Action capture · v0.1

PiPER, frame by frame.

Three registered simulation captures. Inspect the camera images, measured joints and commands recorded at each snapshot.

— / —identical RGB + depth pairs in the repeat

— channels missingobject pose and uncertainty unavailable

Training export refusedthese captures are incomplete learning inputs

Loading the local capture index…

This viewer needs JavaScript to read the local capture index. The protocol, repeat comparison and individual recording JSON files remain available directly.

Recorded episode

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—Open original RGB PNG ↗Download raw depth NPY ↗

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Playback of saved snapshots at recorded simulation time. No physics runs in this page.

Recorded snapshots / steps: —
Native task observation: —
Recording task result: —
Capture wall time: —

Measurements and controls

Measurements belong to this snapshot. Issued targets and native controls belong to the preceding interval; ramped targets are its final endpoint. The initial snapshot has no preceding command or native control.

Coordinate	Measured	Issued	Ramped	Native control

Signed finger positions

q7 — mq8 — m

Signed finger velocities

q̇7 — m/sq̇8 — m/s

Finger (q7) is one finger’s position coordinate, not total jaw gap. Native control is an actuator input, not a measurement. No force or tactile sensor is recorded.

Initial snapshot: no preceding issued command or native control (null in the recording).

What this evidence establishes

A preserved capture, with a repeat

The full and repeated episodes can be compared frame by frame.

Timing applies to this simulation capture and its local recording path.

One start, one controller

Two full runs use the same fixed start and fixed controller. Their native task observations are not a generalized success rate. Recording task results remain unverified; the interrupted prefix has an unknown outcome.

Depth is precision limited

A CGL ARB_clip_control warning limits depth precision. Matching saved depth readback does not establish metric depth accuracy.

Four tracker channels are missing. Strict training export is refused. These recordings are not a learned policy, a live simulation or evidence of physical robot readiness.

Read the evidence

Local files for the selected episode and the registered study. Camera paths in this viewer point to the preserved PNGs.

Separate development evidence

The sandbox refusal and privileged smoke run are development records. They are separate from the three registered cases above and do not increase the registered result count.

Development notes · Sandbox refusal receipt · Privileged smoke receipt · Smoke02 warning log