2026-05-17: spurious_filter medium mode — drop 26 oids that are far from hand zone AND static (12/17)
Browse files- samples/-QALmP1nHtM_715.0_719.0/masks.npz +2 -2
- samples/-QALmP1nHtM_715.0_719.0/object_obb.bin +2 -2
- samples/-QALmP1nHtM_715.0_719.0/object_pose.bin +2 -2
- samples/-QALmP1nHtM_715.0_719.0/pose_track.json +19 -2360
- samples/-QALmP1nHtM_715.0_719.0/recording.viser +2 -2
- samples/-QALmP1nHtM_715.0_719.0/scene.json +4 -49
- samples/-QALmP1nHtM_715.0_719.0/signals.json +1 -1
samples/-QALmP1nHtM_715.0_719.0/masks.npz
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samples/-QALmP1nHtM_715.0_719.0/object_obb.bin
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samples/-QALmP1nHtM_715.0_719.0/object_pose.bin
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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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| 11532 |
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false
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| 11533 |
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| 11535 |
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false,
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false,
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false
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| 11596 |
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| 11598 |
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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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| 11656 |
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false,
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| 11657 |
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false,
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| 11658 |
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false
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| 11659 |
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],
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| 11660 |
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"is_moving_per_frame": [
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| 11661 |
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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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| 11720 |
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false,
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false
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| 11722 |
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| 11723 |
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| 11724 |
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| 11725 |
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| 11726 |
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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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| 11742 |
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false,
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| 11743 |
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false,
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| 11744 |
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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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| 11753 |
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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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| 11763 |
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false,
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| 11764 |
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false,
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| 11765 |
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false,
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| 11766 |
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false,
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| 11767 |
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false,
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| 11768 |
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false,
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| 11769 |
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false,
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| 11770 |
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false,
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| 11771 |
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false,
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| 11772 |
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false,
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| 11773 |
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false,
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| 11774 |
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false,
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| 11775 |
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false,
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| 11776 |
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false,
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| 11777 |
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false,
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| 11778 |
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false,
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| 11779 |
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false,
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| 11780 |
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false,
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| 11781 |
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false,
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| 11782 |
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false,
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| 11783 |
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false,
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| 11784 |
-
false
|
| 11785 |
-
]
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| 11786 |
}
|
| 11787 |
}
|
|
|
|
| 2354 |
false,
|
| 2355 |
false,
|
| 2356 |
false
|
| 2357 |
+
],
|
| 2358 |
+
"spurious_flag": false,
|
| 2359 |
+
"spurious_reason": "ok",
|
| 2360 |
+
"spurious_d3d_m": 0.0,
|
| 2361 |
+
"spurious_motion2d_px": 39.0
|
| 2362 |
},
|
| 2363 |
"3": {
|
| 2364 |
"mode": "position_first",
|
|
|
|
| 4715 |
false,
|
| 4716 |
false,
|
| 4717 |
false
|
| 4718 |
+
],
|
| 4719 |
+
"spurious_flag": false,
|
| 4720 |
+
"spurious_reason": "ok",
|
| 4721 |
+
"spurious_d3d_m": 0.0,
|
| 4722 |
+
"spurious_motion2d_px": 1.8027756214141846
|
| 4723 |
},
|
| 4724 |
"1": {
|
| 4725 |
"mode": "position_first",
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|
|
|
| 7076 |
false,
|
| 7077 |
false,
|
| 7078 |
false
|
| 7079 |
+
],
|
| 7080 |
+
"spurious_flag": false,
|
| 7081 |
+
"spurious_reason": "ok",
|
| 7082 |
+
"spurious_d3d_m": 0.0,
|
| 7083 |
+
"spurious_motion2d_px": 21.360010147094727
|
| 7084 |
},
|
| 7085 |
"0": {
|
| 7086 |
"mode": "position_first",
|
|
|
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| 9437 |
false,
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| 9438 |
false,
|
| 9439 |
false
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| 9440 |
],
|
| 9441 |
+
"spurious_flag": false,
|
| 9442 |
+
"spurious_reason": "ok",
|
| 9443 |
+
"spurious_d3d_m": 0.0,
|
| 9444 |
+
"spurious_motion2d_px": 1.4142135381698608
|
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|
|
| 9445 |
}
|
| 9446 |
}
|
samples/-QALmP1nHtM_715.0_719.0/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 sha256:6e1fee699732efaf8d5acf867e83e59e2008243296a728e398a8b41b6b6c3223
|
| 3 |
+
size 4632847
|
samples/-QALmP1nHtM_715.0_719.0/scene.json
CHANGED
|
@@ -125,39 +125,18 @@
|
|
| 125 |
0.5402564406394958
|
| 126 |
],
|
| 127 |
"canonical_scale": 0.27854734659194946
|
| 128 |
-
},
|
| 129 |
-
{
|
| 130 |
-
"id": 4,
|
| 131 |
-
"prompt": "bowl",
|
| 132 |
-
"color_hex": "#7a8c4a",
|
| 133 |
-
"ply": "objects/obj_4.ply",
|
| 134 |
-
"n_points": 49036,
|
| 135 |
-
"scale_correction": 0.21663904190063477,
|
| 136 |
-
"tracker_ok": true,
|
| 137 |
-
"canonical_translation": [
|
| 138 |
-
-0.38880133628845215,
|
| 139 |
-
-0.10876897722482681,
|
| 140 |
-
2.5988805294036865
|
| 141 |
-
],
|
| 142 |
-
"canonical_rotation_quat": [
|
| 143 |
-
0.04575289040803909,
|
| 144 |
-
0.0772390216588974,
|
| 145 |
-
0.7252114415168762,
|
| 146 |
-
0.6826486587524414
|
| 147 |
-
],
|
| 148 |
-
"canonical_scale": 0.21663904190063477
|
| 149 |
}
|
| 150 |
],
|
| 151 |
"object_pose_traj": "object_pose.bin",
|
| 152 |
"object_pose_shape": [
|
| 153 |
61,
|
| 154 |
-
|
| 155 |
4,
|
| 156 |
4
|
| 157 |
],
|
| 158 |
"object_obb": "object_obb.bin",
|
| 159 |
"object_obb_shape": [
|
| 160 |
-
|
| 161 |
8,
|
| 162 |
3
|
| 163 |
],
|
|
@@ -186,8 +165,7 @@
|
|
| 186 |
0,
|
| 187 |
1,
|
| 188 |
2,
|
| 189 |
-
3
|
| 190 |
-
4
|
| 191 |
],
|
| 192 |
"decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)"
|
| 193 |
},
|
|
@@ -197,7 +175,7 @@
|
|
| 197 |
},
|
| 198 |
"stats": {
|
| 199 |
"n_frames": 61,
|
| 200 |
-
"n_objects":
|
| 201 |
"has_grasp": false,
|
| 202 |
"mean_trust": null,
|
| 203 |
"mean_iou": null,
|
|
@@ -295,29 +273,6 @@
|
|
| 295 |
},
|
| 296 |
"is_static_global": true,
|
| 297 |
"n_state_frames": 61
|
| 298 |
-
},
|
| 299 |
-
"4": {
|
| 300 |
-
"path": null,
|
| 301 |
-
"anchor_fitness": null,
|
| 302 |
-
"median_chamfer_mm": null,
|
| 303 |
-
"mean_iou": null,
|
| 304 |
-
"grasp_rate": 0.0,
|
| 305 |
-
"trust_rate": 0.0,
|
| 306 |
-
"tracking_status": "ok",
|
| 307 |
-
"state_counts": {
|
| 308 |
-
"static": 61,
|
| 309 |
-
"grasped_l": 0,
|
| 310 |
-
"grasped_r": 0,
|
| 311 |
-
"grasped_both": 0,
|
| 312 |
-
"moving": 0
|
| 313 |
-
},
|
| 314 |
-
"state_fractions": {
|
| 315 |
-
"static": 1.0,
|
| 316 |
-
"grasped": 0.0,
|
| 317 |
-
"moving": 0.0
|
| 318 |
-
},
|
| 319 |
-
"is_static_global": true,
|
| 320 |
-
"n_state_frames": 61
|
| 321 |
}
|
| 322 |
},
|
| 323 |
"_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms."
|
|
|
|
| 125 |
0.5402564406394958
|
| 126 |
],
|
| 127 |
"canonical_scale": 0.27854734659194946
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 128 |
}
|
| 129 |
],
|
| 130 |
"object_pose_traj": "object_pose.bin",
|
| 131 |
"object_pose_shape": [
|
| 132 |
61,
|
| 133 |
+
4,
|
| 134 |
4,
|
| 135 |
4
|
| 136 |
],
|
| 137 |
"object_obb": "object_obb.bin",
|
| 138 |
"object_obb_shape": [
|
| 139 |
+
4,
|
| 140 |
8,
|
| 141 |
3
|
| 142 |
],
|
|
|
|
| 165 |
0,
|
| 166 |
1,
|
| 167 |
2,
|
| 168 |
+
3
|
|
|
|
| 169 |
],
|
| 170 |
"decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)"
|
| 171 |
},
|
|
|
|
| 175 |
},
|
| 176 |
"stats": {
|
| 177 |
"n_frames": 61,
|
| 178 |
+
"n_objects": 4,
|
| 179 |
"has_grasp": false,
|
| 180 |
"mean_trust": null,
|
| 181 |
"mean_iou": null,
|
|
|
|
| 273 |
},
|
| 274 |
"is_static_global": true,
|
| 275 |
"n_state_frames": 61
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
| 276 |
}
|
| 277 |
},
|
| 278 |
"_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms."
|
samples/-QALmP1nHtM_715.0_719.0/signals.json
CHANGED
|
@@ -1 +1 @@
|
|
| 1 |
-
{"n_frames": 61, "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, 0.0, 1.0, 1.0, 1.0, 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, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0, 0.0], "contact_r": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 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, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 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], "motion": [0.0, 11.101801872253418, 11.54339599609375, 11.597413063049316, 9.51314926147461, 8.558621406555176, 6.51920223236084, 4.7434163093566895, 4.609772205352783, 0.5, 1.0, 0.0, 0.5, 0.7071067690849304, 0.0, 0.5, 0.5, 0.5, 0.0, 0.5, 0.5, 0.5, 0.0, 4.031128883361816, 8.732124328613281, 9.96242904663086, 9.05538558959961, 8.062257766723633, 7.433034420013428, 5.220153331756592, 1.5, 6.324555397033691, 9.124143600463867, 10.049875259399414, 9.013877868652344, 9.05538558959961, 6.020797252655029, 4.527692794799805, 1.8027756214141846, 0.7071067690849304, 0.5, 0.5, 1.0, 1.8027756214141846, 2.0, 2.5, 1.5, 1.0, 0.5, 2.0615527629852295, 2.0615527629852295, 0.0,
|
|
|
|
| 1 |
+
{"n_frames": 61, "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, 0.0, 1.0, 1.0, 1.0, 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, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0, 0.0], "contact_r": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 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, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 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], "motion": [0.0, 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