_31_link", + "right_index_fingerpad_32_link", + "right_index_fingerpad_33_link", + "right_index_fingerpad_34_link", + "right_index_fingerpad_35_link", + "right_index_fingerpad_36_link", + "right_index_fingerpad_37_link", + "right_index_fingerpad_38_link", + "right_index_fingerpad_39_link", + "right_index_fingerpad_40_link", + "right_ring_fingertip_1_link", + "right_ring_fingertip_2_link", + "right_ring_fingertip_3_link", + "right_ring_fingertip_4_link", + "right_ring_fingertip_5_link", + "right_ring_fingertip_6_link", + "right_ring_fingertip_7_link", + "right_ring_fingertip_8_link", + "right_ring_fingertip_9_link", + "right_ring_fingertip_10_link", + "right_ring_fingertip_11_link", + "right_ring_fingertip_12_link", + "right_ring_fingertip_13_link", + "right_ring_fingertip_14_link", + "right_ring_fingertip_15_link", + "right_ring_fingertip_16_link", + "right_ring_fingertip_17_link", + "right_ring_fingertip_18_link", + "right_ring_fingertip_19_link", + "right_ring_fingertip_20_link", + "right_ring_fingertip_21_link", + "right_ring_fingerpad_41_link", + "right_ring_fingerpad_42_link", + "right_ring_fingerpad_43_link", + "right_ring_fingerpad_44_link", + "right_ring_fingerpad_45_link", + "right_ring_fingerpad_46_link", + "right_ring_fingerpad_47_link", + "right_ring_fingerpad_48_link", + "right_ring_fingerpad_49_link", + "right_ring_fingerpad_50_link", + "right_ring_fingerpad_51_link", + "right_ring_fingerpad_52_link", + "right_ring_fingerpad_1_link", + "right_ring_fingerpad_2_link", + "right_ring_fingerpad_3_link", + "right_ring_fingerpad_4_link", + "right_ring_fingerpad_5_link", + "right_ring_fingerpad_6_link", + "right_ring_fingerpad_7_link", + "right_ring_fingerpad_8_link", + "right_ring_fingerpad_9_link", + "right_ring_fingerpad_10_link", + "right_ring_fingerpad_11_link", + "right_ring_fingerpad_12_link", + "right_ring_fingerpad_13_link", + "right_ring_fingerpad_14_link", + "right_ring_fingerpad_15_link", + "right_ring_fingerpad_16_link", + "right_ring_fingerpad_17_link", + "right_ring_fingerpad_18_link", + "right_ring_fingerpad_19_link", + "right_ring_fingerpad_20_link", + "right_ring_fingerpad_21_link", + "right_ring_fingerpad_22_link", + "right_ring_fingerpad_23_link", + "right_ring_fingerpad_24_link", + "right_ring_fingerpad_25_link", + "right_ring_fingerpad_26_link", + "right_ring_fingerpad_27_link", + "right_ring_fingerpad_28_link", + "right_ring_fingerpad_29_link", + "right_ring_fingerpad_30_link", + "right_ring_fingerpad_31_link", + "right_ring_fingerpad_32_link", + "right_ring_fingerpad_33_link", + "right_ring_fingerpad_34_link", + "right_ring_fingerpad_35_link", + "right_ring_fingerpad_36_link", + "right_ring_fingerpad_37_link", + "right_ring_fingerpad_38_link", + "right_ring_fingerpad_39_link", + "right_ring_fingerpad_40_link", + "right_little_fingertip_1_link", + "right_little_fingertip_2_link", + "right_little_fingertip_3_link", + "right_little_fingertip_4_link", + "right_little_fingertip_5_link", + "right_little_fingertip_6_link", + "right_little_fingertip_7_link", + "right_little_fingertip_8_link", + "right_little_fingertip_9_link", + "right_little_fingertip_10_link", + "right_little_fingertip_11_link", + "right_little_fingertip_12_link", + "right_little_fingertip_13_link", + "right_little_fingertip_14_link", + "right_little_fingertip_15_link", + "right_little_fingertip_16_link", + "right_little_fingertip_17_link", + "right_little_fingertip_18_link", + "right_little_fingertip_19_link", + "right_little_fingertip_20_link", + "right_little_fingertip_21_link", + "right_little_fingerpad_41_link", + "right_little_fingerpad_42_link", + "right_little_fingerpad_43_link", + "right_little_fingerpad_44_link", + "right_little_fingerpad_45_link", + "right_little_fingerpad_46_link", + "right_little_fingerpad_47_link", + "right_little_fingerpad_48_link", + "right_little_fingerpad_49_link", + "right_little_fingerpad_50_link", + "right_little_fingerpad_51_link", + "right_little_fingerpad_52_link", + "right_little_fingerpad_1_link", + "right_little_fingerpad_2_link", + "right_little_fingerpad_3_link", + "right_little_fingerpad_4_link", + "right_little_fingerpad_5_link", + "right_little_fingerpad_6_link", + "right_little_fingerpad_7_link", + "right_little_fingerpad_8_link", + "right_little_fingerpad_9_link", + "right_little_fingerpad_10_link", + "right_little_fingerpad_11_link", + "right_little_fingerpad_12_link", + "right_little_fingerpad_13_link", + "right_little_fingerpad_14_link", + "right_little_fingerpad_15_link", + "right_little_fingerpad_16_link", + "right_little_fingerpad_17_link", + "right_little_fingerpad_18_link", + "right_little_fingerpad_19_link", + "right_little_fingerpad_20_link", + "right_little_fingerpad_21_link", + "right_little_fingerpad_22_link", + "right_little_fingerpad_23_link", + "right_little_fingerpad_24_link", + "right_little_fingerpad_25_link", + "right_little_fingerpad_26_link", + "right_little_fingerpad_27_link", + "right_little_fingerpad_28_link", + "right_little_fingerpad_29_link", + "right_little_fingerpad_30_link", + "right_little_fingerpad_31_link", + "right_little_fingerpad_32_link", + "right_little_fingerpad_33_link", + "right_little_fingerpad_34_link", + "right_little_fingerpad_35_link", + "right_little_fingerpad_36_link", + "right_little_fingerpad_37_link", + "right_little_fingerpad_38_link", + "right_little_fingerpad_39_link", + "right_little_fingerpad_40_link", + "right_hand_touch_1_link", + "right_hand_touch_2_link", + "right_hand_touch_3_link", + "right_hand_touch_4_link", + "right_hand_touch_5_link", + "right_hand_touch_6_link", + "right_hand_touch_7_link", + "right_hand_touch_8_link", + "right_hand_touch_9_link", + "right_hand_touch_10_link", + "right_hand_touch_11_link", + "right_hand_touch_12_link", + "right_hand_touch_13_link", + "right_hand_touch_14_link", + "right_hand_touch_15_link", + "right_hand_touch_16_link", + "right_hand_touch_17_link", + "right_hand_touch_18_link", + "right_hand_touch_19_link", + "right_hand_touch_20_link", + "right_hand_touch_21_link", + "right_hand_touch_22_link", + "right_hand_touch_23_link", + "right_hand_touch_24_link", + "right_hand_touch_25_link", + "right_hand_touch_26_link", + "right_hand_touch_27_link", + "right_hand_touch_28_link", + "right_hand_touch_29_link", + "right_hand_touch_30_link", + "right_hand_touch_31_link", + "right_hand_touch_32_link", + "right_hand_touch_33_link", + "right_hand_touch_34_link", + "right_hand_touch_35_link", + "right_hand_touch_36_link", + "right_hand_touch_37_link", + "right_hand_touch_38_link", + "right_hand_touch_39_link", + "right_hand_touch_40_link", + "right_hand_touch_41_link", + "right_hand_touch_42_link", + "right_hand_touch_43_link", + "right_hand_touch_44_link", + "right_hand_touch_45_link", + "right_hand_touch_46_link", + "right_hand_touch_47_link", + "right_hand_touch_48_link", + "right_hand_touch_49_link", + "right_hand_touch_50_link", + "right_hand_touch_51_link", + "right_hand_touch_52_link", + "right_hand_touch_53_link", + "right_hand_touch_54_link", + "right_hand_touch_55_link", + "right_hand_touch_56_link", + "right_hand_touch_57_link", + "right_hand_touch_58_link", + "right_hand_touch_59_link", + "right_hand_touch_60_link", + "right_hand_touch_61_link", + "right_hand_touch_62_link", + "right_hand_touch_63_link", + "right_hand_touch_64_link", + "right_hand_touch_65_link", + "right_hand_touch_66_link", + "right_hand_touch_67_link", + "right_hand_touch_68_link", + "right_hand_touch_69_link", + "right_hand_touch_70_link", + "right_hand_touch_71_link" + ], + "primary_points": [ + { + "name": "right_middle_fingertip_1_link", + "joint": "right_middle_fingertip_1_joint", + "side": "right", + "kind": "primary", + "parent_link": "right_middle_DIP_link", + "origin": { + "rpy": 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"left_index_fingerpad_37_link", + "left_index_fingerpad_38_link", + "left_index_fingerpad_39_link", + "left_index_fingerpad_40_link", + "left_ring_fingertip_1_link", + "left_ring_fingertip_2_link", + "left_ring_fingertip_3_link", + "left_ring_fingertip_4_link", + "left_ring_fingertip_5_link", + "left_ring_fingertip_6_link", + "left_ring_fingertip_7_link", + "left_ring_fingertip_8_link", + "left_ring_fingertip_9_link", + "left_ring_fingertip_10_link", + "left_ring_fingertip_11_link", + "left_ring_fingertip_12_link", + "left_ring_fingertip_13_link", + "left_ring_fingertip_14_link", + "left_ring_fingertip_15_link", + "left_ring_fingertip_16_link", + "left_ring_fingertip_17_link", + "left_ring_fingertip_18_link", + "left_ring_fingertip_19_link", + "left_ring_fingertip_20_link", + "left_ring_fingertip_21_link", + "left_ring_fingerpad_41_link", + "left_ring_fingerpad_42_link", + "left_ring_fingerpad_43_link", + "left_ring_fingerpad_44_link", + "left_ring_fingerpad_45_link", + "left_ring_fingerpad_46_link", + "left_ring_fingerpad_47_link", + "left_ring_fingerpad_48_link", + "left_ring_fingerpad_49_link", + "left_ring_fingerpad_50_link", + "left_ring_fingerpad_51_link", + "left_ring_fingerpad_52_link", + "left_ring_fingerpad_1_link", + "left_ring_fingerpad_2_link", + "left_ring_fingerpad_3_link", + "left_ring_fingerpad_4_link", + "left_ring_fingerpad_5_link", + "left_ring_fingerpad_6_link", + "left_ring_fingerpad_7_link", + "left_ring_fingerpad_8_link", + "left_ring_fingerpad_9_link", + "left_ring_fingerpad_10_link", + "left_ring_fingerpad_11_link", + "left_ring_fingerpad_12_link", + "left_ring_fingerpad_13_link", + "left_ring_fingerpad_14_link", + "left_ring_fingerpad_15_link", + "left_ring_fingerpad_16_link", + "left_ring_fingerpad_17_link", + "left_ring_fingerpad_18_link", + "left_ring_fingerpad_19_link", + "left_ring_fingerpad_20_link", + "left_ring_fingerpad_21_link", + "left_ring_fingerpad_22_link", + "left_ring_fingerpad_23_link", + "left_ring_fingerpad_24_link", + "left_ring_fingerpad_25_link", + "left_ring_fingerpad_26_link", + "left_ring_fingerpad_27_link", + "left_ring_fingerpad_28_link", + "left_ring_fingerpad_29_link", + "left_ring_fingerpad_30_link", + "left_ring_fingerpad_31_link", + "left_ring_fingerpad_32_link", + "left_ring_fingerpad_33_link", + "left_ring_fingerpad_34_link", + "left_ring_fingerpad_35_link", + "left_ring_fingerpad_36_link", + "left_ring_fingerpad_37_link", + "left_ring_fingerpad_38_link", + "left_ring_fingerpad_39_link", + "left_ring_fingerpad_40_link", + "left_little_fingertip_1_link", + "left_little_fingertip_2_link", + "left_little_fingertip_3_link", + "left_little_fingertip_4_link", + "left_little_fingertip_5_link", + "left_little_fingertip_6_link", + "left_little_fingertip_7_link", + "left_little_fingertip_8_link", + "left_little_fingertip_9_link", + "left_little_fingertip_10_link", + "left_little_fingertip_11_link", + "left_little_fingertip_12_link", + "left_little_fingertip_13_link", + "left_little_fingertip_14_link", + "left_little_fingertip_15_link", + "left_little_fingertip_16_link", + "left_little_fingertip_17_link", + "left_little_fingertip_18_link", + "left_little_fingertip_19_link", + "left_little_fingertip_20_link", + "left_little_fingertip_21_link", + "left_little_fingerpad_41_link", + "left_little_fingerpad_42_link", + "left_little_fingerpad_43_link", + "left_little_fingerpad_44_link", + "left_little_fingerpad_45_link", + "left_little_fingerpad_46_link", + "left_little_fingerpad_47_link", + "left_little_fingerpad_48_link", + "left_little_fingerpad_49_link", + "left_little_fingerpad_50_link", + "left_little_fingerpad_51_link", + "left_little_fingerpad_52_link", + "left_little_fingerpad_1_link", + "left_little_fingerpad_2_link", + "left_little_fingerpad_3_link", + "left_little_fingerpad_4_link", + "left_little_fingerpad_5_link", + "left_little_fingerpad_6_link", + "left_little_fingerpad_7_link", + "left_little_fingerpad_8_link", + "left_little_fingerpad_9_link", + "left_little_fingerpad_10_link", + "left_little_fingerpad_11_link", + "left_little_fingerpad_12_link", + "left_little_fingerpad_13_link", + "left_little_fingerpad_14_link", + "left_little_fingerpad_15_link", + "left_little_fingerpad_16_link", + "left_little_fingerpad_17_link", + "left_little_fingerpad_18_link", + "left_little_fingerpad_19_link", + "left_little_fingerpad_20_link", + "left_little_fingerpad_21_link", + "left_little_fingerpad_22_link", + "left_little_fingerpad_23_link", + "left_little_fingerpad_24_link", + "left_little_fingerpad_25_link", + "left_little_fingerpad_26_link", + "left_little_fingerpad_27_link", + "left_little_fingerpad_28_link", + "left_little_fingerpad_29_link", + "left_little_fingerpad_30_link", + "left_little_fingerpad_31_link", + "left_little_fingerpad_32_link", + "left_little_fingerpad_33_link", + "left_little_fingerpad_34_link", + "left_little_fingerpad_35_link", + "left_little_fingerpad_36_link", + "left_little_fingerpad_37_link", + "left_little_fingerpad_38_link", + "left_little_fingerpad_39_link", + "left_little_fingerpad_40_link", + "left_hand_touch_1_link", + "left_hand_touch_2_link", + "left_hand_touch_3_link", + "left_hand_touch_4_link", + "left_hand_touch_5_link", + "left_hand_touch_6_link", + "left_hand_touch_7_link", + "left_hand_touch_8_link", + "left_hand_touch_9_link", + "left_hand_touch_10_link", + "left_hand_touch_11_link", + "left_hand_touch_12_link", + "left_hand_touch_13_link", + "left_hand_touch_14_link", + "left_hand_touch_15_link", + "left_hand_touch_16_link", + "left_hand_touch_17_link", + "left_hand_touch_18_link", + "left_hand_touch_19_link", + "left_hand_touch_20_link", + "left_hand_touch_21_link", + "left_hand_touch_22_link", + "left_hand_touch_23_link", + "left_hand_touch_24_link", + "left_hand_touch_25_link", + "left_hand_touch_26_link", + "left_hand_touch_27_link", + "left_hand_touch_28_link", + 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"right_index_fingertip_12_link", + "right_index_fingertip_13_link", + "right_index_fingertip_14_link", + "right_index_fingertip_15_link", + "right_index_fingertip_16_link", + "right_index_fingertip_17_link", + "right_index_fingertip_18_link", + "right_index_fingertip_19_link", + "right_index_fingertip_20_link", + "right_index_fingertip_21_link", + "right_index_fingerpad_41_link", + "right_index_fingerpad_42_link", + "right_index_fingerpad_43_link", + "right_index_fingerpad_44_link", + "right_index_fingerpad_45_link", + "right_index_fingerpad_46_link", + "right_index_fingerpad_47_link", + "right_index_fingerpad_48_link", + "right_index_fingerpad_49_link", + "right_index_fingerpad_50_link", + "right_index_fingerpad_51_link", + "right_index_fingerpad_52_link", + "right_index_fingerpad_1_link", + "right_index_fingerpad_2_link", + "right_index_fingerpad_3_link", + "right_index_fingerpad_4_link", + "right_index_fingerpad_5_link", + "right_index_fingerpad_6_link", + 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"right_ring_fingerpad_43_link", + "right_ring_fingerpad_44_link", + "right_ring_fingerpad_45_link", + "right_ring_fingerpad_46_link", + "right_ring_fingerpad_47_link", + "right_ring_fingerpad_48_link", + "right_ring_fingerpad_49_link", + "right_ring_fingerpad_50_link", + "right_ring_fingerpad_51_link", + "right_ring_fingerpad_52_link", + "right_ring_fingerpad_1_link", + "right_ring_fingerpad_2_link", + "right_ring_fingerpad_3_link", + "right_ring_fingerpad_4_link", + "right_ring_fingerpad_5_link", + "right_ring_fingerpad_6_link", + "right_ring_fingerpad_7_link", + "right_ring_fingerpad_8_link", + "right_ring_fingerpad_9_link", + "right_ring_fingerpad_10_link", + "right_ring_fingerpad_11_link", + "right_ring_fingerpad_12_link", + "right_ring_fingerpad_13_link", + "right_ring_fingerpad_14_link", + "right_ring_fingerpad_15_link", + "right_ring_fingerpad_16_link", + "right_ring_fingerpad_17_link", + "right_ring_fingerpad_18_link", + "right_ring_fingerpad_19_link", + 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"left_thumb_fingertip_25_link", + "left_thumb_fingertip_26_link", + "left_thumb_fingertip_27_link", + "left_thumb_fingertip_28_link", + "left_thumb_fingertip_29_link", + "left_thumb_fingertip_30_link", + "left_thumb_fingertip_31_link", + "left_thumb_fingerpad_46_link", + "left_thumb_fingerpad_47_link", + "left_thumb_fingerpad_48_link", + "left_thumb_fingerpad_49_link", + "left_thumb_fingerpad_50_link", + "left_thumb_fingerpad_51_link", + "left_thumb_fingerpad_52_link", + "left_thumb_fingerpad_53_link", + "left_thumb_fingerpad_54_link", + "left_thumb_fingerpad_55_link", + "left_thumb_fingerpad_56_link", + "left_thumb_fingerpad_57_link", + "left_thumb_fingerpad_1_link", + "left_thumb_fingerpad_2_link", + "left_thumb_fingerpad_3_link", + "left_thumb_fingerpad_4_link", + "left_thumb_fingerpad_5_link", + "left_thumb_fingerpad_6_link", + "left_thumb_fingerpad_7_link", + "left_thumb_fingerpad_8_link", + "left_thumb_fingerpad_9_link", + "left_thumb_fingerpad_10_link", + "left_thumb_fingerpad_11_link", + "left_thumb_fingerpad_12_link", + "left_thumb_fingerpad_13_link", + "left_thumb_fingerpad_14_link", + "left_thumb_fingerpad_15_link", + "left_thumb_fingerpad_16_link", + "left_thumb_fingerpad_17_link", + "left_thumb_fingerpad_18_link", + "left_thumb_fingerpad_19_link", + "left_thumb_fingerpad_20_link", + "left_thumb_fingerpad_21_link", + "left_thumb_fingerpad_22_link", + "left_thumb_fingerpad_23_link", + "left_thumb_fingerpad_24_link", + "left_thumb_fingerpad_25_link", + "left_thumb_fingerpad_26_link", + "left_thumb_fingerpad_27_link", + "left_thumb_fingerpad_28_link", + "left_thumb_fingerpad_29_link", + "left_thumb_fingerpad_30_link", + "left_thumb_fingerpad_31_link", + "left_thumb_fingerpad_32_link", + "left_thumb_fingerpad_33_link", + "left_thumb_fingerpad_34_link", + "left_thumb_fingerpad_35_link", + "left_thumb_fingerpad_36_link", + "left_thumb_fingerpad_37_link", + "left_thumb_fingerpad_38_link", + "left_thumb_fingerpad_39_link", + "left_thumb_fingerpad_40_link", + "left_thumb_fingerpad_41_link", + "left_thumb_fingerpad_42_link", + "left_thumb_fingerpad_43_link", + "left_thumb_fingerpad_44_link", + "left_thumb_fingerpad_45_link", + "left_index_fingertip_1_link", + "left_index_fingertip_2_link", + "left_index_fingertip_3_link", + "left_index_fingertip_4_link", + "left_index_fingertip_5_link", + "left_index_fingertip_6_link", + "left_index_fingertip_7_link", + "left_index_fingertip_8_link", + "left_index_fingertip_9_link", + "left_index_fingertip_10_link", + "left_index_fingertip_11_link", + "left_index_fingertip_12_link", + "left_index_fingertip_13_link", + "left_index_fingertip_14_link", + "left_index_fingertip_15_link", + "left_index_fingertip_16_link", + "left_index_fingertip_17_link", + "left_index_fingertip_18_link", + "left_index_fingertip_19_link", + "left_index_fingertip_20_link", + "left_index_fingertip_21_link", + "left_index_fingerpad_41_link", + "left_index_fingerpad_42_link", + "left_index_fingerpad_43_link", + "left_index_fingerpad_44_link", + "left_index_fingerpad_45_link", + "left_index_fingerpad_46_link", + "left_index_fingerpad_47_link", + "left_index_fingerpad_48_link", + "left_index_fingerpad_49_link", + "left_index_fingerpad_50_link", + "left_index_fingerpad_51_link", + "left_index_fingerpad_52_link", + "left_index_fingerpad_1_link", + "left_index_fingerpad_2_link", + "left_index_fingerpad_3_link", + "left_index_fingerpad_4_link", + "left_index_fingerpad_5_link", + "left_index_fingerpad_6_link", + "left_index_fingerpad_7_link", + "left_index_fingerpad_8_link", + "left_index_fingerpad_9_link", + "left_index_fingerpad_10_link", + "left_index_fingerpad_11_link", + "left_index_fingerpad_12_link", + "left_index_fingerpad_13_link", + "left_index_fingerpad_14_link", + "left_index_fingerpad_15_link", + "left_index_fingerpad_16_link", + "left_index_fingerpad_17_link", + "left_index_fingerpad_18_link", + "left_index_fingerpad_19_link", + "left_index_fingerpad_20_link", + "left_index_fingerpad_21_link", + "left_index_fingerpad_22_link", + "left_index_fingerpad_23_link", + "left_index_fingerpad_24_link", + "left_index_fingerpad_25_link", + "left_index_fingerpad_26_link", + "left_index_fingerpad_27_link", + "left_index_fingerpad_28_link", + "left_index_fingerpad_29_link", + "left_index_fingerpad_30_link", + "left_index_fingerpad_31_link", + "left_index_fingerpad_32_link", + "left_index_fingerpad_33_link", + "left_index_fingerpad_34_link", + "left_index_fingerpad_35_link", + "left_index_fingerpad_36_link", + "left_index_fingerpad_37_link", + "left_index_fingerpad_38_link", + "left_index_fingerpad_39_link", + "left_index_fingerpad_40_link", + "left_ring_fingertip_1_link", + "left_ring_fingertip_2_link", + "left_ring_fingertip_3_link", + "left_ring_fingertip_4_link", + "left_ring_fingertip_5_link", + "left_ring_fingertip_6_link", + "left_ring_fingertip_7_link", + "left_ring_fingertip_8_link", + "left_ring_fingertip_9_link", + "left_ring_fingertip_10_link", + "left_ring_fingertip_11_link", + "left_ring_fingertip_12_link", + "left_ring_fingertip_13_link", + "left_ring_fingertip_14_link", + "left_ring_fingertip_15_link", + "left_ring_fingertip_16_link", + "left_ring_fingertip_17_link", + "left_ring_fingertip_18_link", + "left_ring_fingertip_19_link", + "left_ring_fingertip_20_link", + "left_ring_fingertip_21_link", + "left_ring_fingerpad_41_link", + "left_ring_fingerpad_42_link", + "left_ring_fingerpad_43_link", + "left_ring_fingerpad_44_link", + "left_ring_fingerpad_45_link", + "left_ring_fingerpad_46_link", + "left_ring_fingerpad_47_link", + "left_ring_fingerpad_48_link", + "left_ring_fingerpad_49_link", + "left_ring_fingerpad_50_link", + "left_ring_fingerpad_51_link", + "left_ring_fingerpad_52_link", + "left_ring_fingerpad_1_link", + "left_ring_fingerpad_2_link", + "left_ring_fingerpad_3_link", + "left_ring_fingerpad_4_link", + "left_ring_fingerpad_5_link", + "left_ring_fingerpad_6_link", + "left_ring_fingerpad_7_link", + "left_ring_fingerpad_8_link", + "left_ring_fingerpad_9_link", + "left_ring_fingerpad_10_link", + "left_ring_fingerpad_11_link", + "left_ring_fingerpad_12_link", + "left_ring_fingerpad_13_link", + "left_ring_fingerpad_14_link", + "left_ring_fingerpad_15_link", + "left_ring_fingerpad_16_link", + "left_ring_fingerpad_17_link", + "left_ring_fingerpad_18_link", + "left_ring_fingerpad_19_link", + "left_ring_fingerpad_20_link", + "left_ring_fingerpad_21_link", + "left_ring_fingerpad_22_link", + "left_ring_fingerpad_23_link", + "left_ring_fingerpad_24_link", + "left_ring_fingerpad_25_link", + "left_ring_fingerpad_26_link", + "left_ring_fingerpad_27_link", + "left_ring_fingerpad_28_link", + "left_ring_fingerpad_29_link", + "left_ring_fingerpad_30_link", + "left_ring_fingerpad_31_link", + "left_ring_fingerpad_32_link", + "left_ring_fingerpad_33_link", + "left_ring_fingerpad_34_link", + "left_ring_fingerpad_35_link", + "left_ring_fingerpad_36_link", + "left_ring_fingerpad_37_link", + "left_ring_fingerpad_38_link", + "left_ring_fingerpad_39_link", + "left_ring_fingerpad_40_link", + "left_little_fingertip_1_link", + "left_little_fingertip_2_link", + "left_little_fingertip_3_link", + "left_little_fingertip_4_link", + "left_little_fingertip_5_link", + "left_little_fingertip_6_link", + "left_little_fingertip_7_link", + "left_little_fingertip_8_link", + "left_little_fingertip_9_link", + "left_little_fingertip_10_link", + "left_little_fingertip_11_link", + "left_little_fingertip_12_link", + "left_little_fingertip_13_link", + "left_little_fingertip_14_link", + "left_little_fingertip_15_link", + "left_little_fingertip_16_link", + "left_little_fingertip_17_link", + "left_little_fingertip_18_link", + "left_little_fingertip_19_link", + "left_little_fingertip_20_link", + "left_little_fingertip_21_link", + "left_little_fingerpad_41_link", + "left_little_fingerpad_42_link", + "left_little_fingerpad_43_link", + "left_little_fingerpad_44_link", + "left_little_fingerpad_45_link", + "left_little_fingerpad_46_link", + "left_little_fingerpad_47_link", + "left_little_fingerpad_48_link", + "left_little_fingerpad_49_link", + "left_little_fingerpad_50_link", + "left_little_fingerpad_51_link", + "left_little_fingerpad_52_link", + "left_little_fingerpad_1_link", + "left_little_fingerpad_2_link", + "left_little_fingerpad_3_link", + "left_little_fingerpad_4_link", + "left_little_fingerpad_5_link", + "left_little_fingerpad_6_link", + "left_little_fingerpad_7_link", + "left_little_fingerpad_8_link", + "left_little_fingerpad_9_link", + "left_little_fingerpad_10_link", + "left_little_fingerpad_11_link", + "left_little_fingerpad_12_link", + "left_little_fingerpad_13_link", + "left_little_fingerpad_14_link", + "left_little_fingerpad_15_link", + "left_little_fingerpad_16_link", + "left_little_fingerpad_17_link", + "left_little_fingerpad_18_link", + "left_little_fingerpad_19_link", + "left_little_fingerpad_20_link", + "left_little_fingerpad_21_link", + "left_little_fingerpad_22_link", + "left_little_fingerpad_23_link", + "left_little_fingerpad_24_link", + "left_little_fingerpad_25_link", + "left_little_fingerpad_26_link", + "left_little_fingerpad_27_link", + "left_little_fingerpad_28_link", + "left_little_fingerpad_29_link", + "left_little_fingerpad_30_link", + "left_little_fingerpad_31_link", + "left_little_fingerpad_32_link", + "left_little_fingerpad_33_link", + "left_little_fingerpad_34_link", + "left_little_fingerpad_35_link", + "left_little_fingerpad_36_link", + "left_little_fingerpad_37_link", + "left_little_fingerpad_38_link", + "left_little_fingerpad_39_link", + "left_little_fingerpad_40_link", + "left_hand_touch_1_link", + "left_hand_touch_2_link", + "left_hand_touch_3_link", + "left_hand_touch_4_link", + "left_hand_touch_5_link", + "left_hand_touch_6_link", + "left_hand_touch_7_link", + "left_hand_touch_8_link", + "left_hand_touch_9_link", + "left_hand_touch_10_link", + "left_hand_touch_11_link", + "left_hand_touch_12_link", + "left_hand_touch_13_link", + "left_hand_touch_14_link", + "left_hand_touch_15_link", + "left_hand_touch_16_link", + "left_hand_touch_17_link", + "left_hand_touch_18_link", + "left_hand_touch_19_link", + "left_hand_touch_20_link", + "left_hand_touch_21_link", + "left_hand_touch_22_link", + "left_hand_touch_23_link", + "left_hand_touch_24_link", + "left_hand_touch_25_link", + "left_hand_touch_26_link", + "left_hand_touch_27_link", + "left_hand_touch_28_link", + "left_hand_touch_29_link", + "left_hand_touch_30_link", + "left_hand_touch_31_link", + "left_hand_touch_32_link", + "left_hand_touch_33_link", + "left_hand_touch_34_link", + "left_hand_touch_35_link", + "left_hand_touch_36_link", + "left_hand_touch_37_link", + "left_hand_touch_38_link", + "left_hand_touch_39_link", + "left_hand_touch_40_link", + "left_hand_touch_41_link", + "left_hand_touch_42_link", + "left_hand_touch_43_link", + "left_hand_touch_44_link", + "left_hand_touch_45_link", + "left_hand_touch_46_link", + "left_hand_touch_47_link", + "left_hand_touch_48_link", + "left_hand_touch_49_link", + "left_hand_touch_50_link", + "left_hand_touch_51_link", + "left_hand_touch_52_link", + "left_hand_touch_53_link", + "left_hand_touch_54_link", + "left_hand_touch_55_link", + "left_hand_touch_56_link", + "left_hand_touch_57_link", + "left_hand_touch_58_link", + "left_hand_touch_59_link", + "left_hand_touch_60_link", + "left_hand_touch_61_link", + "left_hand_touch_62_link", + "left_hand_touch_63_link", + "left_hand_touch_64_link", + "left_hand_touch_65_link", + "left_hand_touch_66_link", + "left_hand_touch_67_link", + "left_hand_touch_68_link", + "left_hand_touch_69_link", + "left_hand_touch_70_link", + "left_hand_touch_71_link" + ], + "primary_points": [ + { + "name": "left_middle_fingertip_1_link", + "joint": "left_middle_fingertip_1_joint", + "side": "left", + "kind": "primary", + "parent_link": "left_middle_DIP_link", + "origin": { + "rpy": "0 0 0", + "xyz": "-0.0027069636753072179 -0.0048133994541148771 0.027399156158422505" + }, + "attachment_link": "left_middle_DIP_link", + "T_attachment_marker": [ + [ + 1.0, + 0.0, + 0.0, + -0.002706963675307218 + ], + [ + 0.0, + 1.0, + 0.0, + -0.004813399454114877 + ], + [ + 0.0, + 0.0, + 1.0, + 0.027399156158422505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "position_attachment_m": [ + -0.002706963675307218, + -0.004813399454114877, + 0.027399156158422505 + ], + "visual_radius_m": 0.0018 + }, + { + "name": "left_middle_fingertip_2_link", + "joint": "left_middle_fingertip_2_joint", + "side": "left", + "kind": "primary", + "parent_link": "left_middle_DIP_link", + "origin": { + "rpy": "0 0 0", + "xyz": "-0.0025827565959885175 -0.00061400471097978158 0.028229975948861147" + }, + "attachment_link": "left_middle_DIP_link", + "T_attachment_marker": [ + [ + 1.0, + 0.0, + 0.0, + -0.0025827565959885175 + ], + [ + 0.0, + 1.0, + 0.0, + -0.0006140047109797816 + ], + [ + 0.0, + 0.0, + 1.0, + 0.028229975948861147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "position_attachment_m": [ + -0.0025827565959885175, + -0.0006140047109797816, + 0.028229975948861147 + ], + "visual_radius_m": 0.0018 + }, + { + "name": "left_middle_fingertip_3_link", + "joint": "left_middle_fingertip_3_joint", + "side": "left", + "kind": "primary", + "parent_link": "left_middle_DIP_link", + "origin": { + "rpy": "0 0 0", + "xyz": "-0.0028677194799641269 0.0035825544330438403 0.027568565441716625" + }, + "attachment_link": "left_middle_DIP_link", + "T_attachment_marker": [ + [ + 1.0, + 0.0, + 0.0, + -0.002867719479964127 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0035825544330438403 + ], + [ + 0.0, + 0.0, + 1.0, + 0.027568565441716625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "position_attachment_m": [ + -0.002867719479964127, + 0.0035825544330438403, + 0.027568565441716625 + ], + "visual_radius_m": 0.0018 + }, + { + "name": "left_middle_fingertip_4_link", + "joint": "left_middle_fingertip_4_joint", + "side": "left", + "kind": "primary", + "parent_link": "left_middle_DIP_link", + "origin": { + "rpy": "0 0 0", + "xyz": "0.0013488282711869963 -0.0052927619718352546 0.02522951705571258" + }, + "attachment_link": "left_middle_DIP_link", + "T_attachment_marker": [ + [ + 1.0, + 0.0, + 0.0, + 0.0013488282711869963 + ], + [ + 0.0, + 1.0, + 0.0, + -0.005292761971835255 + ], + [ + 0.0, + 0.0, + 1.0, + 0.02522951705571258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "position_attachment_m": [ + 0.0013488282711869963, + -0.005292761971835255, + 0.02522951705571258 + ], + "visual_radius_m": 0.0018 + }, + { + "name": "left_middle_fingertip_5_link", + "joint": "left_middle_fingertip_5_joint", + "side": "left", + "kind": "primary", + "parent_link": "left_middle_DIP_link", + "origin": { + "rpy": "0 0 0", + "xyz": "0.0019269565037071477 -0.00047689442436280732 0.025841209829149919" + }, + "attachment_link": "left_middle_DIP_link", + "T_attachment_marker": [ + [ + 1.0, + 0.0, + 0.0, + 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"right_thumb_fingertip_7_link", + "right_thumb_fingertip_8_link", + "right_thumb_fingertip_9_link", + "right_thumb_fingertip_10_link", + "right_thumb_fingertip_11_link", + "right_thumb_fingertip_12_link", + "right_thumb_fingertip_13_link", + "right_thumb_fingertip_14_link", + "right_thumb_fingertip_15_link", + "right_thumb_fingertip_16_link", + "right_thumb_fingertip_17_link", + "right_thumb_fingertip_18_link", + "right_thumb_fingertip_19_link", + "right_thumb_fingertip_20_link", + "right_thumb_fingertip_21_link", + "right_thumb_fingertip_22_link", + "right_thumb_fingertip_23_link", + "right_thumb_fingertip_24_link", + "right_thumb_fingertip_25_link", + "right_thumb_fingertip_26_link", + "right_thumb_fingertip_27_link", + "right_thumb_fingertip_28_link", + "right_thumb_fingertip_29_link", + "right_thumb_fingertip_30_link", + "right_thumb_fingertip_31_link", + "right_thumb_fingerpad_46_link", + "right_thumb_fingerpad_47_link", + "right_thumb_fingerpad_48_link", + "right_thumb_fingerpad_49_link", + "right_thumb_fingerpad_50_link", + "right_thumb_fingerpad_51_link", + "right_thumb_fingerpad_52_link", + "right_thumb_fingerpad_53_link", + "right_thumb_fingerpad_54_link", + "right_thumb_fingerpad_55_link", + "right_thumb_fingerpad_56_link", + "right_thumb_fingerpad_57_link", + "right_thumb_fingerpad_1_link", + "right_thumb_fingerpad_2_link", + "right_thumb_fingerpad_3_link", + "right_thumb_fingerpad_4_link", + "right_thumb_fingerpad_5_link", + "right_thumb_fingerpad_6_link", + "right_thumb_fingerpad_7_link", + "right_thumb_fingerpad_8_link", + "right_thumb_fingerpad_9_link", + "right_thumb_fingerpad_10_link", + "right_thumb_fingerpad_11_link", + "right_thumb_fingerpad_12_link", + "right_thumb_fingerpad_13_link", + "right_thumb_fingerpad_14_link", + "right_thumb_fingerpad_15_link", + "right_thumb_fingerpad_16_link", + "right_thumb_fingerpad_17_link", + "right_thumb_fingerpad_18_link", + "right_thumb_fingerpad_19_link", + "right_thumb_fingerpad_20_link", + "right_thumb_fingerpad_21_link", + "right_thumb_fingerpad_22_link", + "right_thumb_fingerpad_23_link", + "right_thumb_fingerpad_24_link", + "right_thumb_fingerpad_25_link", + "right_thumb_fingerpad_26_link", + "right_thumb_fingerpad_27_link", + "right_thumb_fingerpad_28_link", + "right_thumb_fingerpad_29_link", + "right_thumb_fingerpad_30_link", + "right_thumb_fingerpad_31_link", + "right_thumb_fingerpad_32_link", + "right_thumb_fingerpad_33_link", + "right_thumb_fingerpad_34_link", + "right_thumb_fingerpad_35_link", + "right_thumb_fingerpad_36_link", + "right_thumb_fingerpad_37_link", + "right_thumb_fingerpad_38_link", + "right_thumb_fingerpad_39_link", + "right_thumb_fingerpad_40_link", + "right_thumb_fingerpad_41_link", + "right_thumb_fingerpad_42_link", + "right_thumb_fingerpad_43_link", + "right_thumb_fingerpad_44_link", + "right_thumb_fingerpad_45_link", + "right_index_fingertip_1_link", + "right_index_fingertip_2_link", + "right_index_fingertip_3_link", + "right_index_fingertip_4_link", + "right_index_fingertip_5_link", + "right_index_fingertip_6_link", + "right_index_fingertip_7_link", + "right_index_fingertip_8_link", + "right_index_fingertip_9_link", + "right_index_fingertip_10_link", + "right_index_fingertip_11_link", + "right_index_fingertip_12_link", + "right_index_fingertip_13_link", + "right_index_fingertip_14_link", + "right_index_fingertip_15_link", + "right_index_fingertip_16_link", + "right_index_fingertip_17_link", + "right_index_fingertip_18_link", + "right_index_fingertip_19_link", + "right_index_fingertip_20_link", + "right_index_fingertip_21_link", + "right_index_fingerpad_41_link", + "right_index_fingerpad_42_link", + "right_index_fingerpad_43_link", + "right_index_fingerpad_44_link", + "right_index_fingerpad_45_link", + "right_index_fingerpad_46_link", + "right_index_fingerpad_47_link", + "right_index_fingerpad_48_link", + "right_index_fingerpad_49_link", + "right_index_fingerpad_50_link", + "right_index_fingerpad_51_link", + "right_index_fingerpad_52_link", + "right_index_fingerpad_1_link", + "right_index_fingerpad_2_link", + "right_index_fingerpad_3_link", + "right_index_fingerpad_4_link", + "right_index_fingerpad_5_link", + "right_index_fingerpad_6_link", + "right_index_fingerpad_7_link", + "right_index_fingerpad_8_link", + "right_index_fingerpad_9_link", + "right_index_fingerpad_10_link", + "right_index_fingerpad_11_link", + "right_index_fingerpad_12_link", + "right_index_fingerpad_13_link", + "right_index_fingerpad_14_link", + "right_index_fingerpad_15_link", + "right_index_fingerpad_16_link", + "right_index_fingerpad_17_link", + "right_index_fingerpad_18_link", + "right_index_fingerpad_19_link", + "right_index_fingerpad_20_link", + "right_index_fingerpad_21_link", + "right_index_fingerpad_22_link", + "right_index_fingerpad_23_link", + "right_index_fingerpad_24_link", + "right_index_fingerpad_25_link", + "right_index_fingerpad_26_link", + "right_index_fingerpad_27_link", + "right_index_fingerpad_28_link", + "right_index_fingerpad_29_link", + "right_index_fingerpad_30_link", + "right_index_fingerpad_31_link", + "right_index_fingerpad_32_link", + "right_index_fingerpad_33_link", + "right_index_fingerpad_34_link", + "right_index_fingerpad_35_link", + "right_index_fingerpad_36_link", + "right_index_fingerpad_37_link", + "right_index_fingerpad_38_link", + "right_index_fingerpad_39_link", + "right_index_fingerpad_40_link", + "right_ring_fingertip_1_link", + "right_ring_fingertip_2_link", + "right_ring_fingertip_3_link", + "right_ring_fingertip_4_link", + "right_ring_fingertip_5_link", + "right_ring_fingertip_6_link", + "right_ring_fingertip_7_link", + "right_ring_fingertip_8_link", + "right_ring_fingertip_9_link", + "right_ring_fingertip_10_link", + "right_ring_fingertip_11_link", + "right_ring_fingertip_12_link", + "right_ring_fingertip_13_link", + "right_ring_fingertip_14_link", + "right_ring_fingertip_15_link", + "right_ring_fingertip_16_link", + "right_ring_fingertip_17_link", + "right_ring_fingertip_18_link", + "right_ring_fingertip_19_link", + "right_ring_fingertip_20_link", + "right_ring_fingertip_21_link", + "right_ring_fingerpad_41_link", + "right_ring_fingerpad_42_link", + "right_ring_fingerpad_43_link", + "right_ring_fingerpad_44_link", + "right_ring_fingerpad_45_link", + "right_ring_fingerpad_46_link", + "right_ring_fingerpad_47_link", + "right_ring_fingerpad_48_link", + "right_ring_fingerpad_49_link", + "right_ring_fingerpad_50_link", + "right_ring_fingerpad_51_link", + "right_ring_fingerpad_52_link", + "right_ring_fingerpad_1_link", + "right_ring_fingerpad_2_link", + "right_ring_fingerpad_3_link", + "right_ring_fingerpad_4_link", + "right_ring_fingerpad_5_link", + "right_ring_fingerpad_6_link", + "right_ring_fingerpad_7_link", + "right_ring_fingerpad_8_link", + "right_ring_fingerpad_9_link", + "right_ring_fingerpad_10_link", + "right_ring_fingerpad_11_link", + "right_ring_fingerpad_12_link", + "right_ring_fingerpad_13_link", + "right_ring_fingerpad_14_link", + "right_ring_fingerpad_15_link", + "right_ring_fingerpad_16_link", + "right_ring_fingerpad_17_link", + "right_ring_fingerpad_18_link", + "right_ring_fingerpad_19_link", + "right_ring_fingerpad_20_link", + "right_ring_fingerpad_21_link", + "right_ring_fingerpad_22_link", + "right_ring_fingerpad_23_link", + "right_ring_fingerpad_24_link", + "right_ring_fingerpad_25_link", + "right_ring_fingerpad_26_link", + "right_ring_fingerpad_27_link", + "right_ring_fingerpad_28_link", + "right_ring_fingerpad_29_link", + "right_ring_fingerpad_30_link", + "right_ring_fingerpad_31_link", + "right_ring_fingerpad_32_link", + "right_ring_fingerpad_33_link", + "right_ring_fingerpad_34_link", + "right_ring_fingerpad_35_link", + "right_ring_fingerpad_36_link", + "right_ring_fingerpad_37_link", + "right_ring_fingerpad_38_link", + "right_ring_fingerpad_39_link", + "right_ring_fingerpad_40_link", + "right_little_fingertip_1_link", + "right_little_fingertip_2_link", + "right_little_fingertip_3_link", + "right_little_fingertip_4_link", + "right_little_fingertip_5_link", + "right_little_fingertip_6_link", + "right_little_fingertip_7_link", + "right_little_fingertip_8_link", + "right_little_fingertip_9_link", + "right_little_fingertip_10_link", + "right_little_fingertip_11_link", + "right_little_fingertip_12_link", + "right_little_fingertip_13_link", + "right_little_fingertip_14_link", + "right_little_fingertip_15_link", + "right_little_fingertip_16_link", + "right_little_fingertip_17_link", + "right_little_fingertip_18_link", + "right_little_fingertip_19_link", + "right_little_fingertip_20_link", + "right_little_fingertip_21_link", + "right_little_fingerpad_41_link", + "right_little_fingerpad_42_link", + "right_little_fingerpad_43_link", + "right_little_fingerpad_44_link", + "right_little_fingerpad_45_link", + "right_little_fingerpad_46_link", + "right_little_fingerpad_47_link", + "right_little_fingerpad_48_link", + "right_little_fingerpad_49_link", + "right_little_fingerpad_50_link", + "right_little_fingerpad_51_link", + "right_little_fingerpad_52_link", + "right_little_fingerpad_1_link", + "right_little_fingerpad_2_link", + "right_little_fingerpad_3_link", + "right_little_fingerpad_4_link", + "right_little_fingerpad_5_link", + "right_little_fingerpad_6_link", + "right_little_fingerpad_7_link", + "right_little_fingerpad_8_link", + "right_little_fingerpad_9_link", + "right_little_fingerpad_10_link", + "right_little_fingerpad_11_link", + "right_little_fingerpad_12_link", + "right_little_fingerpad_13_link", + "right_little_fingerpad_14_link", + "right_little_fingerpad_15_link", + "right_little_fingerpad_16_link", + "right_little_fingerpad_17_link", + "right_little_fingerpad_18_link", + "right_little_fingerpad_19_link", + "right_little_fingerpad_20_link", + "right_little_fingerpad_21_link", + "right_little_fingerpad_22_link", + "right_little_fingerpad_23_link", + "right_little_fingerpad_24_link", + "right_little_fingerpad_25_link", + "right_little_fingerpad_26_link", + "right_little_fingerpad_27_link", + "right_little_fingerpad_28_link", + "right_little_fingerpad_29_link", + "right_little_fingerpad_30_link", + "right_little_fingerpad_31_link", + "right_little_fingerpad_32_link", + "right_little_fingerpad_33_link", + "right_little_fingerpad_34_link", + "right_little_fingerpad_35_link", + "right_little_fingerpad_36_link", + "right_little_fingerpad_37_link", + "right_little_fingerpad_38_link", + "right_little_fingerpad_39_link", + "right_little_fingerpad_40_link", + "right_hand_touch_1_link", + "right_hand_touch_2_link", + "right_hand_touch_3_link", + "right_hand_touch_4_link", + "right_hand_touch_5_link", + "right_hand_touch_6_link", + "right_hand_touch_7_link", + "right_hand_touch_8_link", + "right_hand_touch_9_link", + "right_hand_touch_10_link", + "right_hand_touch_11_link", + "right_hand_touch_12_link", + "right_hand_touch_13_link", + "right_hand_touch_14_link", + "right_hand_touch_15_link", + "right_hand_touch_16_link", + "right_hand_touch_17_link", + "right_hand_touch_18_link", + "right_hand_touch_19_link", + "right_hand_touch_20_link", + "right_hand_touch_21_link", + "right_hand_touch_22_link", + "right_hand_touch_23_link", + "right_hand_touch_24_link", + "right_hand_touch_25_link", + "right_hand_touch_26_link", + "right_hand_touch_27_link", + "right_hand_touch_28_link", + "right_hand_touch_29_link", + "right_hand_touch_30_link", + "right_hand_touch_31_link", + "right_hand_touch_32_link", + "right_hand_touch_33_link", + "right_hand_touch_34_link", + "right_hand_touch_35_link", + "right_hand_touch_36_link", + "right_hand_touch_37_link", + "right_hand_touch_38_link", + "right_hand_touch_39_link", + "right_hand_touch_40_link", + "right_hand_touch_41_link", + "right_hand_touch_42_link", + "right_hand_touch_43_link", + "right_hand_touch_44_link", + "right_hand_touch_45_link", + "right_hand_touch_46_link", + "right_hand_touch_47_link", + "right_hand_touch_48_link", + "right_hand_touch_49_link", + "right_hand_touch_50_link", + "right_hand_touch_51_link", + "right_hand_touch_52_link", + "right_hand_touch_53_link", + "right_hand_touch_54_link", + "right_hand_touch_55_link", + "right_hand_touch_56_link", + "right_hand_touch_57_link", + "right_hand_touch_58_link", + "right_hand_touch_59_link", + "right_hand_touch_60_link", + "right_hand_touch_61_link", + "right_hand_touch_62_link", + "right_hand_touch_63_link", + "right_hand_touch_64_link", + "right_hand_touch_65_link", + "right_hand_touch_66_link", + "right_hand_touch_67_link", + "right_hand_touch_68_link", + "right_hand_touch_69_link", + "right_hand_touch_70_link", + "right_hand_touch_71_link" + ], + "primary_points": [ + { + "name": "right_middle_fingertip_1_link", + "joint": "right_middle_fingertip_1_joint", + "side": "right", + "kind": "primary", + "parent_link": "right_middle_DIP_link", + "origin": { + "rpy": 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"right_middle_fingertip_4_joint", + "side": "right", + "kind": "primary", + "parent_link": "right_middle_DIP_link", + "origin": { + "rpy": "0 0 0", + "xyz": "0.0011770029368644167 -0.0043456017235003891 0.025394925241647243" + }, + "attachment_link": "right_middle_DIP_link", + "T_attachment_marker": [ + [ + 1.0, + 0.0, + 0.0, + 0.0011770029368644167 + ], + [ + 0.0, + 1.0, + 0.0, + -0.004345601723500389 + ], + [ + 0.0, + 0.0, + 1.0, + 0.025394925241647243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "position_attachment_m": [ + 0.0011770029368644167, + -0.004345601723500389, + 0.025394925241647243 + ], + "visual_radius_m": 0.0018 + }, + { + "name": "right_middle_fingertip_5_link", + "joint": "right_middle_fingertip_5_joint", + "side": "right", + "kind": "primary", + "parent_link": "right_middle_DIP_link", + "origin": { + "rpy": "0 0 0", + "xyz": "0.0019269633150526076 0.00047707840132266838 0.025841210195301584" + }, + "attachment_link": "right_middle_DIP_link", + 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Shared gains stay fixed during active finger opening and withdrawal.", + "ending": "Active opening and axial retreat; natural spring return is verified from measured angles." + }, + "steps": 2230, + "video_validation": "Required on finalized recording; not inferred from physics trace", + "actuation": "56 joint positions; fixed shared gains; passive knob drive is never commanded", + "termination_reason": "source_finished" +} diff --git a/meta/episodes/episode_000005/raw_manifest.json b/meta/episodes/episode_000005/raw_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..670390880b7e02b7d4402225bb977c390af407fd --- /dev/null +++ b/meta/episodes/episode_000005/raw_manifest.json @@ -0,0 +1,53462 @@ +{ + "prompt": "Grasp the knob with five fingers, turn it counterclockwise by 35 degrees, then release and withdraw while it returns naturally.", + "pilot": false, + "robot_usd_sha256": "139502ac79520c784404cd0d0b900a3a4f64918594ca78e2f6ac2792e501d7d7", + "task": 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"left_middle_fingertip_21_link", + "left_middle_fingerpad_41_link", + "left_middle_fingerpad_42_link", + "left_middle_fingerpad_43_link", + "left_middle_fingerpad_44_link", + "left_middle_fingerpad_45_link", + "left_middle_fingerpad_46_link", + "left_middle_fingerpad_47_link", + "left_middle_fingerpad_48_link", + "left_middle_fingerpad_49_link", + "left_middle_fingerpad_50_link", + "left_middle_fingerpad_51_link", + "left_middle_fingerpad_52_link", + "left_middle_fingerpad_1_link", + "left_middle_fingerpad_2_link", + "left_middle_fingerpad_3_link", + "left_middle_fingerpad_4_link", + "left_middle_fingerpad_5_link", + "left_middle_fingerpad_6_link", + "left_middle_fingerpad_7_link", + "left_middle_fingerpad_8_link", + "left_middle_fingerpad_9_link", + "left_middle_fingerpad_10_link", + "left_middle_fingerpad_11_link", + "left_middle_fingerpad_12_link", + "left_middle_fingerpad_13_link", + "left_middle_fingerpad_14_link", + "left_middle_fingerpad_15_link", + "left_middle_fingerpad_16_link", + "left_middle_fingerpad_17_link", + "left_middle_fingerpad_18_link", + "left_middle_fingerpad_19_link", + "left_middle_fingerpad_20_link", + "left_middle_fingerpad_21_link", + "left_middle_fingerpad_22_link", + "left_middle_fingerpad_23_link", + "left_middle_fingerpad_24_link", + "left_middle_fingerpad_25_link", + "left_middle_fingerpad_26_link", + "left_middle_fingerpad_27_link", + "left_middle_fingerpad_28_link", + "left_middle_fingerpad_29_link", + "left_middle_fingerpad_30_link", + "left_middle_fingerpad_31_link", + "left_middle_fingerpad_32_link", + "left_middle_fingerpad_33_link", + "left_middle_fingerpad_34_link", + "left_middle_fingerpad_35_link", + "left_middle_fingerpad_36_link", + "left_middle_fingerpad_37_link", + "left_middle_fingerpad_38_link", + "left_middle_fingerpad_39_link", + "left_middle_fingerpad_40_link", + "left_thumb_fingertip_1_link", + "left_thumb_fingertip_2_link", + "left_thumb_fingertip_3_link", + "left_thumb_fingertip_4_link", + "left_thumb_fingertip_5_link", + "left_thumb_fingertip_6_link", + "left_thumb_fingertip_7_link", + "left_thumb_fingertip_8_link", + "left_thumb_fingertip_9_link", + "left_thumb_fingertip_10_link", + "left_thumb_fingertip_11_link", + "left_thumb_fingertip_12_link", + "left_thumb_fingertip_13_link", + "left_thumb_fingertip_14_link", + "left_thumb_fingertip_15_link", + "left_thumb_fingertip_16_link", + "left_thumb_fingertip_17_link", + "left_thumb_fingertip_18_link", + "left_thumb_fingertip_19_link", + "left_thumb_fingertip_20_link", + "left_thumb_fingertip_21_link", + "left_thumb_fingertip_22_link", + "left_thumb_fingertip_23_link", + "left_thumb_fingertip_24_link", + "left_thumb_fingertip_25_link", + "left_thumb_fingertip_26_link", + "left_thumb_fingertip_27_link", + "left_thumb_fingertip_28_link", + "left_thumb_fingertip_29_link", + "left_thumb_fingertip_30_link", + "left_thumb_fingertip_31_link", + "left_thumb_fingerpad_46_link", + "left_thumb_fingerpad_47_link", + "left_thumb_fingerpad_48_link", + "left_thumb_fingerpad_49_link", + "left_thumb_fingerpad_50_link", + "left_thumb_fingerpad_51_link", + "left_thumb_fingerpad_52_link", + "left_thumb_fingerpad_53_link", + "left_thumb_fingerpad_54_link", + "left_thumb_fingerpad_55_link", + "left_thumb_fingerpad_56_link", + "left_thumb_fingerpad_57_link", + "left_thumb_fingerpad_1_link", + "left_thumb_fingerpad_2_link", + "left_thumb_fingerpad_3_link", + "left_thumb_fingerpad_4_link", + "left_thumb_fingerpad_5_link", + "left_thumb_fingerpad_6_link", + "left_thumb_fingerpad_7_link", + "left_thumb_fingerpad_8_link", + "left_thumb_fingerpad_9_link", + "left_thumb_fingerpad_10_link", + "left_thumb_fingerpad_11_link", + "left_thumb_fingerpad_12_link", + "left_thumb_fingerpad_13_link", + "left_thumb_fingerpad_14_link", + "left_thumb_fingerpad_15_link", + "left_thumb_fingerpad_16_link", + "left_thumb_fingerpad_17_link", + "left_thumb_fingerpad_18_link", + "left_thumb_fingerpad_19_link", + "left_thumb_fingerpad_20_link", + "left_thumb_fingerpad_21_link", + "left_thumb_fingerpad_22_link", + "left_thumb_fingerpad_23_link", + "left_thumb_fingerpad_24_link", + "left_thumb_fingerpad_25_link", + "left_thumb_fingerpad_26_link", + "left_thumb_fingerpad_27_link", + "left_thumb_fingerpad_28_link", + "left_thumb_fingerpad_29_link", + "left_thumb_fingerpad_30_link", + "left_thumb_fingerpad_31_link", + "left_thumb_fingerpad_32_link", + "left_thumb_fingerpad_33_link", + "left_thumb_fingerpad_34_link", + "left_thumb_fingerpad_35_link", + "left_thumb_fingerpad_36_link", + "left_thumb_fingerpad_37_link", + "left_thumb_fingerpad_38_link", + "left_thumb_fingerpad_39_link", + "left_thumb_fingerpad_40_link", + "left_thumb_fingerpad_41_link", + "left_thumb_fingerpad_42_link", + "left_thumb_fingerpad_43_link", + "left_thumb_fingerpad_44_link", + "left_thumb_fingerpad_45_link", + "left_index_fingertip_1_link", + "left_index_fingertip_2_link", + "left_index_fingertip_3_link", + "left_index_fingertip_4_link", + "left_index_fingertip_5_link", + "left_index_fingertip_6_link", + "left_index_fingertip_7_link", + "left_index_fingertip_8_link", + "left_index_fingertip_9_link", + "left_index_fingertip_10_link", + "left_index_fingertip_11_link", + "left_index_fingertip_12_link", + "left_index_fingertip_13_link", + "left_index_fingertip_14_link", + "left_index_fingertip_15_link", + "left_index_fingertip_16_link", + "left_index_fingertip_17_link", + "left_index_fingertip_18_link", + "left_index_fingertip_19_link", + "left_index_fingertip_20_link", + "left_index_fingertip_21_link", + "left_index_fingerpad_41_link", + "left_index_fingerpad_42_link", + "left_index_fingerpad_43_link", + "left_index_fingerpad_44_link", + "left_index_fingerpad_45_link", + "left_index_fingerpad_46_link", + "left_index_fingerpad_47_link", + "left_index_fingerpad_48_link", + "left_index_fingerpad_49_link", + "left_index_fingerpad_50_link", + "left_index_fingerpad_51_link", + "left_index_fingerpad_52_link", + "left_index_fingerpad_1_link", + "left_index_fingerpad_2_link", + "left_index_fingerpad_3_link", + "left_index_fingerpad_4_link", + "left_index_fingerpad_5_link", + "left_index_fingerpad_6_link", + "left_index_fingerpad_7_link", + "left_index_fingerpad_8_link", + "left_index_fingerpad_9_link", + "left_index_fingerpad_10_link", + "left_index_fingerpad_11_link", + "left_index_fingerpad_12_link", + "left_index_fingerpad_13_link", + "left_index_fingerpad_14_link", + "left_index_fingerpad_15_link", + "left_index_fingerpad_16_link", + "left_index_fingerpad_17_link", + "left_index_fingerpad_18_link", + "left_index_fingerpad_19_link", + "left_index_fingerpad_20_link", + "left_index_fingerpad_21_link", + "left_index_fingerpad_22_link", + "left_index_fingerpad_23_link", + "left_index_fingerpad_24_link", + "left_index_fingerpad_25_link", + "left_index_fingerpad_26_link", + "left_index_fingerpad_27_link", + "left_index_fingerpad_28_link", + "left_index_fingerpad_29_link", + "left_index_fingerpad_30_link", + "left_index_fingerpad_31_link", + "left_index_fingerpad_32_link", + "left_index_fingerpad_33_link", + "left_index_fingerpad_34_link", + "left_index_fingerpad_35_link", + "left_index_fingerpad_36_link", + "left_index_fingerpad_37_link", + "left_index_fingerpad_38_link", + "left_index_fingerpad_39_link", + "left_index_fingerpad_40_link", + "left_ring_fingertip_1_link", + "left_ring_fingertip_2_link", + "left_ring_fingertip_3_link", + "left_ring_fingertip_4_link", + "left_ring_fingertip_5_link", + "left_ring_fingertip_6_link", + "left_ring_fingertip_7_link", + "left_ring_fingertip_8_link", + "left_ring_fingertip_9_link", + "left_ring_fingertip_10_link", + "left_ring_fingertip_11_link", + "left_ring_fingertip_12_link", + "left_ring_fingertip_13_link", + "left_ring_fingertip_14_link", + "left_ring_fingertip_15_link", + "left_ring_fingertip_16_link", + "left_ring_fingertip_17_link", + "left_ring_fingertip_18_link", + "left_ring_fingertip_19_link", + "left_ring_fingertip_20_link", + "left_ring_fingertip_21_link", + "left_ring_fingerpad_41_link", + "left_ring_fingerpad_42_link", + "left_ring_fingerpad_43_link", + "left_ring_fingerpad_44_link", + "left_ring_fingerpad_45_link", + "left_ring_fingerpad_46_link", + "left_ring_fingerpad_47_link", + "left_ring_fingerpad_48_link", + "left_ring_fingerpad_49_link", + "left_ring_fingerpad_50_link", + "left_ring_fingerpad_51_link", + "left_ring_fingerpad_52_link", + "left_ring_fingerpad_1_link", + "left_ring_fingerpad_2_link", + "left_ring_fingerpad_3_link", + "left_ring_fingerpad_4_link", + "left_ring_fingerpad_5_link", + "left_ring_fingerpad_6_link", + "left_ring_fingerpad_7_link", + "left_ring_fingerpad_8_link", + "left_ring_fingerpad_9_link", + "left_ring_fingerpad_10_link", + "left_ring_fingerpad_11_link", + "left_ring_fingerpad_12_link", + "left_ring_fingerpad_13_link", + "left_ring_fingerpad_14_link", + "left_ring_fingerpad_15_link", + "left_ring_fingerpad_16_link", + "left_ring_fingerpad_17_link", + "left_ring_fingerpad_18_link", + "left_ring_fingerpad_19_link", + "left_ring_fingerpad_20_link", + "left_ring_fingerpad_21_link", + "left_ring_fingerpad_22_link", + "left_ring_fingerpad_23_link", + "left_ring_fingerpad_24_link", + "left_ring_fingerpad_25_link", + "left_ring_fingerpad_26_link", + "left_ring_fingerpad_27_link", + "left_ring_fingerpad_28_link", + "left_ring_fingerpad_29_link", + "left_ring_fingerpad_30_link", + "left_ring_fingerpad_31_link", + "left_ring_fingerpad_32_link", + "left_ring_fingerpad_33_link", + "left_ring_fingerpad_34_link", + "left_ring_fingerpad_35_link", + "left_ring_fingerpad_36_link", + "left_ring_fingerpad_37_link", + "left_ring_fingerpad_38_link", + "left_ring_fingerpad_39_link", + "left_ring_fingerpad_40_link", + "left_little_fingertip_1_link", + "left_little_fingertip_2_link", + "left_little_fingertip_3_link", + "left_little_fingertip_4_link", + "left_little_fingertip_5_link", + "left_little_fingertip_6_link", + "left_little_fingertip_7_link", + "left_little_fingertip_8_link", + "left_little_fingertip_9_link", + "left_little_fingertip_10_link", + "left_little_fingertip_11_link", + "left_little_fingertip_12_link", + "left_little_fingertip_13_link", + "left_little_fingertip_14_link", + "left_little_fingertip_15_link", + "left_little_fingertip_16_link", + "left_little_fingertip_17_link", + "left_little_fingertip_18_link", + "left_little_fingertip_19_link", + "left_little_fingertip_20_link", + "left_little_fingertip_21_link", + "left_little_fingerpad_41_link", + "left_little_fingerpad_42_link", + "left_little_fingerpad_43_link", + "left_little_fingerpad_44_link", + "left_little_fingerpad_45_link", + "left_little_fingerpad_46_link", + "left_little_fingerpad_47_link", + "left_little_fingerpad_48_link", + "left_little_fingerpad_49_link", + "left_little_fingerpad_50_link", + "left_little_fingerpad_51_link", + "left_little_fingerpad_52_link", + "left_little_fingerpad_1_link", + "left_little_fingerpad_2_link", + "left_little_fingerpad_3_link", + "left_little_fingerpad_4_link", + "left_little_fingerpad_5_link", + "left_little_fingerpad_6_link", + "left_little_fingerpad_7_link", + "left_little_fingerpad_8_link", + "left_little_fingerpad_9_link", + "left_little_fingerpad_10_link", + "left_little_fingerpad_11_link", + "left_little_fingerpad_12_link", + "left_little_fingerpad_13_link", + "left_little_fingerpad_14_link", + "left_little_fingerpad_15_link", + "left_little_fingerpad_16_link", + "left_little_fingerpad_17_link", + "left_little_fingerpad_18_link", + "left_little_fingerpad_19_link", + "left_little_fingerpad_20_link", + "left_little_fingerpad_21_link", + "left_little_fingerpad_22_link", + "left_little_fingerpad_23_link", + "left_little_fingerpad_24_link", + "left_little_fingerpad_25_link", + "left_little_fingerpad_26_link", + "left_little_fingerpad_27_link", + "left_little_fingerpad_28_link", + "left_little_fingerpad_29_link", + "left_little_fingerpad_30_link", + "left_little_fingerpad_31_link", + "left_little_fingerpad_32_link", + "left_little_fingerpad_33_link", + "left_little_fingerpad_34_link", + "left_little_fingerpad_35_link", + "left_little_fingerpad_36_link", + "left_little_fingerpad_37_link", + "left_little_fingerpad_38_link", + "left_little_fingerpad_39_link", + "left_little_fingerpad_40_link", + "left_hand_touch_1_link", + "left_hand_touch_2_link", + "left_hand_touch_3_link", + "left_hand_touch_4_link", + "left_hand_touch_5_link", + "left_hand_touch_6_link", + "left_hand_touch_7_link", + "left_hand_touch_8_link", + "left_hand_touch_9_link", + "left_hand_touch_10_link", + "left_hand_touch_11_link", + "left_hand_touch_12_link", + "left_hand_touch_13_link", + "left_hand_touch_14_link", + "left_hand_touch_15_link", + "left_hand_touch_16_link", + "left_hand_touch_17_link", + "left_hand_touch_18_link", + "left_hand_touch_19_link", + "left_hand_touch_20_link", + "left_hand_touch_21_link", + "left_hand_touch_22_link", + "left_hand_touch_23_link", + "left_hand_touch_24_link", + "left_hand_touch_25_link", + "left_hand_touch_26_link", + "left_hand_touch_27_link", + "left_hand_touch_28_link", + "left_hand_touch_29_link", + "left_hand_touch_30_link", + "left_hand_touch_31_link", + "left_hand_touch_32_link", + "left_hand_touch_33_link", + "left_hand_touch_34_link", + "left_hand_touch_35_link", + "left_hand_touch_36_link", + "left_hand_touch_37_link", + "left_hand_touch_38_link", + "left_hand_touch_39_link", + "left_hand_touch_40_link", + "left_hand_touch_41_link", + "left_hand_touch_42_link", + "left_hand_touch_43_link", + "left_hand_touch_44_link", + "left_hand_touch_45_link", + "left_hand_touch_46_link", + "left_hand_touch_47_link", + "left_hand_touch_48_link", + "left_hand_touch_49_link", + "left_hand_touch_50_link", + "left_hand_touch_51_link", + "left_hand_touch_52_link", + "left_hand_touch_53_link", + "left_hand_touch_54_link", + "left_hand_touch_55_link", + "left_hand_touch_56_link", + "left_hand_touch_57_link", + "left_hand_touch_58_link", + "left_hand_touch_59_link", + "left_hand_touch_60_link", + "left_hand_touch_61_link", + "left_hand_touch_62_link", + "left_hand_touch_63_link", + "left_hand_touch_64_link", + "left_hand_touch_65_link", + "left_hand_touch_66_link", + "left_hand_touch_67_link", + "left_hand_touch_68_link", + "left_hand_touch_69_link", + "left_hand_touch_70_link", + "left_hand_touch_71_link" + ], + "primary_points": [ + { + "name": "left_middle_fingertip_1_link", + "joint": "left_middle_fingertip_1_joint", + "side": "left", + "kind": "primary", + "parent_link": "left_middle_DIP_link", + "origin": { + "rpy": "0 0 0", + "xyz": "-0.0027069636753072179 -0.0048133994541148771 0.027399156158422505" + }, + "attachment_link": "left_middle_DIP_link", + "T_attachment_marker": [ + [ + 1.0, + 0.0, + 0.0, + -0.002706963675307218 + ], + [ + 0.0, + 1.0, + 0.0, + 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"primary", + "parent_link": "left_palm_touch_link", + "origin": { + "rpy": "0 0 0", + "xyz": "0.010016719742157079 0.034844335048053295 0.078267941006063657" + }, + "attachment_link": "left_palm_touch_link", + "T_attachment_marker": [ + [ + 1.0, + 0.0, + 0.0, + 0.01001671974215708 + ], + [ + 0.0, + 1.0, + 0.0, + 0.034844335048053295 + ], + [ + 0.0, + 0.0, + 1.0, + 0.07826794100606366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "position_attachment_m": [ + 0.01001671974215708, + 0.034844335048053295, + 0.07826794100606366 + ], + "visual_radius_m": 0.0018 + }, + { + "name": "left_hand_touch_71_link", + "joint": "left_hand_touch_71_joint", + "side": "left", + "kind": "primary", + "parent_link": "left_palm_touch_link", + "origin": { + "rpy": "0 0 0", + "xyz": "0.008434400260369488 0.034853325883955004 0.084836769889381616" + }, + "attachment_link": "left_palm_touch_link", + "T_attachment_marker": [ + [ + 1.0, + 0.0, + 0.0, + 0.008434400260369488 + ], + [ + 0.0, + 1.0, + 0.0, + 0.034853325883955004 + ], + [ + 0.0, + 0.0, + 1.0, + 0.08483676988938162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "position_attachment_m": [ + 0.008434400260369488, + 0.034853325883955004, + 0.08483676988938162 + ], + "visual_radius_m": 0.0018 + } + ] + }, + "right": { + "regions": [ + { + "name": "middle_fingertip", + "start": 0, + "count": 21 + }, + { + "name": "middle_fingerpad", + "start": 21, + "count": 52 + }, + { + "name": "thumb_fingertip", + "start": 73, + "count": 31 + }, + { + "name": "thumb_fingerpad", + "start": 104, + "count": 57 + }, + { + "name": "index_fingertip", + "start": 161, + "count": 21 + }, + { + "name": "index_fingerpad", + "start": 182, + "count": 52 + }, + { + "name": "ring_fingertip", + "start": 234, + "count": 21 + }, + { + "name": "ring_fingerpad", + "start": 255, + "count": 52 + }, + { + "name": "pinky_fingertip", + "start": 307, + "count": 21 + }, + { + "name": "pinky_fingerpad", + "start": 328, + "count": 52 + }, + { + "name": "palm", + "start": 380, + "count": 71 + } + ], + "primary_names": [ + "right_middle_fingertip_1_link", + "right_middle_fingertip_2_link", + "right_middle_fingertip_3_link", + "right_middle_fingertip_4_link", + "right_middle_fingertip_5_link", + "right_middle_fingertip_6_link", + "right_middle_fingertip_7_link", + "right_middle_fingertip_8_link", + "right_middle_fingertip_9_link", + "right_middle_fingertip_10_link", + "right_middle_fingertip_11_link", + "right_middle_fingertip_12_link", + "right_middle_fingertip_13_link", + "right_middle_fingertip_14_link", + "right_middle_fingertip_15_link", + "right_middle_fingertip_16_link", + "right_middle_fingertip_17_link", + "right_middle_fingertip_18_link", + "right_middle_fingertip_19_link", + "right_middle_fingertip_20_link", + "right_middle_fingertip_21_link", + "right_middle_fingerpad_41_link", + "right_middle_fingerpad_42_link", + "right_middle_fingerpad_43_link", + "right_middle_fingerpad_44_link", + "right_middle_fingerpad_45_link", + "right_middle_fingerpad_46_link", + "right_middle_fingerpad_47_link", + "right_middle_fingerpad_48_link", + "right_middle_fingerpad_49_link", + "right_middle_fingerpad_50_link", + "right_middle_fingerpad_51_link", + "right_middle_fingerpad_52_link", + "right_middle_fingerpad_1_link", + "right_middle_fingerpad_2_link", + "right_middle_fingerpad_3_link", + "right_middle_fingerpad_4_link", + "right_middle_fingerpad_5_link", + "right_middle_fingerpad_6_link", + "right_middle_fingerpad_7_link", + "right_middle_fingerpad_8_link", + "right_middle_fingerpad_9_link", + "right_middle_fingerpad_10_link", + "right_middle_fingerpad_11_link", + "right_middle_fingerpad_12_link", + "right_middle_fingerpad_13_link", + "right_middle_fingerpad_14_link", + "right_middle_fingerpad_15_link", + "right_middle_fingerpad_16_link", + "right_middle_fingerpad_17_link", + "right_middle_fingerpad_18_link", + "right_middle_fingerpad_19_link", + "right_middle_fingerpad_20_link", + "right_middle_fingerpad_21_link", + "right_middle_fingerpad_22_link", + "right_middle_fingerpad_23_link", + "right_middle_fingerpad_24_link", + "right_middle_fingerpad_25_link", + "right_middle_fingerpad_26_link", + "right_middle_fingerpad_27_link", + "right_middle_fingerpad_28_link", + "right_middle_fingerpad_29_link", + "right_middle_fingerpad_30_link", + "right_middle_fingerpad_31_link", + "right_middle_fingerpad_32_link", + "right_middle_fingerpad_33_link", + "right_middle_fingerpad_34_link", + "right_middle_fingerpad_35_link", + "right_middle_fingerpad_36_link", + "right_middle_fingerpad_37_link", + "right_middle_fingerpad_38_link", + "right_middle_fingerpad_39_link", + "right_middle_fingerpad_40_link", + "right_thumb_fingertip_1_link", + "right_thumb_fingertip_2_link", + "right_thumb_fingertip_3_link", + "right_thumb_fingertip_4_link", + "right_thumb_fingertip_5_link", + "right_thumb_fingertip_6_link", + "right_thumb_fingertip_7_link", + "right_thumb_fingertip_8_link", + "right_thumb_fingertip_9_link", + "right_thumb_fingertip_10_link", + "right_thumb_fingertip_11_link", + "right_thumb_fingertip_12_link", + "right_thumb_fingertip_13_link", + "right_thumb_fingertip_14_link", + "right_thumb_fingertip_15_link", + "right_thumb_fingertip_16_link", + "right_thumb_fingertip_17_link", + "right_thumb_fingertip_18_link", + "right_thumb_fingertip_19_link", + "right_thumb_fingertip_20_link", + "right_thumb_fingertip_21_link", + "right_thumb_fingertip_22_link", + "right_thumb_fingertip_23_link", + "right_thumb_fingertip_24_link", + "right_thumb_fingertip_25_link", + "right_thumb_fingertip_26_link", + "right_thumb_fingertip_27_link", + "right_thumb_fingertip_28_link", + "right_thumb_fingertip_29_link", + "right_thumb_fingertip_30_link", + "right_thumb_fingertip_31_link", + "right_thumb_fingerpad_46_link", + "right_thumb_fingerpad_47_link", + "right_thumb_fingerpad_48_link", + "right_thumb_fingerpad_49_link", + "right_thumb_fingerpad_50_link", + "right_thumb_fingerpad_51_link", + "right_thumb_fingerpad_52_link", + "right_thumb_fingerpad_53_link", + "right_thumb_fingerpad_54_link", + "right_thumb_fingerpad_55_link", + "right_thumb_fingerpad_56_link", + "right_thumb_fingerpad_57_link", + "right_thumb_fingerpad_1_link", + "right_thumb_fingerpad_2_link", + "right_thumb_fingerpad_3_link", + "right_thumb_fingerpad_4_link", + "right_thumb_fingerpad_5_link", + "right_thumb_fingerpad_6_link", + "right_thumb_fingerpad_7_link", + "right_thumb_fingerpad_8_link", + "right_thumb_fingerpad_9_link", + "right_thumb_fingerpad_10_link", + "right_thumb_fingerpad_11_link", + "right_thumb_fingerpad_12_link", + "right_thumb_fingerpad_13_link", + "right_thumb_fingerpad_14_link", + "right_thumb_fingerpad_15_link", + "right_thumb_fingerpad_16_link", + "right_thumb_fingerpad_17_link", + "right_thumb_fingerpad_18_link", + "right_thumb_fingerpad_19_link", + "right_thumb_fingerpad_20_link", + "right_thumb_fingerpad_21_link", + "right_thumb_fingerpad_22_link", + "right_thumb_fingerpad_23_link", + "right_thumb_fingerpad_24_link", + "right_thumb_fingerpad_25_link", + "right_thumb_fingerpad_26_link", + "right_thumb_fingerpad_27_link", + "right_thumb_fingerpad_28_link", + "right_thumb_fingerpad_29_link", + "right_thumb_fingerpad_30_link", + "right_thumb_fingerpad_31_link", + "right_thumb_fingerpad_32_link", + "right_thumb_fingerpad_33_link", + "right_thumb_fingerpad_34_link", + "right_thumb_fingerpad_35_link", + "right_thumb_fingerpad_36_link", + "right_thumb_fingerpad_37_link", + "right_thumb_fingerpad_38_link", + "right_thumb_fingerpad_39_link", + "right_thumb_fingerpad_40_link", + "right_thumb_fingerpad_41_link", + "right_thumb_fingerpad_42_link", + "right_thumb_fingerpad_43_link", + "right_thumb_fingerpad_44_link", + "right_thumb_fingerpad_45_link", + "right_index_fingertip_1_link", + "right_index_fingertip_2_link", + "right_index_fingertip_3_link", + "right_index_fingertip_4_link", + "right_index_fingertip_5_link", + "right_index_fingertip_6_link", + "right_index_fingertip_7_link", + "right_index_fingertip_8_link", + "right_index_fingertip_9_link", + "right_index_fingertip_10_link", + "right_index_fingertip_11_link", + "right_index_fingertip_12_link", + "right_index_fingertip_13_link", + "right_index_fingertip_14_link", + "right_index_fingertip_15_link", + "right_index_fingertip_16_link", + "right_index_fingertip_17_link", + "right_index_fingertip_18_link", + "right_index_fingertip_19_link", + "right_index_fingertip_20_link", + "right_index_fingertip_21_link", + "right_index_fingerpad_41_link", + "right_index_fingerpad_42_link", + "right_index_fingerpad_43_link", + "right_index_fingerpad_44_link", + "right_index_fingerpad_45_link", + "right_index_fingerpad_46_link", + "right_index_fingerpad_47_link", + "right_index_fingerpad_48_link", + "right_index_fingerpad_49_link", + "right_index_fingerpad_50_link", + "right_index_fingerpad_51_link", + "right_index_fingerpad_52_link", + "right_index_fingerpad_1_link", + "right_index_fingerpad_2_link", + "right_index_fingerpad_3_link", + "right_index_fingerpad_4_link", + "right_index_fingerpad_5_link", + "right_index_fingerpad_6_link", + "right_index_fingerpad_7_link", + "right_index_fingerpad_8_link", + "right_index_fingerpad_9_link", + "right_index_fingerpad_10_link", + "right_index_fingerpad_11_link", + "right_index_fingerpad_12_link", + "right_index_fingerpad_13_link", + "right_index_fingerpad_14_link", + "right_index_fingerpad_15_link", + "right_index_fingerpad_16_link", + "right_index_fingerpad_17_link", + "right_index_fingerpad_18_link", + "right_index_fingerpad_19_link", + "right_index_fingerpad_20_link", + "right_index_fingerpad_21_link", + "right_index_fingerpad_22_link", + "right_index_fingerpad_23_link", + "right_index_fingerpad_24_link", + "right_index_fingerpad_25_link", + "right_index_fingerpad_26_link", + "right_index_fingerpad_27_link", + "right_index_fingerpad_28_link", + "right_index_fingerpad_29_link", + "right_index_fingerpad_30_link", + "right_index_fingerpad_31_link", + "right_index_fingerpad_32_link", + "right_index_fingerpad_33_link", + "right_index_fingerpad_34_link", + "right_index_fingerpad_35_link", + "right_index_fingerpad_36_link", + "right_index_fingerpad_37_link", + "right_index_fingerpad_38_link", + "right_index_fingerpad_39_link", + "right_index_fingerpad_40_link", + "right_ring_fingertip_1_link", + "right_ring_fingertip_2_link", + "right_ring_fingertip_3_link", + "right_ring_fingertip_4_link", + "right_ring_fingertip_5_link", + "right_ring_fingertip_6_link", + "right_ring_fingertip_7_link", + "right_ring_fingertip_8_link", + "right_ring_fingertip_9_link", + "right_ring_fingertip_10_link", + "right_ring_fingertip_11_link", + "right_ring_fingertip_12_link", + "right_ring_fingertip_13_link", + "right_ring_fingertip_14_link", + "right_ring_fingertip_15_link", + "right_ring_fingertip_16_link", + "right_ring_fingertip_17_link", + "right_ring_fingertip_18_link", + "right_ring_fingertip_19_link", + "right_ring_fingertip_20_link", + "right_ring_fingertip_21_link", + "right_ring_fingerpad_41_link", + "right_ring_fingerpad_42_link", + "right_ring_fingerpad_43_link", + "right_ring_fingerpad_44_link", + "right_ring_fingerpad_45_link", + "right_ring_fingerpad_46_link", + "right_ring_fingerpad_47_link", + "right_ring_fingerpad_48_link", + "right_ring_fingerpad_49_link", + "right_ring_fingerpad_50_link", + "right_ring_fingerpad_51_link", + "right_ring_fingerpad_52_link", + "right_ring_fingerpad_1_link", + "right_ring_fingerpad_2_link", + "right_ring_fingerpad_3_link", + "right_ring_fingerpad_4_link", + "right_ring_fingerpad_5_link", + "right_ring_fingerpad_6_link", + "right_ring_fingerpad_7_link", + "right_ring_fingerpad_8_link", + "right_ring_fingerpad_9_link", + "right_ring_fingerpad_10_link", + "right_ring_fingerpad_11_link", + "right_ring_fingerpad_12_link", + "right_ring_fingerpad_13_link", + "right_ring_fingerpad_14_link", + "right_ring_fingerpad_15_link", + "right_ring_fingerpad_16_link", + "right_ring_fingerpad_17_link", + "right_ring_fingerpad_18_link", + "right_ring_fingerpad_19_link", + "right_ring_fingerpad_20_link", + "right_ring_fingerpad_21_link", + "right_ring_fingerpad_22_link", + "right_ring_fingerpad_23_link", + "right_ring_fingerpad_24_link", + "right_ring_fingerpad_25_link", + "right_ring_fingerpad_26_link", + "right_ring_fingerpad_27_link", + "right_ring_fingerpad_28_link", + "right_ring_fingerpad_29_link", + "right_ring_fingerpad_30_link", + "right_ring_fingerpad_31_link", + "right_ring_fingerpad_32_link", + "right_ring_fingerpad_33_link", + "right_ring_fingerpad_34_link", + "right_ring_fingerpad_35_link", + "right_ring_fingerpad_36_link", + "right_ring_fingerpad_37_link", + "right_ring_fingerpad_38_link", + "right_ring_fingerpad_39_link", + "right_ring_fingerpad_40_link", + "right_little_fingertip_1_link", + "right_little_fingertip_2_link", + "right_little_fingertip_3_link", + "right_little_fingertip_4_link", + "right_little_fingertip_5_link", + "right_little_fingertip_6_link", + "right_little_fingertip_7_link", + "right_little_fingertip_8_link", + "right_little_fingertip_9_link", + "right_little_fingertip_10_link", + "right_little_fingertip_11_link", + "right_little_fingertip_12_link", + "right_little_fingertip_13_link", + "right_little_fingertip_14_link", + "right_little_fingertip_15_link", + "right_little_fingertip_16_link", + "right_little_fingertip_17_link", + "right_little_fingertip_18_link", + "right_little_fingertip_19_link", + "right_little_fingertip_20_link", + "right_little_fingertip_21_link", + "right_little_fingerpad_41_link", + "right_little_fingerpad_42_link", + "right_little_fingerpad_43_link", + "right_little_fingerpad_44_link", + "right_little_fingerpad_45_link", + "right_little_fingerpad_46_link", + "right_little_fingerpad_47_link", + "right_little_fingerpad_48_link", + "right_little_fingerpad_49_link", + "right_little_fingerpad_50_link", + "right_little_fingerpad_51_link", + "right_little_fingerpad_52_link", + "right_little_fingerpad_1_link", + "right_little_fingerpad_2_link", + "right_little_fingerpad_3_link", + "right_little_fingerpad_4_link", + "right_little_fingerpad_5_link", + "right_little_fingerpad_6_link", + "right_little_fingerpad_7_link", + "right_little_fingerpad_8_link", + "right_little_fingerpad_9_link", + "right_little_fingerpad_10_link", + "right_little_fingerpad_11_link", + "right_little_fingerpad_12_link", + "right_little_fingerpad_13_link", + "right_little_fingerpad_14_link", + "right_little_fingerpad_15_link", + "right_little_fingerpad_16_link", + "right_little_fingerpad_17_link", + "right_little_fingerpad_18_link", + "right_little_fingerpad_19_link", + "right_little_fingerpad_20_link", + "right_little_fingerpad_21_link", + "right_little_fingerpad_22_link", + "right_little_fingerpad_23_link", + "right_little_fingerpad_24_link", + "right_little_fingerpad_25_link", + "right_little_fingerpad_26_link", + "right_little_fingerpad_27_link", + "right_little_fingerpad_28_link", + "right_little_fingerpad_29_link", + "right_little_fingerpad_30_link", + "right_little_fingerpad_31_link", + "right_little_fingerpad_32_link", + "right_little_fingerpad_33_link", + "right_little_fingerpad_34_link", + "right_little_fingerpad_35_link", + "right_little_fingerpad_36_link", + "right_little_fingerpad_37_link", + "right_little_fingerpad_38_link", + "right_little_fingerpad_39_link", + "right_little_fingerpad_40_link", + "right_hand_touch_1_link", + "right_hand_touch_2_link", + "right_hand_touch_3_link", + "right_hand_touch_4_link", + "right_hand_touch_5_link", + "right_hand_touch_6_link", + "right_hand_touch_7_link", + "right_hand_touch_8_link", + "right_hand_touch_9_link", + "right_hand_touch_10_link", + "right_hand_touch_11_link", + "right_hand_touch_12_link", + "right_hand_touch_13_link", + "right_hand_touch_14_link", + "right_hand_touch_15_link", + 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], + "visual_radius_m": 0.0018 + } + ] + }, + "right": { + "regions": [ + { + "name": "middle_fingertip", + "start": 0, + "count": 21 + }, + { + "name": "middle_fingerpad", + "start": 21, + "count": 52 + }, + { + "name": "thumb_fingertip", + "start": 73, + "count": 31 + }, + { + "name": "thumb_fingerpad", + "start": 104, + "count": 57 + }, + { + "name": "index_fingertip", + "start": 161, + "count": 21 + }, + { + "name": "index_fingerpad", + "start": 182, + "count": 52 + }, + { + "name": "ring_fingertip", + "start": 234, + "count": 21 + }, + { + "name": "ring_fingerpad", + "start": 255, + "count": 52 + }, + { + "name": "pinky_fingertip", + "start": 307, + "count": 21 + }, + { + "name": "pinky_fingerpad", + "start": 328, + "count": 52 + }, + { + "name": "palm", + "start": 380, + "count": 71 + } + ], + "primary_names": [ + "right_middle_fingertip_1_link", + "right_middle_fingertip_2_link", + "right_middle_fingertip_3_link", + "right_middle_fingertip_4_link", + "right_middle_fingertip_5_link", + "right_middle_fingertip_6_link", + "right_middle_fingertip_7_link", + "right_middle_fingertip_8_link", + "right_middle_fingertip_9_link", + "right_middle_fingertip_10_link", + "right_middle_fingertip_11_link", + "right_middle_fingertip_12_link", + "right_middle_fingertip_13_link", + "right_middle_fingertip_14_link", + "right_middle_fingertip_15_link", + "right_middle_fingertip_16_link", + "right_middle_fingertip_17_link", + "right_middle_fingertip_18_link", + "right_middle_fingertip_19_link", + "right_middle_fingertip_20_link", + "right_middle_fingertip_21_link", + "right_middle_fingerpad_41_link", + "right_middle_fingerpad_42_link", + "right_middle_fingerpad_43_link", + "right_middle_fingerpad_44_link", + "right_middle_fingerpad_45_link", + "right_middle_fingerpad_46_link", + "right_middle_fingerpad_47_link", + "right_middle_fingerpad_48_link", + "right_middle_fingerpad_49_link", + "right_middle_fingerpad_50_link", + "right_middle_fingerpad_51_link", + "right_middle_fingerpad_52_link", + "right_middle_fingerpad_1_link", + "right_middle_fingerpad_2_link", + "right_middle_fingerpad_3_link", + "right_middle_fingerpad_4_link", + "right_middle_fingerpad_5_link", + "right_middle_fingerpad_6_link", + "right_middle_fingerpad_7_link", + "right_middle_fingerpad_8_link", + "right_middle_fingerpad_9_link", + "right_middle_fingerpad_10_link", + "right_middle_fingerpad_11_link", + "right_middle_fingerpad_12_link", + "right_middle_fingerpad_13_link", + "right_middle_fingerpad_14_link", + "right_middle_fingerpad_15_link", + "right_middle_fingerpad_16_link", + "right_middle_fingerpad_17_link", + "right_middle_fingerpad_18_link", + "right_middle_fingerpad_19_link", + "right_middle_fingerpad_20_link", + "right_middle_fingerpad_21_link", + "right_middle_fingerpad_22_link", + "right_middle_fingerpad_23_link", + "right_middle_fingerpad_24_link", + "right_middle_fingerpad_25_link", + "right_middle_fingerpad_26_link", + "right_middle_fingerpad_27_link", + "right_middle_fingerpad_28_link", + "right_middle_fingerpad_29_link", + "right_middle_fingerpad_30_link", + "right_middle_fingerpad_31_link", + "right_middle_fingerpad_32_link", + "right_middle_fingerpad_33_link", + "right_middle_fingerpad_34_link", + "right_middle_fingerpad_35_link", + "right_middle_fingerpad_36_link", + "right_middle_fingerpad_37_link", + "right_middle_fingerpad_38_link", + "right_middle_fingerpad_39_link", + "right_middle_fingerpad_40_link", + "right_thumb_fingertip_1_link", + "right_thumb_fingertip_2_link", + "right_thumb_fingertip_3_link", + "right_thumb_fingertip_4_link", + "right_thumb_fingertip_5_link", + "right_thumb_fingertip_6_link", + "right_thumb_fingertip_7_link", + "right_thumb_fingertip_8_link", + "right_thumb_fingertip_9_link", + "right_thumb_fingertip_10_link", + "right_thumb_fingertip_11_link", + "right_thumb_fingertip_12_link", + "right_thumb_fingertip_13_link", + "right_thumb_fingertip_14_link", + "right_thumb_fingertip_15_link", + "right_thumb_fingertip_16_link", + "right_thumb_fingertip_17_link", + "right_thumb_fingertip_18_link", + "right_thumb_fingertip_19_link", + "right_thumb_fingertip_20_link", + "right_thumb_fingertip_21_link", + "right_thumb_fingertip_22_link", + "right_thumb_fingertip_23_link", + "right_thumb_fingertip_24_link", + "right_thumb_fingertip_25_link", + "right_thumb_fingertip_26_link", + "right_thumb_fingertip_27_link", + "right_thumb_fingertip_28_link", + "right_thumb_fingertip_29_link", + "right_thumb_fingertip_30_link", + "right_thumb_fingertip_31_link", + "right_thumb_fingerpad_46_link", + "right_thumb_fingerpad_47_link", + "right_thumb_fingerpad_48_link", + "right_thumb_fingerpad_49_link", + "right_thumb_fingerpad_50_link", + "right_thumb_fingerpad_51_link", + "right_thumb_fingerpad_52_link", + "right_thumb_fingerpad_53_link", + "right_thumb_fingerpad_54_link", + "right_thumb_fingerpad_55_link", + "right_thumb_fingerpad_56_link", + "right_thumb_fingerpad_57_link", + "right_thumb_fingerpad_1_link", + "right_thumb_fingerpad_2_link", + "right_thumb_fingerpad_3_link", + "right_thumb_fingerpad_4_link", + "right_thumb_fingerpad_5_link", + "right_thumb_fingerpad_6_link", + "right_thumb_fingerpad_7_link", + "right_thumb_fingerpad_8_link", + "right_thumb_fingerpad_9_link", + "right_thumb_fingerpad_10_link", + "right_thumb_fingerpad_11_link", + "right_thumb_fingerpad_12_link", + "right_thumb_fingerpad_13_link", + "right_thumb_fingerpad_14_link", + "right_thumb_fingerpad_15_link", + "right_thumb_fingerpad_16_link", + "right_thumb_fingerpad_17_link", + "right_thumb_fingerpad_18_link", + "right_thumb_fingerpad_19_link", + "right_thumb_fingerpad_20_link", + "right_thumb_fingerpad_21_link", + "right_thumb_fingerpad_22_link", + "right_thumb_fingerpad_23_link", + "right_thumb_fingerpad_24_link", + "right_thumb_fingerpad_25_link", + "right_thumb_fingerpad_26_link", + "right_thumb_fingerpad_27_link", + "right_thumb_fingerpad_28_link", + "right_thumb_fingerpad_29_link", + "right_thumb_fingerpad_30_link", + "right_thumb_fingerpad_31_link", + "right_thumb_fingerpad_32_link", + "right_thumb_fingerpad_33_link", + "right_thumb_fingerpad_34_link", + "right_thumb_fingerpad_35_link", + "right_thumb_fingerpad_36_link", + "right_thumb_fingerpad_37_link", + "right_thumb_fingerpad_38_link", + "right_thumb_fingerpad_39_link", + "right_thumb_fingerpad_40_link", + "right_thumb_fingerpad_41_link", + "right_thumb_fingerpad_42_link", + "right_thumb_fingerpad_43_link", + "right_thumb_fingerpad_44_link", + "right_thumb_fingerpad_45_link", + "right_index_fingertip_1_link", + "right_index_fingertip_2_link", + "right_index_fingertip_3_link", + "right_index_fingertip_4_link", + "right_index_fingertip_5_link", + "right_index_fingertip_6_link", + "right_index_fingertip_7_link", + "right_index_fingertip_8_link", + "right_index_fingertip_9_link", + "right_index_fingertip_10_link", + "right_index_fingertip_11_link", + "right_index_fingertip_12_link", + "right_index_fingertip_13_link", + "right_index_fingertip_14_link", + "right_index_fingertip_15_link", + "right_index_fingertip_16_link", + "right_index_fingertip_17_link", + "right_index_fingertip_18_link", + "right_index_fingertip_19_link", + "right_index_fingertip_20_link", + "right_index_fingertip_21_link", + "right_index_fingerpad_41_link", + "right_index_fingerpad_42_link", + "right_index_fingerpad_43_link", + "right_index_fingerpad_44_link", + "right_index_fingerpad_45_link", + "right_index_fingerpad_46_link", + "right_index_fingerpad_47_link", + "right_index_fingerpad_48_link", + "right_index_fingerpad_49_link", + "right_index_fingerpad_50_link", + "right_index_fingerpad_51_link", + "right_index_fingerpad_52_link", + "right_index_fingerpad_1_link", + "right_index_fingerpad_2_link", + "right_index_fingerpad_3_link", + "right_index_fingerpad_4_link", + "right_index_fingerpad_5_link", + "right_index_fingerpad_6_link", + "right_index_fingerpad_7_link", + "right_index_fingerpad_8_link", + "right_index_fingerpad_9_link", + "right_index_fingerpad_10_link", + "right_index_fingerpad_11_link", + "right_index_fingerpad_12_link", + "right_index_fingerpad_13_link", + "right_index_fingerpad_14_link", + "right_index_fingerpad_15_link", + "right_index_fingerpad_16_link", + "right_index_fingerpad_17_link", + "right_index_fingerpad_18_link", + "right_index_fingerpad_19_link", + "right_index_fingerpad_20_link", + "right_index_fingerpad_21_link", + "right_index_fingerpad_22_link", + "right_index_fingerpad_23_link", + "right_index_fingerpad_24_link", + "right_index_fingerpad_25_link", + "right_index_fingerpad_26_link", + "right_index_fingerpad_27_link", + "right_index_fingerpad_28_link", + "right_index_fingerpad_29_link", + "right_index_fingerpad_30_link", + "right_index_fingerpad_31_link", + "right_index_fingerpad_32_link", + "right_index_fingerpad_33_link", + "right_index_fingerpad_34_link", + "right_index_fingerpad_35_link", + "right_index_fingerpad_36_link", + "right_index_fingerpad_37_link", + "right_index_fingerpad_38_link", + "right_index_fingerpad_39_link", + "right_index_fingerpad_40_link", + "right_ring_fingertip_1_link", + "right_ring_fingertip_2_link", + "right_ring_fingertip_3_link", + "right_ring_fingertip_4_link", + "right_ring_fingertip_5_link", + "right_ring_fingertip_6_link", + "right_ring_fingertip_7_link", + "right_ring_fingertip_8_link", + "right_ring_fingertip_9_link", + "right_ring_fingertip_10_link", + "right_ring_fingertip_11_link", + "right_ring_fingertip_12_link", + "right_ring_fingertip_13_link", + "right_ring_fingertip_14_link", + "right_ring_fingertip_15_link", + "right_ring_fingertip_16_link", + "right_ring_fingertip_17_link", + "right_ring_fingertip_18_link", + "right_ring_fingertip_19_link", + "right_ring_fingertip_20_link", + "right_ring_fingertip_21_link", + "right_ring_fingerpad_41_link", + "right_ring_fingerpad_42_link", + "right_ring_fingerpad_43_link", + "right_ring_fingerpad_44_link", + "right_ring_fingerpad_45_link", + "right_ring_fingerpad_46_link", + "right_ring_fingerpad_47_link", + "right_ring_fingerpad_48_link", + "right_ring_fingerpad_49_link", + "right_ring_fingerpad_50_link", + "right_ring_fingerpad_51_link", + "right_ring_fingerpad_52_link", + "right_ring_fingerpad_1_link", + "right_ring_fingerpad_2_link", + "right_ring_fingerpad_3_link", + "right_ring_fingerpad_4_link", + "right_ring_fingerpad_5_link", + "right_ring_fingerpad_6_link", + "right_ring_fingerpad_7_link", + "right_ring_fingerpad_8_link", + "right_ring_fingerpad_9_link", + "right_ring_fingerpad_10_link", + "right_ring_fingerpad_11_link", + "right_ring_fingerpad_12_link", + "right_ring_fingerpad_13_link", + "right_ring_fingerpad_14_link", + "right_ring_fingerpad_15_link", + "right_ring_fingerpad_16_link", + "right_ring_fingerpad_17_link", + "right_ring_fingerpad_18_link", + "right_ring_fingerpad_19_link", + "right_ring_fingerpad_20_link", + "right_ring_fingerpad_21_link", + "right_ring_fingerpad_22_link", + "right_ring_fingerpad_23_link", + "right_ring_fingerpad_24_link", + "right_ring_fingerpad_25_link", + "right_ring_fingerpad_26_link", + "right_ring_fingerpad_27_link", + "right_ring_fingerpad_28_link", + "right_ring_fingerpad_29_link", + "right_ring_fingerpad_30_link", + "right_ring_fingerpad_31_link", + "right_ring_fingerpad_32_link", + "right_ring_fingerpad_33_link", + "right_ring_fingerpad_34_link", + "right_ring_fingerpad_35_link", + "right_ring_fingerpad_36_link", + "right_ring_fingerpad_37_link", + "right_ring_fingerpad_38_link", + "right_ring_fingerpad_39_link", + "right_ring_fingerpad_40_link", + "right_little_fingertip_1_link", + "right_little_fingertip_2_link", + "right_little_fingertip_3_link", + "right_little_fingertip_4_link", + "right_little_fingertip_5_link", + "right_little_fingertip_6_link", + "right_little_fingertip_7_link", + "right_little_fingertip_8_link", + "right_little_fingertip_9_link", + "right_little_fingertip_10_link", + "right_little_fingertip_11_link", + "right_little_fingertip_12_link", + "right_little_fingertip_13_link", + "right_little_fingertip_14_link", + "right_little_fingertip_15_link", + "right_little_fingertip_16_link", + "right_little_fingertip_17_link", + "right_little_fingertip_18_link", + "right_little_fingertip_19_link", + "right_little_fingertip_20_link", + "right_little_fingertip_21_link", + "right_little_fingerpad_41_link", + "right_little_fingerpad_42_link", + "right_little_fingerpad_43_link", + "right_little_fingerpad_44_link", + "right_little_fingerpad_45_link", + "right_little_fingerpad_46_link", + "right_little_fingerpad_47_link", + "right_little_fingerpad_48_link", + "right_little_fingerpad_49_link", + "right_little_fingerpad_50_link", + "right_little_fingerpad_51_link", + "right_little_fingerpad_52_link", + "right_little_fingerpad_1_link", + "right_little_fingerpad_2_link", + "right_little_fingerpad_3_link", + "right_little_fingerpad_4_link", + "right_little_fingerpad_5_link", + "right_little_fingerpad_6_link", + "right_little_fingerpad_7_link", + "right_little_fingerpad_8_link", + "right_little_fingerpad_9_link", + "right_little_fingerpad_10_link", + "right_little_fingerpad_11_link", + "right_little_fingerpad_12_link", + "right_little_fingerpad_13_link", + "right_little_fingerpad_14_link", + "right_little_fingerpad_15_link", + "right_little_fingerpad_16_link", + "right_little_fingerpad_17_link", + "right_little_fingerpad_18_link", + "right_little_fingerpad_19_link", + "right_little_fingerpad_20_link", + "right_little_fingerpad_21_link", + "right_little_fingerpad_22_link", + "right_little_fingerpad_23_link", + "right_little_fingerpad_24_link", + "right_little_fingerpad_25_link", + "right_little_fingerpad_26_link", + "right_little_fingerpad_27_link", + "right_little_fingerpad_28_link", + "right_little_fingerpad_29_link", + "right_little_fingerpad_30_link", + 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"left_ring_fingerpad_16_link", + "left_ring_fingerpad_17_link", + "left_ring_fingerpad_18_link", + "left_ring_fingerpad_19_link", + "left_ring_fingerpad_20_link", + "left_ring_fingerpad_21_link", + "left_ring_fingerpad_22_link", + "left_ring_fingerpad_23_link", + "left_ring_fingerpad_24_link", + "left_ring_fingerpad_25_link", + "left_ring_fingerpad_26_link", + "left_ring_fingerpad_27_link", + "left_ring_fingerpad_28_link", + "left_ring_fingerpad_29_link", + "left_ring_fingerpad_30_link", + "left_ring_fingerpad_31_link", + "left_ring_fingerpad_32_link", + "left_ring_fingerpad_33_link", + "left_ring_fingerpad_34_link", + "left_ring_fingerpad_35_link", + "left_ring_fingerpad_36_link", + "left_ring_fingerpad_37_link", + "left_ring_fingerpad_38_link", + "left_ring_fingerpad_39_link", + "left_ring_fingerpad_40_link", + "left_little_fingertip_1_link", + "left_little_fingertip_2_link", + "left_little_fingertip_3_link", + "left_little_fingertip_4_link", + "left_little_fingertip_5_link", + "left_little_fingertip_6_link", + "left_little_fingertip_7_link", + "left_little_fingertip_8_link", + "left_little_fingertip_9_link", + "left_little_fingertip_10_link", + "left_little_fingertip_11_link", + "left_little_fingertip_12_link", + "left_little_fingertip_13_link", + "left_little_fingertip_14_link", + "left_little_fingertip_15_link", + "left_little_fingertip_16_link", + "left_little_fingertip_17_link", + "left_little_fingertip_18_link", + "left_little_fingertip_19_link", + "left_little_fingertip_20_link", + "left_little_fingertip_21_link", + "left_little_fingerpad_41_link", + "left_little_fingerpad_42_link", + "left_little_fingerpad_43_link", + "left_little_fingerpad_44_link", + "left_little_fingerpad_45_link", + "left_little_fingerpad_46_link", + "left_little_fingerpad_47_link", + "left_little_fingerpad_48_link", + "left_little_fingerpad_49_link", + "left_little_fingerpad_50_link", + "left_little_fingerpad_51_link", + "left_little_fingerpad_52_link", + "left_little_fingerpad_1_link", + "left_little_fingerpad_2_link", + "left_little_fingerpad_3_link", + "left_little_fingerpad_4_link", + "left_little_fingerpad_5_link", + "left_little_fingerpad_6_link", + "left_little_fingerpad_7_link", + "left_little_fingerpad_8_link", + "left_little_fingerpad_9_link", + "left_little_fingerpad_10_link", + "left_little_fingerpad_11_link", + "left_little_fingerpad_12_link", + "left_little_fingerpad_13_link", + "left_little_fingerpad_14_link", + "left_little_fingerpad_15_link", + "left_little_fingerpad_16_link", + "left_little_fingerpad_17_link", + "left_little_fingerpad_18_link", + "left_little_fingerpad_19_link", + "left_little_fingerpad_20_link", + "left_little_fingerpad_21_link", + "left_little_fingerpad_22_link", + "left_little_fingerpad_23_link", + "left_little_fingerpad_24_link", + "left_little_fingerpad_25_link", + "left_little_fingerpad_26_link", + "left_little_fingerpad_27_link", + "left_little_fingerpad_28_link", + 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380, + "count": 71 + } + ], + "primary_names": [ + "right_middle_fingertip_1_link", + "right_middle_fingertip_2_link", + "right_middle_fingertip_3_link", + "right_middle_fingertip_4_link", + "right_middle_fingertip_5_link", + "right_middle_fingertip_6_link", + "right_middle_fingertip_7_link", + "right_middle_fingertip_8_link", + "right_middle_fingertip_9_link", + "right_middle_fingertip_10_link", + "right_middle_fingertip_11_link", + "right_middle_fingertip_12_link", + "right_middle_fingertip_13_link", + "right_middle_fingertip_14_link", + "right_middle_fingertip_15_link", + "right_middle_fingertip_16_link", + "right_middle_fingertip_17_link", + "right_middle_fingertip_18_link", + "right_middle_fingertip_19_link", + "right_middle_fingertip_20_link", + "right_middle_fingertip_21_link", + "right_middle_fingerpad_41_link", + "right_middle_fingerpad_42_link", + "right_middle_fingerpad_43_link", + "right_middle_fingerpad_44_link", + "right_middle_fingerpad_45_link", + "right_middle_fingerpad_46_link", + "right_middle_fingerpad_47_link", + "right_middle_fingerpad_48_link", + "right_middle_fingerpad_49_link", + "right_middle_fingerpad_50_link", + "right_middle_fingerpad_51_link", + "right_middle_fingerpad_52_link", + "right_middle_fingerpad_1_link", + "right_middle_fingerpad_2_link", + "right_middle_fingerpad_3_link", + "right_middle_fingerpad_4_link", + "right_middle_fingerpad_5_link", + "right_middle_fingerpad_6_link", + "right_middle_fingerpad_7_link", + "right_middle_fingerpad_8_link", + "right_middle_fingerpad_9_link", + "right_middle_fingerpad_10_link", + "right_middle_fingerpad_11_link", + "right_middle_fingerpad_12_link", + "right_middle_fingerpad_13_link", + "right_middle_fingerpad_14_link", + "right_middle_fingerpad_15_link", + "right_middle_fingerpad_16_link", + "right_middle_fingerpad_17_link", + "right_middle_fingerpad_18_link", + "right_middle_fingerpad_19_link", + "right_middle_fingerpad_20_link", + "right_middle_fingerpad_21_link", + "right_middle_fingerpad_22_link", + "right_middle_fingerpad_23_link", + "right_middle_fingerpad_24_link", + "right_middle_fingerpad_25_link", + "right_middle_fingerpad_26_link", + "right_middle_fingerpad_27_link", + "right_middle_fingerpad_28_link", + "right_middle_fingerpad_29_link", + "right_middle_fingerpad_30_link", + "right_middle_fingerpad_31_link", + "right_middle_fingerpad_32_link", + "right_middle_fingerpad_33_link", + "right_middle_fingerpad_34_link", + "right_middle_fingerpad_35_link", + "right_middle_fingerpad_36_link", + "right_middle_fingerpad_37_link", + "right_middle_fingerpad_38_link", + "right_middle_fingerpad_39_link", + "right_middle_fingerpad_40_link", + "right_thumb_fingertip_1_link", + "right_thumb_fingertip_2_link", + "right_thumb_fingertip_3_link", + "right_thumb_fingertip_4_link", + "right_thumb_fingertip_5_link", + "right_thumb_fingertip_6_link", + "right_thumb_fingertip_7_link", + "right_thumb_fingertip_8_link", + "right_thumb_fingertip_9_link", + "right_thumb_fingertip_10_link", + "right_thumb_fingertip_11_link", + "right_thumb_fingertip_12_link", + "right_thumb_fingertip_13_link", + "right_thumb_fingertip_14_link", + "right_thumb_fingertip_15_link", + "right_thumb_fingertip_16_link", + "right_thumb_fingertip_17_link", + "right_thumb_fingertip_18_link", + "right_thumb_fingertip_19_link", + "right_thumb_fingertip_20_link", + "right_thumb_fingertip_21_link", + "right_thumb_fingertip_22_link", + "right_thumb_fingertip_23_link", + "right_thumb_fingertip_24_link", + "right_thumb_fingertip_25_link", + "right_thumb_fingertip_26_link", + "right_thumb_fingertip_27_link", + "right_thumb_fingertip_28_link", + "right_thumb_fingertip_29_link", + "right_thumb_fingertip_30_link", + "right_thumb_fingertip_31_link", + "right_thumb_fingerpad_46_link", + "right_thumb_fingerpad_47_link", + "right_thumb_fingerpad_48_link", + "right_thumb_fingerpad_49_link", + "right_thumb_fingerpad_50_link", + "right_thumb_fingerpad_51_link", + "right_thumb_fingerpad_52_link", + "right_thumb_fingerpad_53_link", + "right_thumb_fingerpad_54_link", + "right_thumb_fingerpad_55_link", + "right_thumb_fingerpad_56_link", + "right_thumb_fingerpad_57_link", + "right_thumb_fingerpad_1_link", + "right_thumb_fingerpad_2_link", + "right_thumb_fingerpad_3_link", + "right_thumb_fingerpad_4_link", + "right_thumb_fingerpad_5_link", + "right_thumb_fingerpad_6_link", + "right_thumb_fingerpad_7_link", + "right_thumb_fingerpad_8_link", + "right_thumb_fingerpad_9_link", + "right_thumb_fingerpad_10_link", + "right_thumb_fingerpad_11_link", + "right_thumb_fingerpad_12_link", + "right_thumb_fingerpad_13_link", + "right_thumb_fingerpad_14_link", + "right_thumb_fingerpad_15_link", + "right_thumb_fingerpad_16_link", + "right_thumb_fingerpad_17_link", + "right_thumb_fingerpad_18_link", + "right_thumb_fingerpad_19_link", + "right_thumb_fingerpad_20_link", + "right_thumb_fingerpad_21_link", + "right_thumb_fingerpad_22_link", + "right_thumb_fingerpad_23_link", + "right_thumb_fingerpad_24_link", + "right_thumb_fingerpad_25_link", + "right_thumb_fingerpad_26_link", + "right_thumb_fingerpad_27_link", + "right_thumb_fingerpad_28_link", + "right_thumb_fingerpad_29_link", + "right_thumb_fingerpad_30_link", + "right_thumb_fingerpad_31_link", + "right_thumb_fingerpad_32_link", + "right_thumb_fingerpad_33_link", + "right_thumb_fingerpad_34_link", + "right_thumb_fingerpad_35_link", + "right_thumb_fingerpad_36_link", + "right_thumb_fingerpad_37_link", + "right_thumb_fingerpad_38_link", + "right_thumb_fingerpad_39_link", + "right_thumb_fingerpad_40_link", + "right_thumb_fingerpad_41_link", + "right_thumb_fingerpad_42_link", + "right_thumb_fingerpad_43_link", + "right_thumb_fingerpad_44_link", + "right_thumb_fingerpad_45_link", + "right_index_fingertip_1_link", + "right_index_fingertip_2_link", + "right_index_fingertip_3_link", + "right_index_fingertip_4_link", + "right_index_fingertip_5_link", + "right_index_fingertip_6_link", + "right_index_fingertip_7_link", + "right_index_fingertip_8_link", + "right_index_fingertip_9_link", + "right_index_fingertip_10_link", + "right_index_fingertip_11_link", + "right_index_fingertip_12_link", + "right_index_fingertip_13_link", + "right_index_fingertip_14_link", + "right_index_fingertip_15_link", + "right_index_fingertip_16_link", + "right_index_fingertip_17_link", + "right_index_fingertip_18_link", + "right_index_fingertip_19_link", + "right_index_fingertip_20_link", + "right_index_fingertip_21_link", + "right_index_fingerpad_41_link", + "right_index_fingerpad_42_link", + "right_index_fingerpad_43_link", + "right_index_fingerpad_44_link", + "right_index_fingerpad_45_link", + "right_index_fingerpad_46_link", + "right_index_fingerpad_47_link", + "right_index_fingerpad_48_link", + "right_index_fingerpad_49_link", + "right_index_fingerpad_50_link", + "right_index_fingerpad_51_link", + "right_index_fingerpad_52_link", + "right_index_fingerpad_1_link", + "right_index_fingerpad_2_link", + "right_index_fingerpad_3_link", + "right_index_fingerpad_4_link", + "right_index_fingerpad_5_link", + "right_index_fingerpad_6_link", + "right_index_fingerpad_7_link", + "right_index_fingerpad_8_link", + "right_index_fingerpad_9_link", + "right_index_fingerpad_10_link", + "right_index_fingerpad_11_link", + "right_index_fingerpad_12_link", + "right_index_fingerpad_13_link", + "right_index_fingerpad_14_link", + "right_index_fingerpad_15_link", + "right_index_fingerpad_16_link", + "right_index_fingerpad_17_link", + "right_index_fingerpad_18_link", + "right_index_fingerpad_19_link", + "right_index_fingerpad_20_link", + "right_index_fingerpad_21_link", + "right_index_fingerpad_22_link", + "right_index_fingerpad_23_link", + "right_index_fingerpad_24_link", + "right_index_fingerpad_25_link", + "right_index_fingerpad_26_link", + "right_index_fingerpad_27_link", + "right_index_fingerpad_28_link", + "right_index_fingerpad_29_link", + "right_index_fingerpad_30_link", + "right_index_fingerpad_31_link", + "right_index_fingerpad_32_link", + "right_index_fingerpad_33_link", + "right_index_fingerpad_34_link", + "right_index_fingerpad_35_link", + "right_index_fingerpad_36_link", + "right_index_fingerpad_37_link", + "right_index_fingerpad_38_link", + "right_index_fingerpad_39_link", + "right_index_fingerpad_40_link", + "right_ring_fingertip_1_link", + "right_ring_fingertip_2_link", + "right_ring_fingertip_3_link", + "right_ring_fingertip_4_link", + "right_ring_fingertip_5_link", + "right_ring_fingertip_6_link", + "right_ring_fingertip_7_link", + "right_ring_fingertip_8_link", + "right_ring_fingertip_9_link", + "right_ring_fingertip_10_link", + "right_ring_fingertip_11_link", + "right_ring_fingertip_12_link", + "right_ring_fingertip_13_link", + "right_ring_fingertip_14_link", + "right_ring_fingertip_15_link", + "right_ring_fingertip_16_link", + "right_ring_fingertip_17_link", + "right_ring_fingertip_18_link", + "right_ring_fingertip_19_link", + "right_ring_fingertip_20_link", + "right_ring_fingertip_21_link", + "right_ring_fingerpad_41_link", + "right_ring_fingerpad_42_link", + "right_ring_fingerpad_43_link", + "right_ring_fingerpad_44_link", + "right_ring_fingerpad_45_link", + "right_ring_fingerpad_46_link", + "right_ring_fingerpad_47_link", + "right_ring_fingerpad_48_link", + "right_ring_fingerpad_49_link", + "right_ring_fingerpad_50_link", + "right_ring_fingerpad_51_link", + "right_ring_fingerpad_52_link", + "right_ring_fingerpad_1_link", + "right_ring_fingerpad_2_link", + "right_ring_fingerpad_3_link", + "right_ring_fingerpad_4_link", + "right_ring_fingerpad_5_link", + "right_ring_fingerpad_6_link", + "right_ring_fingerpad_7_link", + "right_ring_fingerpad_8_link", + "right_ring_fingerpad_9_link", + "right_ring_fingerpad_10_link", + "right_ring_fingerpad_11_link", + "right_ring_fingerpad_12_link", + "right_ring_fingerpad_13_link", + "right_ring_fingerpad_14_link", + "right_ring_fingerpad_15_link", + "right_ring_fingerpad_16_link", + "right_ring_fingerpad_17_link", + "right_ring_fingerpad_18_link", + "right_ring_fingerpad_19_link", + "right_ring_fingerpad_20_link", + "right_ring_fingerpad_21_link", + "right_ring_fingerpad_22_link", + "right_ring_fingerpad_23_link", + "right_ring_fingerpad_24_link", + "right_ring_fingerpad_25_link", + "right_ring_fingerpad_26_link", + "right_ring_fingerpad_27_link", + "right_ring_fingerpad_28_link", + "right_ring_fingerpad_29_link", + "right_ring_fingerpad_30_link", + "right_ring_fingerpad_31_link", + "right_ring_fingerpad_32_link", + "right_ring_fingerpad_33_link", + "right_ring_fingerpad_34_link", + "right_ring_fingerpad_35_link", + "right_ring_fingerpad_36_link", + "right_ring_fingerpad_37_link", + "right_ring_fingerpad_38_link", + "right_ring_fingerpad_39_link", + "right_ring_fingerpad_40_link", + "right_little_fingertip_1_link", + "right_little_fingertip_2_link", + "right_little_fingertip_3_link", + "right_little_fingertip_4_link", + "right_little_fingertip_5_link", + "right_little_fingertip_6_link", + "right_little_fingertip_7_link", + "right_little_fingertip_8_link", + "right_little_fingertip_9_link", + "right_little_fingertip_10_link", + "right_little_fingertip_11_link", + "right_little_fingertip_12_link", + "right_little_fingertip_13_link", + "right_little_fingertip_14_link", + "right_little_fingertip_15_link", + "right_little_fingertip_16_link", + "right_little_fingertip_17_link", + "right_little_fingertip_18_link", + "right_little_fingertip_19_link", + "right_little_fingertip_20_link", + "right_little_fingertip_21_link", + "right_little_fingerpad_41_link", + "right_little_fingerpad_42_link", + "right_little_fingerpad_43_link", + "right_little_fingerpad_44_link", + "right_little_fingerpad_45_link", + "right_little_fingerpad_46_link", + "right_little_fingerpad_47_link", + "right_little_fingerpad_48_link", + "right_little_fingerpad_49_link", + 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"left_thumb_fingerpad_40_link", + "left_thumb_fingerpad_41_link", + "left_thumb_fingerpad_42_link", + "left_thumb_fingerpad_43_link", + "left_thumb_fingerpad_44_link", + "left_thumb_fingerpad_45_link", + "left_index_fingertip_1_link", + "left_index_fingertip_2_link", + "left_index_fingertip_3_link", + "left_index_fingertip_4_link", + "left_index_fingertip_5_link", + "left_index_fingertip_6_link", + "left_index_fingertip_7_link", + "left_index_fingertip_8_link", + "left_index_fingertip_9_link", + "left_index_fingertip_10_link", + "left_index_fingertip_11_link", + "left_index_fingertip_12_link", + "left_index_fingertip_13_link", + "left_index_fingertip_14_link", + "left_index_fingertip_15_link", + "left_index_fingertip_16_link", + "left_index_fingertip_17_link", + "left_index_fingertip_18_link", + "left_index_fingertip_19_link", + "left_index_fingertip_20_link", + "left_index_fingertip_21_link", + "left_index_fingerpad_41_link", + "left_index_fingerpad_42_link", + "left_index_fingerpad_43_link", + "left_index_fingerpad_44_link", + "left_index_fingerpad_45_link", + "left_index_fingerpad_46_link", + "left_index_fingerpad_47_link", + "left_index_fingerpad_48_link", + "left_index_fingerpad_49_link", + "left_index_fingerpad_50_link", + "left_index_fingerpad_51_link", + "left_index_fingerpad_52_link", + "left_index_fingerpad_1_link", + "left_index_fingerpad_2_link", + "left_index_fingerpad_3_link", + "left_index_fingerpad_4_link", + "left_index_fingerpad_5_link", + "left_index_fingerpad_6_link", + "left_index_fingerpad_7_link", + "left_index_fingerpad_8_link", + "left_index_fingerpad_9_link", + "left_index_fingerpad_10_link", + "left_index_fingerpad_11_link", + "left_index_fingerpad_12_link", + "left_index_fingerpad_13_link", + "left_index_fingerpad_14_link", + "left_index_fingerpad_15_link", + "left_index_fingerpad_16_link", + "left_index_fingerpad_17_link", + "left_index_fingerpad_18_link", + "left_index_fingerpad_19_link", + "left_index_fingerpad_20_link", + "left_index_fingerpad_21_link", + "left_index_fingerpad_22_link", + "left_index_fingerpad_23_link", + "left_index_fingerpad_24_link", + "left_index_fingerpad_25_link", + "left_index_fingerpad_26_link", + "left_index_fingerpad_27_link", + "left_index_fingerpad_28_link", + "left_index_fingerpad_29_link", + "left_index_fingerpad_30_link", + "left_index_fingerpad_31_link", + "left_index_fingerpad_32_link", + "left_index_fingerpad_33_link", + "left_index_fingerpad_34_link", + "left_index_fingerpad_35_link", + "left_index_fingerpad_36_link", + "left_index_fingerpad_37_link", + "left_index_fingerpad_38_link", + "left_index_fingerpad_39_link", + "left_index_fingerpad_40_link", + "left_ring_fingertip_1_link", + "left_ring_fingertip_2_link", + "left_ring_fingertip_3_link", + "left_ring_fingertip_4_link", + "left_ring_fingertip_5_link", + "left_ring_fingertip_6_link", + "left_ring_fingertip_7_link", + "left_ring_fingertip_8_link", + "left_ring_fingertip_9_link", + "left_ring_fingertip_10_link", + "left_ring_fingertip_11_link", + "left_ring_fingertip_12_link", + "left_ring_fingertip_13_link", + "left_ring_fingertip_14_link", + "left_ring_fingertip_15_link", + "left_ring_fingertip_16_link", + "left_ring_fingertip_17_link", + "left_ring_fingertip_18_link", + "left_ring_fingertip_19_link", + "left_ring_fingertip_20_link", + "left_ring_fingertip_21_link", + "left_ring_fingerpad_41_link", + "left_ring_fingerpad_42_link", + "left_ring_fingerpad_43_link", + "left_ring_fingerpad_44_link", + "left_ring_fingerpad_45_link", + "left_ring_fingerpad_46_link", + "left_ring_fingerpad_47_link", + "left_ring_fingerpad_48_link", + "left_ring_fingerpad_49_link", + "left_ring_fingerpad_50_link", + "left_ring_fingerpad_51_link", + "left_ring_fingerpad_52_link", + "left_ring_fingerpad_1_link", + "left_ring_fingerpad_2_link", + "left_ring_fingerpad_3_link", + "left_ring_fingerpad_4_link", + "left_ring_fingerpad_5_link", + "left_ring_fingerpad_6_link", + "left_ring_fingerpad_7_link", + "left_ring_fingerpad_8_link", + "left_ring_fingerpad_9_link", + "left_ring_fingerpad_10_link", + "left_ring_fingerpad_11_link", + "left_ring_fingerpad_12_link", + "left_ring_fingerpad_13_link", + "left_ring_fingerpad_14_link", + "left_ring_fingerpad_15_link", + "left_ring_fingerpad_16_link", + "left_ring_fingerpad_17_link", + "left_ring_fingerpad_18_link", + "left_ring_fingerpad_19_link", + "left_ring_fingerpad_20_link", + "left_ring_fingerpad_21_link", + "left_ring_fingerpad_22_link", + "left_ring_fingerpad_23_link", + "left_ring_fingerpad_24_link", + "left_ring_fingerpad_25_link", + "left_ring_fingerpad_26_link", + "left_ring_fingerpad_27_link", + "left_ring_fingerpad_28_link", + "left_ring_fingerpad_29_link", + "left_ring_fingerpad_30_link", + "left_ring_fingerpad_31_link", + "left_ring_fingerpad_32_link", + "left_ring_fingerpad_33_link", + "left_ring_fingerpad_34_link", + "left_ring_fingerpad_35_link", + "left_ring_fingerpad_36_link", + "left_ring_fingerpad_37_link", + "left_ring_fingerpad_38_link", + "left_ring_fingerpad_39_link", + "left_ring_fingerpad_40_link", + "left_little_fingertip_1_link", + "left_little_fingertip_2_link", + "left_little_fingertip_3_link", + "left_little_fingertip_4_link", + "left_little_fingertip_5_link", + "left_little_fingertip_6_link", + "left_little_fingertip_7_link", + "left_little_fingertip_8_link", + "left_little_fingertip_9_link", + "left_little_fingertip_10_link", + "left_little_fingertip_11_link", + "left_little_fingertip_12_link", + "left_little_fingertip_13_link", + "left_little_fingertip_14_link", + "left_little_fingertip_15_link", + "left_little_fingertip_16_link", + "left_little_fingertip_17_link", + "left_little_fingertip_18_link", + "left_little_fingertip_19_link", + "left_little_fingertip_20_link", + "left_little_fingertip_21_link", + "left_little_fingerpad_41_link", + "left_little_fingerpad_42_link", + "left_little_fingerpad_43_link", + "left_little_fingerpad_44_link", + "left_little_fingerpad_45_link", + "left_little_fingerpad_46_link", + "left_little_fingerpad_47_link", + "left_little_fingerpad_48_link", + "left_little_fingerpad_49_link", + "left_little_fingerpad_50_link", + "left_little_fingerpad_51_link", + "left_little_fingerpad_52_link", + "left_little_fingerpad_1_link", + "left_little_fingerpad_2_link", + "left_little_fingerpad_3_link", + "left_little_fingerpad_4_link", + "left_little_fingerpad_5_link", + "left_little_fingerpad_6_link", + "left_little_fingerpad_7_link", + "left_little_fingerpad_8_link", + "left_little_fingerpad_9_link", + "left_little_fingerpad_10_link", + "left_little_fingerpad_11_link", + "left_little_fingerpad_12_link", + "left_little_fingerpad_13_link", + "left_little_fingerpad_14_link", + "left_little_fingerpad_15_link", + "left_little_fingerpad_16_link", + "left_little_fingerpad_17_link", + "left_little_fingerpad_18_link", + "left_little_fingerpad_19_link", + "left_little_fingerpad_20_link", + "left_little_fingerpad_21_link", + "left_little_fingerpad_22_link", + "left_little_fingerpad_23_link", + "left_little_fingerpad_24_link", + "left_little_fingerpad_25_link", + "left_little_fingerpad_26_link", + "left_little_fingerpad_27_link", + "left_little_fingerpad_28_link", + "left_little_fingerpad_29_link", + "left_little_fingerpad_30_link", + "left_little_fingerpad_31_link", + "left_little_fingerpad_32_link", + "left_little_fingerpad_33_link", + "left_little_fingerpad_34_link", + "left_little_fingerpad_35_link", + "left_little_fingerpad_36_link", + "left_little_fingerpad_37_link", + "left_little_fingerpad_38_link", + "left_little_fingerpad_39_link", + "left_little_fingerpad_40_link", + "left_hand_touch_1_link", + "left_hand_touch_2_link", + "left_hand_touch_3_link", + "left_hand_touch_4_link", + "left_hand_touch_5_link", + "left_hand_touch_6_link", + "left_hand_touch_7_link", + "left_hand_touch_8_link", + "left_hand_touch_9_link", + "left_hand_touch_10_link", + "left_hand_touch_11_link", + "left_hand_touch_12_link", + "left_hand_touch_13_link", + "left_hand_touch_14_link", + "left_hand_touch_15_link", + "left_hand_touch_16_link", + "left_hand_touch_17_link", + "left_hand_touch_18_link", + "left_hand_touch_19_link", + "left_hand_touch_20_link", + "left_hand_touch_21_link", + "left_hand_touch_22_link", + "left_hand_touch_23_link", + "left_hand_touch_24_link", + "left_hand_touch_25_link", + "left_hand_touch_26_link", + "left_hand_touch_27_link", + "left_hand_touch_28_link", + "left_hand_touch_29_link", + "left_hand_touch_30_link", + "left_hand_touch_31_link", + "left_hand_touch_32_link", + "left_hand_touch_33_link", + "left_hand_touch_34_link", + "left_hand_touch_35_link", + "left_hand_touch_36_link", + "left_hand_touch_37_link", + "left_hand_touch_38_link", + "left_hand_touch_39_link", + "left_hand_touch_40_link", + "left_hand_touch_41_link", + "left_hand_touch_42_link", + "left_hand_touch_43_link", + "left_hand_touch_44_link", + "left_hand_touch_45_link", + "left_hand_touch_46_link", + "left_hand_touch_47_link", + "left_hand_touch_48_link", + "left_hand_touch_49_link", + "left_hand_touch_50_link", + "left_hand_touch_51_link", + "left_hand_touch_52_link", + "left_hand_touch_53_link", + "left_hand_touch_54_link", + "left_hand_touch_55_link", + "left_hand_touch_56_link", + "left_hand_touch_57_link", + "left_hand_touch_58_link", + "left_hand_touch_59_link", + "left_hand_touch_60_link", + "left_hand_touch_61_link", + "left_hand_touch_62_link", + "left_hand_touch_63_link", + "left_hand_touch_64_link", + "left_hand_touch_65_link", + "left_hand_touch_66_link", + "left_hand_touch_67_link", + "left_hand_touch_68_link", + "left_hand_touch_69_link", + "left_hand_touch_70_link", + "left_hand_touch_71_link" + ], + "primary_points": [ + { + "name": "left_middle_fingertip_1_link", + "joint": "left_middle_fingertip_1_joint", + "side": "left", + "kind": "primary", + "parent_link": "left_middle_DIP_link", + "origin": { + "rpy": 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"right_index_fingerpad_50_link", + "right_index_fingerpad_51_link", + "right_index_fingerpad_52_link", + "right_index_fingerpad_1_link", + "right_index_fingerpad_2_link", + "right_index_fingerpad_3_link", + "right_index_fingerpad_4_link", + "right_index_fingerpad_5_link", + "right_index_fingerpad_6_link", + "right_index_fingerpad_7_link", + "right_index_fingerpad_8_link", + "right_index_fingerpad_9_link", + "right_index_fingerpad_10_link", + "right_index_fingerpad_11_link", + "right_index_fingerpad_12_link", + "right_index_fingerpad_13_link", + "right_index_fingerpad_14_link", + "right_index_fingerpad_15_link", + "right_index_fingerpad_16_link", + "right_index_fingerpad_17_link", + "right_index_fingerpad_18_link", + "right_index_fingerpad_19_link", + "right_index_fingerpad_20_link", + "right_index_fingerpad_21_link", + "right_index_fingerpad_22_link", + "right_index_fingerpad_23_link", + "right_index_fingerpad_24_link", + "right_index_fingerpad_25_link", + "right_index_fingerpad_26_link", + "right_index_fingerpad_27_link", + "right_index_fingerpad_28_link", + "right_index_fingerpad_29_link", + "right_index_fingerpad_30_link", + "right_index_fingerpad_31_link", + "right_index_fingerpad_32_link", + "right_index_fingerpad_33_link", + "right_index_fingerpad_34_link", + "right_index_fingerpad_35_link", + "right_index_fingerpad_36_link", + "right_index_fingerpad_37_link", + "right_index_fingerpad_38_link", + "right_index_fingerpad_39_link", + "right_index_fingerpad_40_link", + "right_ring_fingertip_1_link", + "right_ring_fingertip_2_link", + "right_ring_fingertip_3_link", + "right_ring_fingertip_4_link", + "right_ring_fingertip_5_link", + "right_ring_fingertip_6_link", + "right_ring_fingertip_7_link", + "right_ring_fingertip_8_link", + "right_ring_fingertip_9_link", + "right_ring_fingertip_10_link", + "right_ring_fingertip_11_link", + "right_ring_fingertip_12_link", + "right_ring_fingertip_13_link", + "right_ring_fingertip_14_link", + "right_ring_fingertip_15_link", + "right_ring_fingertip_16_link", + "right_ring_fingertip_17_link", + "right_ring_fingertip_18_link", + "right_ring_fingertip_19_link", + "right_ring_fingertip_20_link", + "right_ring_fingertip_21_link", + "right_ring_fingerpad_41_link", + "right_ring_fingerpad_42_link", + "right_ring_fingerpad_43_link", + "right_ring_fingerpad_44_link", + "right_ring_fingerpad_45_link", + "right_ring_fingerpad_46_link", + "right_ring_fingerpad_47_link", + "right_ring_fingerpad_48_link", + "right_ring_fingerpad_49_link", + "right_ring_fingerpad_50_link", + "right_ring_fingerpad_51_link", + "right_ring_fingerpad_52_link", + "right_ring_fingerpad_1_link", + "right_ring_fingerpad_2_link", + "right_ring_fingerpad_3_link", + "right_ring_fingerpad_4_link", + "right_ring_fingerpad_5_link", + "right_ring_fingerpad_6_link", + "right_ring_fingerpad_7_link", + "right_ring_fingerpad_8_link", + "right_ring_fingerpad_9_link", + "right_ring_fingerpad_10_link", + "right_ring_fingerpad_11_link", + "right_ring_fingerpad_12_link", + "right_ring_fingerpad_13_link", + "right_ring_fingerpad_14_link", + "right_ring_fingerpad_15_link", + "right_ring_fingerpad_16_link", + "right_ring_fingerpad_17_link", + "right_ring_fingerpad_18_link", + "right_ring_fingerpad_19_link", + "right_ring_fingerpad_20_link", + "right_ring_fingerpad_21_link", + "right_ring_fingerpad_22_link", + "right_ring_fingerpad_23_link", + "right_ring_fingerpad_24_link", + "right_ring_fingerpad_25_link", + "right_ring_fingerpad_26_link", + "right_ring_fingerpad_27_link", + "right_ring_fingerpad_28_link", + "right_ring_fingerpad_29_link", + "right_ring_fingerpad_30_link", + "right_ring_fingerpad_31_link", + "right_ring_fingerpad_32_link", + "right_ring_fingerpad_33_link", + "right_ring_fingerpad_34_link", + "right_ring_fingerpad_35_link", + "right_ring_fingerpad_36_link", + "right_ring_fingerpad_37_link", + "right_ring_fingerpad_38_link", + "right_ring_fingerpad_39_link", + "right_ring_fingerpad_40_link", + "right_little_fingertip_1_link", + "right_little_fingertip_2_link", + "right_little_fingertip_3_link", + "right_little_fingertip_4_link", + "right_little_fingertip_5_link", + "right_little_fingertip_6_link", + "right_little_fingertip_7_link", + "right_little_fingertip_8_link", + "right_little_fingertip_9_link", + "right_little_fingertip_10_link", + "right_little_fingertip_11_link", + "right_little_fingertip_12_link", + "right_little_fingertip_13_link", + "right_little_fingertip_14_link", + "right_little_fingertip_15_link", + "right_little_fingertip_16_link", + "right_little_fingertip_17_link", + "right_little_fingertip_18_link", + "right_little_fingertip_19_link", + "right_little_fingertip_20_link", + "right_little_fingertip_21_link", + "right_little_fingerpad_41_link", + "right_little_fingerpad_42_link", + "right_little_fingerpad_43_link", + "right_little_fingerpad_44_link", + "right_little_fingerpad_45_link", + "right_little_fingerpad_46_link", + "right_little_fingerpad_47_link", + "right_little_fingerpad_48_link", + "right_little_fingerpad_49_link", + "right_little_fingerpad_50_link", + "right_little_fingerpad_51_link", + "right_little_fingerpad_52_link", + "right_little_fingerpad_1_link", + "right_little_fingerpad_2_link", + "right_little_fingerpad_3_link", + "right_little_fingerpad_4_link", + "right_little_fingerpad_5_link", + "right_little_fingerpad_6_link", + "right_little_fingerpad_7_link", + "right_little_fingerpad_8_link", + "right_little_fingerpad_9_link", + "right_little_fingerpad_10_link", + "right_little_fingerpad_11_link", + "right_little_fingerpad_12_link", + "right_little_fingerpad_13_link", + "right_little_fingerpad_14_link", + "right_little_fingerpad_15_link", + "right_little_fingerpad_16_link", + "right_little_fingerpad_17_link", + "right_little_fingerpad_18_link", + "right_little_fingerpad_19_link", + "right_little_fingerpad_20_link", + "right_little_fingerpad_21_link", + "right_little_fingerpad_22_link", + "right_little_fingerpad_23_link", + "right_little_fingerpad_24_link", + "right_little_fingerpad_25_link", + "right_little_fingerpad_26_link", + "right_little_fingerpad_27_link", + "right_little_fingerpad_28_link", + "right_little_fingerpad_29_link", + "right_little_fingerpad_30_link", + "right_little_fingerpad_31_link", + "right_little_fingerpad_32_link", + "right_little_fingerpad_33_link", + "right_little_fingerpad_34_link", + "right_little_fingerpad_35_link", + "right_little_fingerpad_36_link", + "right_little_fingerpad_37_link", + "right_little_fingerpad_38_link", + "right_little_fingerpad_39_link", + "right_little_fingerpad_40_link", + "right_hand_touch_1_link", + "right_hand_touch_2_link", + "right_hand_touch_3_link", + "right_hand_touch_4_link", + "right_hand_touch_5_link", + "right_hand_touch_6_link", + "right_hand_touch_7_link", + "right_hand_touch_8_link", + "right_hand_touch_9_link", + "right_hand_touch_10_link", + "right_hand_touch_11_link", + "right_hand_touch_12_link", + "right_hand_touch_13_link", + "right_hand_touch_14_link", + "right_hand_touch_15_link", + "right_hand_touch_16_link", + "right_hand_touch_17_link", + "right_hand_touch_18_link", + "right_hand_touch_19_link", + "right_hand_touch_20_link", + "right_hand_touch_21_link", + "right_hand_touch_22_link", + "right_hand_touch_23_link", + "right_hand_touch_24_link", + "right_hand_touch_25_link", + "right_hand_touch_26_link", + "right_hand_touch_27_link", + "right_hand_touch_28_link", + "right_hand_touch_29_link", + "right_hand_touch_30_link", + "right_hand_touch_31_link", + "right_hand_touch_32_link", + "right_hand_touch_33_link", + "right_hand_touch_34_link", + "right_hand_touch_35_link", + "right_hand_touch_36_link", + "right_hand_touch_37_link", + "right_hand_touch_38_link", + "right_hand_touch_39_link", + "right_hand_touch_40_link", + "right_hand_touch_41_link", + "right_hand_touch_42_link", + "right_hand_touch_43_link", + "right_hand_touch_44_link", + "right_hand_touch_45_link", + "right_hand_touch_46_link", + "right_hand_touch_47_link", + "right_hand_touch_48_link", + "right_hand_touch_49_link", + "right_hand_touch_50_link", + "right_hand_touch_51_link", + "right_hand_touch_52_link", + "right_hand_touch_53_link", + "right_hand_touch_54_link", + "right_hand_touch_55_link", + "right_hand_touch_56_link", + "right_hand_touch_57_link", + "right_hand_touch_58_link", + "right_hand_touch_59_link", + "right_hand_touch_60_link", + "right_hand_touch_61_link", + "right_hand_touch_62_link", + "right_hand_touch_63_link", + "right_hand_touch_64_link", + "right_hand_touch_65_link", + "right_hand_touch_66_link", + "right_hand_touch_67_link", + "right_hand_touch_68_link", + "right_hand_touch_69_link", + "right_hand_touch_70_link", + "right_hand_touch_71_link" + ], + "primary_points": [ + { + "name": "right_middle_fingertip_1_link", + "joint": "right_middle_fingertip_1_joint", + "side": "right", + "kind": "primary", + "parent_link": "right_middle_DIP_link", + "origin": { + "rpy": 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], + "visual_radius_m": 0.0018 + } + ] + }, + "right": { + "regions": [ + { + "name": "middle_fingertip", + "start": 0, + "count": 21 + }, + { + "name": "middle_fingerpad", + "start": 21, + "count": 52 + }, + { + "name": "thumb_fingertip", + "start": 73, + "count": 31 + }, + { + "name": "thumb_fingerpad", + "start": 104, + "count": 57 + }, + { + "name": "index_fingertip", + "start": 161, + "count": 21 + }, + { + "name": "index_fingerpad", + "start": 182, + "count": 52 + }, + { + "name": "ring_fingertip", + "start": 234, + "count": 21 + }, + { + "name": "ring_fingerpad", + "start": 255, + "count": 52 + }, + { + "name": "pinky_fingertip", + "start": 307, + "count": 21 + }, + { + "name": "pinky_fingerpad", + "start": 328, + "count": 52 + }, + { + "name": "palm", + "start": 380, + "count": 71 + } + ], + "primary_names": [ + "right_middle_fingertip_1_link", + "right_middle_fingertip_2_link", + "right_middle_fingertip_3_link", + "right_middle_fingertip_4_link", + "right_middle_fingertip_5_link", + "right_middle_fingertip_6_link", + "right_middle_fingertip_7_link", + "right_middle_fingertip_8_link", + "right_middle_fingertip_9_link", + "right_middle_fingertip_10_link", + "right_middle_fingertip_11_link", + "right_middle_fingertip_12_link", + "right_middle_fingertip_13_link", + "right_middle_fingertip_14_link", + "right_middle_fingertip_15_link", + "right_middle_fingertip_16_link", + "right_middle_fingertip_17_link", + "right_middle_fingertip_18_link", + "right_middle_fingertip_19_link", + "right_middle_fingertip_20_link", + "right_middle_fingertip_21_link", + "right_middle_fingerpad_41_link", + "right_middle_fingerpad_42_link", + "right_middle_fingerpad_43_link", + "right_middle_fingerpad_44_link", + "right_middle_fingerpad_45_link", + "right_middle_fingerpad_46_link", + "right_middle_fingerpad_47_link", + "right_middle_fingerpad_48_link", + "right_middle_fingerpad_49_link", + "right_middle_fingerpad_50_link", + "right_middle_fingerpad_51_link", + "right_middle_fingerpad_52_link", + "right_middle_fingerpad_1_link", + "right_middle_fingerpad_2_link", + "right_middle_fingerpad_3_link", + "right_middle_fingerpad_4_link", + "right_middle_fingerpad_5_link", + "right_middle_fingerpad_6_link", + "right_middle_fingerpad_7_link", + "right_middle_fingerpad_8_link", + "right_middle_fingerpad_9_link", + "right_middle_fingerpad_10_link", + "right_middle_fingerpad_11_link", + "right_middle_fingerpad_12_link", + "right_middle_fingerpad_13_link", + "right_middle_fingerpad_14_link", + "right_middle_fingerpad_15_link", + "right_middle_fingerpad_16_link", + "right_middle_fingerpad_17_link", + "right_middle_fingerpad_18_link", + "right_middle_fingerpad_19_link", + "right_middle_fingerpad_20_link", + "right_middle_fingerpad_21_link", + "right_middle_fingerpad_22_link", + "right_middle_fingerpad_23_link", + "right_middle_fingerpad_24_link", + "right_middle_fingerpad_25_link", + "right_middle_fingerpad_26_link", + "right_middle_fingerpad_27_link", + "right_middle_fingerpad_28_link", + "right_middle_fingerpad_29_link", + "right_middle_fingerpad_30_link", + "right_middle_fingerpad_31_link", + "right_middle_fingerpad_32_link", + "right_middle_fingerpad_33_link", + "right_middle_fingerpad_34_link", + "right_middle_fingerpad_35_link", + "right_middle_fingerpad_36_link", + "right_middle_fingerpad_37_link", + "right_middle_fingerpad_38_link", + "right_middle_fingerpad_39_link", + "right_middle_fingerpad_40_link", + "right_thumb_fingertip_1_link", + "right_thumb_fingertip_2_link", + "right_thumb_fingertip_3_link", + "right_thumb_fingertip_4_link", + "right_thumb_fingertip_5_link", + "right_thumb_fingertip_6_link", + "right_thumb_fingertip_7_link", + "right_thumb_fingertip_8_link", + "right_thumb_fingertip_9_link", + "right_thumb_fingertip_10_link", + "right_thumb_fingertip_11_link", + "right_thumb_fingertip_12_link", + "right_thumb_fingertip_13_link", + "right_thumb_fingertip_14_link", + "right_thumb_fingertip_15_link", + "right_thumb_fingertip_16_link", + "right_thumb_fingertip_17_link", + "right_thumb_fingertip_18_link", + "right_thumb_fingertip_19_link", + "right_thumb_fingertip_20_link", + "right_thumb_fingertip_21_link", + "right_thumb_fingertip_22_link", + "right_thumb_fingertip_23_link", + "right_thumb_fingertip_24_link", + "right_thumb_fingertip_25_link", + "right_thumb_fingertip_26_link", + "right_thumb_fingertip_27_link", + "right_thumb_fingertip_28_link", + "right_thumb_fingertip_29_link", + "right_thumb_fingertip_30_link", + "right_thumb_fingertip_31_link", + "right_thumb_fingerpad_46_link", + "right_thumb_fingerpad_47_link", + "right_thumb_fingerpad_48_link", + "right_thumb_fingerpad_49_link", + "right_thumb_fingerpad_50_link", + "right_thumb_fingerpad_51_link", + "right_thumb_fingerpad_52_link", + "right_thumb_fingerpad_53_link", + "right_thumb_fingerpad_54_link", + "right_thumb_fingerpad_55_link", + "right_thumb_fingerpad_56_link", + "right_thumb_fingerpad_57_link", + "right_thumb_fingerpad_1_link", + "right_thumb_fingerpad_2_link", + "right_thumb_fingerpad_3_link", + "right_thumb_fingerpad_4_link", + "right_thumb_fingerpad_5_link", + "right_thumb_fingerpad_6_link", + "right_thumb_fingerpad_7_link", + "right_thumb_fingerpad_8_link", + "right_thumb_fingerpad_9_link", + "right_thumb_fingerpad_10_link", + "right_thumb_fingerpad_11_link", + "right_thumb_fingerpad_12_link", + "right_thumb_fingerpad_13_link", + "right_thumb_fingerpad_14_link", + "right_thumb_fingerpad_15_link", + "right_thumb_fingerpad_16_link", + "right_thumb_fingerpad_17_link", + "right_thumb_fingerpad_18_link", + "right_thumb_fingerpad_19_link", + "right_thumb_fingerpad_20_link", + "right_thumb_fingerpad_21_link", + "right_thumb_fingerpad_22_link", + "right_thumb_fingerpad_23_link", + "right_thumb_fingerpad_24_link", + "right_thumb_fingerpad_25_link", + "right_thumb_fingerpad_26_link", + "right_thumb_fingerpad_27_link", + "right_thumb_fingerpad_28_link", + "right_thumb_fingerpad_29_link", + "right_thumb_fingerpad_30_link", + "right_thumb_fingerpad_31_link", + "right_thumb_fingerpad_32_link", + "right_thumb_fingerpad_33_link", + "right_thumb_fingerpad_34_link", + "right_thumb_fingerpad_35_link", + "right_thumb_fingerpad_36_link", + "right_thumb_fingerpad_37_link", + "right_thumb_fingerpad_38_link", + "right_thumb_fingerpad_39_link", + "right_thumb_fingerpad_40_link", + "right_thumb_fingerpad_41_link", + "right_thumb_fingerpad_42_link", + "right_thumb_fingerpad_43_link", + "right_thumb_fingerpad_44_link", + "right_thumb_fingerpad_45_link", + "right_index_fingertip_1_link", + "right_index_fingertip_2_link", + "right_index_fingertip_3_link", + "right_index_fingertip_4_link", + "right_index_fingertip_5_link", + "right_index_fingertip_6_link", + "right_index_fingertip_7_link", + "right_index_fingertip_8_link", + "right_index_fingertip_9_link", + "right_index_fingertip_10_link", + "right_index_fingertip_11_link", + "right_index_fingertip_12_link", + "right_index_fingertip_13_link", + "right_index_fingertip_14_link", + "right_index_fingertip_15_link", + "right_index_fingertip_16_link", + "right_index_fingertip_17_link", + "right_index_fingertip_18_link", + "right_index_fingertip_19_link", + "right_index_fingertip_20_link", + "right_index_fingertip_21_link", + "right_index_fingerpad_41_link", + "right_index_fingerpad_42_link", + "right_index_fingerpad_43_link", + "right_index_fingerpad_44_link", + "right_index_fingerpad_45_link", + "right_index_fingerpad_46_link", + "right_index_fingerpad_47_link", + "right_index_fingerpad_48_link", + "right_index_fingerpad_49_link", + "right_index_fingerpad_50_link", + "right_index_fingerpad_51_link", + "right_index_fingerpad_52_link", + "right_index_fingerpad_1_link", + "right_index_fingerpad_2_link", + "right_index_fingerpad_3_link", + "right_index_fingerpad_4_link", + "right_index_fingerpad_5_link", + "right_index_fingerpad_6_link", + "right_index_fingerpad_7_link", + "right_index_fingerpad_8_link", + "right_index_fingerpad_9_link", + "right_index_fingerpad_10_link", + "right_index_fingerpad_11_link", + "right_index_fingerpad_12_link", + "right_index_fingerpad_13_link", + "right_index_fingerpad_14_link", + "right_index_fingerpad_15_link", + "right_index_fingerpad_16_link", + "right_index_fingerpad_17_link", + "right_index_fingerpad_18_link", + "right_index_fingerpad_19_link", + "right_index_fingerpad_20_link", + "right_index_fingerpad_21_link", + "right_index_fingerpad_22_link", + "right_index_fingerpad_23_link", + "right_index_fingerpad_24_link", + "right_index_fingerpad_25_link", + "right_index_fingerpad_26_link", + "right_index_fingerpad_27_link", + "right_index_fingerpad_28_link", + "right_index_fingerpad_29_link", + "right_index_fingerpad_30_link", + "right_index_fingerpad_31_link", + "right_index_fingerpad_32_link", + "right_index_fingerpad_33_link", + "right_index_fingerpad_34_link", + "right_index_fingerpad_35_link", + "right_index_fingerpad_36_link", + "right_index_fingerpad_37_link", + "right_index_fingerpad_38_link", + "right_index_fingerpad_39_link", + "right_index_fingerpad_40_link", + "right_ring_fingertip_1_link", + "right_ring_fingertip_2_link", + "right_ring_fingertip_3_link", + "right_ring_fingertip_4_link", + "right_ring_fingertip_5_link", + "right_ring_fingertip_6_link", + "right_ring_fingertip_7_link", + "right_ring_fingertip_8_link", + "right_ring_fingertip_9_link", + "right_ring_fingertip_10_link", + "right_ring_fingertip_11_link", + "right_ring_fingertip_12_link", + "right_ring_fingertip_13_link", + "right_ring_fingertip_14_link", + "right_ring_fingertip_15_link", + "right_ring_fingertip_16_link", + "right_ring_fingertip_17_link", + "right_ring_fingertip_18_link", + "right_ring_fingertip_19_link", + "right_ring_fingertip_20_link", + "right_ring_fingertip_21_link", + "right_ring_fingerpad_41_link", + "right_ring_fingerpad_42_link", + "right_ring_fingerpad_43_link", + "right_ring_fingerpad_44_link", + "right_ring_fingerpad_45_link", + "right_ring_fingerpad_46_link", + "right_ring_fingerpad_47_link", + "right_ring_fingerpad_48_link", + "right_ring_fingerpad_49_link", + "right_ring_fingerpad_50_link", + "right_ring_fingerpad_51_link", + "right_ring_fingerpad_52_link", + "right_ring_fingerpad_1_link", + "right_ring_fingerpad_2_link", + "right_ring_fingerpad_3_link", + "right_ring_fingerpad_4_link", + "right_ring_fingerpad_5_link", + "right_ring_fingerpad_6_link", + "right_ring_fingerpad_7_link", + "right_ring_fingerpad_8_link", + "right_ring_fingerpad_9_link", + "right_ring_fingerpad_10_link", + "right_ring_fingerpad_11_link", + "right_ring_fingerpad_12_link", + "right_ring_fingerpad_13_link", + "right_ring_fingerpad_14_link", + "right_ring_fingerpad_15_link", + "right_ring_fingerpad_16_link", + "right_ring_fingerpad_17_link", + "right_ring_fingerpad_18_link", + "right_ring_fingerpad_19_link", + "right_ring_fingerpad_20_link", + "right_ring_fingerpad_21_link", + "right_ring_fingerpad_22_link", + "right_ring_fingerpad_23_link", + "right_ring_fingerpad_24_link", + "right_ring_fingerpad_25_link", + "right_ring_fingerpad_26_link", + "right_ring_fingerpad_27_link", + "right_ring_fingerpad_28_link", + "right_ring_fingerpad_29_link", + "right_ring_fingerpad_30_link", + "right_ring_fingerpad_31_link", + "right_ring_fingerpad_32_link", + "right_ring_fingerpad_33_link", + "right_ring_fingerpad_34_link", + "right_ring_fingerpad_35_link", + "right_ring_fingerpad_36_link", + "right_ring_fingerpad_37_link", + "right_ring_fingerpad_38_link", + "right_ring_fingerpad_39_link", + "right_ring_fingerpad_40_link", + "right_little_fingertip_1_link", + "right_little_fingertip_2_link", + "right_little_fingertip_3_link", + "right_little_fingertip_4_link", + "right_little_fingertip_5_link", + "right_little_fingertip_6_link", + "right_little_fingertip_7_link", + "right_little_fingertip_8_link", + "right_little_fingertip_9_link", + "right_little_fingertip_10_link", + "right_little_fingertip_11_link", + "right_little_fingertip_12_link", + "right_little_fingertip_13_link", + "right_little_fingertip_14_link", + "right_little_fingertip_15_link", + "right_little_fingertip_16_link", + "right_little_fingertip_17_link", + "right_little_fingertip_18_link", + "right_little_fingertip_19_link", + "right_little_fingertip_20_link", + "right_little_fingertip_21_link", + "right_little_fingerpad_41_link", + "right_little_fingerpad_42_link", + "right_little_fingerpad_43_link", + "right_little_fingerpad_44_link", + "right_little_fingerpad_45_link", + "right_little_fingerpad_46_link", + "right_little_fingerpad_47_link", + "right_little_fingerpad_48_link", + "right_little_fingerpad_49_link", + "right_little_fingerpad_50_link", + "right_little_fingerpad_51_link", + "right_little_fingerpad_52_link", + "right_little_fingerpad_1_link", + "right_little_fingerpad_2_link", + "right_little_fingerpad_3_link", + "right_little_fingerpad_4_link", + "right_little_fingerpad_5_link", + "right_little_fingerpad_6_link", + "right_little_fingerpad_7_link", + "right_little_fingerpad_8_link", + "right_little_fingerpad_9_link", + "right_little_fingerpad_10_link", + "right_little_fingerpad_11_link", + "right_little_fingerpad_12_link", + "right_little_fingerpad_13_link", + "right_little_fingerpad_14_link", + "right_little_fingerpad_15_link", + "right_little_fingerpad_16_link", + "right_little_fingerpad_17_link", + "right_little_fingerpad_18_link", + "right_little_fingerpad_19_link", + "right_little_fingerpad_20_link", + "right_little_fingerpad_21_link", + "right_little_fingerpad_22_link", + "right_little_fingerpad_23_link", + "right_little_fingerpad_24_link", + "right_little_fingerpad_25_link", + "right_little_fingerpad_26_link", + "right_little_fingerpad_27_link", + "right_little_fingerpad_28_link", + "right_little_fingerpad_29_link", + "right_little_fingerpad_30_link", + "right_little_fingerpad_31_link", + "right_little_fingerpad_32_link", + "right_little_fingerpad_33_link", + "right_little_fingerpad_34_link", + "right_little_fingerpad_35_link", + "right_little_fingerpad_36_link", + "right_little_fingerpad_37_link", + "right_little_fingerpad_38_link", + "right_little_fingerpad_39_link", + "right_little_fingerpad_40_link", + "right_hand_touch_1_link", + "right_hand_touch_2_link", + "right_hand_touch_3_link", + "right_hand_touch_4_link", + "right_hand_touch_5_link", + "right_hand_touch_6_link", + "right_hand_touch_7_link", + "right_hand_touch_8_link", + "right_hand_touch_9_link", + "right_hand_touch_10_link", + "right_hand_touch_11_link", + "right_hand_touch_12_link", + "right_hand_touch_13_link", + "right_hand_touch_14_link", + "right_hand_touch_15_link", + "right_hand_touch_16_link", + "right_hand_touch_17_link", + "right_hand_touch_18_link", + "right_hand_touch_19_link", + "right_hand_touch_20_link", + "right_hand_touch_21_link", + 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mode 100644 index 0000000000000000000000000000000000000000..05bd9479b88076e1a3b915f4365ea50534560299 --- /dev/null +++ b/meta/tactile_targets.json @@ -0,0 +1,50 @@ +[ + { + "task": "hammer", + "object": "hammer_pair_hammer" + }, + { + "task": "plug_charger", + "object": "charger" + }, + { + "task": "tray_carry", + "object": "tray_food_pair_tray" + }, + { + "task": "pour_can", + "object": "can" + }, + { + "task": "cup_hang", + "object": "cup_forest_green" + }, + { + "task": "rotate_knob", + "object": "knob" + }, + { + "task": "insert_pipette", + "object": "pipette" + }, + { + "task": "insert_peg", + "object": "peg" + }, + { + "task": "kitchen", + "object": "meat_chunk_0" + }, + { + "task": "kitchen", + "object": "meat_chunk_1" + }, + { + "task": "kitchen", + "object": "potato_chunk_0" + }, + { + "task": "power_drill", + "object": "power_drill" + } +] diff --git a/meta/tasks.jsonl b/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..83dfbef51bdda88638c5665cd8869c2d4f3ff377 --- /dev/null +++ b/meta/tasks.jsonl @@ -0,0 +1,10 @@ +{"task_index": 0, "task": "Pick up the hammer and drive the nail into the board."} +{"task_index": 1, "task": "Pick up the charger, insert both prongs into the receptacle and release."} +{"task_index": 2, "task": "Lift the tray with both hands, place it down and release."} +{"task_index": 3, "task": "Pick up the can, pour the particles into the bowl and place the can down."} +{"task_index": 4, "task": "Pick up the cup, hang it on the rack, release and withdraw."} +{"task_index": 5, "task": "Grasp the knob with five fingers, turn it counterclockwise by 35 degrees, then release and withdraw while it returns naturally."} +{"task_index": 6, "task": "Pick up the pipette, turn its tip downward, insert it into the glassware and hold it steadily."} +{"task_index": 7, "task": "Pick up the peg, insert it into the hole and release."} +{"task_index": 8, "task": "Transfer the potato and two meat pieces from the pot to the bowl."} +{"task_index": 9, "task": "Pick up the drill, align its chuck above the board without contact, then return it upright, release and withdraw."} diff --git a/meta/validation_summary.json b/meta/validation_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..8b1ab09657adafd434fe4d6b2b8adc279cda49d6 --- /dev/null +++ b/meta/validation_summary.json @@ -0,0 +1,530 @@ +{ + "loader": "lerobot 0.3.3 / pyav", + "pilot": false, + "episodes": [ + { + "episode": 0, + "frames": 1403, + "physical_success": true, + "peaks": { + "observation.tactile_target_id": 0.0, + "observation.tactile_depth.left_thumb": 0.0, + "observation.tactile_marker.left_thumb": 0.0, + "observation.tactile_depth.left_index": 0.0, + "observation.tactile_marker.left_index": 0.0, + "observation.tactile_depth.left_middle": 0.0, + "observation.tactile_marker.left_middle": 0.0, + "observation.tactile_depth.left_ring": 0.0, + 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