2026-05-17: spurious_filter medium mode — drop 26 oids that are far from hand zone AND static (9/17)
Browse files- samples/-I7eETVxmbk_320.5_324.5/masks.npz +2 -2
- samples/-I7eETVxmbk_320.5_324.5/object_obb.bin +2 -2
- samples/-I7eETVxmbk_320.5_324.5/object_pose.bin +2 -2
- samples/-I7eETVxmbk_320.5_324.5/pose_track.json +9 -2358
- samples/-I7eETVxmbk_320.5_324.5/recording.viser +2 -2
- samples/-I7eETVxmbk_320.5_324.5/scene.json +4 -49
- samples/-I7eETVxmbk_320.5_324.5/signals.json +1 -1
samples/-I7eETVxmbk_320.5_324.5/masks.npz
CHANGED
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@@ -1,3 +1,3 @@
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samples/-I7eETVxmbk_320.5_324.5/object_obb.bin
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samples/-I7eETVxmbk_320.5_324.5/object_pose.bin
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samples/-I7eETVxmbk_320.5_324.5/pose_track.json
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false,
|
| 6815 |
-
false,
|
| 6816 |
-
false,
|
| 6817 |
-
false,
|
| 6818 |
-
false
|
| 6819 |
-
],
|
| 6820 |
-
"wrist_l_per_frame": [
|
| 6821 |
-
false,
|
| 6822 |
-
false,
|
| 6823 |
-
false,
|
| 6824 |
-
false,
|
| 6825 |
-
false,
|
| 6826 |
-
false,
|
| 6827 |
-
false,
|
| 6828 |
-
false,
|
| 6829 |
-
false,
|
| 6830 |
-
false,
|
| 6831 |
-
false,
|
| 6832 |
-
false,
|
| 6833 |
-
false,
|
| 6834 |
-
false,
|
| 6835 |
-
false,
|
| 6836 |
-
false,
|
| 6837 |
-
false,
|
| 6838 |
-
false,
|
| 6839 |
-
false,
|
| 6840 |
-
false,
|
| 6841 |
-
false,
|
| 6842 |
-
false,
|
| 6843 |
-
false,
|
| 6844 |
-
false,
|
| 6845 |
-
false,
|
| 6846 |
-
false,
|
| 6847 |
-
false,
|
| 6848 |
-
false,
|
| 6849 |
-
false,
|
| 6850 |
-
false,
|
| 6851 |
-
false,
|
| 6852 |
-
false,
|
| 6853 |
-
false,
|
| 6854 |
-
false,
|
| 6855 |
-
false,
|
| 6856 |
-
false,
|
| 6857 |
-
false,
|
| 6858 |
-
false,
|
| 6859 |
-
false,
|
| 6860 |
-
false,
|
| 6861 |
-
false,
|
| 6862 |
-
false,
|
| 6863 |
-
false,
|
| 6864 |
-
false,
|
| 6865 |
-
false,
|
| 6866 |
-
false,
|
| 6867 |
-
false,
|
| 6868 |
-
false,
|
| 6869 |
-
false,
|
| 6870 |
-
false,
|
| 6871 |
-
false,
|
| 6872 |
-
false,
|
| 6873 |
-
false,
|
| 6874 |
-
false,
|
| 6875 |
-
false,
|
| 6876 |
-
false,
|
| 6877 |
-
false,
|
| 6878 |
-
false,
|
| 6879 |
-
false,
|
| 6880 |
-
false,
|
| 6881 |
-
false
|
| 6882 |
-
],
|
| 6883 |
-
"wrist_r_per_frame": [
|
| 6884 |
-
false,
|
| 6885 |
-
false,
|
| 6886 |
-
false,
|
| 6887 |
-
false,
|
| 6888 |
-
false,
|
| 6889 |
-
false,
|
| 6890 |
-
false,
|
| 6891 |
-
false,
|
| 6892 |
-
false,
|
| 6893 |
-
false,
|
| 6894 |
-
false,
|
| 6895 |
-
false,
|
| 6896 |
-
false,
|
| 6897 |
-
false,
|
| 6898 |
-
false,
|
| 6899 |
-
false,
|
| 6900 |
-
false,
|
| 6901 |
-
false,
|
| 6902 |
-
false,
|
| 6903 |
-
false,
|
| 6904 |
-
false,
|
| 6905 |
-
false,
|
| 6906 |
-
false,
|
| 6907 |
-
false,
|
| 6908 |
-
false,
|
| 6909 |
-
false,
|
| 6910 |
-
false,
|
| 6911 |
-
false,
|
| 6912 |
-
false,
|
| 6913 |
-
false,
|
| 6914 |
-
false,
|
| 6915 |
-
false,
|
| 6916 |
-
false,
|
| 6917 |
-
false,
|
| 6918 |
-
false,
|
| 6919 |
-
false,
|
| 6920 |
-
false,
|
| 6921 |
-
false,
|
| 6922 |
-
false,
|
| 6923 |
-
false,
|
| 6924 |
-
false,
|
| 6925 |
-
false,
|
| 6926 |
-
false,
|
| 6927 |
-
false,
|
| 6928 |
-
false,
|
| 6929 |
-
false,
|
| 6930 |
-
false,
|
| 6931 |
-
false,
|
| 6932 |
-
false,
|
| 6933 |
-
false,
|
| 6934 |
-
false,
|
| 6935 |
-
false,
|
| 6936 |
-
false,
|
| 6937 |
-
false,
|
| 6938 |
-
false,
|
| 6939 |
-
false,
|
| 6940 |
-
false,
|
| 6941 |
-
false,
|
| 6942 |
-
false,
|
| 6943 |
-
false,
|
| 6944 |
-
false
|
| 6945 |
-
],
|
| 6946 |
-
"is_moving_per_frame": [
|
| 6947 |
-
false,
|
| 6948 |
-
false,
|
| 6949 |
-
false,
|
| 6950 |
-
false,
|
| 6951 |
-
false,
|
| 6952 |
-
false,
|
| 6953 |
-
false,
|
| 6954 |
-
false,
|
| 6955 |
-
false,
|
| 6956 |
-
false,
|
| 6957 |
-
false,
|
| 6958 |
-
false,
|
| 6959 |
-
false,
|
| 6960 |
-
false,
|
| 6961 |
-
false,
|
| 6962 |
-
false,
|
| 6963 |
-
false,
|
| 6964 |
-
false,
|
| 6965 |
-
false,
|
| 6966 |
-
false,
|
| 6967 |
-
false,
|
| 6968 |
-
false,
|
| 6969 |
-
false,
|
| 6970 |
-
false,
|
| 6971 |
-
false,
|
| 6972 |
-
false,
|
| 6973 |
-
false,
|
| 6974 |
-
false,
|
| 6975 |
-
false,
|
| 6976 |
-
false,
|
| 6977 |
-
false,
|
| 6978 |
-
false,
|
| 6979 |
-
false,
|
| 6980 |
-
false,
|
| 6981 |
-
false,
|
| 6982 |
-
false,
|
| 6983 |
-
false,
|
| 6984 |
-
false,
|
| 6985 |
-
false,
|
| 6986 |
-
false,
|
| 6987 |
-
false,
|
| 6988 |
-
false,
|
| 6989 |
-
false,
|
| 6990 |
-
false,
|
| 6991 |
-
false,
|
| 6992 |
-
false,
|
| 6993 |
-
false,
|
| 6994 |
-
false,
|
| 6995 |
-
false,
|
| 6996 |
-
false,
|
| 6997 |
-
false,
|
| 6998 |
-
false,
|
| 6999 |
-
false,
|
| 7000 |
-
false,
|
| 7001 |
-
false,
|
| 7002 |
-
false,
|
| 7003 |
-
false,
|
| 7004 |
-
false,
|
| 7005 |
-
false,
|
| 7006 |
-
false,
|
| 7007 |
-
false
|
| 7008 |
],
|
| 7009 |
-
"
|
| 7010 |
-
|
| 7011 |
-
|
| 7012 |
-
|
| 7013 |
-
false,
|
| 7014 |
-
false,
|
| 7015 |
-
false,
|
| 7016 |
-
false,
|
| 7017 |
-
false,
|
| 7018 |
-
false,
|
| 7019 |
-
false,
|
| 7020 |
-
false,
|
| 7021 |
-
false,
|
| 7022 |
-
false,
|
| 7023 |
-
false,
|
| 7024 |
-
false,
|
| 7025 |
-
false,
|
| 7026 |
-
false,
|
| 7027 |
-
false,
|
| 7028 |
-
false,
|
| 7029 |
-
false,
|
| 7030 |
-
false,
|
| 7031 |
-
false,
|
| 7032 |
-
false,
|
| 7033 |
-
false,
|
| 7034 |
-
false,
|
| 7035 |
-
false,
|
| 7036 |
-
false,
|
| 7037 |
-
false,
|
| 7038 |
-
false,
|
| 7039 |
-
false,
|
| 7040 |
-
false,
|
| 7041 |
-
false,
|
| 7042 |
-
false,
|
| 7043 |
-
false,
|
| 7044 |
-
false,
|
| 7045 |
-
false,
|
| 7046 |
-
false,
|
| 7047 |
-
false,
|
| 7048 |
-
false,
|
| 7049 |
-
false,
|
| 7050 |
-
false,
|
| 7051 |
-
false,
|
| 7052 |
-
false,
|
| 7053 |
-
false,
|
| 7054 |
-
false,
|
| 7055 |
-
false,
|
| 7056 |
-
false,
|
| 7057 |
-
false,
|
| 7058 |
-
false,
|
| 7059 |
-
false,
|
| 7060 |
-
false,
|
| 7061 |
-
false,
|
| 7062 |
-
false,
|
| 7063 |
-
false,
|
| 7064 |
-
false,
|
| 7065 |
-
false,
|
| 7066 |
-
false,
|
| 7067 |
-
false,
|
| 7068 |
-
false,
|
| 7069 |
-
false,
|
| 7070 |
-
false
|
| 7071 |
-
]
|
| 7072 |
}
|
| 7073 |
}
|
|
|
|
| 2354 |
false,
|
| 2355 |
false,
|
| 2356 |
false
|
| 2357 |
+
],
|
| 2358 |
+
"spurious_flag": false,
|
| 2359 |
+
"spurious_reason": "ok",
|
| 2360 |
+
"spurious_d3d_m": 0.0,
|
| 2361 |
+
"spurious_motion2d_px": 0.5
|
| 2362 |
},
|
| 2363 |
"1": {
|
| 2364 |
"mode": "position_first",
|
|
|
|
| 4715 |
false,
|
| 4716 |
false,
|
| 4717 |
false
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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| 4718 |
],
|
| 4719 |
+
"spurious_flag": false,
|
| 4720 |
+
"spurious_reason": "ok",
|
| 4721 |
+
"spurious_d3d_m": 0.0,
|
| 4722 |
+
"spurious_motion2d_px": 1.8027756214141846
|
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|
| 4723 |
}
|
| 4724 |
}
|
samples/-I7eETVxmbk_320.5_324.5/recording.viser
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ba538a94e5e5770e2df597e6374e81612dbbd36624ca1fe22fdd9a4a75937421
|
| 3 |
+
size 3634658
|
samples/-I7eETVxmbk_320.5_324.5/scene.json
CHANGED
|
@@ -83,39 +83,18 @@
|
|
| 83 |
0.6541016697883606
|
| 84 |
],
|
| 85 |
"canonical_scale": 0.37969666719436646
|
| 86 |
-
},
|
| 87 |
-
{
|
| 88 |
-
"id": 3,
|
| 89 |
-
"prompt": "chopping board",
|
| 90 |
-
"color_hex": "#c89968",
|
| 91 |
-
"ply": "objects/obj_3.ply",
|
| 92 |
-
"n_points": 69716,
|
| 93 |
-
"scale_correction": 0.15872853994369507,
|
| 94 |
-
"tracker_ok": true,
|
| 95 |
-
"canonical_translation": [
|
| 96 |
-
-0.7508480548858643,
|
| 97 |
-
0.17493252456188202,
|
| 98 |
-
2.5459160804748535
|
| 99 |
-
],
|
| 100 |
-
"canonical_rotation_quat": [
|
| 101 |
-
0.2629428505897522,
|
| 102 |
-
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|
| 103 |
-
0.24298222362995148,
|
| 104 |
-
-0.7839270830154419
|
| 105 |
-
],
|
| 106 |
-
"canonical_scale": 0.15872853994369507
|
| 107 |
}
|
| 108 |
],
|
| 109 |
"object_pose_traj": "object_pose.bin",
|
| 110 |
"object_pose_shape": [
|
| 111 |
61,
|
| 112 |
-
|
| 113 |
4,
|
| 114 |
4
|
| 115 |
],
|
| 116 |
"object_obb": "object_obb.bin",
|
| 117 |
"object_obb_shape": [
|
| 118 |
-
|
| 119 |
8,
|
| 120 |
3
|
| 121 |
],
|
|
@@ -142,8 +121,7 @@
|
|
| 142 |
],
|
| 143 |
"oids": [
|
| 144 |
0,
|
| 145 |
-
1
|
| 146 |
-
3
|
| 147 |
],
|
| 148 |
"decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)"
|
| 149 |
},
|
|
@@ -153,7 +131,7 @@
|
|
| 153 |
},
|
| 154 |
"stats": {
|
| 155 |
"n_frames": 61,
|
| 156 |
-
"n_objects":
|
| 157 |
"has_grasp": false,
|
| 158 |
"mean_trust": null,
|
| 159 |
"mean_iou": null,
|
|
@@ -205,29 +183,6 @@
|
|
| 205 |
},
|
| 206 |
"is_static_global": true,
|
| 207 |
"n_state_frames": 61
|
| 208 |
-
},
|
| 209 |
-
"3": {
|
| 210 |
-
"path": null,
|
| 211 |
-
"anchor_fitness": null,
|
| 212 |
-
"median_chamfer_mm": null,
|
| 213 |
-
"mean_iou": null,
|
| 214 |
-
"grasp_rate": 0.0,
|
| 215 |
-
"trust_rate": 0.0,
|
| 216 |
-
"tracking_status": "ok",
|
| 217 |
-
"state_counts": {
|
| 218 |
-
"static": 61,
|
| 219 |
-
"grasped_l": 0,
|
| 220 |
-
"grasped_r": 0,
|
| 221 |
-
"grasped_both": 0,
|
| 222 |
-
"moving": 0
|
| 223 |
-
},
|
| 224 |
-
"state_fractions": {
|
| 225 |
-
"static": 1.0,
|
| 226 |
-
"grasped": 0.0,
|
| 227 |
-
"moving": 0.0
|
| 228 |
-
},
|
| 229 |
-
"is_static_global": true,
|
| 230 |
-
"n_state_frames": 61
|
| 231 |
}
|
| 232 |
},
|
| 233 |
"_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms."
|
|
|
|
| 83 |
0.6541016697883606
|
| 84 |
],
|
| 85 |
"canonical_scale": 0.37969666719436646
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 86 |
}
|
| 87 |
],
|
| 88 |
"object_pose_traj": "object_pose.bin",
|
| 89 |
"object_pose_shape": [
|
| 90 |
61,
|
| 91 |
+
2,
|
| 92 |
4,
|
| 93 |
4
|
| 94 |
],
|
| 95 |
"object_obb": "object_obb.bin",
|
| 96 |
"object_obb_shape": [
|
| 97 |
+
2,
|
| 98 |
8,
|
| 99 |
3
|
| 100 |
],
|
|
|
|
| 121 |
],
|
| 122 |
"oids": [
|
| 123 |
0,
|
| 124 |
+
1
|
|
|
|
| 125 |
],
|
| 126 |
"decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)"
|
| 127 |
},
|
|
|
|
| 131 |
},
|
| 132 |
"stats": {
|
| 133 |
"n_frames": 61,
|
| 134 |
+
"n_objects": 2,
|
| 135 |
"has_grasp": false,
|
| 136 |
"mean_trust": null,
|
| 137 |
"mean_iou": null,
|
|
|
|
| 183 |
},
|
| 184 |
"is_static_global": true,
|
| 185 |
"n_state_frames": 61
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 186 |
}
|
| 187 |
},
|
| 188 |
"_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms."
|
samples/-I7eETVxmbk_320.5_324.5/signals.json
CHANGED
|
@@ -1 +1 @@
|
|
| 1 |
-
{"n_frames": 61, "scene": {"contact_l": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0], "contact_r": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0], "grasp": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "motion": [0.0, 0.5, 0.5, 0.0, 0.5, 0.5, 0.5, 0.5,
|
|
|
|
| 1 |
+
{"n_frames": 61, "scene": {"contact_l": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0], "contact_r": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0], "grasp": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "motion": [0.0, 0.5, 0.5, 0.0, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.0, 0.0, 0.5, 0.0, 0.0, 0.0, 0.5, 0.5, 0.5, 0.7071067690849304, 0.7071067690849304, 0.7071067690849304, 0.0, 0.5, 0.0, 0.5, 0.5, 0.5, 0.5, 0.5, 0.0, 0.5, 0.7071067690849304, 1.0, 1.1180340051651, 0.5, 0.5, 0.5, 0.5, 0.5, 0.0, 0.5, 0.0, 0.5, 0.0, 0.0, 0.5, 0.5, 0.5, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5, 0.0, 0.5]}, "per_object": {"0": {"trust": [false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false], "state": ["static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static"]}, "1": {"trust": [false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false], "state": ["static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static", "static"]}}}
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