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f0ab386f9df0567cf9e735ec44e55c47e5257990..e89e1071db3a93e4660bb1058663bb0c210f903f 100644 --- a/samples/--oo8_XIuOM_900.3_917.4/recording.viser +++ b/samples/--oo8_XIuOM_900.3_917.4/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a3e10aac47204df49b5d92e4106ede3f58f25e349f1e45c1ebcb4a8f7b28f2be -size 7667547 +oid sha256:2085697fdf876dafee137629c0027a06189057a4e8e8193e9dcdc8cbaf646890 +size 9049919 diff --git a/samples/--oo8_XIuOM_900.3_917.4/scene.json b/samples/--oo8_XIuOM_900.3_917.4/scene.json index 465b4806ca323b21901d449e8b668e10630f01c6..f857eb55086bb173a314c60f6531dc1e41535030 100644 --- a/samples/--oo8_XIuOM_900.3_917.4/scene.json +++ b/samples/--oo8_XIuOM_900.3_917.4/scene.json @@ -42,14 +42,56 @@ "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", "objects": [ + { + "id": 0, + "prompt": "tire", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 90656, + "scale_correction": 0.7633921211641319, + "tracker_ok": true, + "canonical_translation": [ + -0.07303201407194138, + -0.05631817877292633, + 3.1821279525756836 + ], + "canonical_rotation_quat": [ + 0.037131939083337784, + 0.6504281163215637, + 0.7447590231895447, + -0.14456310868263245 + ], + "canonical_scale": 0.8349816203117371 + }, + { + "id": 1, + "prompt": "wheel hub", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 96076, + "scale_correction": 0.23046546931929576, + "tracker_ok": true, + "canonical_translation": [ + -0.07451134920120239, + -0.06126975268125534, + 2.585840940475464 + ], + "canonical_rotation_quat": [ + 0.06753595918416977, + 0.36534616351127625, + 0.8905912041664124, + -0.2623135447502136 + ], + "canonical_scale": 1.0261330604553223 + }, { "id": 2, "prompt": "red coil spring", "color_hex": "#5a7daa", "ply": "objects/obj_2.ply", "n_points": 35004, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.0470374034677195, + "tracker_ok": true, "canonical_translation": [ -0.061583489179611206, 0.1313626915216446, @@ -67,13 +109,13 @@ "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 257, - 1, + 3, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 1, + 3, 8, 3 ], @@ -99,6 +141,8 @@ 853 ], "oids": [ + 0, + 1, 2 ], "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" @@ -109,12 +153,40 @@ }, "stats": { "n_frames": 257, - "n_objects": 1, + "n_objects": 3, "has_grasp": false, "mean_trust": null, "mean_iou": null, "sam3_quality": 0.8898165947250425 }, - "tracking_summary": {}, + "tracking_summary": { + "2": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "grasp_rate": null, + "trust_rate": null, + "tracking_status": "ok" + }, + "0": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "grasp_rate": null, + "trust_rate": null, + "tracking_status": "ok" + }, + "1": { + "path": null, + "anchor_fitness": null, + 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See LICENSE-Action100M for terms." } \ No newline at end of file diff --git a/samples/-0RheyDV3a0_474.8_487.3/masks.npz b/samples/-0RheyDV3a0_474.8_487.3/masks.npz index 3578aa66df3cf2616b28429121db784322fe9e92..eb286a075b5f73e4ce96b4be259f18d6e737644f 100644 --- a/samples/-0RheyDV3a0_474.8_487.3/masks.npz +++ b/samples/-0RheyDV3a0_474.8_487.3/masks.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1ee20418dea3f687fb2c5282978e376258b92180a510ec66e3def6f672fa6d4e -size 54347 +oid sha256:78a6951f44c3c500c79099749e9d119e3f4808e883015a14e23a9691060c4765 +size 120539 diff --git a/samples/-0RheyDV3a0_474.8_487.3/object_obb.bin b/samples/-0RheyDV3a0_474.8_487.3/object_obb.bin index 9b1d1578f9393f70c21c808c1c74c5dc38b45639..8a7748814540a6ffd386191865fabbcba3f41af2 100644 --- a/samples/-0RheyDV3a0_474.8_487.3/object_obb.bin +++ b/samples/-0RheyDV3a0_474.8_487.3/object_obb.bin @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid 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0.6866127848625183 + ], + "canonical_scale": 0.8450753092765808 + }, { "id": 1, "prompt": "small plate", "color_hex": "#6a9460", "ply": "objects/obj_1.ply", "n_points": 33036, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.72952478400205, + "tracker_ok": true, "canonical_translation": [ 0.36506009101867676, -0.06885762512683868, @@ -67,13 +88,13 @@ "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 189, - 1, + 2, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 1, + 2, 8, 3 ], @@ -99,6 +120,7 @@ 854 ], "oids": [ + 0, 1 ], "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" @@ -109,12 +131,31 @@ }, "stats": { "n_frames": 189, - "n_objects": 1, + "n_objects": 2, "has_grasp": false, "mean_trust": null, "mean_iou": null, "sam3_quality": 0.922454117465042 }, - "tracking_summary": {}, + "tracking_summary": { + "1": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "grasp_rate": null, + "trust_rate": null, + "tracking_status": "ok" + }, + "0": { + "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." } \ No newline at end of file diff --git a/samples/-0RheyDV3a0_48.6_55.3/pose_track.json b/samples/-0RheyDV3a0_48.6_55.3/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..3536fa503d3c15e24d26843e5ba37b05c0f4dc54 100644 --- a/samples/-0RheyDV3a0_48.6_55.3/pose_track.json +++ b/samples/-0RheyDV3a0_48.6_55.3/pose_track.json @@ -1 +1,2718 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 0, + "smooth_sigma": 2.0, + "n_observed": 104, + "scale_correction": 0.9378351462660173, + "T_seq": [ + [ + [ + -0.2496025711297989, + 0.9510980248451233, + -0.18196457624435425, + -0.008418832905590534 + ], + [ + 0.9482592344284058, + 0.2781478762626648, + 0.15309542417526245, + -0.07196439802646637 + ], + [ + 0.19622181355953217, + -0.13433657586574554, + -0.9713138937950134, + 1.67438805103302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.2496025711297989, + 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"object_obb.bin", "object_obb_shape": [ - 4, + 7, 8, 3 ], @@ -163,8 +226,11 @@ ], "oids": [ 0, + 1, 2, + 3, 4, + 5, 6 ], "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" @@ -175,12 +241,76 @@ }, "stats": { "n_frames": 101, - "n_objects": 4, + "n_objects": 7, "has_grasp": false, "mean_trust": null, "mean_iou": null, "sam3_quality": 0.9575965455464002 }, - "tracking_summary": {}, + "tracking_summary": { + "0": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "grasp_rate": null, + "trust_rate": null, + "tracking_status": "ok" + }, + "2": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "grasp_rate": null, + "trust_rate": null, + "tracking_status": "ok" + }, + "4": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "grasp_rate": null, + "trust_rate": null, + "tracking_status": "ok" + }, + "6": { + "path": null, + "anchor_fitness": 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b/samples/-1bQTExN1Ts_230.8_242.8/recording.viser index f7887035751b5ef8a69609fc1d70aeed7b5309f7..dd1b28e55905875a47c4313717d6ca29e394e44c 100644 --- a/samples/-1bQTExN1Ts_230.8_242.8/recording.viser +++ b/samples/-1bQTExN1Ts_230.8_242.8/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:16c3d0472e5ef28186b6e5d6d0568246be3a9f1f9f61dec48a8f71d2a55a937e -size 5328720 +oid sha256:8064ab00e946572a79bc1e38d8c258a863c85037dfe360392812698abb790053 +size 6167038 diff --git a/samples/-1bQTExN1Ts_230.8_242.8/scene.json b/samples/-1bQTExN1Ts_230.8_242.8/scene.json index e763fbc1553840918431503995e9a0c82505fcf8..7fbf1fa51e7bc304a4cc5a8e910b2bb1a9759f98 100644 --- a/samples/-1bQTExN1Ts_230.8_242.8/scene.json +++ b/samples/-1bQTExN1Ts_230.8_242.8/scene.json @@ -42,80 +42,38 @@ "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", "objects": [ - { - "id": 0, - "prompt": "plastic cup", - "color_hex": "#d97757", - "ply": "objects/obj_0.ply", - "n_points": 0, 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b/samples/-1r9yl-P-Ao_60.4_68.4/scene.json index 2016fb46d4d1f0953e1a228cc0437b9c427181a1..6ff3599eda13028478cd1a43b74578fe3bdafe10 100644 --- a/samples/-1r9yl-P-Ao_60.4_68.4/scene.json +++ b/samples/-1r9yl-P-Ao_60.4_68.4/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 40152, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.9521308137217158, + "tracker_ok": true, "canonical_translation": [ -0.1516256034374237, -0.08030468225479126, @@ -62,18 +62,39 @@ 0.5795184969902039 ], "canonical_scale": 0.2450714111328125 + }, + { + "id": 1, + "prompt": "case", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 92268, + "scale_correction": 0.23427796955918143, + "tracker_ok": true, + "canonical_translation": [ + -0.014979555271565914, + -0.010809164494276047, + 2.0424864292144775 + ], + "canonical_rotation_quat": [ + 0.17190249264240265, + 0.15911243855953217, + -0.044179774820804596, + -0.9711750149726868 + ], + "canonical_scale": 1.0769712924957275 } ], "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 120, - 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)" }, @@ -109,12 +131,31 @@ }, "stats": { "n_frames": 120, - "n_objects": 1, + "n_objects": 2, "has_grasp": false, "mean_trust": null, "mean_iou": null, "sam3_quality": 0.8302581090773716 }, - "tracking_summary": {}, + "tracking_summary": { + "0": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "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 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See LICENSE-Action100M for terms." } \ No newline at end of file diff --git a/samples/-1r9yl-P-Ao_86.3_90.8/recording.viser b/samples/-1r9yl-P-Ao_86.3_90.8/recording.viser index 1afcbada4722e488b76ecd7c51cfb1a9c90bf592..ae4c48edf2d871aad3f00fe78f5a6f6a743d896e 100644 --- a/samples/-1r9yl-P-Ao_86.3_90.8/recording.viser +++ b/samples/-1r9yl-P-Ao_86.3_90.8/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7c2f8a3e5e2c99cee346a4fa2717de9c86d2c2b9db5f997ca13351d940e0e514 +oid sha256:4de11dfb4386caeac3b35287c0645073c6950fe854b0071c16af49fd2abffcce size 1505722 diff --git a/samples/-20k07PjLTA_48.0_52.4/masks.npz b/samples/-20k07PjLTA_48.0_52.4/masks.npz index 327740d187e2b77f435af909aba525e325e87210..3846ef51a0e0803b4bb6f9e063b6de7c8cdd90fd 100644 --- a/samples/-20k07PjLTA_48.0_52.4/masks.npz +++ b/samples/-20k07PjLTA_48.0_52.4/masks.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid 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sha256:dea5c810e8bdc6836f7861068e75901f3a9fa7d9f18dc9c94999eb64ada78862 -size 6632506 +oid sha256:78f9657429c96a857dcd2d06b4967d8c4bbc7f5c2dfd867acfbd7f2df1546c4e +size 6634179 diff --git a/samples/-2cNMO9Mm3Q_192.4_209.2/scene.json b/samples/-2cNMO9Mm3Q_192.4_209.2/scene.json index 3ae3073d46901c84e4c27f7a4791b674bc56d40e..6c6e0cad164033cd738f061f6c1d00bd298fad94 100644 --- a/samples/-2cNMO9Mm3Q_192.4_209.2/scene.json +++ b/samples/-2cNMO9Mm3Q_192.4_209.2/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 67712, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 2.107571183266215, + "tracker_ok": true, "canonical_translation": [ 0.002491411054506898, 0.03667274862527847, @@ -69,8 +69,8 @@ "color_hex": "#5a7daa", "ply": "objects/obj_2.ply", "n_points": 21164, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.1008849912219563, + "tracker_ok": true, "canonical_translation": [ 0.15801487863063812, 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See LICENSE-Action100M for terms." } \ No newline at end of file diff --git a/samples/-4L5vp6eces_332.8_353.9/pose_track.json b/samples/-4L5vp6eces_332.8_353.9/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..17f0c5ce81b03f0892902aae2e6f044b441f913c 100644 --- a/samples/-4L5vp6eces_332.8_353.9/pose_track.json +++ b/samples/-4L5vp6eces_332.8_353.9/pose_track.json @@ -1 +1,8256 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 225, + "smooth_sigma": 2.0, + "n_observed": 255, + "scale_correction": 0.6855457684462265, + "T_seq": [ + [ + [ + 0.6134909391403198, + -0.7713342308998108, + -0.16932936012744904, + -0.392172634601593 + ], + [ + 0.45268601179122925, + 0.16780078411102295, + 0.8757386803627014, + 0.08545535057783127 + ], + [ + -0.6470736265182495, + -0.6139107942581177, + 0.452116459608078, + 0.9369633793830872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.6134909391403198, + 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-48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 52336, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.0334404577387393, + "tracker_ok": true, "canonical_translation": [ 0.05781155824661255, -0.02974800020456314, @@ -63,14 +63,35 @@ ], "canonical_scale": 0.4905909299850464 }, + { + "id": 1, + "prompt": "blender", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 66192, + "scale_correction": 0.9106348404671922, + "tracker_ok": true, + "canonical_translation": [ + 1.128416895866394, + 0.051475174725055695, + 2.1615827083587646 + ], + "canonical_rotation_quat": [ + 0.5303170680999756, + 0.5779380798339844, + 0.46357467770576477, + 0.41212859749794006 + ], + "canonical_scale": 0.4729646146297455 + }, { "id": 2, "prompt": "blender", "color_hex": "#5a7daa", "ply": "objects/obj_2.ply", "n_points": 56772, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.229190032487075, + "tracker_ok": true, "canonical_translation": [ -1.0058420896530151, 0.05039721354842186, @@ -90,8 +111,8 @@ "color_hex": "#c89968", "ply": "objects/obj_3.ply", "n_points": 81536, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.4932749197739481, + "tracker_ok": true, "canonical_translation": [ 0.45611587166786194, 0.03739267960190773, @@ -104,18 +125,39 @@ 0.723643958568573 ], "canonical_scale": 0.44551920890808105 + }, + { + "id": 4, + "prompt": "bowl", + "color_hex": "#7a8c4a", + "ply": "objects/obj_4.ply", + "n_points": 86584, + "scale_correction": 0.13032686027702278, + "tracker_ok": true, + "canonical_translation": [ + -0.037722013890743256, + 0.035068925470113754, + 3.285280704498291 + ], + "canonical_rotation_quat": [ + 0.024040624499320984, + 0.042343780398368835, + 0.722703754901886, + 0.6894406080245972 + ], + "canonical_scale": 1.4290612936019897 } ], "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 179, - 3, + 5, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 3, + 5, 8, 3 ], @@ -142,8 +184,10 @@ ], "oids": [ 0, + 1, 2, - 3 + 3, + 4 ], "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" }, @@ -153,12 +197,58 @@ }, "stats": { "n_frames": 179, - "n_objects": 3, + "n_objects": 5, "has_grasp": false, "mean_trust": null, "mean_iou": null, "sam3_quality": 0.9044163341616942 }, - "tracking_summary": {}, + "tracking_summary": { + "0": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "grasp_rate": null, + "trust_rate": null, + "tracking_status": "ok" + }, + "2": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "grasp_rate": null, + "trust_rate": null, + "tracking_status": "ok" + }, + "3": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "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" + }, + "4": { + "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." } \ No newline at end of file diff --git a/samples/-4eiU1SHpzY_319.4_323.4/pose_track.json b/samples/-4eiU1SHpzY_319.4_323.4/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..1b742a81b581f1af1fc6dd1fd1e8b481d03d6a80 100644 --- a/samples/-4eiU1SHpzY_319.4_323.4/pose_track.json +++ b/samples/-4eiU1SHpzY_319.4_323.4/pose_track.json @@ -1 +1,6498 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 4, + "smooth_sigma": 2.0, + "n_observed": 62, + "scale_correction": 0.9932657531219782, + "T_seq": [ + [ + [ + -0.8978127837181091, + -0.3963349163532257, + -0.19196569919586182, + 0.17142094671726227 + ], + [ + 0.4049685597419739, + -0.9143087863922119, + -0.006321130786091089, + 0.28529319167137146 + ], + [ + -0.17301063239574432, + -0.08341526240110397, + 0.9813812971115112, + 1.0072548389434814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8978127837181091, 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100644 --- a/samples/-6Z315Ts-Y4_78.3_83.8/scene.json +++ b/samples/-6Z315Ts-Y4_78.3_83.8/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 8704, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.5591688811782408, + "tracker_ok": true, "canonical_translation": [ -0.013734176754951477, -0.21505127847194672, @@ -69,8 +69,8 @@ "color_hex": "#6a9460", "ply": "objects/obj_1.ply", "n_points": 34084, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.6340808049272747, + "tracker_ok": true, "canonical_translation": [ 0.31534749269485474, 0.06229391694068909, @@ -83,18 +83,39 @@ 0.8147317171096802 ], "canonical_scale": 0.24680468440055847 + }, + { + "id": 2, + "prompt": "sanding block", + "color_hex": "#5a7daa", + "ply": "objects/obj_2.ply", + "n_points": 72620, + "scale_correction": 0.3566317863517611, + "tracker_ok": true, + "canonical_translation": [ + 0.005158502608537674, + 0.023867465555667877, + 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See LICENSE-Action100M for terms." } \ No newline at end of file diff --git a/samples/-7E8rwRa5cE_109.6_116.3/pose_track.json b/samples/-7E8rwRa5cE_109.6_116.3/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..6df15a345a213183f70886e13fddaa619793fee3 100644 --- a/samples/-7E8rwRa5cE_109.6_116.3/pose_track.json +++ b/samples/-7E8rwRa5cE_109.6_116.3/pose_track.json @@ -1 +1,5278 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 18, + "smooth_sigma": 2.0, + "n_observed": 101, + "scale_correction": 1.2800145412613961, + "T_seq": [ + [ + [ + 0.7886085510253906, + -0.6144147515296936, + 0.024310912936925888, + 0.024807535111904144 + ], + [ + 0.047396220266819, + 0.10015754401683807, + 0.9938420653343201, + 0.34290531277656555 + ], + [ + -0.6130661368370056, + -0.7826001048088074, + 0.10810603946447372, + 1.867079257965088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.7886085510253906, + 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"tracking_status": "ok", + "note": "pca_align scale=0.346 chamfer_med=14.8mm obs_pts=405" + } +} \ No newline at end of file diff --git a/samples/-7rFmF9Aka8_94.7_102.2/recording.viser b/samples/-7rFmF9Aka8_94.7_102.2/recording.viser index 8ad1eafebe5faba5d609c895a1643d4fe13c61f0..31957385323a8128c603f5fdfe11742e343e27f8 100644 --- a/samples/-7rFmF9Aka8_94.7_102.2/recording.viser +++ b/samples/-7rFmF9Aka8_94.7_102.2/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f9bec761add819ab37419f905a9e4630c2779d58a4ff5ab8358611624219bd64 -size 3540954 +oid sha256:059d96b34da8070ba528f06175ff5d0dcd94bb6624316ba3063c41ba8b5ccf47 +size 4093449 diff --git a/samples/-7rFmF9Aka8_94.7_102.2/scene.json b/samples/-7rFmF9Aka8_94.7_102.2/scene.json index f74f5bc744fc6963ddbcef4104740d7e33532cad..68dd9386d415f6b14d1baa60de131676596d2d33 100644 --- a/samples/-7rFmF9Aka8_94.7_102.2/scene.json +++ b/samples/-7rFmF9Aka8_94.7_102.2/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 48396, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.49714124313466773, + "tracker_ok": true, "canonical_translation": [ -0.07068317383527756, -0.5291301012039185, @@ -62,18 +62,39 @@ 0.01187192089855671 ], "canonical_scale": 0.6978909969329834 + }, + { + "id": 1, + "prompt": "orange", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 72208, + "scale_correction": 0.34562500641005706, + "tracker_ok": true, + "canonical_translation": [ + -0.10128764063119888, + -0.4991549849510193, + 2.011301040649414 + ], + "canonical_rotation_quat": [ + 0.0209010262042284, + -0.03338637948036194, + 0.2772018611431122, + 0.9600039720535278 + ], + "canonical_scale": 0.20839828252792358 } ], "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 113, - 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)" }, @@ -109,12 +131,31 @@ }, "stats": { "n_frames": 113, - "n_objects": 1, + "n_objects": 2, "has_grasp": false, "mean_trust": null, "mean_iou": null, "sam3_quality": 0.9555950544626086 }, - "tracking_summary": {}, + "tracking_summary": { + "0": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "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." } \ No newline at end of file diff --git a/samples/-7uLbtVsmQs_427.8_441.2/pose_track.json b/samples/-7uLbtVsmQs_427.8_441.2/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..ad507c4ff3ef56aaa7e913abb662c102a5a45e50 100644 --- a/samples/-7uLbtVsmQs_427.8_441.2/pose_track.json +++ b/samples/-7uLbtVsmQs_427.8_441.2/pose_track.json @@ -1 +1,5266 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 127, + "smooth_sigma": 2.0, + "n_observed": 175, + "scale_correction": 0.6352551154032343, + "T_seq": [ + [ + [ + 0.011275913566350937, + -0.7631979584693909, + -0.6460663676261902, + -0.3175446391105652 + ], + [ + 0.33452659845352173, + -0.605998694896698, + 0.7217046022415161, + -0.16950291395187378 + ], + [ + -0.942318856716156, + -0.2242642641067505, + 0.2484768182039261, + 1.5200265645980835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.011275913566350937, + 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b/samples/-7uLbtVsmQs_706.2_712.4/scene.json index 17fc338d90708618b695d83e3e5d64c68126ef1a..29514e8de7d024b84ffc7cb1bcb94625a3b83048 100644 --- a/samples/-7uLbtVsmQs_706.2_712.4/scene.json +++ b/samples/-7uLbtVsmQs_706.2_712.4/scene.json @@ -47,21 +47,21 @@ "prompt": "refrigerator door", "color_hex": "#d97757", "ply": "objects/obj_0.ply", - "n_points": 0, - "scale_correction": 1.0, - "tracker_ok": false, + "n_points": 54312, + "scale_correction": 0.3801438035652114, + "tracker_ok": true, "canonical_translation": [ - 0, - 0, - 0 + -0.03694166988134384, + 0.04394790902733803, + 2.512165069580078 ], "canonical_rotation_quat": [ - 0, - 0, - 0, - 1 + 0.5257130265235901, + 0.7833186388015747, + -0.11660469323396683, + -0.3105495572090149 ], - "canonical_scale": 1.0 + "canonical_scale": 2.4284207820892334 } ], "object_pose_traj": "object_pose.bin", @@ -115,6 +115,16 @@ "mean_iou": null, "sam3_quality": 0.8961071931117277 }, - "tracking_summary": {}, + "tracking_summary": { + "0": { + "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." } \ No newline at end of file diff --git a/samples/-7uLbtVsmQs_874.8_879.1/recording.viser b/samples/-7uLbtVsmQs_874.8_879.1/recording.viser index 144d3a3d7e4ef3a185164e8bdc5cef6f0405f1b2..4db9ed1514793d318d1c25dad26b71cb22775ca9 100644 --- a/samples/-7uLbtVsmQs_874.8_879.1/recording.viser +++ b/samples/-7uLbtVsmQs_874.8_879.1/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d28e58b6752f3cd5da6a3980e46686a1443daec5544174eb988ca2946048504c -size 1484518 +oid sha256:5b7826fc4805a09e9f15475c1343d8d6ba7dd4ba059cf9fff553f743383fac6a +size 1484517 diff --git a/samples/-7uLbtVsmQs_874.8_879.9/pose_track.json b/samples/-7uLbtVsmQs_874.8_879.9/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..66019cd020705de71a7c6f5dea0306de87a9e112 100644 --- a/samples/-7uLbtVsmQs_874.8_879.9/pose_track.json +++ b/samples/-7uLbtVsmQs_874.8_879.9/pose_track.json @@ -1 +1,2042 @@ -{} \ No newline at end of file +{ + "0": { + 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035c8aec3cee2f0f58edee074bd33f4429ff4f72..6893bf55e79c7f45e6617d88da4cb1c0a8b535df 100644 --- a/samples/-7uLbtVsmQs_874.8_879.9/scene.json +++ b/samples/-7uLbtVsmQs_874.8_879.9/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 3028, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.5507454896255561, + "tracker_ok": true, "canonical_translation": [ 0.053273316472768784, 0.25038281083106995, @@ -115,6 +115,16 @@ "mean_iou": null, "sam3_quality": 0.7974615516415414 }, - "tracking_summary": {}, + "tracking_summary": { + "0": { + "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." } \ No newline at end of file diff --git a/samples/-821U1ZYZOs_245.0_249.0/pose_track.json b/samples/-821U1ZYZOs_245.0_249.0/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..93d887c2adddcb78159c53b2fa66f4851f8fe6b0 100644 --- a/samples/-821U1ZYZOs_245.0_249.0/pose_track.json +++ b/samples/-821U1ZYZOs_245.0_249.0/pose_track.json @@ -1 +1,3250 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 7, + "smooth_sigma": 2.0, + "n_observed": 62, + "scale_correction": 0.5426618728958589, + "T_seq": [ + [ + [ + -0.999977707862854, + -0.006673133932054043, + 0.0001422249188181013, + 0.2307828664779663 + ], + [ + 0.0017826296389102936, + -0.24647383391857147, + 0.969147801399231, + 0.17734427750110626 + ], + [ + -0.006432198453694582, + 0.9691264629364014, + 0.24648024141788483, + 1.3298594951629639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.999977707862854, 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a/samples/-821U1ZYZOs_245.0_249.0/scene.json b/samples/-821U1ZYZOs_245.0_249.0/scene.json index 9f13b74b9a90007461893be80a3846326486dfb5..942893e1eadc9abbe2fc534b9d4327404b6ffb80 100644 --- a/samples/-821U1ZYZOs_245.0_249.0/scene.json +++ b/samples/-821U1ZYZOs_245.0_249.0/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 14964, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.5426618728958589, + "tracker_ok": true, "canonical_translation": [ -0.13807128369808197, -0.18308886885643005, @@ -69,8 +69,8 @@ "color_hex": "#6a9460", "ply": "objects/obj_1.ply", "n_points": 65260, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.8741900970438795, + "tracker_ok": true, "canonical_translation": [ 0.4139625132083893, -0.16682980954647064, @@ -137,6 +137,25 @@ "mean_iou": null, "sam3_quality": 0.8946634535668728 }, - "tracking_summary": {}, + "tracking_summary": { + "0": { + "path": null, + 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See LICENSE-Action100M for terms." } \ No newline at end of file diff --git a/samples/-821U1ZYZOs_321.4_325.4/pose_track.json b/samples/-821U1ZYZOs_321.4_325.4/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..27042937ff5d6ef498106a82846247740d28cd85 100644 --- a/samples/-821U1ZYZOs_321.4_325.4/pose_track.json +++ b/samples/-821U1ZYZOs_321.4_325.4/pose_track.json @@ -1 +1,3250 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 41, + "smooth_sigma": 2.0, + "n_observed": 62, + "scale_correction": 1.082175918461766, + "T_seq": [ + [ + [ + 0.9772475361824036, + -0.210317924618721, + 0.027452822774648666, + 0.20434659719467163 + ], + [ + 0.025251440703868866, + -0.013145753182470798, + -0.9995946884155273, + 0.1470581740140915 + ], + [ + 0.2105935662984848, + 0.9775446653366089, + -0.0075358240865170956, + 1.334505558013916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.9772475361824036, + 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"tracking_status": "ok", + "note": "pca_align scale=1.060 chamfer_med=18.4mm obs_pts=1082" + } +} \ No newline at end of file diff --git a/samples/-821U1ZYZOs_321.4_325.4/recording.viser b/samples/-821U1ZYZOs_321.4_325.4/recording.viser index 651d670a33a7768f446b0466ecb49a923523997b..36d6a858f48fc4717a5e01f0b614840d8014182c 100644 --- a/samples/-821U1ZYZOs_321.4_325.4/recording.viser +++ b/samples/-821U1ZYZOs_321.4_325.4/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5df261d8a39773b713b3a2e2eeb623c821b2a858fd95723157e633e1419c38fb -size 2328305 +oid sha256:62add7145904f32c528d30f9ef84e55f956f704c4beb8231a16ebeb9ed110d8d +size 2327909 diff --git a/samples/-821U1ZYZOs_321.4_325.4/scene.json b/samples/-821U1ZYZOs_321.4_325.4/scene.json index bf70e88de6adb8e2743881828ec5cdf5ab12bf93..adc332632a6388039489c97bd9b62874748ddd91 100644 --- a/samples/-821U1ZYZOs_321.4_325.4/scene.json +++ b/samples/-821U1ZYZOs_321.4_325.4/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 19004, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.082175918461766, + "tracker_ok": true, "canonical_translation": [ -0.14886580407619476, -0.16329003870487213, @@ -69,8 +69,8 @@ "color_hex": "#6a9460", "ply": "objects/obj_1.ply", "n_points": 64688, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.0598392718287526, + "tracker_ok": true, "canonical_translation": [ 0.4431975483894348, -0.147146537899971, @@ -137,6 +137,25 @@ "mean_iou": null, "sam3_quality": 0.9260586890969968 }, - "tracking_summary": {}, + "tracking_summary": { + "0": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "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." } \ No newline at end of file diff --git a/samples/-821U1ZYZOs_326.1_330.3/pose_track.json b/samples/-821U1ZYZOs_326.1_330.3/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..df18789778fe7207ebb7eefa86d6f869f68354ad 100644 --- a/samples/-821U1ZYZOs_326.1_330.3/pose_track.json +++ b/samples/-821U1ZYZOs_326.1_330.3/pose_track.json @@ -1 +1,1678 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 19, + "smooth_sigma": 2.0, + "n_observed": 64, + "scale_correction": 0.972301880146791, + "T_seq": [ + [ + [ + -0.9993948340415955, + 0.033981803804636, + 0.007426280062645674, + 0.007359530311077833 + ], + [ + -0.029065454378724098, + -0.6985613107681274, + -0.7149596214294434, + -0.057697832584381104 + ], + [ + -0.019107908010482788, + -0.7147428393363953, + 0.6991263031959534, + 1.683548927307129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9993948340415955, 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"tracking_status": "ok", + "note": "pca_align scale=0.972 chamfer_med=11.7mm obs_pts=710" + } +} \ No newline at end of file diff --git a/samples/-821U1ZYZOs_326.1_330.3/recording.viser b/samples/-821U1ZYZOs_326.1_330.3/recording.viser index d580999296295e0dbd85c919c5e745bedd1bd5ab..e6a5e983dbf0c601fc1c35f6bdb471c0930a285e 100644 --- a/samples/-821U1ZYZOs_326.1_330.3/recording.viser +++ b/samples/-821U1ZYZOs_326.1_330.3/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3057175e5c7fd5099916122609914a19f4209a9d41484b6e5733a3f3eb0142a7 -size 2066597 +oid sha256:287da4af0fc4de61de1435939798adeab0edbdecf95563852e6c7d549385cf5f +size 2067922 diff --git a/samples/-821U1ZYZOs_326.1_330.3/scene.json b/samples/-821U1ZYZOs_326.1_330.3/scene.json index 65db6767e5ae529c6d9a4c3e2461cd45542d288b..f339f3333ba233239e3f8f5fe43d244501371c53 100644 --- a/samples/-821U1ZYZOs_326.1_330.3/scene.json +++ b/samples/-821U1ZYZOs_326.1_330.3/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 62480, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.972301880146791, + "tracker_ok": true, "canonical_translation": [ 0.002607966773211956, 0.028724290430545807, @@ -115,6 +115,16 @@ "mean_iou": null, "sam3_quality": 0.9166199090068555 }, - "tracking_summary": {}, + "tracking_summary": { + "0": { + "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." } \ No newline at end of file diff --git a/samples/-821U1ZYZOs_913.3_921.5/pose_track.json b/samples/-821U1ZYZOs_913.3_921.5/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..95c48e9da65edfc62824ab2df296b4b86a794c6a 100644 --- a/samples/-821U1ZYZOs_913.3_921.5/pose_track.json +++ b/samples/-821U1ZYZOs_913.3_921.5/pose_track.json @@ -1 +1,6474 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 109, + "smooth_sigma": 2.0, + "n_observed": 123, + "scale_correction": 0.9914696828836101, + "T_seq": [ + [ + [ + -0.2535128593444824, + -0.9671701192855835, + 0.017698440700769424, + -0.2879742980003357 + ], + [ + -0.043791595846414566, + -0.006802649237215519, + -0.9990175366401672, + 0.1722428947687149 + ], + [ + 0.9663402438163757, + -0.25403884053230286, + -0.04062936455011368, + 1.1688930988311768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 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a/samples/-821U1ZYZOs_913.3_921.5/recording.viser +++ b/samples/-821U1ZYZOs_913.3_921.5/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c5f75c7ec7d93059456ac92b216dc02eb2b55e4271d5ddbd1bfc2811df9759f5 -size 3314594 +oid sha256:d371b47224e4538cac032acddcb974a1cffbbce5794c67efaab068f00b5db63a +size 3314510 diff --git a/samples/-821U1ZYZOs_913.3_921.5/scene.json b/samples/-821U1ZYZOs_913.3_921.5/scene.json index 3d8bee77fc54cce7f10e28eb5f54d76467c875fb..ccff346ec626a88b4dd6adbde8f8a8508b0cae88 100644 --- a/samples/-821U1ZYZOs_913.3_921.5/scene.json +++ b/samples/-821U1ZYZOs_913.3_921.5/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 30772, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.9914696828836101, + "tracker_ok": true, "canonical_translation": [ 0.2571887969970703, -0.17077291011810303, @@ -69,8 +69,8 @@ "color_hex": "#6a9460", "ply": "objects/obj_1.ply", "n_points": 21420, 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See LICENSE-Action100M for terms." } \ No newline at end of file diff --git a/samples/-88rTFaynAQ_448.4_456.4/pose_track.json b/samples/-88rTFaynAQ_448.4_456.4/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..c7a3a3821249b999ef0699b106b18f72be8d56fe 100644 --- a/samples/-88rTFaynAQ_448.4_456.4/pose_track.json +++ b/samples/-88rTFaynAQ_448.4_456.4/pose_track.json @@ -1 +1,3160 @@ -{} \ No newline at end of file +{ + "1": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 118, + "smooth_sigma": 2.0, + "n_observed": 24, + "scale_correction": 0.4047014449682866, + "T_seq": [ + [ + [ + -0.09128013998270035, + -0.8865315914154053, + 0.4535743296146393, + 0.07908659428358078 + ], + [ + 0.9947453141212463, + -0.10238067060709, + 8.11011777841486e-05, + 0.13351638615131378 + ], + [ + 0.046365346759557724, + 0.4511983096599579, + 0.8912184238433838, + 0.41723817586898804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.09128013998270035, + 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"tracking_status": "ok", + "note": "pca_align scale=0.405 chamfer_med=20.2mm obs_pts=10928" + } +} \ No newline at end of file diff --git a/samples/-88rTFaynAQ_448.4_456.4/recording.viser b/samples/-88rTFaynAQ_448.4_456.4/recording.viser index e6619621f73bccfd0796df6b02562be279f46de2..7e9d27e9d413d6b65702d2882e72d6681f1edc73 100644 --- a/samples/-88rTFaynAQ_448.4_456.4/recording.viser +++ b/samples/-88rTFaynAQ_448.4_456.4/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:dae436b368d4ba033828bfcfe807c4b9ec5d106bafee1cee8854285dccbdd46d -size 5625045 +oid sha256:2d7154e999d0064e2bf5e4526e305d0d03b89b1da22889fcd1c69bd4bcec9ef2 +size 5623973 diff --git a/samples/-88rTFaynAQ_448.4_456.4/scene.json b/samples/-88rTFaynAQ_448.4_456.4/scene.json index df7467ea071b38391fc71b2f75da00351a2f6188..dfd89128e64b17e4dca4baf71eac9813cc44dba9 100644 --- a/samples/-88rTFaynAQ_448.4_456.4/scene.json +++ b/samples/-88rTFaynAQ_448.4_456.4/scene.json @@ -48,8 +48,8 @@ "color_hex": "#6a9460", "ply": "objects/obj_1.ply", "n_points": 64260, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.4047014449682866, + "tracker_ok": true, "canonical_translation": [ -0.3772351145744324, 0.16205140948295593, @@ -115,6 +115,16 @@ "mean_iou": null, "sam3_quality": 0.6697132826937161 }, - "tracking_summary": {}, + "tracking_summary": { + "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." } \ No newline at end of file diff --git a/samples/-8WOMg810tk_122.7_130.7/pose_track.json b/samples/-8WOMg810tk_122.7_130.7/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..723dc04928747e672b882055cc48ec9c1d318420 100644 --- a/samples/-8WOMg810tk_122.7_130.7/pose_track.json +++ b/samples/-8WOMg810tk_122.7_130.7/pose_track.json @@ -1 +1,15272 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 50, + "smooth_sigma": 2.0, + "n_observed": 117, + "scale_correction": 1.0230264656997272, + "T_seq": [ + [ + [ + -0.9987801313400269, + -0.04796724021434784, + 0.0117193553596735, + -0.01616075448691845 + ], + [ + 0.02900361642241478, + -0.3778170347213745, + 0.9254258871078491, + 0.1660681813955307 + ], + [ + -0.03996235504746437, + 0.9246369004249573, + 0.3787473738193512, + 1.417231798171997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9987801313400269, + 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--git a/samples/-8WOMg810tk_122.7_130.7/recording.viser b/samples/-8WOMg810tk_122.7_130.7/recording.viser index 4ddd5b0bee0018340371d71a1e338dc47f60dc3e..650b06ecc0fb459d8aad19636e1900da18169b49 100644 --- a/samples/-8WOMg810tk_122.7_130.7/recording.viser +++ b/samples/-8WOMg810tk_122.7_130.7/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:173125336002edebcb53bd78cbd95d63456b63834139fd8805b30a08e231b821 -size 5040195 +oid sha256:4e50bbf3d7b5cced10cc668eee171ac96c020d1450e8a2077387f7a8976d6e4c +size 5029894 diff --git a/samples/-8WOMg810tk_122.7_130.7/scene.json b/samples/-8WOMg810tk_122.7_130.7/scene.json index cfc3ca458bceb6e4271a9c1f14a60b18b71514ff..d7c0988893cdd781c047869e8f690d19c8b48561 100644 --- a/samples/-8WOMg810tk_122.7_130.7/scene.json +++ b/samples/-8WOMg810tk_122.7_130.7/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 23004, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.0230264656997272, + "tracker_ok": true, "canonical_translation": [ 0.054471563547849655, -0.121614471077919, @@ -69,8 +69,8 @@ "color_hex": "#6a9460", "ply": "objects/obj_1.ply", "n_points": 19868, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.2326437500612222, + "tracker_ok": true, "canonical_translation": [ 0.032582685351371765, -0.071287140250206, @@ -90,8 +90,8 @@ "color_hex": "#5a7daa", "ply": "objects/obj_2.ply", "n_points": 9300, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.040238242550293, + "tracker_ok": true, "canonical_translation": [ 0.2957475781440735, -0.09272445738315582, @@ -111,8 +111,8 @@ "color_hex": "#c89968", "ply": "objects/obj_3.ply", "n_points": 4548, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.9202277308665874, + "tracker_ok": true, "canonical_translation": [ 0.4908345639705658, -0.10144615173339844, @@ -132,8 +132,8 @@ "color_hex": "#7a8c4a", "ply": 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See LICENSE-Action100M for terms." } \ No newline at end of file diff --git a/samples/-8WOMg810tk_333.9_339.5/pose_track.json b/samples/-8WOMg810tk_333.9_339.5/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..80b21567bc1c2c196d91333097ed9e02ca32a073 100644 --- a/samples/-8WOMg810tk_333.9_339.5/pose_track.json +++ b/samples/-8WOMg810tk_333.9_339.5/pose_track.json @@ -1 +1,6590 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 79, + "smooth_sigma": 2.0, + "n_observed": 84, + "scale_correction": 0.8745829677738108, + "T_seq": [ + [ + [ + -0.9979220628738403, + -0.040257543325424194, + -0.05030805990099907, + 0.06443265825510025 + ], + [ + 0.018715286627411842, + 0.5660183429718018, + -0.8241801857948303, + 0.12808676064014435 + ], + [ + 0.06165475770831108, + -0.8234090805053711, + -0.564088761806488, + 1.1862668991088867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9979220628738403, 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"color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 18452, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.8745829677738108, + "tracker_ok": true, "canonical_translation": [ -0.03927013650536537, -0.14601704478263855, @@ -69,8 +69,8 @@ "color_hex": "#6a9460", "ply": "objects/obj_1.ply", "n_points": 35220, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.7774758415863187, + "tracker_ok": true, "canonical_translation": [ 0.1516520380973816, -0.06389685720205307, @@ -90,8 +90,8 @@ "color_hex": "#5a7daa", "ply": "objects/obj_2.ply", "n_points": 4872, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.8372464723965924, + "tracker_ok": true, "canonical_translation": [ 0.4037889242172241, 0.018783487379550934, @@ -159,6 +159,34 @@ "mean_iou": null, "sam3_quality": 0.9352137728776343 }, - "tracking_summary": {}, + "tracking_summary": { + "0": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": 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See LICENSE-Action100M for terms." } \ No newline at end of file diff --git a/samples/-8WOMg810tk_48.4_60.3/pose_track.json b/samples/-8WOMg810tk_48.4_60.3/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..bb4b2ea694c3ab34a65e4cb93389fbc62e44c2bf 100644 --- a/samples/-8WOMg810tk_48.4_60.3/pose_track.json +++ b/samples/-8WOMg810tk_48.4_60.3/pose_track.json @@ -1 +1,18666 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 3, + "smooth_sigma": 2.0, + "n_observed": 179, + "scale_correction": 1.0548132315242364, + "T_seq": [ + [ + [ + 0.9999531507492065, + 0.004258755128830671, + -0.008690777234733105, + -0.025359787046909332 + ], + [ + -0.006143021862953901, + -0.4146055579185486, + -0.9099804759025574, + 0.1763969510793686 + ], + [ + -0.007478628773242235, + 0.9099912643432617, + -0.4145599603652954, + 1.4577007293701172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.9999531507492065, + 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sha256:c42d7ef14ba7f7ba652cd72b2f51c7698276323239e13642f5a5cf65a593addc -size 3091618 +oid sha256:34e8fe21b57eac8ceb1f7316c6f52bccb580fefe062760917ce15b111bfb2b85 +size 3579349 diff --git a/samples/-8WOMg810tk_52.2_56.3/scene.json b/samples/-8WOMg810tk_52.2_56.3/scene.json index 31657da9cd9f716a9bd723355812fdeb2358f8fe..e29bc0593a8774e1214ec1ac6cd5636f2b14347a 100644 --- a/samples/-8WOMg810tk_52.2_56.3/scene.json +++ b/samples/-8WOMg810tk_52.2_56.3/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 23928, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.0229197086633255, + "tracker_ok": true, "canonical_translation": [ 0.06213945150375366, -0.1315114051103592, @@ -69,8 +69,8 @@ "color_hex": "#6a9460", "ply": "objects/obj_1.ply", "n_points": 41624, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.2666361253051226, + "tracker_ok": true, "canonical_translation": [ 0.03570966795086861, 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3 ], @@ -143,6 +164,7 @@ "oids": [ 0, 1, + 2, 3 ], "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" @@ -153,12 +175,49 @@ }, "stats": { "n_frames": 57, - "n_objects": 3, + "n_objects": 4, "has_grasp": false, "mean_trust": null, "mean_iou": null, "sam3_quality": 0.9113281249896403 }, - "tracking_summary": {}, + "tracking_summary": { + "0": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "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" + }, + "3": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "grasp_rate": null, + "trust_rate": null, + "tracking_status": "ok" + }, + "2": { + "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." } \ No newline at end of file diff --git a/samples/-8WOMg810tk_56.3_60.3/masks.npz b/samples/-8WOMg810tk_56.3_60.3/masks.npz index 7270021269979c759421e206509b7a9282ff2da4..a42c2135603a32f4f894cc344345548c577bc97d 100644 --- a/samples/-8WOMg810tk_56.3_60.3/masks.npz +++ b/samples/-8WOMg810tk_56.3_60.3/masks.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:66bd96a3f77eeb5611d7ad795e4ac389ac312a5eece4d9c703bf297419d58286 -size 158543 +oid sha256:b442e84fc45e1ddf8208bdf0fd9b8f5d750293853da3fc1d762fda65fca6bd53 +size 175647 diff --git a/samples/-8WOMg810tk_56.3_60.3/object_obb.bin b/samples/-8WOMg810tk_56.3_60.3/object_obb.bin index f3f1bd50c59f8a13980354d7fd0928487e94ef56..bdd987776804611571fe36b74fd2ed5ca787be74 100644 --- a/samples/-8WOMg810tk_56.3_60.3/object_obb.bin +++ b/samples/-8WOMg810tk_56.3_60.3/object_obb.bin @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid 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a/samples/-8WOMg810tk_56.3_60.3/recording.viser b/samples/-8WOMg810tk_56.3_60.3/recording.viser index ed367142accdb802c9c6ed5087b0f91b68d6f6cc..61212abe3531b914c2ae4562b767e0a812d1035e 100644 --- a/samples/-8WOMg810tk_56.3_60.3/recording.viser +++ b/samples/-8WOMg810tk_56.3_60.3/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:09a1b47169d57d439d213ee7adfa78e891d53db87df79d69a156d4edaa2c885b -size 2813108 +oid sha256:75b130be931f8865333cd07eccb90946db10ffc791369fe4ede899ab8feb5bfd +size 3489823 diff --git a/samples/-8WOMg810tk_56.3_60.3/scene.json b/samples/-8WOMg810tk_56.3_60.3/scene.json index f6b26342372375a6ae951885b7217486fd51d36c..dcb713260d7e07911aba8a8377ea48dfd24aefac 100644 --- a/samples/-8WOMg810tk_56.3_60.3/scene.json +++ b/samples/-8WOMg810tk_56.3_60.3/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 22972, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.0237661639973592, + "tracker_ok": true, "canonical_translation": [ 0.05830083042383194, -0.14388734102249146, @@ -69,8 +69,8 @@ "color_hex": "#6a9460", "ply": "objects/obj_1.ply", "n_points": 43480, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.3543763090507115, + "tracker_ok": true, "canonical_translation": [ 0.03569573909044266, -0.05816177278757095, @@ -90,8 +90,8 @@ "color_hex": "#5a7daa", "ply": "objects/obj_2.ply", "n_points": 4548, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.9681070779502993, + "tracker_ok": true, "canonical_translation": [ 0.34554341435432434, -0.1165752112865448, @@ -104,18 +104,39 @@ 0.5437111258506775 ], "canonical_scale": 0.5446081161499023 + }, + { + "id": 3, + "prompt": "small silver can", + "color_hex": "#c89968", + "ply": "objects/obj_3.ply", + "n_points": 92284, + "scale_correction": 0.19020565189449617, + "tracker_ok": true, + "canonical_translation": [ + -0.01609807088971138, + 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"mean_iou": null, + "grasp_rate": null, + "trust_rate": null, + "tracking_status": "ok" + }, + "2": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "grasp_rate": null, + "trust_rate": null, + "tracking_status": "ok" + }, + "3": { + "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." } \ No newline at end of file diff --git a/samples/-8WOMg810tk_92.8_97.6/pose_track.json b/samples/-8WOMg810tk_92.8_97.6/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..f4c83a3c7a368358bf62b03cf28f30a660857f68 100644 --- a/samples/-8WOMg810tk_92.8_97.6/pose_track.json +++ b/samples/-8WOMg810tk_92.8_97.6/pose_track.json @@ -1 +1,5654 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 6, + "smooth_sigma": 2.0, + "n_observed": 72, + "scale_correction": 0.8703672935223756, + "T_seq": [ + [ + [ + 0.9997818470001221, + -0.013918046839535236, + -0.015575750730931759, + 0.02142556570470333 + ], + [ + -0.020558619871735573, + -0.5237215161323547, + -0.8516414165496826, + 0.16632075607776642 + ], + [ + 0.0036958300042897463, + 0.8517758250236511, + -0.5238933563232422, + 1.5392574071884155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.9997818470001221, + 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b/samples/-8WOMg810tk_92.8_97.6/scene.json index 6d46856f781c9eed44d31adff645b45c1bdec4af..c31b4bb8725759f6d986f3da17c0567a120ffdd5 100644 --- a/samples/-8WOMg810tk_92.8_97.6/scene.json +++ b/samples/-8WOMg810tk_92.8_97.6/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 18860, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.8703672935223756, + "tracker_ok": true, "canonical_translation": [ 0.0049502612091600895, -0.14195430278778076, @@ -69,8 +69,8 @@ "color_hex": "#6a9460", "ply": "objects/obj_1.ply", "n_points": 38536, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.040471341194143, + "tracker_ok": true, "canonical_translation": [ -0.05991501733660698, -0.019087351858615875, @@ -90,8 +90,8 @@ "color_hex": "#5a7daa", "ply": "objects/obj_2.ply", "n_points": 11696, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.6953801478805703, + "tracker_ok": true, 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See LICENSE-Action100M for terms." } \ No newline at end of file diff --git a/samples/-9A2VyaIkX4_105.4_109.4/pose_track.json b/samples/-9A2VyaIkX4_105.4_109.4/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..6a441e7f4b8d68ddceb483da1bfc1c5d7f6b0e5e 100644 --- a/samples/-9A2VyaIkX4_105.4_109.4/pose_track.json +++ b/samples/-9A2VyaIkX4_105.4_109.4/pose_track.json @@ -1 +1,1314 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 35, + "smooth_sigma": 2.0, + "n_observed": 50, + "scale_correction": 1.3395957536987622, + "T_seq": [ + [ + [ + 0.9299702048301697, + 0.2940269410610199, + 0.22068893909454346, + -0.0722961500287056 + ], + [ + 0.32399067282676697, + -0.9391648173332214, + -0.11401534825563431, + 0.07579103857278824 + ], + [ + 0.1737397015094757, + 0.17753203213214874, + -0.9686572551727295, + 1.0402064323425293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.9299702048301697, + 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b/samples/-9A2VyaIkX4_105.4_109.4/recording.viser index 4e33592becdea4daf363f09b4ff14bb5c029d5e5..ebe5340f14d02c67f2bddd059fd1d73c8d554344 100644 --- a/samples/-9A2VyaIkX4_105.4_109.4/recording.viser +++ b/samples/-9A2VyaIkX4_105.4_109.4/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:bc0d44dceb3cf9f673bbc8e2b66dc09732c0b58877206a4236cd84c5604f635e -size 1981237 +oid sha256:8be60c4670330ab05fa5d6a68d3f9d6dbd29d02a653f97fb693471f7a1820bb8 +size 1985168 diff --git a/samples/-9A2VyaIkX4_105.4_109.4/scene.json b/samples/-9A2VyaIkX4_105.4_109.4/scene.json index 7956d1b2ef39f9371f2e0d5160ec3840953a5df8..9a693c8a07fa01469bc1b1e98ce9b20292048956 100644 --- a/samples/-9A2VyaIkX4_105.4_109.4/scene.json +++ b/samples/-9A2VyaIkX4_105.4_109.4/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 67680, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.3395957536987622, + "tracker_ok": true, 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See LICENSE-Action100M for terms." } \ No newline at end of file diff --git a/samples/-A4uygdLv4A_149.3_156.4/pose_track.json b/samples/-A4uygdLv4A_149.3_156.4/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..988f1d81d7db10afa129787d36983a4956a88df0 100644 --- a/samples/-A4uygdLv4A_149.3_156.4/pose_track.json +++ b/samples/-A4uygdLv4A_149.3_156.4/pose_track.json @@ -1 +1,11282 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 98, + "smooth_sigma": 2.0, + "n_observed": 108, + "scale_correction": 1.0962271207768395, + "T_seq": [ + [ + [ + 0.9692951440811157, + -0.24157314002513885, + -0.045928098261356354, + 0.3452092409133911 + ], + [ + -0.08324919641017914, + -0.1466328203678131, + -0.9856817126274109, + 0.27165862917900085 + ], + [ + 0.2313796579837799, + 0.9592399001121521, + -0.16224125027656555, + 1.1236671209335327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.9692951440811157, 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sha256:b3917719a536cbf782df3e775adfe38284b31454a21502245d3a80dc680bd28a +size 3380420 diff --git a/samples/-AArifaAzPg_216.8_223.6/scene.json b/samples/-AArifaAzPg_216.8_223.6/scene.json index 95028c3202be3377f45fc905bbd264b86de99d1b..b935c7f3a62590029daceadfb74d192306c6353b 100644 --- a/samples/-AArifaAzPg_216.8_223.6/scene.json +++ b/samples/-AArifaAzPg_216.8_223.6/scene.json @@ -42,14 +42,35 @@ "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", "objects": [ + { + "id": 0, + "prompt": "red onion", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 76872, + "scale_correction": 0.5957549326014061, + "tracker_ok": true, + "canonical_translation": [ + -0.03880501165986061, + -0.1786782145500183, + 1.5098263025283813 + ], + "canonical_rotation_quat": [ + 0.12003214657306671, + 0.1492074579000473, + 0.48604294657707214, + 0.8526967167854309 + ], + "canonical_scale": 0.11731480807065964 + }, { "id": 1, "prompt": "knife", "color_hex": "#6a9460", "ply": 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"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." } \ No newline at end of file diff --git a/samples/-AWGX2al-ow_159.6_163.8/masks.npz b/samples/-AWGX2al-ow_159.6_163.8/masks.npz index 2685f8f87595246bd37682c26a432d66161e3610..a7dc2a0ea176e2dd0eae74ca2a21087709585528 100644 --- a/samples/-AWGX2al-ow_159.6_163.8/masks.npz +++ b/samples/-AWGX2al-ow_159.6_163.8/masks.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:195c56f2e69a7a0c1ef521af849a92bc1c5c5f3566a8f5ee1997fe6cdff46589 -size 34663 +oid sha256:2e639d265d3c6eaa4cfd7b9a9e362b88b0fd0f229cf88acd1180f551bf3dd44d +size 56766 diff --git a/samples/-AWGX2al-ow_159.6_163.8/object_obb.bin b/samples/-AWGX2al-ow_159.6_163.8/object_obb.bin index bc79e40761436cd173a82f6735075dd50eae1faa..59f2c27a96334bfc3ea99d99c417245c96a02fe1 100644 --- a/samples/-AWGX2al-ow_159.6_163.8/object_obb.bin +++ b/samples/-AWGX2al-ow_159.6_163.8/object_obb.bin @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid 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-42,14 +42,35 @@ "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", "objects": [ + { + "id": 0, + "prompt": "bowl of vegetables", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 69944, + "scale_correction": 1.09461005067474, + "tracker_ok": true, + "canonical_translation": [ + -0.5659487247467041, + -0.3107652962207794, + 1.485393762588501 + ], + "canonical_rotation_quat": [ + 0.18222229182720184, + 0.1435861438512802, + 0.6596095561981201, + 0.7149078249931335 + ], + "canonical_scale": 0.17433834075927734 + }, { "id": 1, "prompt": "bowl of vegetables", "color_hex": "#6a9460", "ply": "objects/obj_1.ply", "n_points": 45208, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.1123654772394904, + "tracker_ok": true, "canonical_translation": [ -0.015501645393669605, -0.2778412997722626, @@ -69,8 +90,8 @@ "color_hex": "#5a7daa", "ply": "objects/obj_2.ply", "n_points": 45512, - "scale_correction": 1.0, - "tracker_ok": false, + 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a/samples/-B1sQkAK-GA_567.2_572.4/recording.viser b/samples/-B1sQkAK-GA_567.2_572.4/recording.viser index b794e73547669f2863f75aed7369093c8f896b05..1c201e074a0c30592094a7fa16ca63b1a184a282 100644 --- a/samples/-B1sQkAK-GA_567.2_572.4/recording.viser +++ b/samples/-B1sQkAK-GA_567.2_572.4/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2c7403c78d2c7ea85b62436637e8c469f7873d8724c95d9e7cf29505eaeb730c -size 5329182 +oid sha256:c05a1a982355e7ef1908903ce9e794d79c20eb76a38f4ae7cc2d78affa80936d +size 5660227 diff --git a/samples/-B1sQkAK-GA_567.2_572.4/scene.json b/samples/-B1sQkAK-GA_567.2_572.4/scene.json index bf43f44c46696b5251f51452e8b117db4aeb6477..71bda7404cacb739348936ca2e63aea853036873 100644 --- a/samples/-B1sQkAK-GA_567.2_572.4/scene.json +++ b/samples/-B1sQkAK-GA_567.2_572.4/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 50764, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.3753557913723407, + "tracker_ok": true, "canonical_translation": [ -0.030521288514137268, -0.036720626056194305, @@ -63,14 +63,35 @@ ], "canonical_scale": 0.6970312595367432 }, + { + "id": 1, + "prompt": "chair", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 42656, + "scale_correction": 0.5136559581951035, + "tracker_ok": true, + "canonical_translation": [ + 0.22939400374889374, + 0.015618434175848961, + 1.9679272174835205 + ], + "canonical_rotation_quat": [ + 0.16618363559246063, + 0.24872702360153198, + 0.7184377908706665, + 0.6279850006103516 + ], + "canonical_scale": 2.4911746978759766 + }, { "id": 2, "prompt": "chair", "color_hex": "#5a7daa", "ply": "objects/obj_2.ply", "n_points": 41488, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.3940133226138822, + "tracker_ok": true, "canonical_translation": [ -0.822619616985321, -0.06456300616264343, @@ -90,8 +111,8 @@ "color_hex": "#c89968", "ply": "objects/obj_3.ply", "n_points": 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See LICENSE-Action100M for terms." } \ No newline at end of file diff --git a/samples/-BZr4emdx_o_220.8_246.3/pose_track.json b/samples/-BZr4emdx_o_220.8_246.3/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..3421c81566e8315ab694189f63e11a955e2dbf74 100644 --- a/samples/-BZr4emdx_o_220.8_246.3/pose_track.json +++ b/samples/-BZr4emdx_o_220.8_246.3/pose_track.json @@ -1 +1,19942 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 372, + "smooth_sigma": 2.0, + "n_observed": 380, + "scale_correction": 0.9329311118202818, + "T_seq": [ + [ + [ + 0.08037206530570984, + 0.9965886473655701, + -0.018744487315416336, + -0.29079964756965637 + ], + [ + 0.14536751806735992, + -0.03032359853386879, + -0.9889129400253296, + 0.21355418860912323 + ], + [ + -0.9861078262329102, + 0.07675613462924957, + -0.14730878174304962, + 1.6557902097702026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 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See LICENSE-Action100M for terms." } \ No newline at end of file diff --git a/samples/-CQgm6xT5RE_59.4_73.8/masks.npz b/samples/-CQgm6xT5RE_59.4_73.8/masks.npz index 123608b47226b346527a4f0b23f513f000792323..60f7dc1c15f5ba61dc037eddc441db4bb8e36dce 100644 --- a/samples/-CQgm6xT5RE_59.4_73.8/masks.npz +++ b/samples/-CQgm6xT5RE_59.4_73.8/masks.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e278e3f76c1908bed78c245559a62c5f96ea1e473aa86884e213424b46b04145 -size 144792 +oid sha256:31c666d47e932c0b7eb9cc3d7f825cf02b47703c8b91ce18f95a270545f0b7cb +size 259139 diff --git a/samples/-CQgm6xT5RE_59.4_73.8/object_obb.bin b/samples/-CQgm6xT5RE_59.4_73.8/object_obb.bin index cac0bcea6aa6261c10de59d3171590b3c57c0518..ab50e51e95677e6b79b525b7aa3991ae7178a789 100644 --- a/samples/-CQgm6xT5RE_59.4_73.8/object_obb.bin +++ b/samples/-CQgm6xT5RE_59.4_73.8/object_obb.bin @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid 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] + ] + ], + "tracking_status": "ok", + "note": "pca_align scale=0.211 chamfer_med=21.5mm obs_pts=2461" + } +} \ No newline at end of file diff --git a/samples/-CQgm6xT5RE_59.4_73.8/recording.viser b/samples/-CQgm6xT5RE_59.4_73.8/recording.viser index c804bce7054c50efe5950e806a00528bd473ac86..96df5d68fc046861a4ab8686e120743b40bdab01 100644 --- a/samples/-CQgm6xT5RE_59.4_73.8/recording.viser +++ b/samples/-CQgm6xT5RE_59.4_73.8/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8e1d7dad0606851ea838af4227d9d4f581144d6b81773038b87afac07749e71b -size 8968592 +oid sha256:346b3775af325c4a9ad7b007331a33a20c9800c407801790c7f4dc20308d5a9d +size 9668812 diff --git a/samples/-CQgm6xT5RE_59.4_73.8/scene.json b/samples/-CQgm6xT5RE_59.4_73.8/scene.json index a4936cdbdec519b8803263492fcb91acfb479c9e..b437adf115c93b3b129a3a74656bd57b521e9c6c 100644 --- a/samples/-CQgm6xT5RE_59.4_73.8/scene.json +++ b/samples/-CQgm6xT5RE_59.4_73.8/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 23460, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.7691792311006747, + "tracker_ok": true, "canonical_translation": [ -0.3507908880710602, -0.1846022605895996, @@ -62,18 +62,39 @@ 0.3340044915676117 ], "canonical_scale": 0.5416649580001831 + }, + { + "id": 1, + "prompt": "glass jar", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 90272, + "scale_correction": 0.21097451748594145, + "tracker_ok": true, + "canonical_translation": [ + -0.0020168907940387726, + 0.008485628291964531, + 1.5983757972717285 + ], + "canonical_rotation_quat": [ + 0.4405929446220398, + 0.4554971158504486, + 0.5553412437438965, + 0.5385130047798157 + ], + "canonical_scale": 0.7925125956535339 } ], "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 216, - 1, + 2, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 1, + 2, 8, 3 ], @@ -99,7 +120,8 @@ 637 ], "oids": [ - 0 + 0, + 1 ], "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" }, @@ -109,12 +131,31 @@ }, "stats": { "n_frames": 216, - "n_objects": 1, + "n_objects": 2, "has_grasp": false, "mean_trust": null, "mean_iou": null, "sam3_quality": 0.9482888944430647 }, - "tracking_summary": {}, + "tracking_summary": { + "0": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "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." } \ No newline at end of file diff --git a/samples/-DCmm-dTi0o_188.7_194.8/pose_track.json b/samples/-DCmm-dTi0o_188.7_194.8/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..cd499aa4073dcefbb3f8df31c5ad4f97d75bc3cc 100644 --- a/samples/-DCmm-dTi0o_188.7_194.8/pose_track.json +++ b/samples/-DCmm-dTi0o_188.7_194.8/pose_track.json @@ -1 +1,4862 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 0, + "smooth_sigma": 2.0, + "n_observed": 93, + "scale_correction": 1.0418641876872663, + "T_seq": [ + [ + [ + 0.08100500702857971, + 0.994937539100647, + -0.059476807713508606, + 0.0018226162064820528 + ], + [ + -0.35402369499206543, + -0.027060892432928085, + -0.9348448514938354, + 0.09217304736375809 + ], + [ + -0.9317217469215393, + 0.09678331017494202, + 0.35003939270973206, + 1.4476720094680786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 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691293519cbd7457e4624b6cbbdd1104ca0b5708..454384e8de56447e76a7f93fb1f54fad83e23510 100644 --- a/samples/-DCmm-dTi0o_188.7_194.8/scene.json +++ b/samples/-DCmm-dTi0o_188.7_194.8/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 53084, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.0418641876872663, + "tracker_ok": true, "canonical_translation": [ -0.0008300866466015577, -0.104278564453125, @@ -69,8 +69,8 @@ "color_hex": "#6a9460", "ply": "objects/obj_1.ply", "n_points": 21568, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.4410789341389413, + "tracker_ok": true, "canonical_translation": [ -0.21615082025527954, -0.2631605565547943, @@ -137,6 +137,25 @@ "mean_iou": null, "sam3_quality": 0.9225638226481744 }, - "tracking_summary": {}, + "tracking_summary": { + "0": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "grasp_rate": null, + "trust_rate": 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b/samples/-DDDD1yrBC8_265.3_274.3/scene.json index 668b6d1c5019cce2ecd11913b09aca8ab57cee38..c61395ab93826692e7a9653d815d20f346b2d47d 100644 --- a/samples/-DDDD1yrBC8_265.3_274.3/scene.json +++ b/samples/-DDDD1yrBC8_265.3_274.3/scene.json @@ -42,14 +42,35 @@ "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", "objects": [ + { + "id": 0, + "prompt": "windshield", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 92136, + "scale_correction": 0.6149941242113581, + "tracker_ok": true, + "canonical_translation": [ + 0.19750161468982697, + 0.01153562217950821, + 1.8193544149398804 + ], + "canonical_rotation_quat": [ + 0.19959218800067902, + 0.3100755214691162, + 0.6974977254867554, + 0.6144208908081055 + ], + "canonical_scale": 1.6486892700195312 + }, { "id": 1, "prompt": "drill", "color_hex": "#6a9460", "ply": "objects/obj_1.ply", "n_points": 25788, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 2.2564852437575564, + "tracker_ok": true, "canonical_translation": [ -0.1714688539505005, 0.010293053463101387, @@ -67,13 +88,13 @@ "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 137, - 1, + 2, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 1, + 2, 8, 3 ], @@ -99,6 +120,7 @@ 853 ], "oids": [ + 0, 1 ], "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" @@ -109,12 +131,31 @@ }, "stats": { "n_frames": 137, - "n_objects": 1, + "n_objects": 2, "has_grasp": false, "mean_trust": null, "mean_iou": null, "sam3_quality": 0.961338055631098 }, - "tracking_summary": {}, + "tracking_summary": { + "1": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "grasp_rate": null, + "trust_rate": null, + "tracking_status": "ok" + }, + "0": { + "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." } \ No newline at end of file diff --git a/samples/-DOYgzdGGe0_143.8_148.7/pose_track.json b/samples/-DOYgzdGGe0_143.8_148.7/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..98ba33b2537f9b60dfcad1f2e0e34ea5037d6f76 100644 --- a/samples/-DOYgzdGGe0_143.8_148.7/pose_track.json +++ b/samples/-DOYgzdGGe0_143.8_148.7/pose_track.json @@ -1 +1,2016 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 58, + "smooth_sigma": 2.0, + "n_observed": 77, + "scale_correction": 0.8860229795992912, + "T_seq": [ + [ + [ + -0.07677743583917618, + 0.996815025806427, + 0.021564297378063202, + 0.008583891205489635 + ], + [ + 0.01590794138610363, + 0.02285008504986763, + -0.9996123313903809, + 0.09375890344381332 + ], + [ + -0.9969213604927063, + -0.0764046236872673, + -0.01761164516210556, + 1.1434661149978638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.07677743583917618, 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diff --git a/samples/-DOYgzdGGe0_143.8_148.7/scene.json b/samples/-DOYgzdGGe0_143.8_148.7/scene.json index 0ae20e60e1d83aa292fd9218b6369400285ce4e4..f8a83f1b3f0f4a8e964f3443d9c3fcd6a1a0c52c 100644 --- a/samples/-DOYgzdGGe0_143.8_148.7/scene.json +++ b/samples/-DOYgzdGGe0_143.8_148.7/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 46276, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.8860229795992912, + "tracker_ok": true, "canonical_translation": [ 0.09052819013595581, -0.20062625408172607, @@ -115,6 +115,16 @@ "mean_iou": null, "sam3_quality": 0.9645189706637206 }, - "tracking_summary": {}, + "tracking_summary": { + "0": { + "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." } \ No newline at end of file diff --git a/samples/-DVV5l5eEQg_102.7_113.7/pose_track.json b/samples/-DVV5l5eEQg_102.7_113.7/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..505333aec4fe9e318f6aa7357374addffbf16d2c 100644 --- a/samples/-DVV5l5eEQg_102.7_113.7/pose_track.json +++ b/samples/-DVV5l5eEQg_102.7_113.7/pose_track.json @@ -1 +1,5746 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 0, + "smooth_sigma": 2.0, + "n_observed": 110, + "scale_correction": 0.7371116979036125, + "T_seq": [ + [ + [ + -0.8616188764572144, + -0.5072571039199829, + -0.017409468069672585, + -0.06100402772426605 + ], + [ + -0.0859132707118988, + 0.17956487834453583, + -0.9799874424934387, + 0.3331952691078186 + ], + [ + 0.5002317428588867, + -0.8428800106048584, + -0.19829660654067993, + 1.626139760017395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8616188764572144, + 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index 4c4728767704e1c1185bfdd52daa941a653f13b6..146e532a76dfd8389b36ba362e8ad33245229d64 100644 --- a/samples/-DVV5l5eEQg_102.7_113.7/scene.json +++ b/samples/-DVV5l5eEQg_102.7_113.7/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 30864, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.7371116979036125, + "tracker_ok": true, "canonical_translation": [ -0.06856079399585724, -0.36978867650032043, @@ -69,8 +69,8 @@ "color_hex": "#6a9460", "ply": "objects/obj_1.ply", "n_points": 28384, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.7026909669116029, + "tracker_ok": true, "canonical_translation": [ -0.05807716026902199, -0.09679026156663895, @@ -137,6 +137,25 @@ "mean_iou": null, "sam3_quality": 0.8850261164619535 }, - "tracking_summary": {}, + "tracking_summary": { + "0": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "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." } \ No newline at end of file diff --git a/samples/-EI-_9BR7j8_234.0_282.9/pose_track.json b/samples/-EI-_9BR7j8_234.0_282.9/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..dd535c020f307f950f51ab7818fcd3d420dc5794 100644 --- a/samples/-EI-_9BR7j8_234.0_282.9/pose_track.json +++ b/samples/-EI-_9BR7j8_234.0_282.9/pose_track.json @@ -1 +1,19098 @@ -{} \ No newline at end of file +{ + "6": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 13, + "smooth_sigma": 2.0, + "n_observed": 734, + "scale_correction": 0.7310849372743046, + "T_seq": [ + [ + [ + -0.35705241560935974, + 0.9298461079597473, + 0.08888079226016998, + 0.005730630364269018 + ], + [ + 0.931464433670044, + 0.3473137319087982, + 0.10838453471660614, + 0.19950376451015472 + ], + [ + 0.0699114128947258, + 0.12148825824260712, + -0.9901277422904968, + 1.7334070205688477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.35705241560935974, + 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7813dd8fe39583a8e9f5203b03d86b7a90bd5fcb..a75287a781e91f5d8d702ddd4c20ae1acaf8a122 100644 --- a/samples/-F8ykWfiTZg_417.5_431.3/scene.json +++ b/samples/-F8ykWfiTZg_417.5_431.3/scene.json @@ -42,14 +42,56 @@ "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", "objects": [ + { + "id": 0, + "prompt": "mason jar", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 90684, + "scale_correction": 0.2398584327677783, + "tracker_ok": true, + "canonical_translation": [ + -0.020609792321920395, + 0.06774616241455078, + 1.9670348167419434 + ], + "canonical_rotation_quat": [ + 0.029968194663524628, + 0.11166094243526459, + 0.795205295085907, + 0.5952161550521851 + ], + "canonical_scale": 0.8830406069755554 + }, + { + "id": 1, + "prompt": "mason jar", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 90368, + "scale_correction": 0.1, + "tracker_ok": true, + "canonical_translation": [ + 0.050145089626312256, + -0.1944073885679245, + 3.238628625869751 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a/samples/-FIE_5vWhv0_362.0_371.7/scene.json b/samples/-FIE_5vWhv0_362.0_371.7/scene.json index 0d3606f405e81878f3a6a7d2129bfc972fb0143e..93d6afef516a78f9c9c8c3d6975663e39f11bb8f 100644 --- a/samples/-FIE_5vWhv0_362.0_371.7/scene.json +++ b/samples/-FIE_5vWhv0_362.0_371.7/scene.json @@ -42,14 +42,35 @@ "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", "objects": [ + { + "id": 0, + "prompt": "whole chicken", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 70952, + "scale_correction": 0.9153881012735984, + "tracker_ok": true, + "canonical_translation": [ + 0.009385226294398308, + -0.18186557292938232, + 1.500031590461731 + ], + "canonical_rotation_quat": [ + 0.5067940950393677, + -0.3959849178791046, + -0.4388943612575531, + 0.6274769902229309 + ], + "canonical_scale": 0.21550559997558594 + }, { "id": 1, "prompt": "knife", "color_hex": "#6a9460", "ply": "objects/obj_1.ply", "n_points": 5932, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.5871904145136424, + "tracker_ok": true, "canonical_translation": [ -0.13404613733291626, -0.11831138283014297, @@ -67,13 +88,13 @@ "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 145, - 1, + 2, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 1, + 2, 8, 3 ], @@ -99,6 +120,7 @@ 853 ], "oids": [ + 0, 1 ], "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" @@ -109,12 +131,31 @@ }, "stats": { "n_frames": 145, - "n_objects": 1, + "n_objects": 2, "has_grasp": false, "mean_trust": null, "mean_iou": null, "sam3_quality": 0.9369837189100134 }, - "tracking_summary": {}, + "tracking_summary": { + "1": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "grasp_rate": null, + "trust_rate": null, + "tracking_status": "ok" + }, + "0": { + "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." } \ No newline at end of file diff --git a/samples/-HBN0sPqvk0_240.9_256.9/pose_track.json b/samples/-HBN0sPqvk0_240.9_256.9/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..34ce0618e84bb95ea485f1fb902303d24ce6f008 100644 --- a/samples/-HBN0sPqvk0_240.9_256.9/pose_track.json +++ b/samples/-HBN0sPqvk0_240.9_256.9/pose_track.json @@ -1 +1,6254 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 6, + "smooth_sigma": 2.0, + "n_observed": 238, + "scale_correction": 1.0436815772416888, + "T_seq": [ + [ + [ + -0.9683428406715393, + 0.24926918745040894, + 0.013303724117577076, + 0.10443544387817383 + ], + [ + 0.014664790593087673, + 0.11000991612672806, + -0.9938222765922546, + 0.26452240347862244 + ], + [ + -0.24919281899929047, + -0.9621656537055969, + -0.11018279939889908, + 1.6120489835739136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 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See LICENSE-Action100M for terms." } \ No newline at end of file diff --git a/samples/-HJPuU5UjII_177.7_186.2/masks.npz b/samples/-HJPuU5UjII_177.7_186.2/masks.npz index d8f479e74a85509b8bc72f7cd903874c4d5fee3f..a2c52a93ec8aea2ac699cad089c036ba0581680d 100644 --- a/samples/-HJPuU5UjII_177.7_186.2/masks.npz +++ b/samples/-HJPuU5UjII_177.7_186.2/masks.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3784238f952a34c7f5b3dde95d583b7ca5484f148060ba0ff13c296c43adccd3 -size 94503 +oid sha256:0c4842be51705300390619bb7572cfb0de2df68461496c3c3aa066f13f6e21c4 +size 57464 diff --git a/samples/-HJPuU5UjII_177.7_186.2/object_obb.bin b/samples/-HJPuU5UjII_177.7_186.2/object_obb.bin index a617a664c67d201966ad69e22fad10cc7e409596..fc700b4d899b7b925e22c7962c3a8a0191dc80d0 100644 --- a/samples/-HJPuU5UjII_177.7_186.2/object_obb.bin +++ b/samples/-HJPuU5UjII_177.7_186.2/object_obb.bin @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid 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sha256:421408a11d0805ec2bc9b5f51e98c04699f6137b7751523b6b19b8e64e796200 -size 3048207 +oid sha256:4e67373906ca4b4b22a515c950fc00fbce007bd850d5e51b099ec0b75dfc73ae +size 3547211 diff --git a/samples/-HJPuU5UjII_177.7_186.2/scene.json b/samples/-HJPuU5UjII_177.7_186.2/scene.json index ac0bc000e23095d0f27f49b6d1be2d53c38cfa3d..7be2332737d532404af0a61bf7e0bd68acc0d3b7 100644 --- a/samples/-HJPuU5UjII_177.7_186.2/scene.json +++ b/samples/-HJPuU5UjII_177.7_186.2/scene.json @@ -47,54 +47,33 @@ "prompt": "red bowl", "color_hex": "#d97757", "ply": "objects/obj_0.ply", - "n_points": 0, - "scale_correction": 1.0, - "tracker_ok": false, + "n_points": 70052, + "scale_correction": 0.8514786825260718, + "tracker_ok": true, "canonical_translation": [ - 0, - 0, - 0 + 0.3091540038585663, + -0.336991548538208, + 1.2716987133026123 ], "canonical_rotation_quat": [ - 0, - 0, - 0, - 1 - ], - "canonical_scale": 1.0 - }, - { - "id": 1, - "prompt": "whisk", - "color_hex": "#6a9460", - "ply": 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"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." } \ No newline at end of file diff --git a/samples/-HJPuU5UjII_182.2_186.2/masks.npz b/samples/-HJPuU5UjII_182.2_186.2/masks.npz index 7a29fdfdcfde861f51794266673bf3ac9929b026..499d6e04682e98469ede70f2d62a8eeebc51f680 100644 --- a/samples/-HJPuU5UjII_182.2_186.2/masks.npz +++ b/samples/-HJPuU5UjII_182.2_186.2/masks.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b1d2aa3216e96ec002d86e7883dd434d4f189e9b75dfeb4f913b3e438a6e8a8d -size 62421 +oid sha256:ade0c0ad18d9839e962eab70aa16baf50ed95aff8e30f8f86fecd4a81a0828be +size 88123 diff --git a/samples/-HJPuU5UjII_182.2_186.2/object_obb.bin b/samples/-HJPuU5UjII_182.2_186.2/object_obb.bin index f80e6dc96fd2eea61ea049cf474b85ed866c91b5..37038b225207aef27faf8dcaf9d266f2422ce238 100644 --- a/samples/-HJPuU5UjII_182.2_186.2/object_obb.bin +++ b/samples/-HJPuU5UjII_182.2_186.2/object_obb.bin @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid 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See LICENSE-Action100M for terms." } \ No newline at end of file diff --git a/samples/-HJPuU5UjII_235.4_239.4/masks.npz b/samples/-HJPuU5UjII_235.4_239.4/masks.npz index 42f05b0faaa6b643ebeac327913c59f11052d3d5..cd1f27f089bf836719226a215f88826abc3cb092 100644 --- a/samples/-HJPuU5UjII_235.4_239.4/masks.npz +++ b/samples/-HJPuU5UjII_235.4_239.4/masks.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6977f438c8c33423bbebbb5fdfd14ced17cc0e4fffc0ff4a8e8fd27a9a5c808c -size 16345 +oid sha256:8418e809b94dee3feccf0881f731d7ec285fe722719aa6c7407ffe0affdcc408 +size 27771 diff --git a/samples/-HJPuU5UjII_235.4_239.4/object_obb.bin b/samples/-HJPuU5UjII_235.4_239.4/object_obb.bin index c0a3a1022ba39cd0269cde3ace9914d1624127d6..c80126d2cea42656f589513ec91a2d5670c14d5c 100644 --- a/samples/-HJPuU5UjII_235.4_239.4/object_obb.bin +++ b/samples/-HJPuU5UjII_235.4_239.4/object_obb.bin @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid 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a/samples/-HJPuU5UjII_235.4_239.4/recording.viser b/samples/-HJPuU5UjII_235.4_239.4/recording.viser index 276fcc4de4e679fdd8d6406eca6b5a5d9dcf7f15..e8e2b3e4eb86b219c6aedbbe05dabaeaa2aea456 100644 --- a/samples/-HJPuU5UjII_235.4_239.4/recording.viser +++ b/samples/-HJPuU5UjII_235.4_239.4/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:46ea27bb901ca4f84092c05f5fea587e029cf8862ec15caf7dff2b7bee840e49 -size 1629537 +oid sha256:f7c4abfea0c0a4ee92f7f50df2b0cb01dd987608dc6722e910fdbab7c3701652 +size 2167993 diff --git a/samples/-HJPuU5UjII_235.4_239.4/scene.json b/samples/-HJPuU5UjII_235.4_239.4/scene.json index 22ec54aa0448373a828869f9aa0066eca5efd16a..94bd3038babc4b2f4acf48e4a97e5357dbac0e29 100644 --- a/samples/-HJPuU5UjII_235.4_239.4/scene.json +++ b/samples/-HJPuU5UjII_235.4_239.4/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 49668, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 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See LICENSE-Action100M for terms." } \ No newline at end of file diff --git a/samples/-I7eETVxmbk_320.5_324.5/pose_track.json b/samples/-I7eETVxmbk_320.5_324.5/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..63c98fde39288ea23975157402ffb01bbe249faf 100644 --- a/samples/-I7eETVxmbk_320.5_324.5/pose_track.json +++ b/samples/-I7eETVxmbk_320.5_324.5/pose_track.json @@ -1 +1,3198 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 8, + "smooth_sigma": 2.0, + "n_observed": 61, + "scale_correction": 1.088628843284122, + "T_seq": [ + [ + [ + -0.605389416217804, + -0.7939847111701965, + -0.05560552701354027, + 0.04816595837473869 + ], + [ + -0.1617339700460434, + 0.1911202371120453, + -0.9681503772735596, + 0.21222235262393951 + ], + [ + 0.779323935508728, + -0.5771147012710571, + -0.24411647021770477, + 1.510757327079773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.605389416217804, + 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b/samples/-I7eETVxmbk_320.5_324.5/recording.viser index 9627aaf44aa4390e7ea710dbeaf88e5864953d20..81ea6b1fbc6b5c6c124686c5bdd9c573f9d0ca6a 100644 --- a/samples/-I7eETVxmbk_320.5_324.5/recording.viser +++ b/samples/-I7eETVxmbk_320.5_324.5/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:615a4b7b787e2ca5e7ef702de43b992641501c832be47c5603e93ad31b9057b5 -size 2375414 +oid sha256:132e63f541b7d4de3aaf3bd426f0835f1736611842dfa8a97b71aa364feb34be +size 2380939 diff --git a/samples/-I7eETVxmbk_320.5_324.5/scene.json b/samples/-I7eETVxmbk_320.5_324.5/scene.json index 1732cdc35ddc827dcc52465b9ab214a902d97eaf..38642e04f71232741b301724eed796c28c2e03ac 100644 --- a/samples/-I7eETVxmbk_320.5_324.5/scene.json +++ b/samples/-I7eETVxmbk_320.5_324.5/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 46856, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.088628843284122, + "tracker_ok": true, 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See LICENSE-Action100M for terms." } \ No newline at end of file diff --git a/samples/-IA63nyvmg0_132.1_141.0/recording.viser b/samples/-IA63nyvmg0_132.1_141.0/recording.viser index f55267fc7c10faded4b741bcfb929f34e68871e0..bdd64035b24da55976a94ba50c6ecd0902732787 100644 --- a/samples/-IA63nyvmg0_132.1_141.0/recording.viser +++ b/samples/-IA63nyvmg0_132.1_141.0/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d13219158525db099b4019e3762189a685f6242a7632a85219d15f6855e60ad9 -size 3270184 +oid sha256:2355cc40730d280d008586b1d86a6b6d2bebf65b5cf511c1a7a7c20e26598160 +size 3270183 diff --git a/samples/-IK3iLUcBxA_603.5_614.7/pose_track.json b/samples/-IK3iLUcBxA_603.5_614.7/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..b6d774eb555169cddfaa9277b52d3d39e4c9cbb1 100644 --- a/samples/-IK3iLUcBxA_603.5_614.7/pose_track.json +++ b/samples/-IK3iLUcBxA_603.5_614.7/pose_track.json @@ -1 +1,4408 @@ -{} \ No newline at end of file +{ + "0": { + 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See LICENSE-Action100M for terms." } \ No newline at end of file diff --git a/samples/-J3NfUD__8A_861.3_871.7/masks.npz b/samples/-J3NfUD__8A_861.3_871.7/masks.npz index 308b0c3c1099f1cd31ad2aea2e331153e0bfa7b3..88164547209c7a2d78dcf59c458bd36e9880afd3 100644 --- a/samples/-J3NfUD__8A_861.3_871.7/masks.npz +++ b/samples/-J3NfUD__8A_861.3_871.7/masks.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:bcd0d2d08dcde4fa63a822a7c8a2f15a2af7b3a8fe6029c35d3814d89e1f75c1 -size 129249 +oid sha256:90617ac82af4daeee24dd8a79181a2219e8d4dbad68c8062195867afe4810984 +size 213340 diff --git a/samples/-J3NfUD__8A_861.3_871.7/object_obb.bin b/samples/-J3NfUD__8A_861.3_871.7/object_obb.bin index 1070acc5b3a65a3796edd2c3ca4f4dc1a101805a..92ff982011245f9346b39ffc84bde68a6bfd99f9 100644 --- a/samples/-J3NfUD__8A_861.3_871.7/object_obb.bin +++ b/samples/-J3NfUD__8A_861.3_871.7/object_obb.bin @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid 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chamfer_med=16.6mm obs_pts=2627" + } +} \ No newline at end of file diff --git a/samples/-J3NfUD__8A_861.3_871.7/recording.viser b/samples/-J3NfUD__8A_861.3_871.7/recording.viser index 35a3776a5ea91d851722e3aea48d117c06174742..a6a7be7945acf36c151c655575155063cc8f2325 100644 --- a/samples/-J3NfUD__8A_861.3_871.7/recording.viser +++ b/samples/-J3NfUD__8A_861.3_871.7/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:29441064e441781b1a801f8864e90bc70d8079575d0b7b83a4b14978d8ea360f -size 5142333 +oid sha256:669927229ec777d1b775c3389457c789e74518bb4f2a7e44c4dd1c53b44db455 +size 5931985 diff --git a/samples/-J3NfUD__8A_861.3_871.7/scene.json b/samples/-J3NfUD__8A_861.3_871.7/scene.json index 8498cc83fc3c03e33b9a4d6fa8815e820049505b..c2b8c2ab0d09b784eeef695ad57416aa0c870e0c 100644 --- a/samples/-J3NfUD__8A_861.3_871.7/scene.json +++ b/samples/-J3NfUD__8A_861.3_871.7/scene.json @@ -42,14 +42,35 @@ "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", "objects": [ + { + "id": 0, + "prompt": "blender", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 108256, + "scale_correction": 0.16830925140923295, + "tracker_ok": true, + "canonical_translation": [ + -0.005091566126793623, + -0.00989498570561409, + 1.9149525165557861 + ], + "canonical_rotation_quat": [ + 0.040260959416627884, + 0.06520732492208481, + 0.761023223400116, + 0.6441823244094849 + ], + "canonical_scale": 0.792731761932373 + }, { "id": 1, "prompt": "syrup bottle", "color_hex": "#6a9460", "ply": "objects/obj_1.ply", "n_points": 37512, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.6106836111174129, + "tracker_ok": true, "canonical_translation": [ 0.29343441128730774, -0.2572932839393616, @@ -69,8 +90,8 @@ "color_hex": "#5a7daa", "ply": "objects/obj_2.ply", "n_points": 28352, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.6905443684576409, + "tracker_ok": true, 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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. 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82a0658bf14bb6bb4f87219c96392cbb0748a05f..d5f731ced7421c943d2138f1e9fddf187b9976b0 100644 --- a/samples/-K0Gl4qkyOg_260.7_270.6/recording.viser +++ b/samples/-K0Gl4qkyOg_260.7_270.6/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:357fa057c64ae0707433f449db3bab4bc4ee80ba3ca58cabb01418ca50de53b7 -size 4176519 +oid sha256:09ede3023ea77ee38e4ef68e69ac2b97190ffc01b69bc1e3dd1cd558d65b8fc7 +size 4455381 diff --git a/samples/-K0Gl4qkyOg_260.7_270.6/scene.json b/samples/-K0Gl4qkyOg_260.7_270.6/scene.json index ca9bde34f9f056b04d3685b0562404696e9dc8a7..b5207ace063b8e18b369ddd0f666503f4e08df75 100644 --- a/samples/-K0Gl4qkyOg_260.7_270.6/scene.json +++ b/samples/-K0Gl4qkyOg_260.7_270.6/scene.json @@ -42,14 +42,35 @@ "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", "objects": [ + { + "id": 0, + "prompt": "dvd drive", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 41204, + "scale_correction": 0.22931345441415568, + "tracker_ok": true, + "canonical_translation": [ + -0.004526566714048386, + -0.019012970849871635, + 2.0706920623779297 + ], + "canonical_rotation_quat": [ + 0.13626831769943237, + -0.07916786521673203, + -0.03281354531645775, + 0.9869583249092102 + ], + "canonical_scale": 0.9998067617416382 + }, { "id": 1, "prompt": "compact disc", "color_hex": "#6a9460", "ply": "objects/obj_1.ply", "n_points": 27936, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.4905868919017909, + "tracker_ok": true, "canonical_translation": [ 0.6903133392333984, -0.12200766801834106, @@ -67,13 +88,13 @@ "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 149, - 1, + 2, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 1, + 2, 8, 3 ], @@ -99,6 +120,7 @@ 853 ], "oids": [ + 0, 1 ], "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" @@ -109,12 +131,31 @@ }, "stats": { "n_frames": 149, - "n_objects": 1, + "n_objects": 2, "has_grasp": false, 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See LICENSE-Action100M for terms." } \ No newline at end of file diff --git a/samples/-LxWGDmwOMY_324.5_331.2/pose_track.json b/samples/-LxWGDmwOMY_324.5_331.2/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..8874672fdcbdc759f1192778465701ae80419323 100644 --- a/samples/-LxWGDmwOMY_324.5_331.2/pose_track.json +++ b/samples/-LxWGDmwOMY_324.5_331.2/pose_track.json @@ -1 +1,5278 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 30, + "smooth_sigma": 2.0, + "n_observed": 99, + "scale_correction": 0.7504068340127155, + "T_seq": [ + [ + [ + -0.8547016978263855, + -0.5153796672821045, + -0.06219989433884621, + -0.20001856982707977 + ], + [ + 0.179285928606987, + -0.4055033326148987, + 0.8963389992713928, + 0.21150250732898712 + ], + [ + -0.48717716336250305, + 0.7549508810043335, + 0.4389846920967102, + 1.463873267173767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8547016978263855, + 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sha256:2acc9c21f1dfcc107db2f507ef6a438576c80ee2380cf7f83ffe430dcb469927 +size 3082936 diff --git a/samples/-LxWGDmwOMY_324.5_331.2/scene.json b/samples/-LxWGDmwOMY_324.5_331.2/scene.json index b181ecba10a00b3de53f8b17a9575f258334e133..d333b935abcb51ff08c04f22b51e04ddf9e44d17 100644 --- a/samples/-LxWGDmwOMY_324.5_331.2/scene.json +++ b/samples/-LxWGDmwOMY_324.5_331.2/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 36152, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.7504068340127155, + "tracker_ok": true, "canonical_translation": [ 0.4598819315433502, -0.23464447259902954, @@ -69,8 +69,8 @@ "color_hex": "#6a9460", "ply": "objects/obj_1.ply", "n_points": 18876, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.7202722016066958, + "tracker_ok": true, "canonical_translation": [ 0.5970950722694397, -0.05833929032087326, @@ -137,6 +137,25 @@ "mean_iou": null, "sam3_quality": 0.7825374101887346 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See LICENSE-Action100M for terms." } \ No newline at end of file diff --git a/samples/-MF7nEIDKLk_242.2_247.3/pose_track.json b/samples/-MF7nEIDKLk_242.2_247.3/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..5459531ff8d0638241b615ce24574922fccbfe53 100644 --- a/samples/-MF7nEIDKLk_242.2_247.3/pose_track.json +++ b/samples/-MF7nEIDKLk_242.2_247.3/pose_track.json @@ -1 +1,4030 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 0, + "smooth_sigma": 2.0, + "n_observed": 77, + "scale_correction": 0.42389132803393853, + "T_seq": [ + [ + [ + -0.3211674690246582, + 0.9465857148170471, + 0.028755605220794678, + 0.06050345301628113 + ], + [ + 0.3460603952407837, + 0.1455710530281067, + -0.9268501996994019, + 0.0847172662615776 + ], + [ + -0.8815291523933411, + -0.28772294521331787, + -0.37432852387428284, + 0.48008644580841064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.3211674690246582, + 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a157b245a57781fd1b2371f9859148e2df250f66..50b24fd15902d6bdc4277f8ba20987a17c8b7cb7 100644 --- a/samples/-N_cOdrYjWw_318.5_328.1/scene.json +++ b/samples/-N_cOdrYjWw_318.5_328.1/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 30552, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.115720366604675, + "tracker_ok": true, "canonical_translation": [ 0.20585960149765015, -0.2385713756084442, @@ -63,14 +63,35 @@ ], "canonical_scale": 0.3694331645965576 }, + { + "id": 1, + "prompt": "bowl", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 69148, + "scale_correction": 0.3068747515810368, + "tracker_ok": true, + "canonical_translation": [ + 0.013962420634925365, + 0.006319425068795681, + 1.581608533859253 + ], + "canonical_rotation_quat": [ + 0.09855201840400696, + 0.04342601075768471, + 0.8379774689674377, + 0.5349724292755127 + ], + "canonical_scale": 0.6650786399841309 + }, { "id": 2, "prompt": "bowl", 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See LICENSE-Action100M for terms." } \ No newline at end of file diff --git a/samples/-Ng0Rx1ahi4_412.2_416.3/pose_track.json b/samples/-Ng0Rx1ahi4_412.2_416.3/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..80f87567a4f263fc04cef12fee086cfffc17d07e 100644 --- a/samples/-Ng0Rx1ahi4_412.2_416.3/pose_track.json +++ b/samples/-Ng0Rx1ahi4_412.2_416.3/pose_track.json @@ -1 +1,3302 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 25, + "smooth_sigma": 2.0, + "n_observed": 63, + "scale_correction": 0.459334682298819, + "T_seq": [ + [ + [ + 0.7797144651412964, + -0.6245642900466919, + -0.04432647302746773, + 0.22365063428878784 + ], + [ + -0.6059210896492004, + -0.7704920768737793, + 0.19799387454986572, + 0.01906825602054596 + ], + [ + -0.15781310200691223, + -0.127520352602005, + -0.9792004823684692, + 0.5232716202735901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.7797144651412964, + 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sha256:4d38c0edb882e2d10f268cce329ed733c8394e5566cf362b87ce5206c6913f6d -size 2500306 +oid sha256:045160cafce5ebacbaf43375d45d584657e2e1e4c0cb6c258709085ee0e60afd +size 2503827 diff --git a/samples/-Ng0Rx1ahi4_412.2_416.3/scene.json b/samples/-Ng0Rx1ahi4_412.2_416.3/scene.json index 7efc2ebabb3c98acce93c948c4f76847b478cb47..a924550f421f6a5cd1a8b9eb90b24df6d1bae41f 100644 --- a/samples/-Ng0Rx1ahi4_412.2_416.3/scene.json +++ b/samples/-Ng0Rx1ahi4_412.2_416.3/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 25924, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.459334682298819, + "tracker_ok": true, "canonical_translation": [ -0.2189997434616089, -0.08990204334259033, @@ -69,8 +69,8 @@ "color_hex": "#6a9460", "ply": "objects/obj_1.ply", "n_points": 33232, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.40951111244620586, + "tracker_ok": true, "canonical_translation": [ 0.5852949619293213, 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See LICENSE-Action100M for terms." } \ No newline at end of file diff --git a/samples/-O5z3lQwqO8_157.7_161.8/pose_track.json b/samples/-O5z3lQwqO8_157.7_161.8/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..8c1223048697ab02c556d86ac0d9cc56edc2f368 100644 --- a/samples/-O5z3lQwqO8_157.7_161.8/pose_track.json +++ b/samples/-O5z3lQwqO8_157.7_161.8/pose_track.json @@ -1 +1,6498 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 61, + "smooth_sigma": 2.0, + "n_observed": 62, + "scale_correction": 0.45634515282631316, + "T_seq": [ + [ + [ + -0.8167598843574524, + -0.5767865180969238, + -0.01485454011708498, + -0.15275608003139496 + ], + [ + -0.49563848972320557, + 0.7145648002624512, + -0.49369993805885315, + 0.08176180720329285 + ], + [ + 0.2953740060329437, + -0.3958718180656433, + -0.8695054650306702, + 0.6466472148895264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8167598843574524, 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sha256:544fc427c6bd4e14bfa274671a47db38f926213284f329fe043c601b9891e3d0 -size 2302671 +oid sha256:707aee6fce4119aef0ce0ac28e061120d513a52916a24d2577e16a45615c2bb2 +size 3685399 diff --git a/samples/-ON6vOTrAHI_181.2_185.2/scene.json b/samples/-ON6vOTrAHI_181.2_185.2/scene.json index 04ad8a9b2b18ac1fabaa79562ea056759313f8e9..724aca42d3abe99cb7ba1b741fe903bf115f6d06 100644 --- a/samples/-ON6vOTrAHI_181.2_185.2/scene.json +++ b/samples/-ON6vOTrAHI_181.2_185.2/scene.json @@ -42,14 +42,35 @@ "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", "objects": [ + { + "id": 0, + "prompt": "bucket", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 76648, + "scale_correction": 0.3930459833889705, + "tracker_ok": true, + "canonical_translation": [ + -0.35639411211013794, + -0.0890076607465744, + 1.6317939758300781 + ], + "canonical_rotation_quat": [ + 0.18196344375610352, + 0.2737424969673157, + -0.8002849221229553, + -0.5014961957931519 + ], + "canonical_scale": 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8, 3 ], @@ -99,7 +141,9 @@ 640 ], "oids": [ - 1 + 0, + 1, + 2 ], "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" }, @@ -109,12 +153,40 @@ }, "stats": { "n_frames": 43, - "n_objects": 1, + "n_objects": 3, "has_grasp": false, "mean_trust": null, "mean_iou": null, "sam3_quality": 0.8432930400996222 }, - "tracking_summary": {}, + "tracking_summary": { + "1": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "grasp_rate": null, + "trust_rate": null, + "tracking_status": "ok" + }, + "0": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "grasp_rate": null, + "trust_rate": null, + "tracking_status": "ok" + }, + "2": { + "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." } \ No newline at end of file diff --git a/samples/-Oflftjt0fs_57.2_63.2/pose_track.json b/samples/-Oflftjt0fs_57.2_63.2/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..874552e8a657116e588692a3f236f9bb70acd822 100644 --- a/samples/-Oflftjt0fs_57.2_63.2/pose_track.json +++ b/samples/-Oflftjt0fs_57.2_63.2/pose_track.json @@ -1 +1,4758 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 82, + "smooth_sigma": 2.0, + "n_observed": 91, + "scale_correction": 1.3522293823756921, + "T_seq": [ + [ + [ + 0.9986560344696045, + 0.02259155549108982, + 0.04664481431245804, + 0.015136998146772385 + ], + [ + 0.051381178200244904, + -0.31366634368896484, + -0.9481420516967773, + 0.22628726065158844 + ], + [ + -0.006789094768464565, + 0.9492644667625427, + -0.3144055902957916, + 1.396694540977478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.9986560344696045, + 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37e22983bf0174c42b5f08a2be495111073348ea..2efe1b327b80c0719b9236f2bf64cd737b7154e9 100644 --- a/samples/-Oflftjt0fs_57.2_63.2/scene.json +++ b/samples/-Oflftjt0fs_57.2_63.2/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 24176, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.3522293823756921, + "tracker_ok": true, "canonical_translation": [ -0.005185150075703859, -0.13954631984233856, @@ -69,8 +69,8 @@ "color_hex": "#6a9460", "ply": "objects/obj_1.ply", "n_points": 7696, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.941199313524485, + "tracker_ok": true, "canonical_translation": [ -0.050816211849451065, -0.17088940739631653, @@ -137,6 +137,25 @@ "mean_iou": null, "sam3_quality": 0.8648408056528607 }, - "tracking_summary": {}, + "tracking_summary": { + "0": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "grasp_rate": null, + "trust_rate": 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See LICENSE-Action100M for terms." } \ No newline at end of file diff --git a/samples/-Oj2xzQbo4s_236.4_240.6/pose_track.json b/samples/-Oj2xzQbo4s_236.4_240.6/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..d2c5d743e3a3242d8f58dbdb27fae144fbfb6e62 100644 --- a/samples/-Oj2xzQbo4s_236.4_240.6/pose_track.json +++ b/samples/-Oj2xzQbo4s_236.4_240.6/pose_track.json @@ -1 +1,1678 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 59, + "smooth_sigma": 2.0, + "n_observed": 62, + "scale_correction": 1.05767073251731, + "T_seq": [ + [ + [ + -0.9217133522033691, + -0.38755565881729126, + -0.01565653271973133, + -0.24540898203849792 + ], + [ + -0.05314357206225395, + 0.16616857051849365, + -0.9846643209457397, + 0.30274441838264465 + ], + [ + 0.3842138350009918, + -0.9067461490631104, + -0.17375588417053223, + 1.3186267614364624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9217133522033691, 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chamfer_med=35.8mm obs_pts=3817" + } +} \ No newline at end of file diff --git a/samples/-Oj2xzQbo4s_236.4_240.6/recording.viser b/samples/-Oj2xzQbo4s_236.4_240.6/recording.viser index d7394a5a53e2f43edd737c1606171ae18e2ba1f7..bbd9958b807aa3e76d40a657d594ab02fa846ec1 100644 --- a/samples/-Oj2xzQbo4s_236.4_240.6/recording.viser +++ b/samples/-Oj2xzQbo4s_236.4_240.6/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5d175c15838b3136288fc0a5c900a7aeb6f91cd9d75da67979b8189261119720 -size 2021396 +oid sha256:52d1570b28cfeffdaf15febc22ad473a3b075a5caa81590eb8ec3c5361bef0d6 +size 2023836 diff --git a/samples/-Oj2xzQbo4s_236.4_240.6/scene.json b/samples/-Oj2xzQbo4s_236.4_240.6/scene.json index 6c01f68a1319f68a959c309365ac611499dc62f6..184e70d322c8bf183e0ac57e60255a876b317ef6 100644 --- a/samples/-Oj2xzQbo4s_236.4_240.6/scene.json +++ b/samples/-Oj2xzQbo4s_236.4_240.6/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 35824, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.05767073251731, + "tracker_ok": true, "canonical_translation": [ 0.1896030753850937, -0.33540159463882446, @@ -115,6 +115,16 @@ "mean_iou": null, "sam3_quality": 0.9258576610381031 }, - "tracking_summary": {}, + "tracking_summary": { + "0": { + "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." } \ No newline at end of file diff --git a/samples/-Ovm27e3Ezo_243.7_248.5/pose_track.json b/samples/-Ovm27e3Ezo_243.7_248.5/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..4fac0d64c579e876c854ce3b0000bec3d2b989db 100644 --- a/samples/-Ovm27e3Ezo_243.7_248.5/pose_track.json +++ b/samples/-Ovm27e3Ezo_243.7_248.5/pose_track.json @@ -1 +1,5810 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 0, + "smooth_sigma": 2.0, + "n_observed": 74, + "scale_correction": 0.8737898397985284, + "T_seq": [ + [ + [ + -0.06107613444328308, + -0.9830281734466553, + -0.1729893684387207, + -0.27470090985298157 + ], + [ + 0.2946145236492157, + 0.14783640205860138, + -0.9441115856170654, + 0.12481483817100525 + ], + [ + 0.9536623954772949, + -0.10862786322832108, + 0.2805851101875305, + 0.9410052299499512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.06107613444328308, + 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a/samples/-Ovm27e3Ezo_243.7_248.5/recording.viser b/samples/-Ovm27e3Ezo_243.7_248.5/recording.viser index 931d7ef8d7cdf0d245521e6abf0cf30503f29d3e..594a3877910960e564c284c2e5a8364354804ba1 100644 --- a/samples/-Ovm27e3Ezo_243.7_248.5/recording.viser +++ b/samples/-Ovm27e3Ezo_243.7_248.5/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0e2e4ea27a8e1fc96cd17f9abe99ea81ee7217df68d880ff5d21be1028d46553 -size 4151078 +oid sha256:fdd29a75dc7b6b4f26916e170a00292169a1f9116fce8f43bf5791674e62cfdd +size 4140714 diff --git a/samples/-Ovm27e3Ezo_243.7_248.5/scene.json b/samples/-Ovm27e3Ezo_243.7_248.5/scene.json index bcadc3ac4008ded19b59334f400dfe20edccf3e3..6295fb46bd2ba39873ac1d8e69d8ded34383ab4a 100644 --- a/samples/-Ovm27e3Ezo_243.7_248.5/scene.json +++ b/samples/-Ovm27e3Ezo_243.7_248.5/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 58484, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.8737898397985284, + "tracker_ok": true, "canonical_translation": [ 0.26464179158210754, -0.11614972352981567, @@ -69,8 +69,8 @@ "color_hex": "#6a9460", "ply": "objects/obj_1.ply", "n_points": 54804, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.7243058671633081, + "tracker_ok": true, "canonical_translation": [ 0.17880049347877502, 0.1663118600845337, @@ -90,8 +90,8 @@ "color_hex": "#5a7daa", "ply": "objects/obj_2.ply", "n_points": 40964, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.648034259970175, + "tracker_ok": true, "canonical_translation": [ -0.06866639852523804, -0.26031070947647095, @@ -159,6 +159,34 @@ "mean_iou": null, "sam3_quality": 0.9755311749661952 }, - "tracking_summary": {}, + "tracking_summary": { + "0": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "grasp_rate": null, + "trust_rate": null, + "tracking_status": "ok" + }, + "1": { + "path": null, + 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See LICENSE-Action100M for terms." } \ No newline at end of file diff --git a/samples/-PAqYhWSm2k_91.5_99.4/pose_track.json b/samples/-PAqYhWSm2k_91.5_99.4/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..d061aa8ec890debb32304375f0d5e4d5605fcf88 100644 --- a/samples/-PAqYhWSm2k_91.5_99.4/pose_track.json +++ b/samples/-PAqYhWSm2k_91.5_99.4/pose_track.json @@ -1 +1,3134 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 93, + "smooth_sigma": 2.0, + "n_observed": 120, + "scale_correction": 1.1811311658804755, + "T_seq": [ + [ + [ + -0.7714382410049438, + -0.4692648649215698, + 0.42973655462265015, + 0.0020586918108165264 + ], + [ + -0.6042118072509766, + 0.32845503091812134, + -0.7259789109230042, + -0.5707104802131653 + ], + [ + 0.19952726364135742, + -0.8196998238563538, + -0.5369181036949158, + 2.2043211460113525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.7714382410049438, + 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d28e6153020b300b8e3114114049e880c8bf0f59..490d2382d237714d1b4c6a2ba77abfe2baaa38ad 100644 --- a/samples/-PAqYhWSm2k_91.5_99.4/scene.json +++ b/samples/-PAqYhWSm2k_91.5_99.4/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 49992, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.1811311658804755, + "tracker_ok": true, "canonical_translation": [ -0.010224565863609314, -0.01638810709118843, @@ -115,6 +115,16 @@ "mean_iou": null, "sam3_quality": 0.8607733551384906 }, - "tracking_summary": {}, + "tracking_summary": { + "0": { + "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. 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a/samples/-Pfpxc5M7b0_257.7_264.2/recording.viser b/samples/-Pfpxc5M7b0_257.7_264.2/recording.viser index 7cc3311e701a7f703367655c227a9207f028215f..60507a11755b77bc980b4f8c3e30e97b50dd1a4a 100644 --- a/samples/-Pfpxc5M7b0_257.7_264.2/recording.viser +++ b/samples/-Pfpxc5M7b0_257.7_264.2/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8a0434898897088dd49683603d4def7c585d9eb9c16f3773e3a992462023c82a -size 3186618 +oid sha256:66679ec044dcf4389c6535ad72bfc9729f3585b48453f855283be16697f25422 +size 3185223 diff --git a/samples/-Pfpxc5M7b0_257.7_264.2/scene.json b/samples/-Pfpxc5M7b0_257.7_264.2/scene.json index 0e3b6aef5e73c3c1abdfd92bb6fb41ceddd9b1e2..e9cc84edb8c0c059e758f85de84f4827c208ef9e 100644 --- a/samples/-Pfpxc5M7b0_257.7_264.2/scene.json +++ b/samples/-Pfpxc5M7b0_257.7_264.2/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 67456, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.038971915049858, + "tracker_ok": true, "canonical_translation": [ -0.005420016124844551, -0.26673927903175354, @@ -69,8 +69,8 @@ "color_hex": "#6a9460", "ply": "objects/obj_1.ply", "n_points": 41320, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.616455587655247, + "tracker_ok": true, "canonical_translation": [ -0.11784487217664719, -0.2463477998971939, @@ -137,6 +137,25 @@ "mean_iou": null, "sam3_quality": 0.7443339174026009 }, - "tracking_summary": {}, + "tracking_summary": { + "0": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "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." } \ No newline at end of file diff --git a/samples/-Phcfypd7tE_18.8_24.9/pose_track.json b/samples/-Phcfypd7tE_18.8_24.9/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..68345a5313465ecb91ddfa397931315cd1e03df7 100644 --- a/samples/-Phcfypd7tE_18.8_24.9/pose_track.json +++ b/samples/-Phcfypd7tE_18.8_24.9/pose_track.json @@ -1 +1,4862 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 78, + "smooth_sigma": 2.0, + "n_observed": 91, + "scale_correction": 0.886674472603034, + "T_seq": [ + [ + [ + 0.06305883079767227, + 0.9979651570320129, + -0.00943854171782732, + -0.37564292550086975 + ], + [ + 0.040595412254333496, + -0.012014425359666348, + -0.9991034269332886, + 0.13406692445278168 + ], + [ + -0.9971838593482971, + 0.06261913478374481, + -0.0412704236805439, + 1.6667571067810059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.06305883079767227, + 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"tracking_status": "ok", + "note": "pca_align scale=0.705 chamfer_med=15.3mm obs_pts=3361" + } +} \ No newline at end of file diff --git a/samples/-QALmP1nHtM_678.2_682.2/recording.viser b/samples/-QALmP1nHtM_678.2_682.2/recording.viser index c4f4a4b9b0c5d3c946e97d74c2106dce57175ca4..32911e270d10bd7748fd387df66c1af1b8f09939 100644 --- a/samples/-QALmP1nHtM_678.2_682.2/recording.viser +++ b/samples/-QALmP1nHtM_678.2_682.2/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:17eb0229059ba022ba972c1458d9b0ff73701ff1776579b7903d5da357259818 -size 3123640 +oid sha256:f17a7853732247ef77d0b8080a67be96f1f840d7f5b511f795be1f69d45e93ff +size 3755920 diff --git a/samples/-QALmP1nHtM_678.2_682.2/scene.json b/samples/-QALmP1nHtM_678.2_682.2/scene.json index a4425199b852391ad4eca9bcef15a906dd727596..0dc5d40ca19fb15bae727b6f19c554833ea1f6d5 100644 --- a/samples/-QALmP1nHtM_678.2_682.2/scene.json +++ b/samples/-QALmP1nHtM_678.2_682.2/scene.json @@ -42,14 +42,35 @@ "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", "objects": [ + { + "id": 0, + "prompt": "turkey", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 76968, + "scale_correction": 0.7048891023894649, + "tracker_ok": true, + "canonical_translation": [ + 0.332798570394516, + -0.23336270451545715, + 1.271374225616455 + ], + "canonical_rotation_quat": [ + 0.3170204758644104, + 0.32964959740638733, + 0.6301019787788391, + 0.6275354027748108 + ], + "canonical_scale": 0.2896919548511505 + }, { "id": 1, "prompt": "white bowl", "color_hex": "#6a9460", "ply": "objects/obj_1.ply", "n_points": 60152, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.7841494642212594, + "tracker_ok": true, "canonical_translation": [ -0.2609975039958954, -0.24253325164318085, @@ -69,8 +90,8 @@ "color_hex": "#5a7daa", "ply": "objects/obj_2.ply", "n_points": 38332, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.9748054702244392, + "tracker_ok": true, "canonical_translation": [ 0.010171622037887573, -0.29374048113822937, @@ -90,8 +111,8 @@ "color_hex": "#c89968", "ply": "objects/obj_3.ply", "n_points": 37696, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.7319725661014553, + "tracker_ok": true, "canonical_translation": [ 0.3398384153842926, -0.2789577841758728, @@ -109,13 +130,13 @@ "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 63, - 3, + 4, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 3, + 4, 8, 3 ], @@ -141,6 +162,7 @@ 854 ], "oids": [ + 0, 1, 2, 3 @@ -153,12 +175,49 @@ }, "stats": { "n_frames": 63, - "n_objects": 3, + "n_objects": 4, "has_grasp": false, "mean_trust": null, "mean_iou": null, "sam3_quality": 0.9470818707616209 }, - "tracking_summary": {}, + "tracking_summary": { + "1": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "grasp_rate": null, + "trust_rate": null, + "tracking_status": "ok" + }, 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See LICENSE-Action100M for terms." } \ No newline at end of file diff --git a/samples/-QALmP1nHtM_715.0_719.0/masks.npz b/samples/-QALmP1nHtM_715.0_719.0/masks.npz index b0041e83e835f6aa5594e130834cb49c636c7d45..655aa74e43ae20dc2263ca040448091c71d45d6c 100644 --- a/samples/-QALmP1nHtM_715.0_719.0/masks.npz +++ b/samples/-QALmP1nHtM_715.0_719.0/masks.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a0e18c04674cba4e77dd0a05530864bd03a402b2509a8f056d1b21d9ea790bc7 -size 43469 +oid sha256:eaf784054b7a1855111deb76b92b303cf5c8cff1f49b7621a045e37948611d86 +size 105563 diff --git a/samples/-QALmP1nHtM_715.0_719.0/object_obb.bin b/samples/-QALmP1nHtM_715.0_719.0/object_obb.bin index b2e7ba332b4eef029c142c593bf203f579ed1a7a..7ec9dcc238eb26e1517ac08f6ca0fc81044af31d 100644 --- a/samples/-QALmP1nHtM_715.0_719.0/object_obb.bin +++ b/samples/-QALmP1nHtM_715.0_719.0/object_obb.bin @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid 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"hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", "objects": [ + { + "id": 0, + "prompt": "turkey", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 78828, + "scale_correction": 0.3970135478637921, + "tracker_ok": true, + "canonical_translation": [ + -0.014452463015913963, + 0.0024225451052188873, + 1.7566046714782715 + ], + "canonical_rotation_quat": [ + 0.48884350061416626, + -0.5069291591644287, + -0.5002380013465881, + 0.5038022994995117 + ], + "canonical_scale": 0.5845999717712402 + }, + { + "id": 1, + "prompt": "white bowl of stuffing", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 80516, + "scale_correction": 0.8325579500678894, + "tracker_ok": true, + "canonical_translation": [ + 0.1696806252002716, + -0.26747772097587585, + 1.1994307041168213 + ], + "canonical_rotation_quat": [ + 0.034038085490465164, + 0.03803550824522972, + 0.6944167613983154, + 0.717760443687439 + ], + "canonical_scale": 0.21886186301708221 + }, { 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a/samples/-QGsBuKzP4U_117.0_125.7/scene.json b/samples/-QGsBuKzP4U_117.0_125.7/scene.json index 2523cd9320e0f38f1af6c7c016fc3ab61874f9a5..7f26b16ae222f2457bb2f7de1c91aa2cdf0d57bc 100644 --- a/samples/-QGsBuKzP4U_117.0_125.7/scene.json +++ b/samples/-QGsBuKzP4U_117.0_125.7/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 56184, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.2159934432473187, + "tracker_ok": true, "canonical_translation": [ 0.11273448169231415, -0.0758458822965622, @@ -62,18 +62,39 @@ 0.6384937763214111 ], "canonical_scale": 0.6413249373435974 + }, + { + "id": 1, + "prompt": "door panel", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 101900, + "scale_correction": 0.19569875375723808, + "tracker_ok": true, + "canonical_translation": [ + -0.6608082056045532, + -0.1966364085674286, + 2.579585075378418 + ], + "canonical_rotation_quat": [ + 0.2949134409427643, + 0.2594495713710785, 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derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms." } \ No newline at end of file diff --git a/samples/-QGsBuKzP4U_48.6_72.9/pose_track.json b/samples/-QGsBuKzP4U_48.6_72.9/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..658bfc416f386cd61416e94c753c9616e44c7f08 100644 --- a/samples/-QGsBuKzP4U_48.6_72.9/pose_track.json +++ b/samples/-QGsBuKzP4U_48.6_72.9/pose_track.json @@ -1 +1,9504 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 284, + "smooth_sigma": 2.0, + "n_observed": 365, + "scale_correction": 1.5011040931840838, + "T_seq": [ + [ + [ + -0.8390654921531677, + -0.5433979034423828, + -0.02622622810304165, + -0.17728543281555176 + ], + [ + -0.05034690722823143, + 0.029560033231973648, + 0.9982942342758179, + 0.04649897292256355 + ], + [ + -0.5416957139968872, + 0.8389546871185303, + -0.05216120555996895, + 1.8242411613464355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8390654921531677, + 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a/samples/-QGsBuKzP4U_48.6_72.9/recording.viser b/samples/-QGsBuKzP4U_48.6_72.9/recording.viser index 105f9b06eeb9ab7b1e15395483bfbe7e1997e04f..809264467f1ae0250d5b1f7272cd55cc8ebe7dbf 100644 --- a/samples/-QGsBuKzP4U_48.6_72.9/recording.viser +++ b/samples/-QGsBuKzP4U_48.6_72.9/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7c3bb2f76c50db1bfa24a9bb90c989aca68c67217b8b5a968bd83b67ee772616 -size 21696444 +oid sha256:49f69a91205d7b7d190ad53a4e00c827effdfb4941d5f16f7cff94dd90a87336 +size 21700366 diff --git a/samples/-QGsBuKzP4U_48.6_72.9/scene.json b/samples/-QGsBuKzP4U_48.6_72.9/scene.json index 4f4dcd2f05e69a636fa9b30ac581f3d79562d008..1c52841fbc3ebe59573b2e9a7584516b4aec394d 100644 --- a/samples/-QGsBuKzP4U_48.6_72.9/scene.json +++ b/samples/-QGsBuKzP4U_48.6_72.9/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 44032, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 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See LICENSE-Action100M for terms." } \ No newline at end of file diff --git a/samples/-QhzvVVDYg8_205.7_209.7/recording.viser b/samples/-QhzvVVDYg8_205.7_209.7/recording.viser index 5653c12d69748093e2adb3484948f8b6e7c813b9..da98be8887ebb041646cdfc5a0d5c9e046c840da 100644 --- a/samples/-QhzvVVDYg8_205.7_209.7/recording.viser +++ b/samples/-QhzvVVDYg8_205.7_209.7/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:57cd728e61107454a863819a3fdd727c626f12439a114318a625440d91168fcb +oid sha256:5ffcded909fbd33dbd8061551210e0f603551f6a6724ca0643b17f14b49cd3a9 size 1460923 diff --git a/samples/-R2qOLA1W0Q_284.9_294.6/pose_track.json b/samples/-R2qOLA1W0Q_284.9_294.6/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..657bbae944492ca7a7247145153859adf44ec8e8 100644 --- a/samples/-R2qOLA1W0Q_284.9_294.6/pose_track.json +++ b/samples/-R2qOLA1W0Q_284.9_294.6/pose_track.json @@ -1 +1,3810 @@ -{} \ No newline at end of file +{ + "0": { + "mode": 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+} \ No newline at end of file diff --git a/samples/-R2qOLA1W0Q_284.9_294.6/recording.viser b/samples/-R2qOLA1W0Q_284.9_294.6/recording.viser index 0b2d4b1b29eca1c07eb881ae6de7a8394c9483d2..6e6623101d7e9752620f3e59affcd72cefbb7932 100644 --- a/samples/-R2qOLA1W0Q_284.9_294.6/recording.viser +++ b/samples/-R2qOLA1W0Q_284.9_294.6/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ff338d5fad6ec3e849939c5ee0befab20d12924a509d233e9415e18eedaf4f72 -size 3913631 +oid sha256:c0e32a68f5af75002083d515176e0637972e3227c14a0f7e360bd99f1d9df425 +size 3911294 diff --git a/samples/-R2qOLA1W0Q_284.9_294.6/scene.json b/samples/-R2qOLA1W0Q_284.9_294.6/scene.json index 2ea81d2b59cc79217b429f1083c24210153832c3..e6891cc6af32168dc0120b8e3212b100cda994a6 100644 --- a/samples/-R2qOLA1W0Q_284.9_294.6/scene.json +++ b/samples/-R2qOLA1W0Q_284.9_294.6/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 31416, - "scale_correction": 1.0, - 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See LICENSE-Action100M for terms." } \ No newline at end of file diff --git a/samples/-R2qOLA1W0Q_663.0_667.8/masks.npz b/samples/-R2qOLA1W0Q_663.0_667.8/masks.npz index 079107a7ed5610e07393462502c387f43bcdf617..fa051a757953c6ca8821c6a878db46e30b8a801c 100644 --- a/samples/-R2qOLA1W0Q_663.0_667.8/masks.npz +++ b/samples/-R2qOLA1W0Q_663.0_667.8/masks.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c1fae2849b6fb41601ec95459b3bf289c0f95734bbff2d3330388ffe012d99e4 -size 44272 +oid sha256:0b2cba5ce6011650b91229f176cebe3573ae972aeae71cd3f384f25e9cfbdcce +size 14013 diff --git a/samples/-R2qOLA1W0Q_663.0_667.8/object_obb.bin b/samples/-R2qOLA1W0Q_663.0_667.8/object_obb.bin index 5a55d919067737d57a70fcc576a2c635acdedc24..fd6f3f4774dd0ffa5d3e075890e560f7183e3868 100644 --- a/samples/-R2qOLA1W0Q_663.0_667.8/object_obb.bin +++ b/samples/-R2qOLA1W0Q_663.0_667.8/object_obb.bin @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid 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a/samples/-R2qOLA1W0Q_663.0_667.8/recording.viser +++ b/samples/-R2qOLA1W0Q_663.0_667.8/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a0d481022eae14e8e9fa809d6518f0117e94c3af360c9676c5fcf7c4ff675e8c -size 1864002 +oid sha256:939c509533af8baf38aa7d341ee2c035f37e4a17ea6c0b8a383607f7c991d4d4 +size 2734782 diff --git a/samples/-R2qOLA1W0Q_663.0_667.8/scene.json b/samples/-R2qOLA1W0Q_663.0_667.8/scene.json index 26a4098b498ab07da84a26b52c865df1a1d3d907..66d5be4a1e99764a45144b1a7494e0eced2cf8c3 100644 --- a/samples/-R2qOLA1W0Q_663.0_667.8/scene.json +++ b/samples/-R2qOLA1W0Q_663.0_667.8/scene.json @@ -47,96 +47,33 @@ "prompt": "container", "color_hex": "#d97757", "ply": "objects/obj_0.ply", - "n_points": 0, - "scale_correction": 1.0, - "tracker_ok": false, + "n_points": 121056, + "scale_correction": 0.1, + "tracker_ok": true, "canonical_translation": [ - 0, - 0, - 0 - ], - "canonical_rotation_quat": [ - 0, - 0, - 0, - 1 - ], - "canonical_scale": 1.0 - }, - { - "id": 1, - "prompt": "spoon", - "color_hex": "#6a9460", - "ply": "objects/obj_1.ply", - "n_points": 0, - "scale_correction": 1.0, - "tracker_ok": false, - "canonical_translation": [ - 0, - 0, - 0 + -0.0631793886423111, + -0.09950313717126846, + 2.4085984230041504 ], "canonical_rotation_quat": [ - 0, - 0, - 0, - 1 + 0.36173394322395325, + 0.4138365685939789, + 0.5953723788261414, + 0.5860202312469482 ], - "canonical_scale": 1.0 - }, - { - "id": 2, - "prompt": "small green bowl", - "color_hex": "#5a7daa", - "ply": "objects/obj_2.ply", - "n_points": 0, - "scale_correction": 1.0, - "tracker_ok": false, - "canonical_translation": [ - 0, - 0, - 0 - ], - "canonical_rotation_quat": [ - 0, - 0, - 0, - 1 - ], - "canonical_scale": 1.0 - }, - { - "id": 3, - "prompt": "spoon", - "color_hex": "#c89968", - "ply": "objects/obj_3.ply", - "n_points": 0, - "scale_correction": 1.0, - "tracker_ok": false, - "canonical_translation": [ - 0, - 0, - 0 - ], - "canonical_rotation_quat": [ - 0, - 0, - 0, - 1 - ], - "canonical_scale": 1.0 + "canonical_scale": 1.404783010482788 } ], "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 73, - 4, + 1, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 4, + 1, 8, 3 ], @@ -162,10 +99,7 @@ 853 ], "oids": [ - 0, - 1, - 2, - 3 + 0 ], "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" }, @@ -175,12 +109,22 @@ }, "stats": { "n_frames": 73, - "n_objects": 4, + "n_objects": 1, "has_grasp": false, "mean_trust": null, "mean_iou": null, "sam3_quality": 0.8526218123410543 }, - "tracking_summary": {}, + "tracking_summary": { + "0": { + "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." } \ No newline at end of file diff --git a/samples/-SD9rDqpu8g_66.4_71.7/recording.viser b/samples/-SD9rDqpu8g_66.4_71.7/recording.viser index 118cf6e11caa9311421623c3112e5d222f8a5d07..6f9f1109660128628be73602ec21d3bb3e372bb2 100644 --- a/samples/-SD9rDqpu8g_66.4_71.7/recording.viser +++ b/samples/-SD9rDqpu8g_66.4_71.7/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6018f7f6d75746f0d742f71f052d19c2acdd2c5509cbe12f90c6e86cc77f5328 +oid sha256:dcb917a678f33d7ec7cb0c09ffb6717c2f3a1675ce49238fb7558778c2592cd0 size 1829597 diff --git a/samples/-SNEly05Nmg_424.2_428.5/pose_track.json b/samples/-SNEly05Nmg_424.2_428.5/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..fbfd68a9d30d47091ed591a9c713aea8f9137aec 100644 --- a/samples/-SNEly05Nmg_424.2_428.5/pose_track.json +++ b/samples/-SNEly05Nmg_424.2_428.5/pose_track.json @@ -1 +1,1756 @@ -{} \ No newline at end of file +{ + "0": { + "mode": 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sha256:95205d0d43f6c20639da1a19fbdce2fcac56b054365e175bc08d9b848b1e374e +size 1529623 diff --git a/samples/-SNEly05Nmg_424.2_428.5/scene.json b/samples/-SNEly05Nmg_424.2_428.5/scene.json index 7884b496bb76ace25e08fc9e6644a4b18c086fcd..a7b4bc5f35432e93a1084d490e4b610e21997630 100644 --- a/samples/-SNEly05Nmg_424.2_428.5/scene.json +++ b/samples/-SNEly05Nmg_424.2_428.5/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 66084, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.820108574834875, + "tracker_ok": true, "canonical_translation": [ -0.18607336282730103, -0.13741512596607208, @@ -115,6 +115,16 @@ "mean_iou": null, "sam3_quality": 0.7788889527836774 }, - "tracking_summary": {}, + "tracking_summary": { + "0": { + "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." } \ No newline at end of file diff --git a/samples/-SsQVS63Reo_223.6_250.6/pose_track.json b/samples/-SsQVS63Reo_223.6_250.6/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..8a221730432025c6b7f2041fa0a1ed27bfd0e699 100644 --- a/samples/-SsQVS63Reo_223.6_250.6/pose_track.json +++ b/samples/-SsQVS63Reo_223.6_250.6/pose_track.json @@ -1 +1,27572 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 55, + "smooth_sigma": 2.0, + "n_observed": 353, + "scale_correction": 0.6990199931445469, + "T_seq": [ + [ + [ + -0.9993489384651184, + -0.030262654647231102, + 0.019642647355794907, + -0.074404276907444 + ], + [ + -0.024143168702721596, + 0.1563722938299179, + -0.9874030947685242, + 0.22256988286972046 + ], + [ + 0.026809873059391975, + -0.9872344732284546, + -0.15700112283229828, + 1.0533726215362549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 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diff --git a/samples/-SsQVS63Reo_223.6_250.6/scene.json b/samples/-SsQVS63Reo_223.6_250.6/scene.json index 0a3efcc3041d81e437c01a344dea1636641bceb7..355a18f5dcabfbf88d2ed3ee3c9e8e8e3cd78b4e 100644 --- a/samples/-SsQVS63Reo_223.6_250.6/scene.json +++ b/samples/-SsQVS63Reo_223.6_250.6/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 18660, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.6990199931445469, + "tracker_ok": true, "canonical_translation": [ 0.07784875482320786, -0.27929776906967163, @@ -69,8 +69,8 @@ "color_hex": "#6a9460", "ply": "objects/obj_1.ply", "n_points": 16672, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.636153984541598, + "tracker_ok": true, "canonical_translation": [ 0.06411576271057129, -0.28633058071136475, @@ -90,8 +90,8 @@ "color_hex": "#c89968", "ply": "objects/obj_3.ply", "n_points": 19300, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 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sha256:e7f1fb0bd7ba75104bc31895cc0280910ed1396671679e29ce441242dca802ef -size 1899018 +oid sha256:081f34c1bab57429686cf9cd85b8332782159e683183675e6453f063900a3c0f +size 3087839 diff --git a/samples/-SsQVS63Reo_371.8_375.8/scene.json b/samples/-SsQVS63Reo_371.8_375.8/scene.json index a922c7a2fe8a8a9f464c0718e39cf48bb78f13ff..0acb36ef550662cc79de83c4682b71fbb969ba92 100644 --- a/samples/-SsQVS63Reo_371.8_375.8/scene.json +++ b/samples/-SsQVS63Reo_371.8_375.8/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 18360, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.5669587671869875, + "tracker_ok": true, "canonical_translation": [ -0.17625151574611664, -0.36875250935554504, @@ -62,18 +62,60 @@ 0.06985897570848465 ], "canonical_scale": 0.5114917159080505 + }, + { + "id": 1, + "prompt": "bowl of chopped turkey", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 79908, + "scale_correction": 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"np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" }, @@ -109,12 +153,40 @@ }, "stats": { "n_frames": 61, - "n_objects": 1, + "n_objects": 3, "has_grasp": false, "mean_trust": null, "mean_iou": null, "sam3_quality": 0.8172434812131733 }, - "tracking_summary": {}, + "tracking_summary": { + "0": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "grasp_rate": null, + "trust_rate": null, + "tracking_status": "ok" + }, + "2": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "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." } \ No newline at end of file diff --git a/samples/-SvZIM1o-Z8_41.2_51.1/pose_track.json b/samples/-SvZIM1o-Z8_41.2_51.1/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..4bb89c7b1f27cd7d418f009722333b5e3aed1fc8 100644 --- a/samples/-SvZIM1o-Z8_41.2_51.1/pose_track.json +++ b/samples/-SvZIM1o-Z8_41.2_51.1/pose_track.json @@ -1 +1,15546 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 107, + "smooth_sigma": 2.0, + "n_observed": 149, + "scale_correction": 1.4394476971026509, + "T_seq": [ + [ + [ + 0.9972737431526184, + 0.07366954535245895, + 0.004223681520670652, + -0.07504146546125412 + ], + [ + -0.009213145822286606, + 0.06751997023820877, + 0.997675359249115, + 0.3572496473789215 + ], + [ + 0.0732131078839302, + -0.9949944019317627, + 0.06801462173461914, + 2.336676597595215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.9972737431526184, + 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"tracking_status": "ok", + "note": "pca_align scale=1.963 chamfer_med=27.8mm obs_pts=797" + } +} \ No newline at end of file diff --git a/samples/-SvZIM1o-Z8_41.2_51.1/recording.viser b/samples/-SvZIM1o-Z8_41.2_51.1/recording.viser index 0dc20131b2318991064e40c67a57ac1de955c351..c4ca80d55648b84afd5574d444b249a19daea62f 100644 --- a/samples/-SvZIM1o-Z8_41.2_51.1/recording.viser +++ b/samples/-SvZIM1o-Z8_41.2_51.1/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8f68a88294d494a1aad3d42ce6cbacf3cf38592402d5a56ae245b24fc7b2d1df -size 4770614 +oid sha256:bd2c6f8c4a9870de370ed83db79a2bbf6364464a14c1158d813f91516d933943 +size 4772679 diff --git a/samples/-SvZIM1o-Z8_41.2_51.1/scene.json b/samples/-SvZIM1o-Z8_41.2_51.1/scene.json index f2dd967bee46932590dab6ad414a68cb0b9739b3..e88c10cf76232dfde482ca806e40e84dd5408a68 100644 --- a/samples/-SvZIM1o-Z8_41.2_51.1/scene.json +++ b/samples/-SvZIM1o-Z8_41.2_51.1/scene.json @@ -48,8 +48,8 @@ "color_hex": 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Noncommercial Research License v1. See LICENSE-Action100M for terms." } \ No newline at end of file diff --git a/samples/-WFScKY5jxA_119.5_124.7/pose_track.json b/samples/-WFScKY5jxA_119.5_124.7/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..f7dddf42ef7622d6e1edcedd87b3649dbb875441 100644 --- a/samples/-WFScKY5jxA_119.5_124.7/pose_track.json +++ b/samples/-WFScKY5jxA_119.5_124.7/pose_track.json @@ -1 +1,2042 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 70, + "smooth_sigma": 2.0, + "n_observed": 77, + "scale_correction": 1.3504800616824681, + "T_seq": [ + [ + [ + -0.7883595824241638, + -0.6041156649589539, + -0.11633305251598358, + -0.4142615795135498 + ], + [ + -0.06819311529397964, + 0.2737369239330292, + -0.9593840837478638, + 0.1768079698085785 + ], + [ + 0.6114236116409302, + -0.7484065294265747, + -0.256999671459198, + 2.0544240474700928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.7883595824241638, + 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sha256:80414bdc65883ee199523c8d4d3c281f73a760fbc45835b7655197ae04e897ff +size 2224022 diff --git a/samples/-WFScKY5jxA_119.5_124.7/scene.json b/samples/-WFScKY5jxA_119.5_124.7/scene.json index dd28af7610b01973fc5d43a66ccee7295df55024..6b67356155ddd8a1700d6c17b96a1a5bdafe3726 100644 --- a/samples/-WFScKY5jxA_119.5_124.7/scene.json +++ b/samples/-WFScKY5jxA_119.5_124.7/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 59692, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.3504800616824681, + "tracker_ok": true, "canonical_translation": [ 0.2850446105003357, -0.15685002505779266, @@ -115,6 +115,16 @@ "mean_iou": null, "sam3_quality": 0.9738689712268879 }, - "tracking_summary": {}, + "tracking_summary": { + "0": { + "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." } \ No newline at end of file diff --git a/samples/-_ow-vw258c_58.4_64.3/masks.npz b/samples/-_ow-vw258c_58.4_64.3/masks.npz index 341aa1342f1982565e28dec8b05a09d92445ed4f..ece9605fa91c6340a796efd39296d4ffa22cf572 100644 --- a/samples/-_ow-vw258c_58.4_64.3/masks.npz +++ b/samples/-_ow-vw258c_58.4_64.3/masks.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f8732e1f530d684d700742e1a3300de2c4196d0f1590b6c918fa07957fd8648a -size 40201 +oid sha256:167c85e17b40b5100ad2650b73a0f77689fec8de90794839802608de9c3c95e1 +size 96529 diff --git a/samples/-_ow-vw258c_58.4_64.3/object_obb.bin b/samples/-_ow-vw258c_58.4_64.3/object_obb.bin index 5dfa67d6b7fe0ffc72e6228df2e7cca6a0e658e8..70fa70af35eee446e5f538cd9f0ef61298432f45 100644 --- a/samples/-_ow-vw258c_58.4_64.3/object_obb.bin +++ b/samples/-_ow-vw258c_58.4_64.3/object_obb.bin @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid 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sha256:c43765b47976d59e845982d8e1e4c57f570e52e160cf94ac408e931f8f987bec +size 3663144 diff --git a/samples/-_ow-vw258c_58.4_64.3/scene.json b/samples/-_ow-vw258c_58.4_64.3/scene.json index 0af8086bb2af023c5ba346cdc07e480a5721a088..2c0c0b4e7ef70ff2c3be766754854520ede8ee04 100644 --- a/samples/-_ow-vw258c_58.4_64.3/scene.json +++ b/samples/-_ow-vw258c_58.4_64.3/scene.json @@ -42,14 +42,35 @@ "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", "objects": [ + { + "id": 0, + "prompt": "bottle", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 77928, + "scale_correction": 0.590585370677341, + "tracker_ok": true, + "canonical_translation": [ + -0.384749174118042, + -0.18598289787769318, + 0.7879640460014343 + ], + "canonical_rotation_quat": [ + 0.010119480080902576, + 0.003927510231733322, + 0.6808990240097046, + 0.7322968244552612 + ], + "canonical_scale": 0.23155328631401062 + }, { "id": 1, "prompt": "bottle", "color_hex": "#6a9460", "ply": "objects/obj_1.ply", "n_points": 41072, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.6175093768093725, + "tracker_ok": true, "canonical_translation": [ -0.0023116543889045715, 0.005432397127151489, @@ -67,13 +88,13 @@ "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 89, - 1, + 2, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 1, + 2, 8, 3 ], @@ -99,6 +120,7 @@ 853 ], "oids": [ + 0, 1 ], "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" @@ -109,12 +131,31 @@ }, "stats": { "n_frames": 89, - "n_objects": 1, + "n_objects": 2, "has_grasp": false, "mean_trust": null, "mean_iou": null, "sam3_quality": 0.9572281290699061 }, - "tracking_summary": {}, + "tracking_summary": { + "1": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "grasp_rate": null, + "trust_rate": null, + "tracking_status": "ok" + }, + "0": { + "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." } \ No newline at end of file diff --git a/samples/-_ow-vw258c_79.8_86.4/pose_track.json b/samples/-_ow-vw258c_79.8_86.4/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..2063c0288f8562ce094fd24c1830cf9fa7dd2fc7 100644 --- a/samples/-_ow-vw258c_79.8_86.4/pose_track.json +++ b/samples/-_ow-vw258c_79.8_86.4/pose_track.json @@ -1 +1,2588 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 66, + "smooth_sigma": 2.0, + "n_observed": 99, + "scale_correction": 0.9210935783940046, + "T_seq": [ + [ + [ + -0.9585830569267273, + 0.254993200302124, + -0.12687376141548157, + -0.14744791388511658 + ], + [ + 0.1416885405778885, + 0.04051757603883743, + -0.9890817403793335, + 0.1547909379005432 + ], + [ + -0.24706849455833435, + -0.9660935997962952, + -0.07496907562017441, + 0.8364548087120056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9585830569267273, + 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b/samples/-s4DjOIVJZY_215.3_220.6/recording.viser index 0865b8b69a710e7e0de7c5f26dabec64882d25ac..ec2c75bbbc6be9fd1c7a0217e65c4a99d5e8cbcb 100644 --- a/samples/-s4DjOIVJZY_215.3_220.6/recording.viser +++ b/samples/-s4DjOIVJZY_215.3_220.6/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:78f00dd7aa26e5d217ea04b2d50465dba9c52165825cbf683037168b609a708a -size 2772441 +oid sha256:6f269bd7c66279a93561cd16f8709c8561c26bec08a0ba4ccd9998b5dc4977fe +size 3471152 diff --git a/samples/-s4DjOIVJZY_215.3_220.6/scene.json b/samples/-s4DjOIVJZY_215.3_220.6/scene.json index 27c4a8a8e8357ac3108ae9a54e495e87fb7ed5f3..afb243a8d94cf1ec11379647d9ab7214d1471fef 100644 --- a/samples/-s4DjOIVJZY_215.3_220.6/scene.json +++ b/samples/-s4DjOIVJZY_215.3_220.6/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 54204, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.306939153002847, + "tracker_ok": true, 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"has_grasp": false, "mean_trust": null, "mean_iou": null, "sam3_quality": 0.7273685067853118 }, - "tracking_summary": {}, + "tracking_summary": { + "0": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "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." } \ No newline at end of file diff --git a/samples/-veJClpdyMA_237.2_242.4/masks.npz b/samples/-veJClpdyMA_237.2_242.4/masks.npz index ab17e0f69fbff46b3e7b7ebb665b180907cc583d..2443f5a00013ea6861f70ca1168ff757807713f7 100644 --- a/samples/-veJClpdyMA_237.2_242.4/masks.npz +++ b/samples/-veJClpdyMA_237.2_242.4/masks.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:88d98ded6c4b65a9bd50f49697f1b68515e37f2aa8131d4fd28f272473e99d3d -size 70594 +oid sha256:c4d57cb1f5fe7786195b74a8b9cbf2bd71544214c98d4797098cecff94485153 +size 91390 diff --git a/samples/-veJClpdyMA_237.2_242.4/object_obb.bin b/samples/-veJClpdyMA_237.2_242.4/object_obb.bin index 3de3d6ef6d77dfc4ded0f365ff07885bdb63550d..db2d88e7c7e933a986ce0ba35cdd86375cb4b5c8 100644 --- a/samples/-veJClpdyMA_237.2_242.4/object_obb.bin +++ b/samples/-veJClpdyMA_237.2_242.4/object_obb.bin @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid 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See LICENSE-Action100M for terms." } \ No newline at end of file diff --git a/samples/-wU6h7BA8Os_131.9_140.4/pose_track.json b/samples/-wU6h7BA8Os_131.9_140.4/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..22f9aa8e5eada04a1957f9ef69ef034589566e21 100644 --- a/samples/-wU6h7BA8Os_131.9_140.4/pose_track.json +++ b/samples/-wU6h7BA8Os_131.9_140.4/pose_track.json @@ -1 +1,3094 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 49, + "smooth_sigma": 2.0, + "n_observed": 59, + "scale_correction": 1.303842019325971, + "T_seq": [ + [ + [ + -0.853130042552948, + 0.02647434175014496, + -0.5210261940956116, + 1.2508639097213745 + ], + [ + 0.2983952462673187, + 0.8439808487892151, + -0.44570910930633545, + 0.3999255299568176 + ], + [ + 0.42793625593185425, + -0.5357195734977722, + -0.7279252409934998, + 2.5584213733673096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.853130042552948, + 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a/samples/EKO4wj7EOnE_375.2_384.9/recording.viser +++ b/samples/EKO4wj7EOnE_375.2_384.9/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:524e8484d5146536f6cd06001c7e59cb047014f23f3709ae86e5a3564ba1fd80 -size 8843328 +oid sha256:d519e08aefb1e97266f0d0677ac3c987a1a029ac5909f11638bcb7af03af3797 +size 9579976 diff --git a/samples/EKO4wj7EOnE_375.2_384.9/scene.json b/samples/EKO4wj7EOnE_375.2_384.9/scene.json index bd0752f3e278abf96c2f3c439135777efa862cc2..8fa158b9acade6a9a5ba3295efd58da643680d71 100644 --- a/samples/EKO4wj7EOnE_375.2_384.9/scene.json +++ b/samples/EKO4wj7EOnE_375.2_384.9/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 37048, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.6404184635682103, + "tracker_ok": true, "canonical_translation": [ -0.01664740964770317, -0.007851679809391499, @@ -62,18 +62,39 @@ -0.2312985211610794 ], "canonical_scale": 1.8437421321868896 + }, 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index e70764fa1aa70be094d76e6ed8b80dcd7ce2cc5a..fe9ccf725a454b03b70107a29d0ca56ddba654be 100644 --- a/samples/NJ0_jMbxv5I_754.0_759.6/scene.json +++ b/samples/NJ0_jMbxv5I_754.0_759.6/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 30784, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.1877950958670707, + "tracker_ok": true, "canonical_translation": [ 0.02987578697502613, -0.2550419270992279, @@ -62,18 +62,39 @@ 0.4294012188911438 ], "canonical_scale": 0.3748984932899475 + }, + { + "id": 1, + "prompt": "tray", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 66852, + "scale_correction": 0.9234757310033762, + "tracker_ok": true, + "canonical_translation": [ + -0.6899667382240295, + 0.11469641327857971, + 2.4336647987365723 + ], + "canonical_rotation_quat": [ + 0.0632668137550354, + 0.050009068101644516, + 0.7658599615097046, + 0.6379302740097046 + ], + "canonical_scale": 0.3114161193370819 } ], "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 85, - 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)" }, @@ -109,12 +131,31 @@ }, "stats": { "n_frames": 85, - "n_objects": 1, + "n_objects": 2, "has_grasp": false, "mean_trust": null, "mean_iou": null, "sam3_quality": 0.8620599440348685 }, - "tracking_summary": {}, + "tracking_summary": { + "0": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "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." } \ No newline at end of file diff --git a/samples/XgOQwJUVqkU_473.3_477.3/pose_track.json b/samples/XgOQwJUVqkU_473.3_477.3/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..b11d8ba20e98329e990aaa0503a8bceac2f78c72 100644 --- a/samples/XgOQwJUVqkU_473.3_477.3/pose_track.json +++ b/samples/XgOQwJUVqkU_473.3_477.3/pose_track.json @@ -1 +1,4796 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 57, + "smooth_sigma": 2.0, + "n_observed": 61, + "scale_correction": 0.38838480487237964, + "T_seq": [ + [ + [ + -0.8083726167678833, + -0.5876691937446594, + -0.03433118760585785, + -0.053357623517513275 + ], + [ + -0.3957563638687134, + 0.5857075452804565, + -0.7073355317115784, + -0.12794692814350128 + ], + [ + 0.4357873499393463, + -0.5582038760185242, + -0.7060437798500061, + 0.7110888957977295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.8083726167678833, 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"tracking_status": "ok", + "note": "pca_align scale=0.347 chamfer_med=18.3mm obs_pts=3081" + } +} \ No newline at end of file diff --git a/samples/XgOQwJUVqkU_473.3_477.3/recording.viser b/samples/XgOQwJUVqkU_473.3_477.3/recording.viser index d0c5e96129dccab47ef42a10a248114e8b097601..acd058dabc9dc048f2ad32d60ce0ef8b09d79533 100644 --- a/samples/XgOQwJUVqkU_473.3_477.3/recording.viser +++ b/samples/XgOQwJUVqkU_473.3_477.3/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:95e86a9b5e6f334b2b1dedf8b5910e347ec4ac588c3c50079e9e015425335b3e -size 2760100 +oid sha256:364d288875b821672cecc1f22c3abc15f76e35182198e5a3ad5332644e9ccbbb +size 2748156 diff --git a/samples/XgOQwJUVqkU_473.3_477.3/scene.json b/samples/XgOQwJUVqkU_473.3_477.3/scene.json index 3e01a84853b1e00ce39c9e261851dd4d4335dd1b..914cf6b815e52b46d23da9f7d042fdc1b9d32eac 100644 --- a/samples/XgOQwJUVqkU_473.3_477.3/scene.json +++ b/samples/XgOQwJUVqkU_473.3_477.3/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 31092, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.38838480487237964, + "tracker_ok": true, "canonical_translation": [ 0.15167227387428284, 0.20734953880310059, @@ -69,8 +69,8 @@ "color_hex": "#6a9460", "ply": "objects/obj_1.ply", "n_points": 23228, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.9441958317901156, + "tracker_ok": true, "canonical_translation": [ 0.23951302468776703, 0.2032807171344757, @@ -90,8 +90,8 @@ "color_hex": "#5a7daa", "ply": "objects/obj_2.ply", "n_points": 51256, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 0.34659275711974713, + "tracker_ok": true, "canonical_translation": [ 0.08466120809316635, -0.16206924617290497, @@ -159,6 +159,34 @@ "mean_iou": null, "sam3_quality": 0.8438321772966931 }, - "tracking_summary": {}, + "tracking_summary": { + "0": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": 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See LICENSE-Action100M for terms." } \ No newline at end of file diff --git a/samples/boJ9zV_qVEQ_886.4_890.4/pose_track.json b/samples/boJ9zV_qVEQ_886.4_890.4/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..985fbecd55f0cfa5cf09f68547de5071eadf715f 100644 --- a/samples/boJ9zV_qVEQ_886.4_890.4/pose_track.json +++ b/samples/boJ9zV_qVEQ_886.4_890.4/pose_track.json @@ -1 +1,1600 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 36, + "smooth_sigma": 2.0, + "n_observed": 61, + "scale_correction": 0.26719990477479977, + "T_seq": [ + [ + [ + -0.27302953600883484, + -0.9409695267677307, + -0.20007795095443726, + 0.01641920953989029 + ], + [ + 0.46456587314605713, + 0.05315481498837471, + -0.8839417695999146, + 0.02108917571604252 + ], + [ + 0.8423973917961121, + -0.33429160714149475, + 0.4226295053958893, + 0.667457640171051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.27302953600883484, 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See LICENSE-Action100M for terms." } \ No newline at end of file diff --git a/samples/k3TqZpNhlSk_333.8_337.8/recording.viser b/samples/k3TqZpNhlSk_333.8_337.8/recording.viser index c1a30b8063d5a2c8a508126421073b4701a38584..906321f55a7e8e1de9e2b78c149fabc6a3598759 100644 --- a/samples/k3TqZpNhlSk_333.8_337.8/recording.viser +++ b/samples/k3TqZpNhlSk_333.8_337.8/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c9f7338fdf149b76e1b2cab26daf55566ab6cc47eb728288c193e859fb4f4380 +oid sha256:6878f654fa9c5a983d15bed2b97b727de4b16e55f149ae86591af627a7058ce2 size 1434761 diff --git a/samples/rh2O_qLDRqc_192.9_196.9/pose_track.json b/samples/rh2O_qLDRqc_192.9_196.9/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..f162deba899625c76e8ddb73c3d272fe703fdbaa 100644 --- a/samples/rh2O_qLDRqc_192.9_196.9/pose_track.json +++ b/samples/rh2O_qLDRqc_192.9_196.9/pose_track.json @@ -1 +1,1600 @@ -{} \ No newline at end of file +{ + "0": { + "mode": 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a/samples/rh2O_qLDRqc_192.9_196.9/scene.json +++ b/samples/rh2O_qLDRqc_192.9_196.9/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 19456, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 1.4254230623858315, + "tracker_ok": true, "canonical_translation": [ -0.12642133235931396, 0.3532350957393646, @@ -115,6 +115,16 @@ "mean_iou": null, "sam3_quality": 0.8526470006236524 }, - "tracking_summary": {}, + "tracking_summary": { + "0": { + "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." } \ No newline at end of file diff --git a/samples/xWBZ-yu6_CE_43.2_47.2/pose_track.json b/samples/xWBZ-yu6_CE_43.2_47.2/pose_track.json index 9e26dfeeb6e641a33dae4961196235bdb965b21b..21dcd5de3fb57a34ac5af59bc5fd8b20dcf287c4 100644 --- a/samples/xWBZ-yu6_CE_43.2_47.2/pose_track.json +++ b/samples/xWBZ-yu6_CE_43.2_47.2/pose_track.json @@ -1 +1,3198 @@ -{} \ No newline at end of file +{ + "0": { + "mode": "position_first", + "algo_version": "v1-position-first", + "anchor_t": 0, + "smooth_sigma": 2.0, + "n_observed": 61, + "scale_correction": 2.3149685498215455, + "T_seq": [ + [ + [ + -0.9711309671401978, + 0.23791642487049103, + -0.01733112707734108, + 0.22275279462337494 + ], + [ + 0.004693995229899883, + 0.09169775247573853, + 0.9957758188247681, + 0.23601727187633514 + ], + [ + 0.2385006546974182, + 0.9669474363327026, + -0.09016730636358261, + 2.1511166095733643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -0.9711309671401978, + 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], + "tracking_status": "ok", + "note": "pca_align scale=2.709 chamfer_med=13.3mm obs_pts=458" + } +} \ No newline at end of file diff --git a/samples/xWBZ-yu6_CE_43.2_47.2/recording.viser b/samples/xWBZ-yu6_CE_43.2_47.2/recording.viser index 5864e90438fb2954e9ea735dc3f6e17cdde4c443..9848a09058dc30b94cc024f60088bfac7ab6c8b2 100644 --- a/samples/xWBZ-yu6_CE_43.2_47.2/recording.viser +++ b/samples/xWBZ-yu6_CE_43.2_47.2/recording.viser @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9fd771b20e5473137f5f83436dca44823c6f836e30f4504730bd376ab3ad8d8d -size 1970426 +oid sha256:e3dce6cee0951e8971ba0fab78e8a5ece976650aa6ec0aee5a8927e1566efc59 +size 1973557 diff --git a/samples/xWBZ-yu6_CE_43.2_47.2/scene.json b/samples/xWBZ-yu6_CE_43.2_47.2/scene.json index cf488a94b18f1cbc6786045cf596f3ea85d93f3b..18bb7f00a4e7c01998023827c95ea94da5a341a3 100644 --- a/samples/xWBZ-yu6_CE_43.2_47.2/scene.json +++ b/samples/xWBZ-yu6_CE_43.2_47.2/scene.json @@ -48,8 +48,8 @@ "color_hex": "#d97757", "ply": "objects/obj_0.ply", "n_points": 26480, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 2.3149685498215455, + "tracker_ok": true, "canonical_translation": [ -0.0860578790307045, -0.043339330703020096, @@ -69,8 +69,8 @@ "color_hex": "#5a7daa", "ply": "objects/obj_2.ply", "n_points": 33856, - "scale_correction": 1.0, - "tracker_ok": false, + "scale_correction": 2.709489166875045, + "tracker_ok": true, "canonical_translation": [ 0.007336010225117207, -0.04947082698345184, @@ -137,6 +137,25 @@ "mean_iou": null, "sam3_quality": 0.7098900261250012 }, - "tracking_summary": {}, + "tracking_summary": { + "0": { + "path": null, + "anchor_fitness": null, + "median_chamfer_mm": null, + "mean_iou": null, + "grasp_rate": null, + "trust_rate": null, + "tracking_status": "ok" + }, + "2": { + "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." } \ No newline at end of file