Self-Contained VBD/RVBD Franka Example
These recordings come from newton.examples.vbd.example_vbd_franka_rvbd,
a robot-only Franka example that builds the scene directly and does not import
the rigid-soft-contact branch script or replay recorded poses.
| Metric | Value |
|---|---|
| Compared frames | 240 |
| Max hand position error, RVBD vs maximal | 0.409 mm |
| RMS hand position error, RVBD vs maximal | 0.311 mm |
| Max left finger position error | 0.214 mm |
| Max right finger position error | 0.237 mm |
| Final hand z, maximal | 0.620125 m |
| Final hand z, RVBD | 0.620250 m |
| Video mean pixel MAE | 0.085 |
Videos
Maximal VBD
RVBD Reduced, GN=2
Side-by-side
Files
comparison_metrics.json, worst-frame pixel diff, maximal trajectory, RVBD trajectory
