2026-05-17: spurious_filter medium mode — drop 26 oids that are far from hand zone AND static (13/17)
Browse files- samples/-QGsBuKzP4U_117.0_125.7/masks.npz +2 -2
- samples/-QGsBuKzP4U_117.0_125.7/object_obb.bin +2 -2
- samples/-QGsBuKzP4U_117.0_125.7/object_pose.bin +2 -2
- samples/-QGsBuKzP4U_117.0_125.7/pose_track.json +9 -5018
- samples/-QGsBuKzP4U_117.0_125.7/recording.viser +2 -2
- samples/-QGsBuKzP4U_117.0_125.7/scene.json +3 -48
- samples/-QGsBuKzP4U_117.0_125.7/signals.json +1 -1
samples/-QGsBuKzP4U_117.0_125.7/masks.npz
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264.0
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775.5,
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775.5,
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264.0
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264.0
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264.0
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264.0
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264.0
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264.0
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264.0
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263.5
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263.5
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263.5
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263.5
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| 9732 |
-
false,
|
| 9733 |
-
false,
|
| 9734 |
-
false,
|
| 9735 |
-
false,
|
| 9736 |
-
false,
|
| 9737 |
-
false,
|
| 9738 |
-
false,
|
| 9739 |
-
false,
|
| 9740 |
-
false,
|
| 9741 |
-
false,
|
| 9742 |
-
false,
|
| 9743 |
-
false,
|
| 9744 |
-
false,
|
| 9745 |
-
false,
|
| 9746 |
-
false,
|
| 9747 |
-
false,
|
| 9748 |
-
false,
|
| 9749 |
-
false,
|
| 9750 |
-
false,
|
| 9751 |
-
false,
|
| 9752 |
-
false,
|
| 9753 |
-
false,
|
| 9754 |
-
false,
|
| 9755 |
-
false,
|
| 9756 |
-
false,
|
| 9757 |
-
false,
|
| 9758 |
-
false,
|
| 9759 |
-
false,
|
| 9760 |
-
false,
|
| 9761 |
-
false,
|
| 9762 |
-
false,
|
| 9763 |
-
false,
|
| 9764 |
-
false,
|
| 9765 |
-
false,
|
| 9766 |
-
false,
|
| 9767 |
-
false
|
| 9768 |
-
],
|
| 9769 |
-
"is_moving_per_frame": [
|
| 9770 |
-
false,
|
| 9771 |
-
false,
|
| 9772 |
-
false,
|
| 9773 |
-
false,
|
| 9774 |
-
false,
|
| 9775 |
-
false,
|
| 9776 |
-
false,
|
| 9777 |
-
false,
|
| 9778 |
-
false,
|
| 9779 |
-
false,
|
| 9780 |
-
false,
|
| 9781 |
-
false,
|
| 9782 |
-
false,
|
| 9783 |
-
false,
|
| 9784 |
-
false,
|
| 9785 |
-
false,
|
| 9786 |
-
false,
|
| 9787 |
-
false,
|
| 9788 |
-
false,
|
| 9789 |
-
false,
|
| 9790 |
-
false,
|
| 9791 |
-
false,
|
| 9792 |
-
false,
|
| 9793 |
-
false,
|
| 9794 |
-
false,
|
| 9795 |
-
false,
|
| 9796 |
-
false,
|
| 9797 |
-
false,
|
| 9798 |
-
false,
|
| 9799 |
-
false,
|
| 9800 |
-
false,
|
| 9801 |
-
false,
|
| 9802 |
-
false,
|
| 9803 |
-
false,
|
| 9804 |
-
false,
|
| 9805 |
-
false,
|
| 9806 |
-
false,
|
| 9807 |
-
false,
|
| 9808 |
-
false,
|
| 9809 |
-
false,
|
| 9810 |
-
false,
|
| 9811 |
-
false,
|
| 9812 |
-
false,
|
| 9813 |
-
false,
|
| 9814 |
-
false,
|
| 9815 |
-
false,
|
| 9816 |
-
false,
|
| 9817 |
-
false,
|
| 9818 |
-
false,
|
| 9819 |
-
false,
|
| 9820 |
-
false,
|
| 9821 |
-
false,
|
| 9822 |
-
false,
|
| 9823 |
-
false,
|
| 9824 |
-
false,
|
| 9825 |
-
false,
|
| 9826 |
-
false,
|
| 9827 |
-
false,
|
| 9828 |
-
false,
|
| 9829 |
-
false,
|
| 9830 |
-
false,
|
| 9831 |
-
false,
|
| 9832 |
-
false,
|
| 9833 |
-
false,
|
| 9834 |
-
false,
|
| 9835 |
-
false,
|
| 9836 |
-
false,
|
| 9837 |
-
false,
|
| 9838 |
-
false,
|
| 9839 |
-
false,
|
| 9840 |
-
false,
|
| 9841 |
-
false,
|
| 9842 |
-
false,
|
| 9843 |
-
false,
|
| 9844 |
-
false,
|
| 9845 |
-
false,
|
| 9846 |
-
false,
|
| 9847 |
-
false,
|
| 9848 |
-
false,
|
| 9849 |
-
false,
|
| 9850 |
-
false,
|
| 9851 |
-
false,
|
| 9852 |
-
false,
|
| 9853 |
-
false,
|
| 9854 |
-
false,
|
| 9855 |
-
false,
|
| 9856 |
-
false,
|
| 9857 |
-
false,
|
| 9858 |
-
false,
|
| 9859 |
-
false,
|
| 9860 |
-
false,
|
| 9861 |
-
false,
|
| 9862 |
-
false,
|
| 9863 |
-
false,
|
| 9864 |
-
false,
|
| 9865 |
-
false,
|
| 9866 |
-
false,
|
| 9867 |
-
false,
|
| 9868 |
-
false,
|
| 9869 |
-
false,
|
| 9870 |
-
false,
|
| 9871 |
-
false,
|
| 9872 |
-
false,
|
| 9873 |
-
false,
|
| 9874 |
-
false,
|
| 9875 |
-
false,
|
| 9876 |
-
false,
|
| 9877 |
-
false,
|
| 9878 |
-
false,
|
| 9879 |
-
false,
|
| 9880 |
-
false,
|
| 9881 |
-
false,
|
| 9882 |
-
false,
|
| 9883 |
-
false,
|
| 9884 |
-
false,
|
| 9885 |
-
false,
|
| 9886 |
-
false,
|
| 9887 |
-
false,
|
| 9888 |
-
false,
|
| 9889 |
-
false,
|
| 9890 |
-
false,
|
| 9891 |
-
false,
|
| 9892 |
-
false,
|
| 9893 |
-
false,
|
| 9894 |
-
false,
|
| 9895 |
-
false,
|
| 9896 |
-
false,
|
| 9897 |
-
false,
|
| 9898 |
-
false,
|
| 9899 |
-
false,
|
| 9900 |
-
false
|
| 9901 |
],
|
| 9902 |
-
"
|
| 9903 |
-
|
| 9904 |
-
|
| 9905 |
-
|
| 9906 |
-
false,
|
| 9907 |
-
false,
|
| 9908 |
-
false,
|
| 9909 |
-
false,
|
| 9910 |
-
false,
|
| 9911 |
-
false,
|
| 9912 |
-
false,
|
| 9913 |
-
false,
|
| 9914 |
-
false,
|
| 9915 |
-
false,
|
| 9916 |
-
false,
|
| 9917 |
-
false,
|
| 9918 |
-
false,
|
| 9919 |
-
false,
|
| 9920 |
-
false,
|
| 9921 |
-
false,
|
| 9922 |
-
false,
|
| 9923 |
-
false,
|
| 9924 |
-
false,
|
| 9925 |
-
false,
|
| 9926 |
-
false,
|
| 9927 |
-
false,
|
| 9928 |
-
false,
|
| 9929 |
-
false,
|
| 9930 |
-
false,
|
| 9931 |
-
false,
|
| 9932 |
-
false,
|
| 9933 |
-
false,
|
| 9934 |
-
false,
|
| 9935 |
-
false,
|
| 9936 |
-
false,
|
| 9937 |
-
false,
|
| 9938 |
-
false,
|
| 9939 |
-
false,
|
| 9940 |
-
false,
|
| 9941 |
-
false,
|
| 9942 |
-
false,
|
| 9943 |
-
false,
|
| 9944 |
-
false,
|
| 9945 |
-
false,
|
| 9946 |
-
false,
|
| 9947 |
-
false,
|
| 9948 |
-
false,
|
| 9949 |
-
false,
|
| 9950 |
-
false,
|
| 9951 |
-
false,
|
| 9952 |
-
false,
|
| 9953 |
-
false,
|
| 9954 |
-
false,
|
| 9955 |
-
false,
|
| 9956 |
-
false,
|
| 9957 |
-
false,
|
| 9958 |
-
false,
|
| 9959 |
-
false,
|
| 9960 |
-
false,
|
| 9961 |
-
false,
|
| 9962 |
-
false,
|
| 9963 |
-
false,
|
| 9964 |
-
false,
|
| 9965 |
-
false,
|
| 9966 |
-
false,
|
| 9967 |
-
false,
|
| 9968 |
-
false,
|
| 9969 |
-
false,
|
| 9970 |
-
false,
|
| 9971 |
-
false,
|
| 9972 |
-
false,
|
| 9973 |
-
false,
|
| 9974 |
-
false,
|
| 9975 |
-
false,
|
| 9976 |
-
false,
|
| 9977 |
-
false,
|
| 9978 |
-
false,
|
| 9979 |
-
false,
|
| 9980 |
-
false,
|
| 9981 |
-
false,
|
| 9982 |
-
false,
|
| 9983 |
-
false,
|
| 9984 |
-
false,
|
| 9985 |
-
false,
|
| 9986 |
-
false,
|
| 9987 |
-
false,
|
| 9988 |
-
false,
|
| 9989 |
-
false,
|
| 9990 |
-
false,
|
| 9991 |
-
false,
|
| 9992 |
-
false,
|
| 9993 |
-
false,
|
| 9994 |
-
false,
|
| 9995 |
-
false,
|
| 9996 |
-
false,
|
| 9997 |
-
false,
|
| 9998 |
-
false,
|
| 9999 |
-
false,
|
| 10000 |
-
false,
|
| 10001 |
-
false,
|
| 10002 |
-
false,
|
| 10003 |
-
false,
|
| 10004 |
-
false,
|
| 10005 |
-
false,
|
| 10006 |
-
false,
|
| 10007 |
-
false,
|
| 10008 |
-
false,
|
| 10009 |
-
false,
|
| 10010 |
-
false,
|
| 10011 |
-
false,
|
| 10012 |
-
false,
|
| 10013 |
-
false,
|
| 10014 |
-
false,
|
| 10015 |
-
false,
|
| 10016 |
-
false,
|
| 10017 |
-
false,
|
| 10018 |
-
false,
|
| 10019 |
-
false,
|
| 10020 |
-
false,
|
| 10021 |
-
false,
|
| 10022 |
-
false,
|
| 10023 |
-
false,
|
| 10024 |
-
false,
|
| 10025 |
-
false,
|
| 10026 |
-
false,
|
| 10027 |
-
false,
|
| 10028 |
-
false,
|
| 10029 |
-
false,
|
| 10030 |
-
false,
|
| 10031 |
-
false,
|
| 10032 |
-
false,
|
| 10033 |
-
false
|
| 10034 |
-
]
|
| 10035 |
},
|
| 10036 |
"3": {
|
| 10037 |
"mode": "position_first",
|
|
@@ -15048,6 +10035,10 @@
|
|
| 15048 |
true,
|
| 15049 |
true,
|
| 15050 |
true
|
| 15051 |
-
]
|
|
|
|
|
|
|
|
|
|
|
|
|
| 15052 |
}
|
| 15053 |
}
|
|
|
|
| 5014 |
false,
|
| 5015 |
false,
|
| 5016 |
false
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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| 5017 |
],
|
| 5018 |
+
"spurious_flag": false,
|
| 5019 |
+
"spurious_reason": "ok",
|
| 5020 |
+
"spurious_d3d_m": 0.0,
|
| 5021 |
+
"spurious_motion2d_px": 17.464248657226562
|
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|
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|
| 5022 |
},
|
| 5023 |
"3": {
|
| 5024 |
"mode": "position_first",
|
|
|
|
| 10035 |
true,
|
| 10036 |
true,
|
| 10037 |
true
|
| 10038 |
+
],
|
| 10039 |
+
"spurious_flag": false,
|
| 10040 |
+
"spurious_reason": "ok",
|
| 10041 |
+
"spurious_d3d_m": 0.0,
|
| 10042 |
+
"spurious_motion2d_px": 108.74856567382812
|
| 10043 |
}
|
| 10044 |
}
|
samples/-QGsBuKzP4U_117.0_125.7/recording.viser
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
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|
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|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:20db8c9d36f97ce9736ac185e63f3ec14e262115d023dec74f24c310d0e77726
|
| 3 |
+
size 12071348
|
samples/-QGsBuKzP4U_117.0_125.7/scene.json
CHANGED
|
@@ -63,27 +63,6 @@
|
|
| 63 |
],
|
| 64 |
"canonical_scale": 0.595697283744812
|
| 65 |
},
|
| 66 |
-
{
|
| 67 |
-
"id": 1,
|
| 68 |
-
"prompt": "door panel",
|
| 69 |
-
"color_hex": "#6a9460",
|
| 70 |
-
"ply": "objects/obj_1.ply",
|
| 71 |
-
"n_points": 102656,
|
| 72 |
-
"scale_correction": 0.7192201018333435,
|
| 73 |
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"tracker_ok": true,
|
| 74 |
-
"canonical_translation": [
|
| 75 |
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|
| 76 |
-
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|
| 77 |
-
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|
| 78 |
-
],
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| 79 |
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"canonical_rotation_quat": [
|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
-
],
|
| 85 |
-
"canonical_scale": 0.7192201018333435
|
| 86 |
-
},
|
| 87 |
{
|
| 88 |
"id": 3,
|
| 89 |
"prompt": "screwdriver",
|
|
@@ -109,13 +88,13 @@
|
|
| 109 |
"object_pose_traj": "object_pose.bin",
|
| 110 |
"object_pose_shape": [
|
| 111 |
131,
|
| 112 |
-
|
| 113 |
4,
|
| 114 |
4
|
| 115 |
],
|
| 116 |
"object_obb": "object_obb.bin",
|
| 117 |
"object_obb_shape": [
|
| 118 |
-
|
| 119 |
8,
|
| 120 |
3
|
| 121 |
],
|
|
@@ -142,7 +121,6 @@
|
|
| 142 |
],
|
| 143 |
"oids": [
|
| 144 |
0,
|
| 145 |
-
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|
| 146 |
3
|
| 147 |
],
|
| 148 |
"decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)"
|
|
@@ -153,7 +131,7 @@
|
|
| 153 |
},
|
| 154 |
"stats": {
|
| 155 |
"n_frames": 131,
|
| 156 |
-
"n_objects":
|
| 157 |
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|
| 158 |
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|
| 159 |
"mean_iou": null,
|
|
@@ -183,29 +161,6 @@
|
|
| 183 |
"is_static_global": false,
|
| 184 |
"n_state_frames": 131
|
| 185 |
},
|
| 186 |
-
"1": {
|
| 187 |
-
"path": null,
|
| 188 |
-
"anchor_fitness": null,
|
| 189 |
-
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|
| 190 |
-
"mean_iou": null,
|
| 191 |
-
"grasp_rate": 0.0,
|
| 192 |
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"trust_rate": 0.0,
|
| 193 |
-
"tracking_status": "ok",
|
| 194 |
-
"state_counts": {
|
| 195 |
-
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|
| 196 |
-
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|
| 197 |
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|
| 198 |
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"grasped_both": 0,
|
| 199 |
-
"moving": 0
|
| 200 |
-
},
|
| 201 |
-
"state_fractions": {
|
| 202 |
-
"static": 1.0,
|
| 203 |
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"grasped": 0.0,
|
| 204 |
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|
| 205 |
-
},
|
| 206 |
-
"is_static_global": true,
|
| 207 |
-
"n_state_frames": 131
|
| 208 |
-
},
|
| 209 |
"3": {
|
| 210 |
"path": null,
|
| 211 |
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|
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|
| 63 |
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|
| 64 |
"canonical_scale": 0.595697283744812
|
| 65 |
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 66 |
{
|
| 67 |
"id": 3,
|
| 68 |
"prompt": "screwdriver",
|
|
|
|
| 88 |
"object_pose_traj": "object_pose.bin",
|
| 89 |
"object_pose_shape": [
|
| 90 |
131,
|
| 91 |
+
2,
|
| 92 |
4,
|
| 93 |
4
|
| 94 |
],
|
| 95 |
"object_obb": "object_obb.bin",
|
| 96 |
"object_obb_shape": [
|
| 97 |
+
2,
|
| 98 |
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|
| 99 |
3
|
| 100 |
],
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|
| 121 |
],
|
| 122 |
"oids": [
|
| 123 |
0,
|
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|
| 124 |
3
|
| 125 |
],
|
| 126 |
"decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)"
|
|
|
|
| 131 |
},
|
| 132 |
"stats": {
|
| 133 |
"n_frames": 131,
|
| 134 |
+
"n_objects": 2,
|
| 135 |
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|
| 136 |
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|
| 137 |
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|
|
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|
| 161 |
"is_static_global": false,
|
| 162 |
"n_state_frames": 131
|
| 163 |
},
|
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|
|
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|
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|
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|
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|
|
|
|
|
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|
| 164 |
"3": {
|
| 165 |
"path": null,
|
| 166 |
"anchor_fitness": null,
|
samples/-QGsBuKzP4U_117.0_125.7/signals.json
CHANGED
|
@@ -1 +1 @@
|
|
| 1 |
-
{"n_frames": 131, "scene": {"contact_l": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 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], "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, 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