OAT· Iteration 3
EnvironmentPour screws into the funnel
- Episodes
- OAT 30 QueST 30
- Total duration
- OAT 5:49 QueST 6:57
- Mean duration
- OAT 11.6 s QueST 13.9 s
- Success
- OAT 70% QueST 80%
- Manipulation density
- OAT Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.6%Gripper engaged78.0%Contact force > 5 N60.8%Gripper engaged or in contact90.5% QueST Share of time manipulating, five definitionsJoints moving100.0%End-effector moving99.5%Gripper engaged76.9%Contact force > 5 N58.0%Gripper engaged or in contact90.7%
- SPARC smoothness
- OAT 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. QueST 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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