Pi 0.5

BenchmarkPAW-GEN-10

Episodes

30

Total duration

19:31

Mean duration

39.0 s

Success

47%

Manipulation density

85.6%Share of time manipulating, five definitionsJoints moving100.0%End-effector moving97.8%Gripper engaged66.9%Contact force > 5 N70.9%Gripper engaged or in contact85.6%

SPARC smoothness

-3.88Spectral arc length of the motionHow directly the arm moved, read from the shape of its speed spectrum. Unitless measure ≤ -1; the closer to -1, the smoother.The measure ignores how large a movement is, so a large and a small one compare directly. Shown here as the mean over this environment's measured episodes.Cutoff10 HzAmplitude threshold5%Zero-padding16×Signalend-effector translationBalasubramanian et al., On the analysis of movement smoothness, J Neuroeng Rehabil 2015.