D-track refresh after A100 SAM3D recovery — -Oj2xzQbo4s_236.4_240.6

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+          1.2786980867385864
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+          1.0
+        ]
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+          0.7344567179679871,
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+          0.2345733344554901,
+          -0.17034408450126648
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+          0.4611818790435791,
+          0.21476596593856812,
+          -0.86092209815979,
+          0.26502275466918945
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+          0.7404909729957581,
+          0.4514293968677521,
+          1.2786118984222412
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+          0.0,
+          1.0
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+      ],
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+          -0.6368270516395569,
+          0.2345733344554901,
+          -0.17066803574562073
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+          0.4611818790435791,
+          0.21476596593856812,
+          -0.86092209815979,
+          0.2661544382572174
+        ],
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+          0.7404909729957581,
+          0.4514293968677521,
+          1.2787293195724487
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+          0.0,
+          0.0,
+          1.0
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+      ]
+    ],
+    "tracking_status": "ok",
+    "note": "canonical_only (F@R^T) scale=0.189"
   }
 }

samples/-Oj2xzQbo4s_236.4_240.6/recording.viser

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:db26f2e1a7ffbc862207fb9aaa02851cd5a46e2b2f80702de6c7faed15df8a53
-size 2286520
+oid sha256:22a16b6438e629b89d202cdb00c4c8da8ff0edd80c30627ee5d77c969b6a59f7
+size 2316323

samples/-Oj2xzQbo4s_236.4_240.6/scene.json

@@ -62,18 +62,39 @@
           0.37109076976776123
         ],
         "canonical_scale": 0.4592791497707367
+      },
+      {
+        "id": 1,
+        "prompt": "knife",
+        "color_hex": "#6a9460",
+        "ply": "objects/obj_1.ply",
+        "n_points": 3192,
+        "scale_correction": 0.18938753008842468,
+        "tracker_ok": true,
+        "canonical_translation": [
+          0.1849489063024521,
+          -0.24450336396694183,
+          1.3588707447052002
+        ],
+        "canonical_rotation_quat": [
+          0.35433271527290344,
+          0.08497034758329391,
+          0.5167836546897888,
+          0.7747018933296204
+        ],
+        "canonical_scale": 0.18938753008842468
       }
     ],
     "object_pose_traj": "object_pose.bin",
     "object_pose_shape": [
       64,
-      1,
+      2,
       4,
       4
     ],
     "object_obb": "object_obb.bin",
     "object_obb_shape": [
-      1,
+      2,
       8,
       3
     ],
@@ -99,7 +120,8 @@
           853
         ],
         "oids": [
-          0
+          0,
+          1
         ],
         "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)"
       },
@@ -109,7 +131,7 @@
   },
   "stats": {
     "n_frames": 64,
-    "n_objects": 1,
+    "n_objects": 2,
     "has_grasp": false,
     "mean_trust": null,
     "mean_iou": null,
@@ -124,6 +146,15 @@
       "grasp_rate": null,
       "trust_rate": null,
       "tracking_status": "ok"
+    },
+    "1": {
+      "path": null,
+      "anchor_fitness": null,
+      "median_chamfer_mm": null,
+      "mean_iou": null,
+      "grasp_rate": null,
+      "trust_rate": null,
+      "tracking_status": "ok"
     }
   },
   "_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms."