FACT· Iteration 2
EnvironmentConnect DC jack
- Episodes
- FACT 30 π0.5 30
- Total duration
- FACT 31:02 π0.5 34:02
- Mean duration
- FACT 62.1 s π0.5 68.1 s
- Success
- FACT 50% π0.5 10%
- Manipulation density
- FACT Share of time manipulating, five definitionsJoints moving98.0%End-effector moving78.9%Gripper engaged79.3%Contact force > 5 N77.3%Gripper engaged or in contact91.7% π0.5 Share of time manipulating, five definitionsJoints moving92.6%End-effector moving58.6%Gripper engaged85.4%Contact force > 5 N86.8%Gripper engaged or in contact93.9%
- SPARC smoothness
- 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. 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.
Episode
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