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+ false, + false, + false, + false, + false, + false, + false, + false, + false, + false, false, false, false, @@ -15306,64 +23560,6 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, false, false, false, @@ -15384,100 +23580,58 @@ false, false, false, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - true, - 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100644 --- a/samples/-F8ykWfiTZg_417.5_431.3/recording.viser +++ b/samples/-F8ykWfiTZg_417.5_431.3/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:41808f6bba04ccad3e61f92956fd576059d8203b08ea7bf2010f5373eaba07eb -size 7049349 +oid sha256:51abc363b0dd98dfb09272ee6c1787a57c6e11b774ca7589c98c24943b60edbe +size 7512448 diff --git a/samples/-F8ykWfiTZg_417.5_431.3/scene.json b/samples/-F8ykWfiTZg_417.5_431.3/scene.json index 773e06c2722180c8b95b0ef19dafb1fe267a82ae..c563eaf2c17b6afcac9112c5826a7f5a873877de 100644 --- a/samples/-F8ykWfiTZg_417.5_431.3/scene.json +++ b/samples/-F8ykWfiTZg_417.5_431.3/scene.json @@ -30,9 +30,9 @@ "width": 853, "height": 480, "gravity_up": [ - 0.005608190316706896, - -0.7974711656570435, - -0.6033310294151306 + 0.007682323921471834, + -0.7969571352005005, + -0.6039870381355286 ] }, "reconstruction": { @@ -44,57 +44,78 @@ "objects": [ { "id": 0, - "prompt": "red jar", + "prompt": "mason jar", "color_hex": "#d97757", "ply": "objects/obj_0.ply", - "n_points": 69276, - "scale_correction": 0.21678724479787104, + "n_points": 88008, + "scale_correction": 0.2026540305005798, "tracker_ok": true, "canonical_translation": [ - -0.01425745990127325, - -0.07567532360553741, - 1.5260117053985596 + 0.5854505300521851, + 0.319117933511734, + 2.374423027038574 ], "canonical_rotation_quat": [ - 0.03863988816738129, - 0.05288860201835632, - 0.8610879182815552, - 0.5042195320129395 + 0.033976174890995026, + 0.028531348332762718, + 0.8504394292831421, + 0.5241987705230713 ], - "canonical_scale": 0.5930562019348145 + "canonical_scale": 0.6264611482620239 }, { "id": 1, - "prompt": "purple lid", + "prompt": "mason jar", "color_hex": "#6a9460", "ply": "objects/obj_1.ply", - "n_points": 35472, - "scale_correction": 0.09357573207191547, + "n_points": 84380, + "scale_correction": 0.2376683387337673, "tracker_ok": true, "canonical_translation": [ - -0.01738336682319641, - 0.13158321380615234, - 1.4672317504882812 + 0.8786384463310242, + 0.1729390174150467, + 2.1486778259277344 ], "canonical_rotation_quat": [ - 0.006098643410950899, - 0.0016749196220189333, - -0.8731083273887634, - -0.48748522996902466 + 0.455231636762619, + 0.8583674430847168, + 0.22385437786579132, + 0.0765417292714119 + ], + "canonical_scale": 0.5410857796669006 + }, + { + "id": 2, + "prompt": "purple lid", + "color_hex": "#5a7daa", + "ply": "objects/obj_2.ply", + "n_points": 33756, + "scale_correction": 0.09504069675170072, + "tracker_ok": true, + "canonical_translation": [ + -0.017002379521727562, + 0.13282501697540283, + 1.4523347616195679 ], - "canonical_scale": 0.2348528355360031 + "canonical_rotation_quat": [ + 0.022160712629556656, + 0.025120018050074577, + 0.871569812297821, + 0.48912563920021057 + ], + "canonical_scale": 0.25209224224090576 } ], "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 208, - 2, + 3, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 2, + 3, 8, 3 ], @@ -121,7 +142,8 @@ ], "oids": [ 0, - 1 + 1, + 2 ], "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" }, @@ -131,13 +153,36 @@ }, "stats": { "n_frames": 208, - "n_objects": 2, + "n_objects": 3, "has_grasp": false, "mean_trust": null, "mean_iou": null, "sam3_quality": 0.8765011260014277 }, "tracking_summary": { + "2": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "grasp_rate": 0.0, + "trust_rate": 0.004807692307692308, + "tracking_status": "ok", + "state_counts": { + "static": 17, + "grasped_l": 108, + "grasped_r": 34, + "grasped_both": 48, + "moving": 1 + }, + "state_fractions": { + "static": 0.08173076923076923, + "grasped": 0.0, + "moving": 0.004807692307692308 + }, + "is_static_global": false, + "n_state_frames": 208 + }, "0": { "path": null, "anchor_fitness": null, @@ -170,18 +215,18 @@ "trust_rate": 0.0, "tracking_status": "ok", "state_counts": { - "static": 2, - "grasped_l": 62, - "grasped_r": 31, - "grasped_both": 113, + "static": 208, + "grasped_l": 0, + "grasped_r": 0, + "grasped_both": 0, "moving": 0 }, "state_fractions": { - "static": 0.009615384615384616, + "static": 1.0, "grasped": 0.0, "moving": 0.0 }, - "is_static_global": false, + "is_static_global": true, "n_state_frames": 208 } }, diff --git a/samples/-F8ykWfiTZg_417.5_431.3/signals.json b/samples/-F8ykWfiTZg_417.5_431.3/signals.json index 41955bb9af0eb8180a3634ec1e598b48563a0589..27c5a3a0553860728c6ad1d87a90b2c38231bf82 100644 --- a/samples/-F8ykWfiTZg_417.5_431.3/signals.json +++ b/samples/-F8ykWfiTZg_417.5_431.3/signals.json @@ -1 +1 @@ -{"n_frames": 208, "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, 1.0, 1.0, 1.0, 1.0, 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