FACT· Iteration 1
EnvironmentConnect DC jack
- Episodes
- π0.5 30 FACT 30
- Total duration
- π0.5 28:01 FACT 31:04
- Mean duration
- π0.5 56.0 s FACT 62.1 s
- Success
- π0.5 7% FACT 3%
- Manipulation density
- π0.5 Share of time manipulating, five definitionsJoints moving99.3%End-effector moving92.2%Gripper engaged76.4%Contact force > 5 N78.1%Gripper engaged or in contact93.0% FACT Share of time manipulating, five definitionsJoints moving98.1%End-effector moving88.2%Gripper engaged84.7%Contact force > 5 N62.7%Gripper engaged or in contact94.0%
- SPARC smoothness
- π0.5 Spectral 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. FACT Spectral 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.
Episode
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