2026-05-17: spurious_filter medium mode — drop 26 oids that are far from hand zone AND static (2/17)
Browse files- samples/-1r9yl-P-Ao_60.4_68.4/masks.npz +2 -2
- samples/-1r9yl-P-Ao_60.4_68.4/object_obb.bin +2 -2
- samples/-1r9yl-P-Ao_60.4_68.4/object_pose.bin +2 -2
- samples/-1r9yl-P-Ao_60.4_68.4/pose_track.json +4 -4599
- samples/-1r9yl-P-Ao_60.4_68.4/recording.viser +2 -2
- samples/-1r9yl-P-Ao_60.4_68.4/scene.json +4 -49
- samples/-1r9yl-P-Ao_60.4_68.4/signals.json +1 -1
samples/-1r9yl-P-Ao_60.4_68.4/masks.npz
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samples/-1r9yl-P-Ao_60.4_68.4/object_obb.bin
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samples/-1r9yl-P-Ao_60.4_68.4/object_pose.bin
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| 8865 |
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false,
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| 8866 |
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false,
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| 8867 |
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false,
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| 8868 |
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false,
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| 8869 |
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false,
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| 8870 |
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false,
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| 8871 |
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false,
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| 8872 |
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false,
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| 8873 |
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false,
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| 8874 |
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false,
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| 8875 |
-
false,
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| 8876 |
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false,
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| 8877 |
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false,
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| 8878 |
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false,
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| 8879 |
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false,
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| 8880 |
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false,
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| 8881 |
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false,
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| 8882 |
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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| 8889 |
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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| 8911 |
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false,
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| 8912 |
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false,
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| 8913 |
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false,
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| 8914 |
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false,
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| 8915 |
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false,
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| 8916 |
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false,
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false,
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| 8918 |
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false,
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| 8919 |
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false,
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false,
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false,
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| 8922 |
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false,
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false,
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false,
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false,
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false,
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| 8927 |
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false,
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false,
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| 8929 |
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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| 8942 |
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false,
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false,
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false,
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| 8945 |
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false,
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false,
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false,
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| 8948 |
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false,
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| 8949 |
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false,
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| 8950 |
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false,
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| 8951 |
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false,
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| 8952 |
-
false,
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| 8953 |
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false
|
| 8954 |
-
],
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| 8955 |
-
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| 8956 |
-
false,
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| 8957 |
-
false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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-
false,
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-
false,
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-
false,
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false,
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false,
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-
false,
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-
false,
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| 9028 |
-
false,
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-
false,
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-
false,
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-
false,
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| 9032 |
-
false,
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false,
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false,
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false,
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-
false,
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false,
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false,
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| 9039 |
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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false,
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| 9060 |
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false,
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| 9061 |
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false,
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| 9062 |
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false,
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| 9063 |
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false,
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false,
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false,
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false,
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-
false,
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| 9068 |
-
false,
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| 9069 |
-
false,
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| 9070 |
-
false,
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| 9071 |
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false,
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| 9072 |
-
false,
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| 9073 |
-
false,
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| 9074 |
-
false,
|
| 9075 |
-
false
|
| 9076 |
],
|
| 9077 |
-
"
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| 9078 |
-
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| 9079 |
-
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| 9080 |
-
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| 9081 |
-
false,
|
| 9082 |
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false,
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| 9083 |
-
false,
|
| 9084 |
-
false,
|
| 9085 |
-
false,
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| 9086 |
-
false,
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false,
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false,
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false,
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| 9090 |
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false,
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false,
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| 9092 |
-
false,
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| 9093 |
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false,
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| 9094 |
-
false,
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false,
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-
false,
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| 9097 |
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false,
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false,
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| 9099 |
-
false,
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| 9100 |
-
false,
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| 9101 |
-
false,
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| 9102 |
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false,
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| 9103 |
-
false,
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| 9104 |
-
false,
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| 9105 |
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false,
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false,
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| 9107 |
-
false,
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| 9108 |
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false,
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| 9109 |
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false,
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| 9110 |
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false,
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| 9111 |
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false,
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| 9112 |
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false,
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| 9113 |
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false,
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| 9114 |
-
false,
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| 9115 |
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false,
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| 9116 |
-
false,
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| 9117 |
-
false,
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| 9118 |
-
false,
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| 9119 |
-
false,
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| 9120 |
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false,
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| 9121 |
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false,
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| 9122 |
-
false,
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| 9123 |
-
false,
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| 9124 |
-
false,
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| 9125 |
-
false,
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| 9126 |
-
false,
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| 9127 |
-
false,
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| 9128 |
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false,
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false,
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| 9130 |
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false,
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| 9131 |
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false,
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| 9132 |
-
false,
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| 9133 |
-
false,
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| 9134 |
-
false,
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| 9135 |
-
false,
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| 9136 |
-
false,
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| 9137 |
-
false,
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| 9138 |
-
false,
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| 9139 |
-
false,
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| 9140 |
-
false,
|
| 9141 |
-
false,
|
| 9142 |
-
false,
|
| 9143 |
-
false,
|
| 9144 |
-
false,
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| 9145 |
-
false,
|
| 9146 |
-
false,
|
| 9147 |
-
false,
|
| 9148 |
-
false,
|
| 9149 |
-
false,
|
| 9150 |
-
false,
|
| 9151 |
-
false,
|
| 9152 |
-
false,
|
| 9153 |
-
false,
|
| 9154 |
-
false,
|
| 9155 |
-
false,
|
| 9156 |
-
false,
|
| 9157 |
-
false,
|
| 9158 |
-
false,
|
| 9159 |
-
false,
|
| 9160 |
-
false,
|
| 9161 |
-
false,
|
| 9162 |
-
false,
|
| 9163 |
-
false,
|
| 9164 |
-
false,
|
| 9165 |
-
false,
|
| 9166 |
-
false,
|
| 9167 |
-
false,
|
| 9168 |
-
false,
|
| 9169 |
-
false,
|
| 9170 |
-
false,
|
| 9171 |
-
false,
|
| 9172 |
-
false,
|
| 9173 |
-
false,
|
| 9174 |
-
false,
|
| 9175 |
-
false,
|
| 9176 |
-
false,
|
| 9177 |
-
false,
|
| 9178 |
-
false,
|
| 9179 |
-
false,
|
| 9180 |
-
false,
|
| 9181 |
-
false,
|
| 9182 |
-
false,
|
| 9183 |
-
false,
|
| 9184 |
-
false,
|
| 9185 |
-
false,
|
| 9186 |
-
false,
|
| 9187 |
-
false,
|
| 9188 |
-
false,
|
| 9189 |
-
false,
|
| 9190 |
-
false,
|
| 9191 |
-
false,
|
| 9192 |
-
false,
|
| 9193 |
-
false,
|
| 9194 |
-
false,
|
| 9195 |
-
false,
|
| 9196 |
-
false,
|
| 9197 |
-
false
|
| 9198 |
-
]
|
| 9199 |
}
|
| 9200 |
}
|
|
|
|
| 4596 |
true,
|
| 4597 |
true,
|
| 4598 |
true
|
|
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|
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|
| 4599 |
],
|
| 4600 |
+
"spurious_flag": false,
|
| 4601 |
+
"spurious_reason": "ok",
|
| 4602 |
+
"spurious_d3d_m": 0.0,
|
| 4603 |
+
"spurious_motion2d_px": 391.59881591796875
|
|
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|
|
|
| 4604 |
}
|
| 4605 |
}
|
samples/-1r9yl-P-Ao_60.4_68.4/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:df6279af7849d066cc22f6783f2641b511923ed2d78e00ff13d6a6e360e7e48f
|
| 3 |
+
size 4433576
|
samples/-1r9yl-P-Ao_60.4_68.4/scene.json
CHANGED
|
@@ -62,39 +62,18 @@
|
|
| 62 |
-0.03670996055006981
|
| 63 |
],
|
| 64 |
"canonical_scale": 0.2379637360572815
|
| 65 |
-
},
|
| 66 |
-
{
|
| 67 |
-
"id": 1,
|
| 68 |
-
"prompt": "case",
|
| 69 |
-
"color_hex": "#6a9460",
|
| 70 |
-
"ply": "objects/obj_1.ply",
|
| 71 |
-
"n_points": 94816,
|
| 72 |
-
"scale_correction": 0.2537437677383423,
|
| 73 |
-
"tracker_ok": true,
|
| 74 |
-
"canonical_translation": [
|
| 75 |
-
-0.770755410194397,
|
| 76 |
-
0.5760282278060913,
|
| 77 |
-
2.6424472332000732
|
| 78 |
-
],
|
| 79 |
-
"canonical_rotation_quat": [
|
| 80 |
-
0.143058642745018,
|
| 81 |
-
0.6624997854232788,
|
| 82 |
-
0.7305868268013,
|
| 83 |
-
0.08289220929145813
|
| 84 |
-
],
|
| 85 |
-
"canonical_scale": 0.2537437677383423
|
| 86 |
}
|
| 87 |
],
|
| 88 |
"object_pose_traj": "object_pose.bin",
|
| 89 |
"object_pose_shape": [
|
| 90 |
120,
|
| 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": 120,
|
| 134 |
-
"n_objects":
|
| 135 |
"has_grasp": false,
|
| 136 |
"mean_trust": null,
|
| 137 |
"mean_iou": null,
|
|
@@ -160,29 +138,6 @@
|
|
| 160 |
},
|
| 161 |
"is_static_global": false,
|
| 162 |
"n_state_frames": 120
|
| 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": 120,
|
| 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": 120
|
| 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 |
-0.03670996055006981
|
| 63 |
],
|
| 64 |
"canonical_scale": 0.2379637360572815
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 65 |
}
|
| 66 |
],
|
| 67 |
"object_pose_traj": "object_pose.bin",
|
| 68 |
"object_pose_shape": [
|
| 69 |
120,
|
| 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": 120,
|
| 112 |
+
"n_objects": 1,
|
| 113 |
"has_grasp": false,
|
| 114 |
"mean_trust": null,
|
| 115 |
"mean_iou": null,
|
|
|
|
| 138 |
},
|
| 139 |
"is_static_global": false,
|
| 140 |
"n_state_frames": 120
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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/-1r9yl-P-Ao_60.4_68.4/signals.json
CHANGED
|
@@ -1 +1 @@
|
|
| 1 |
-
{"n_frames": 120, "scene": {"contact_l": [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, 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, 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, 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, 1.0, 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, 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, 1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "contact_r": [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, 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, 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, 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, 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|
|
|
|
| 1 |
+
{"n_frames": 120, "scene": {"contact_l": [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, 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, 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, 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, 1.0, 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, 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, 1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "contact_r": [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, 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, 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, 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, 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