--- license: apache-2.0 --- # SPIDER video and data workflows [**Watch the corrected pickup and release**](agentic_pipeline/2026-10-08-grasp-phases/pickcup_right/motion/independent_evaluation/comparison.mp4) · [Sequence contact sheet](agentic_pipeline/2026-10-08-grasp-phases/pickcup_right/motion/independent_evaluation/contact_sheet.jpg) · [Code/data and reproduction command](agentic_pipeline/2026-10-08-grasp-phases/README.md) The RGB-D cup workflow now starts with an **open, separated hand** and a free cup resting on a measured table. It approaches, closes, establishes a physical grasp before lift, transports, restores table support, opens fully during release, and withdraws. The grasp checkpoint is a target, not the initial simulation state. The previous always-held cup recording is superseded for pickup/release behavior. All **269 source frames** are represented at **quarter speed**, with **35,680 actual simulation steps**. Grasp establishment completes at **2.213 s**, before lift at **2.775 s**; support returns before release, and the final cup remains at rest. All **46 independent phase checks pass**, including hand/table clearance. Control replay matches saved positions and velocities exactly. Maximum position error against the declared execution reference is **14.61 mm**. The update passed **204 tests**. Six shared Codex/Claude skills expose the workflow; invoke `$spider-video-to-motion` or `/spider-video-to-motion`. The example runs on CPU without MANO models. Inputs, source phase reviews, grasp targets, approach waypoints, physical trajectories/controls, video, support provenance and verification reports are included. Runtime logs remain excluded. Depth scale, registration, level-table gravity, approximate axial cup geometry, mass and friction remain assumptions; 36 reconstructed poses are uncertain. Support-compatible reference corrections are recorded separately (up to 7.4 mm), and the original track is retained. Axial spin is unobserved; full quaternion errors remain reported. Execution uses full gravity, real finger/table contacts, no object actuation, no welds, no applied forces and no scored-state resets. This verifies simulated interaction, not hardware or liquid transfer. [Current manifest](agentic_pipeline/2026-10-08-grasp-phases/manifest.json) · [Checksums](agentic_pipeline/2026-10-08-grasp-phases/SHA256SUMS) · [Portability check](agentic_pipeline/2026-10-08-grasp-phases/PORTABILITY.json) · [Phase evidence](agentic_pipeline/2026-10-08-grasp-phases/pickcup_right/motion/phase_evaluation/evaluation.json) Earlier conversion examples and the [Whisking case](agentic_pipeline/2026-10-07-object-motion/README.md) remain available. The original `pickcup_right/` inputs are unchanged. Components retain their source licenses and provenance; the dataset license applies to original data. See release instructions and bundled notices for code, robot assets and upstream inputs.