Phase Boundary Annotation — card-slide pick task

Each phase boundary is owned by the modality that observes it most reliably. Drag the scrubber to inspect any moment.

VideoRGB stream
Approach
Contact
Pick
Hand-Over
Joint Torqueτ (N·m)
Tactilepressure
Proprioceptionjoint position
0.00s
t = 0.00 s Phase: Approach · Authoritative modality: Video Visual stream tracks free-space arm trajectory before any contact occurs.
Phase boundary band — owned by one modality
Signal trace
Scrubber