2026-05-17: spurious_filter medium mode — drop 26 oids that are far from hand zone AND static (16/17)
Browse files- samples/NJ0_jMbxv5I_754.0_759.6/masks.npz +2 -2
- samples/NJ0_jMbxv5I_754.0_759.6/object_obb.bin +2 -2
- samples/NJ0_jMbxv5I_754.0_759.6/object_pose.bin +2 -2
- samples/NJ0_jMbxv5I_754.0_759.6/pose_track.json +4 -3269
- samples/NJ0_jMbxv5I_754.0_759.6/recording.viser +2 -2
- samples/NJ0_jMbxv5I_754.0_759.6/scene.json +4 -49
- samples/NJ0_jMbxv5I_754.0_759.6/signals.json +1 -1
samples/NJ0_jMbxv5I_754.0_759.6/masks.npz
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false,
|
| 6245 |
-
false,
|
| 6246 |
-
false,
|
| 6247 |
-
false,
|
| 6248 |
-
false,
|
| 6249 |
-
false,
|
| 6250 |
-
false,
|
| 6251 |
-
false,
|
| 6252 |
-
false,
|
| 6253 |
-
false,
|
| 6254 |
-
false,
|
| 6255 |
-
false,
|
| 6256 |
-
false,
|
| 6257 |
-
false,
|
| 6258 |
-
false,
|
| 6259 |
-
false,
|
| 6260 |
-
false,
|
| 6261 |
-
false,
|
| 6262 |
-
false,
|
| 6263 |
-
false,
|
| 6264 |
-
false,
|
| 6265 |
-
false,
|
| 6266 |
-
false,
|
| 6267 |
-
false,
|
| 6268 |
-
false,
|
| 6269 |
-
false,
|
| 6270 |
-
false,
|
| 6271 |
-
false,
|
| 6272 |
-
false,
|
| 6273 |
-
false,
|
| 6274 |
-
false,
|
| 6275 |
-
false,
|
| 6276 |
-
false
|
| 6277 |
-
],
|
| 6278 |
-
"wrist_r_per_frame": [
|
| 6279 |
-
false,
|
| 6280 |
-
false,
|
| 6281 |
-
false,
|
| 6282 |
-
false,
|
| 6283 |
-
false,
|
| 6284 |
-
false,
|
| 6285 |
-
false,
|
| 6286 |
-
false,
|
| 6287 |
-
false,
|
| 6288 |
-
false,
|
| 6289 |
-
false,
|
| 6290 |
-
false,
|
| 6291 |
-
false,
|
| 6292 |
-
false,
|
| 6293 |
-
false,
|
| 6294 |
-
false,
|
| 6295 |
-
false,
|
| 6296 |
-
false,
|
| 6297 |
-
false,
|
| 6298 |
-
false,
|
| 6299 |
-
false,
|
| 6300 |
-
false,
|
| 6301 |
-
false,
|
| 6302 |
-
false,
|
| 6303 |
-
false,
|
| 6304 |
-
false,
|
| 6305 |
-
false,
|
| 6306 |
-
false,
|
| 6307 |
-
false,
|
| 6308 |
-
false,
|
| 6309 |
-
false,
|
| 6310 |
-
false,
|
| 6311 |
-
false,
|
| 6312 |
-
false,
|
| 6313 |
-
false,
|
| 6314 |
-
false,
|
| 6315 |
-
false,
|
| 6316 |
-
false,
|
| 6317 |
-
false,
|
| 6318 |
-
false,
|
| 6319 |
-
false,
|
| 6320 |
-
false,
|
| 6321 |
-
false,
|
| 6322 |
-
false,
|
| 6323 |
-
false,
|
| 6324 |
-
false,
|
| 6325 |
-
false,
|
| 6326 |
-
false,
|
| 6327 |
-
false,
|
| 6328 |
-
false,
|
| 6329 |
-
false,
|
| 6330 |
-
false,
|
| 6331 |
-
false,
|
| 6332 |
-
false,
|
| 6333 |
-
false,
|
| 6334 |
-
false,
|
| 6335 |
-
false,
|
| 6336 |
-
false,
|
| 6337 |
-
false,
|
| 6338 |
-
false,
|
| 6339 |
-
false,
|
| 6340 |
-
false,
|
| 6341 |
-
false,
|
| 6342 |
-
false,
|
| 6343 |
-
false,
|
| 6344 |
-
false,
|
| 6345 |
-
false,
|
| 6346 |
-
false,
|
| 6347 |
-
false,
|
| 6348 |
-
false,
|
| 6349 |
-
false,
|
| 6350 |
-
false,
|
| 6351 |
-
false,
|
| 6352 |
-
false,
|
| 6353 |
-
false,
|
| 6354 |
-
false,
|
| 6355 |
-
false,
|
| 6356 |
-
false,
|
| 6357 |
-
false,
|
| 6358 |
-
false,
|
| 6359 |
-
false,
|
| 6360 |
-
false,
|
| 6361 |
-
false,
|
| 6362 |
-
false,
|
| 6363 |
-
false
|
| 6364 |
-
],
|
| 6365 |
-
"is_moving_per_frame": [
|
| 6366 |
-
false,
|
| 6367 |
-
false,
|
| 6368 |
-
false,
|
| 6369 |
-
false,
|
| 6370 |
-
false,
|
| 6371 |
-
false,
|
| 6372 |
-
false,
|
| 6373 |
-
false,
|
| 6374 |
-
false,
|
| 6375 |
-
false,
|
| 6376 |
-
false,
|
| 6377 |
-
false,
|
| 6378 |
-
false,
|
| 6379 |
-
false,
|
| 6380 |
-
false,
|
| 6381 |
-
false,
|
| 6382 |
-
false,
|
| 6383 |
-
false,
|
| 6384 |
-
false,
|
| 6385 |
-
false,
|
| 6386 |
-
false,
|
| 6387 |
-
false,
|
| 6388 |
-
false,
|
| 6389 |
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false,
|
| 6390 |
-
false,
|
| 6391 |
-
false,
|
| 6392 |
-
false,
|
| 6393 |
-
false,
|
| 6394 |
-
false,
|
| 6395 |
-
false,
|
| 6396 |
-
false,
|
| 6397 |
-
false,
|
| 6398 |
-
false,
|
| 6399 |
-
false,
|
| 6400 |
-
false,
|
| 6401 |
-
false,
|
| 6402 |
-
false,
|
| 6403 |
-
false,
|
| 6404 |
-
false,
|
| 6405 |
-
false,
|
| 6406 |
-
false,
|
| 6407 |
-
false,
|
| 6408 |
-
false,
|
| 6409 |
-
false,
|
| 6410 |
-
false,
|
| 6411 |
-
false,
|
| 6412 |
-
false,
|
| 6413 |
-
false,
|
| 6414 |
-
false,
|
| 6415 |
-
false,
|
| 6416 |
-
false,
|
| 6417 |
-
false,
|
| 6418 |
-
false,
|
| 6419 |
-
false,
|
| 6420 |
-
false,
|
| 6421 |
-
false,
|
| 6422 |
-
false,
|
| 6423 |
-
false,
|
| 6424 |
-
false,
|
| 6425 |
-
false,
|
| 6426 |
-
false,
|
| 6427 |
-
false,
|
| 6428 |
-
false,
|
| 6429 |
-
false,
|
| 6430 |
-
false,
|
| 6431 |
-
false,
|
| 6432 |
-
false,
|
| 6433 |
-
false,
|
| 6434 |
-
false,
|
| 6435 |
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false,
|
| 6436 |
-
false,
|
| 6437 |
-
false,
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| 6438 |
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false,
|
| 6439 |
-
false,
|
| 6440 |
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false,
|
| 6441 |
-
false,
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| 6442 |
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false,
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| 6443 |
-
false,
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| 6444 |
-
false,
|
| 6445 |
-
false,
|
| 6446 |
-
false,
|
| 6447 |
-
false,
|
| 6448 |
-
false,
|
| 6449 |
-
false,
|
| 6450 |
-
false
|
| 6451 |
],
|
| 6452 |
-
"
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| 6453 |
-
|
| 6454 |
-
|
| 6455 |
-
|
| 6456 |
-
false,
|
| 6457 |
-
false,
|
| 6458 |
-
false,
|
| 6459 |
-
false,
|
| 6460 |
-
false,
|
| 6461 |
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false,
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| 6462 |
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false,
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| 6463 |
-
false,
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| 6464 |
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false,
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| 6465 |
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false,
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| 6466 |
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false,
|
| 6467 |
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false,
|
| 6468 |
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false,
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| 6469 |
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false,
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| 6470 |
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false,
|
| 6471 |
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false,
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| 6472 |
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false,
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| 6473 |
-
false,
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| 6474 |
-
false,
|
| 6475 |
-
false,
|
| 6476 |
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false,
|
| 6477 |
-
false,
|
| 6478 |
-
false,
|
| 6479 |
-
false,
|
| 6480 |
-
false,
|
| 6481 |
-
false,
|
| 6482 |
-
false,
|
| 6483 |
-
false,
|
| 6484 |
-
false,
|
| 6485 |
-
false,
|
| 6486 |
-
false,
|
| 6487 |
-
false,
|
| 6488 |
-
false,
|
| 6489 |
-
false,
|
| 6490 |
-
false,
|
| 6491 |
-
false,
|
| 6492 |
-
false,
|
| 6493 |
-
false,
|
| 6494 |
-
false,
|
| 6495 |
-
false,
|
| 6496 |
-
false,
|
| 6497 |
-
false,
|
| 6498 |
-
false,
|
| 6499 |
-
false,
|
| 6500 |
-
false,
|
| 6501 |
-
false,
|
| 6502 |
-
false,
|
| 6503 |
-
false,
|
| 6504 |
-
false,
|
| 6505 |
-
false,
|
| 6506 |
-
false,
|
| 6507 |
-
false,
|
| 6508 |
-
false,
|
| 6509 |
-
false,
|
| 6510 |
-
false,
|
| 6511 |
-
false,
|
| 6512 |
-
false,
|
| 6513 |
-
false,
|
| 6514 |
-
false,
|
| 6515 |
-
false,
|
| 6516 |
-
false,
|
| 6517 |
-
false,
|
| 6518 |
-
false,
|
| 6519 |
-
false,
|
| 6520 |
-
false,
|
| 6521 |
-
false,
|
| 6522 |
-
false,
|
| 6523 |
-
false,
|
| 6524 |
-
false,
|
| 6525 |
-
false,
|
| 6526 |
-
false,
|
| 6527 |
-
false,
|
| 6528 |
-
false,
|
| 6529 |
-
false,
|
| 6530 |
-
false,
|
| 6531 |
-
false,
|
| 6532 |
-
false,
|
| 6533 |
-
false,
|
| 6534 |
-
false,
|
| 6535 |
-
false,
|
| 6536 |
-
false,
|
| 6537 |
-
false
|
| 6538 |
-
]
|
| 6539 |
}
|
| 6540 |
}
|
|
|
|
| 3266 |
true,
|
| 3267 |
false,
|
| 3268 |
false
|
|
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|
| 3269 |
],
|
| 3270 |
+
"spurious_flag": false,
|
| 3271 |
+
"spurious_reason": "ok",
|
| 3272 |
+
"spurious_d3d_m": 0.0,
|
| 3273 |
+
"spurious_motion2d_px": 0.7071067690849304
|
|
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|
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|
| 3274 |
}
|
| 3275 |
}
|
samples/NJ0_jMbxv5I_754.0_759.6/recording.viser
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ade8cafbdad3c70d6b590cd1951c87ade66f8c6ff25f6dfddf995b763bb20eb2
|
| 3 |
+
size 2839855
|
samples/NJ0_jMbxv5I_754.0_759.6/scene.json
CHANGED
|
@@ -62,39 +62,18 @@
|
|
| 62 |
0.43581488728523254
|
| 63 |
],
|
| 64 |
"canonical_scale": 0.37681788206100464
|
| 65 |
-
},
|
| 66 |
-
{
|
| 67 |
-
"id": 1,
|
| 68 |
-
"prompt": "tray",
|
| 69 |
-
"color_hex": "#6a9460",
|
| 70 |
-
"ply": "objects/obj_1.ply",
|
| 71 |
-
"n_points": 60564,
|
| 72 |
-
"scale_correction": 0.31089848279953003,
|
| 73 |
-
"tracker_ok": true,
|
| 74 |
-
"canonical_translation": [
|
| 75 |
-
-0.6884796619415283,
|
| 76 |
-
0.11399362981319427,
|
| 77 |
-
2.4437732696533203
|
| 78 |
-
],
|
| 79 |
-
"canonical_rotation_quat": [
|
| 80 |
-
0.049878478050231934,
|
| 81 |
-
0.03275968134403229,
|
| 82 |
-
0.767541229724884,
|
| 83 |
-
0.6382157802581787
|
| 84 |
-
],
|
| 85 |
-
"canonical_scale": 0.31089848279953003
|
| 86 |
}
|
| 87 |
],
|
| 88 |
"object_pose_traj": "object_pose.bin",
|
| 89 |
"object_pose_shape": [
|
| 90 |
85,
|
| 91 |
-
|
| 92 |
4,
|
| 93 |
4
|
| 94 |
],
|
| 95 |
"object_obb": "object_obb.bin",
|
| 96 |
"object_obb_shape": [
|
| 97 |
-
|
| 98 |
8,
|
| 99 |
3
|
| 100 |
],
|
|
@@ -120,8 +99,7 @@
|
|
| 120 |
853
|
| 121 |
],
|
| 122 |
"oids": [
|
| 123 |
-
0
|
| 124 |
-
1
|
| 125 |
],
|
| 126 |
"decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)"
|
| 127 |
},
|
|
@@ -131,7 +109,7 @@
|
|
| 131 |
},
|
| 132 |
"stats": {
|
| 133 |
"n_frames": 85,
|
| 134 |
-
"n_objects":
|
| 135 |
"has_grasp": false,
|
| 136 |
"mean_trust": null,
|
| 137 |
"mean_iou": null,
|
|
@@ -160,29 +138,6 @@
|
|
| 160 |
},
|
| 161 |
"is_static_global": true,
|
| 162 |
"n_state_frames": 85
|
| 163 |
-
},
|
| 164 |
-
"1": {
|
| 165 |
-
"path": null,
|
| 166 |
-
"anchor_fitness": null,
|
| 167 |
-
"median_chamfer_mm": null,
|
| 168 |
-
"mean_iou": null,
|
| 169 |
-
"grasp_rate": 0.0,
|
| 170 |
-
"trust_rate": 0.0,
|
| 171 |
-
"tracking_status": "ok",
|
| 172 |
-
"state_counts": {
|
| 173 |
-
"static": 85,
|
| 174 |
-
"grasped_l": 0,
|
| 175 |
-
"grasped_r": 0,
|
| 176 |
-
"grasped_both": 0,
|
| 177 |
-
"moving": 0
|
| 178 |
-
},
|
| 179 |
-
"state_fractions": {
|
| 180 |
-
"static": 1.0,
|
| 181 |
-
"grasped": 0.0,
|
| 182 |
-
"moving": 0.0
|
| 183 |
-
},
|
| 184 |
-
"is_static_global": true,
|
| 185 |
-
"n_state_frames": 85
|
| 186 |
}
|
| 187 |
},
|
| 188 |
"_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms."
|
|
|
|
| 62 |
0.43581488728523254
|
| 63 |
],
|
| 64 |
"canonical_scale": 0.37681788206100464
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 65 |
}
|
| 66 |
],
|
| 67 |
"object_pose_traj": "object_pose.bin",
|
| 68 |
"object_pose_shape": [
|
| 69 |
85,
|
| 70 |
+
1,
|
| 71 |
4,
|
| 72 |
4
|
| 73 |
],
|
| 74 |
"object_obb": "object_obb.bin",
|
| 75 |
"object_obb_shape": [
|
| 76 |
+
1,
|
| 77 |
8,
|
| 78 |
3
|
| 79 |
],
|
|
|
|
| 99 |
853
|
| 100 |
],
|
| 101 |
"oids": [
|
| 102 |
+
0
|
|
|
|
| 103 |
],
|
| 104 |
"decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)"
|
| 105 |
},
|
|
|
|
| 109 |
},
|
| 110 |
"stats": {
|
| 111 |
"n_frames": 85,
|
| 112 |
+
"n_objects": 1,
|
| 113 |
"has_grasp": false,
|
| 114 |
"mean_trust": null,
|
| 115 |
"mean_iou": null,
|
|
|
|
| 138 |
},
|
| 139 |
"is_static_global": true,
|
| 140 |
"n_state_frames": 85
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
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|
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|
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|
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|
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|
|
|
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|
|
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|
|
|
|
|
|
|
| 141 |
}
|
| 142 |
},
|
| 143 |
"_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms."
|
samples/NJ0_jMbxv5I_754.0_759.6/signals.json
CHANGED
|
@@ -1 +1 @@
|
|
| 1 |
-
{"n_frames": 85, "scene": {"contact_l": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0], "contact_r": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0], "grasp": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "motion": [0.0, 0.5, 0.5, 0.0, 0.5, 0.5, 0.0, 0.5, 0.5, 0.0, 0.0, 0.5, 0.5, 0.7071067690849304, 0.5, 0.0, 0.0, 0.7071067690849304, 0.7071067690849304, 0.5, 0.7071067690849304, 0.0, 0.0, 0.0, 0.5, 0.5, 0.0, 0.5, 0.5, 0.0, 0.5, 0.7071067690849304, 0.7071067690849304, 0.7071067690849304, 0.0, 0.0, 0.0, 0.0, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5, 0.0, 0.0, 0.5, 1.1180340051651, 1.0, 0.7071067690849304, 0.0, 0.0, 0.0, 0.7071067690849304, 0.0, 0.5, 0.5, 1.1180340051651, 0.5, 0.5, 0.0, 0.0, 0.0, 0.5, 0.5, 1.4142135381698608, 0.5, 0.7071067690849304, 0.5, 0.5, 0.7071067690849304, 0.7071067690849304, 0.0, 0.5, 0.0, 0.0, 0.5, 0.0, 0.0, 0.0, 0.0, 0.5, 0.5, 0.0]}, "per_object": {"0": {"trust": [false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false], "state": ["static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static"]}
|
|
|
|
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