Add files using upload-large-folder tool

Simul-General/clip_00013/cameras.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f340769bac1f275333128f409639e5989f26c03c47a5219a248d74e62cf9273
+size 50686

Simul-General/clip_00013/tracks3d.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a37bbf30ff4ffaaab53c1c788bac337ce32874cdbabb265b3537a13c9c7851b
+size 413055

Simul-General/clip_00018/captions.json

@@ -0,0 +1,29 @@
+{
+ "caption": "A heavyset man in a red zip-up jacket and dark pants walks along a palm-lined pedestrian plaza past a hedge, bench, and trash bin, continuing forward past shopfronts toward an open square near scaffolded buildings, under bright sunlight with hard shadows on a sunny, quiet street lined with modern storefronts.",
+ "structured": {
+  "target_class": "pedestrian",
+  "semantic_tag": "pedestrian",
+  "semantic_tag_id": 12,
+  "blueprint": "walker.pedestrian.0048",
+  "motion_kinds": {
+   "view0": "pan_tilt",
+   "view1": "pan_tilt",
+   "view2": "random_polyline",
+   "view3": "arc"
+  },
+  "motion_kinds_note": "vendor camera motion labels relative to the target-following anchor; every camera moves in the world"
+ },
+ "legacy_prompts": {
+  "view0": "A heavyset man in a red zip-up jacket and dark pants walks along a palm-lined pedestrian plaza past a hedge, bench, and trash bin, continuing forward past shopfronts toward an open square near scaffolded buildings, under bright sunlight with hard shadows on a sunny, quiet street lined with modern storefronts. The camera travels about 6.8 m.",
+  "view1": "A heavyset man in a red zip-up jacket and dark pants walks along a palm-lined pedestrian plaza past a hedge, bench, and trash bin, continuing forward past shopfronts toward an open square near scaffolded buildings, under bright sunlight with hard shadows on a sunny, quiet street lined with modern storefronts. The camera travels about 6.8 m.",
+  "view2": "A heavyset man in a red zip-up jacket and dark pants walks along a palm-lined pedestrian plaza past a hedge, bench, and trash bin, continuing forward past shopfronts toward an open square near scaffolded buildings, under bright sunlight with hard shadows on a sunny, quiet street lined with modern storefronts. The camera travels about 0.0 m.",
+  "view3": "A heavyset man in a red zip-up jacket and dark pants walks along a palm-lined pedestrian plaza past a hedge, bench, and trash bin, continuing forward past shopfronts toward an open square near scaffolded buildings, under bright sunlight with hard shadows on a sunny, quiet street lined with modern storefronts. The camera travels about 8.9 m."
+ },
+ "camera_phrases_corrected": {
+  "view0": "The camera travels about 6.8 m.",
+  "view1": "The camera travels about 6.8 m.",
+  "view2": "The camera rotates in place, panning right.",
+  "view3": "The camera travels about 8.9 m, panning left."
+ },
+ "camera_phrase_note": "legacy_prompts = caption + ' ' + the pre-release camera phrase of view k exactly as given to the pre-release baselines: frames 16 -> 80, float32 poses, pan = atan2(f_x, f_z), which is wrong in this z-up world. camera_phrases_corrected uses the same wording rules (static if moved < 0.05 m and |pan| < 2 deg, pan word if |pan| > 8 deg) with the z-up heading atan2(f_y, f_x) (counter-clockwise seen from above = panning left), except that a camera moving < 0.05 m with |pan| >= 2 deg 'rotates in place, panning <dir>'."
+}

Simul-General/clip_00018/labels/oos_segments.json

@@ -0,0 +1,63 @@
+{
+ "note": "Out-of-sight segments (vendor visibility.json oos_segments: maximal runs >= 8 frames of visibility_strict, start/end inclusive local frames; 'cam' = 0-based view index) and the per-view departure schedule. relay = meta.oos.relay of hard clips (null otherwise).",
+ "segment_note": "derived from `visibility_strict` (frame-level is authoritative); maximal runs only, no merging/smoothing; min length 8f applies to this list only; start/end inclusive",
+ "segments": [
+  {
+   "view": "view3",
+   "cam": 3,
+   "cam_name": "cam04",
+   "start": 42,
+   "end": 73,
+   "kind": "out_of_frustum",
+   "len": 32
+  },
+  {
+   "view": "view3",
+   "cam": 3,
+   "cam_name": "cam04",
+   "start": 88,
+   "end": 98,
+   "kind": "occluded",
+   "len": 11
+  }
+ ],
+ "per_view": [
+  {
+   "view": "view0",
+   "source_view": "cam01",
+   "oos_allowed": false,
+   "oos_reason": "none",
+   "oos_effective": false,
+   "oos_departed": false,
+   "oos_cycles": 0
+  },
+  {
+   "view": "view1",
+   "source_view": "cam02",
+   "oos_allowed": false,
+   "oos_reason": "none",
+   "oos_effective": false,
+   "oos_departed": false,
+   "oos_cycles": 0
+  },
+  {
+   "view": "view2",
+   "source_view": "cam03",
+   "oos_allowed": false,
+   "oos_reason": "none",
+   "oos_effective": false,
+   "oos_departed": false,
+   "oos_cycles": 0
+  },
+  {
+   "view": "view3",
+   "source_view": "cam04",
+   "oos_allowed": true,
+   "oos_reason": "sampled",
+   "oos_effective": true,
+   "oos_departed": true,
+   "oos_cycles": 1
+  }
+ ],
+ "relay": null
+}

Simul-General/clip_00018/sample.json

@@ -0,0 +1,268 @@
+{
+ "schema": "vpm-worldbench/sample/1.0",
+ "uid": "Simul-General/clip_00018",
+ "subset": "Simul-General",
+ "id": "clip_00018",
+ "source": {
+  "dataset": "HyperWorld-Bench-General",
+  "repo": "hf:rooty2020/HyperWorld-Bench-General",
+  "revision": "ca94a48704dc230bf39202f3c672f356aacb21c7",
+  "id": "clip_00018",
+  "path": "bench_people&car/clip_00018"
+ },
+ "n_views": 4,
+ "n_frames": 121,
+ "fps": 15.0,
+ "duration_s": 8.0667,
+ "views": [
+  {
+   "name": "view0",
+   "video": "videos/view0.mp4",
+   "width": 1280,
+   "height": 1280,
+   "source_name": "cam01",
+   "role": null,
+   "static": false,
+   "hfov_deg": 69.448,
+   "motion_kind_rel_anchor": "pan_tilt",
+   "max_travel_m": 12.7249,
+   "max_rotation_deg": 14.276
+  },
+  {
+   "name": "view1",
+   "video": "videos/view1.mp4",
+   "width": 1280,
+   "height": 1280,
+   "source_name": "cam02",
+   "role": null,
+   "static": false,
+   "hfov_deg": 28.322,
+   "motion_kind_rel_anchor": "pan_tilt",
+   "max_travel_m": 12.7249,
+   "max_rotation_deg": 8.193
+  },
+  {
+   "name": "view2",
+   "video": "videos/view2.mp4",
+   "width": 1280,
+   "height": 1280,
+   "source_name": "cam03",
+   "role": null,
+   "static": false,
+   "hfov_deg": 60.627,
+   "motion_kind_rel_anchor": "random_polyline",
+   "max_travel_m": 14.0965,
+   "max_rotation_deg": 48.237
+  },
+  {
+   "name": "view3",
+   "video": "videos/view3.mp4",
+   "width": 1280,
+   "height": 1280,
+   "source_name": "cam04",
+   "role": null,
+   "static": false,
+   "hfov_deg": 28.627,
+   "motion_kind_rel_anchor": "arc",
+   "max_travel_m": 16.9299,
+   "max_rotation_deg": 56.367
+  }
+ ],
+ "world": {
+  "description": "CARLA Town10HD_x6 map frame as delivered by the vendor in right-handed metres (X_ue/100, -Y_ue/100, Z_ue/100), +z up, ground at z ~ 0, recentred per sample: X = X_source - o with o = (x, y, 0) of the target surface-point centroid at frame 0.",
+  "units": "m",
+  "handedness": "right",
+  "up": "+z",
+  "origin_in_source": [
+   35.972035289558484,
+   77.32631229870773,
+   0.0
+  ],
+  "to_source": {
+   "note": "X_source = A @ X + b; source = vendor right-handed metre world of cameras.json extrinsic_w2c / c2w",
+   "A": [
+    [
+     1.0,
+     0.0,
+     0.0
+    ],
+    [
+     0.0,
+     1.0,
+     0.0
+    ],
+    [
+     0.0,
+     0.0,
+     1.0
+    ]
+   ],
+   "b": [
+    35.972035289558484,
+    77.32631229870773,
+    0.0
+   ],
+   "source_units": "m"
+  },
+  "to_ue_cm": {
+   "note": "X_ue = A @ X + b; Unreal/CARLA left-handed centimetre world of ue_pose.location_cm and visibility.json *_cm",
+   "A": [
+    [
+     100.0,
+     0.0,
+     0.0
+    ],
+    [
+     0.0,
+     -100.0,
+     0.0
+    ],
+    [
+     0.0,
+     0.0,
+     100.0
+    ]
+   ],
+   "b": [
+    3597.2035289558485,
+    -7732.6312298707735,
+    0.0
+   ],
+   "source_units": "cm"
+  }
+ },
+ "files": {
+  "cameras": "cameras.npz",
+  "tracks3d": "tracks3d.npz",
+  "captions": "captions.json",
+  "depth": "depth/depth.zip",
+  "labels": {
+   "target": "labels/target.npz",
+   "oos_segments": "labels/oos_segments.json"
+  }
+ },
+ "tracks": {
+  "n_points": 256,
+  "groups": [
+   "target"
+  ],
+  "visible_outside_frustum_dropped": 0,
+  "default_report_group": "target",
+  "visibility_rule": "visible = in_frustum AND depth test against depth.zip of that view and frame at the nearest pixel (rint(u), rint(v)) of the native 1280x1280 grid, (u, v) projected with the stored K (OpenCV pixel centres, cx = cy = 639.5; = floor(u), floor(v) with K_delivered): |D - z| <= clip(0.02 z, 0.05 m, 0.15 m), D = planar depth in metres, 65535 (sky) never passes. Strict rule: area-sampled points on the far side or inside the target (vehicle interior/glass, eyes) fail it; the tolerance is 2 % of the distance, at least 5 cm and at most 15 cm. in_frustum = recomputed with the stored K (valid, z > 0.05 m and -0.5 <= u, v < 1279.5, i.e. the vendor in_frustum_cam rule z > 0 and 0 <= u, v < 1280 with the delivered K; agreement with in_frustum_cam in stats). The legacy pre-release protocol used the vendor in_frustum_cam alone (frustum-only).",
+  "accuracy": "exact simulator GT: 256 triangle-area-weighted surface points moved by linear blend skinning of the CARLA bone transforms (rigid propagation for unskinned vehicle parts); no cloth/hair secondary motion; other traffic is untracked. Stored as float32 (< 4e-6 m rounding within 100 m of the origin). Depth is quantised to 1 cm. K = delivered intrinsics with cx = cy = 640 - 0.5 = 639.5: the vendor uses the CARLA/UE pixel-corner convention (depth-vs-track residuals are lowest with the corrected K); cameras.npz K_delivered keeps the delivered matrix (pre-release numbers used 640, docs/DATA_FORMAT.md §1).",
+  "depth_test": {
+   "pixel": "rint",
+   "K": "cameras.npz K (OpenCV pixel centres)",
+   "tol_rel": 0.02,
+   "tol_min_m": 0.05,
+   "tol_max_m": 0.15,
+   "grid": [
+    1280,
+    1280
+   ],
+   "invalid_values": [
+    65535
+   ]
+  },
+  "stats": {
+   "n_in_frustum": 114572,
+   "n_visible": 49149,
+   "visible_frac_of_in_frustum": 0.429,
+   "in_frustum_sky_hits": 0,
+   "n_visible_other_pixel_rule": {
+    "rint_K_delivered": 49024
+   },
+   "visible_abs_dz_m": {
+    "median": 0.00588,
+    "p90": 0.096319
+   },
+   "in_frustum_recomputed_agreement": 1.0,
+   "in_frustum_recomputed_mismatches": 0
+  },
+  "part_note": "part = vendor point_section (mesh section / material slot, '<mesh>/<material>'; a name that occurs more than once gets '#<section index>' appended, codes unchanged); component = mesh component (doors, glass, lights for vehicles); point_skinned = driven by bone skinning (else rigid).",
+  "extras": {
+   "component": "(N,) int16 index into component_names: mesh component of the point (e.g. body, doors, glass, lights for vehicles)",
+   "component_names": "(C,) str component names",
+   "component_mesh_names": "(C,) str mesh file of each component",
+   "point_skinned": "(N,) bool, moved by bone skinning (else rigid with its component)"
+  }
+ },
+ "depth": {
+  "file": "depth/depth.zip",
+  "member": "{source_view}/frame_{t:04d}.png",
+  "view_member_names": [
+   "cam01",
+   "cam02",
+   "cam03",
+   "cam04"
+  ],
+  "dtype": "uint16",
+  "unit_scale": 0.01,
+  "invalid_values": [
+   65535
+  ],
+  "valid_max_m": 655.34,
+  "width": 1280,
+  "height": 1280,
+  "kind": "rendered (synthetic GT)",
+  "planar_z": true,
+  "note": "CARLA sensor.camera.depth decoded by the vendor to linear planar z in cm, lossless 16-bit grayscale PNG, pixel-aligned with the RGB video; 65535 = sky/far clamp (no zeros occur). The pre-release loader additionally discarded depth > 80 m."
+ },
+ "caption": "A heavyset man in a red zip-up jacket and dark pants walks along a palm-lined pedestrian plaza past a hedge, bench, and trash bin, continuing forward past shopfronts toward an open square near scaffolded buildings, under bright sunlight with hard shadows on a sunny, quiet street lined with modern storefronts.",
+ "attributes": {
+  "category": "pedestrian",
+  "subcategory": "pedestrian",
+  "semantic_tag": 12,
+  "blueprint": "walker.pedestrian.0048",
+  "difficulty": "normal",
+  "hard_relay_k": null,
+  "camera_motion_kinds": [
+   "pan_tilt",
+   "pan_tilt",
+   "random_polyline",
+   "arc"
+  ],
+  "all_cameras_moving": true,
+  "map": "Town10HD_x6",
+  "tile": 0,
+  "rotation_only_views": [],
+  "oos_departed_views": [
+   "view3"
+  ],
+  "n_frames_target_invisible_all_views": 0,
+  "n_default_queries_at_ref_frame": 249,
+  "visible_frac_of_in_frustum": 0.429,
+  "quality_ok": true,
+  "abort": null,
+  "source_frame_range": [
+   901,
+   1021
+  ],
+  "flag_rules": {
+   "quality_ok_false": "the vendor capture gate .capture_done quality_ok is false",
+   "target_not_visible_in_view_at_ref_frame": "at frame 16 the target is not visible in that view by either trigger: (a) the vendor target state (labels/target.npz state_strict) is not 'visible' (instance mask < 300 px, out of frustum or absent), or (b) the view has zero visible GT track points (tracks3d visible, depth test)",
+   "target_invisible_all_views_some_frames": "at some frame the vendor target state (state_strict) is not 'visible' in any view",
+   "caption_mentions_leaving_view": "the caption says the target leaves the view (out of/from view|frame|sight, leaves the view|frame, off-screen, disappear*)",
+   "few_default_queries_at_ref_frame": "fewer than 20 points with default_gt and visible in >= 1 view at frame 16 (exact count in attributes.n_default_queries_at_ref_frame)"
+  }
+ },
+ "flags": [],
+ "files_sha256": {
+  "cameras.npz": "95ad9aa0f57c58bc40b6c7aa19cce3f524efe3a9ebe9ae1c253dbb6f59bf1209",
+  "captions.json": "4f55695aa3e508662cecd4e9687ceff954e7867d4001ef294c31ed0096b855b0",
+  "depth/depth.zip": "ee6d3afe54fff36bf2562ea51185b79ee841b8afde32644d6168d858778ea719",
+  "labels/oos_segments.json": "9886f2d95e7181ba214f39102db1d15482c82f43bc3646852b735c8c3d607caa",
+  "labels/target.npz": "88b35b1ff5749e9481440015f3ff933ef2de1bc4997e43dd3612aaa39a397a12",
+  "source/cameras.json": "6321c662f65b232ca10061bfc7dd0639f327fb40835f6335d0a780454c59a6c4",
+  "source/caption.txt": "bc5ee7c3aa49a22962f00d8b745bc494f4b39ec4906b72751d8d2937c9fdcb2e",
+  "source/capture_done.json": "081c11a4283fd6397005479be03af047d69ec728b526bc2bee190b59ad8aa78c",
+  "source/meta.json": "1bd8a0f9772cd242ad68b2b38c9098447245611d6c9dfa17050aeb506c2f7b19",
+  "source/points_target.npz": "4fbd9b68d90909764334e27ea2d3146d66abf13c8a133fde454d67d96f83d4f5",
+  "source/visibility.json": "74507517da0318a459d2fe7b7fbbb2b39d466e44a49c3dbf366f1bba3ef7ab45",
+  "tracks3d.npz": "91533584b73c24e8037af1d10ff06c0a76f12020780e161e8d53d3647d812b56",
+  "videos/view0.mp4": "184b7753a5ae57864af3777fa968c415defc7f4a9fe832896707ff799d866975",
+  "videos/view1.mp4": "85b27a1f912801518f1a6835505e2c733d746cf3a8587bfa78afa9c83ea158e3",
+  "videos/view2.mp4": "6439b6363ed1c70a8461726f10e64881f473b29da172899c41bab0914de93bf3",
+  "videos/view3.mp4": "37bb4da5f80d9acbab60532052c025d7a1ec6da2cf3932e9185710d9934538e6"
+ }
+}

Simul-General/clip_00018/source/caption.txt

@@ -0,0 +1 @@
+A heavyset man in a red zip-up jacket and dark pants walks along a palm-lined pedestrian plaza past a hedge, bench, and trash bin, continuing forward past shopfronts toward an open square near scaffolded buildings, under bright sunlight with hard shadows on a sunny, quiet street lined with modern storefronts.

Simul-General/clip_00018/source/capture_done.json

@@ -0,0 +1,240 @@
+{
+ "clip": 18,
+ "spec_gen": "carla1",
+ "map": "Town10HD_x6",
+ "target_bp_id": "walker.pedestrian.0048",
+ "target_kind": "walker",
+ "target_class": "pedestrian",
+ "target_class_fallback": false,
+ "target_model": "walker.pedestrian.0048",
+ "target_lost_frame": null,
+ "bucket_retired": false,
+ "num_cams": 4,
+ "frames": 121,
+ "frame_count": 121,
+ "frame_bucket": 121,
+ "hfov_deg_per_cam": [
+  69.448,
+  28.322,
+  60.627,
+  28.627
+ ],
+ "oos_allowed": [
+  false,
+  false,
+  false,
+  true
+ ],
+ "oos_effective": [
+  false,
+  false,
+  false,
+  true
+ ],
+ "oos_departed": [
+  false,
+  false,
+  false,
+  true
+ ],
+ "oos_cycles": [
+  0,
+  0,
+  0,
+  1
+ ],
+ "oos_cycles_per_cam": [
+  0,
+  0,
+  0,
+  1
+ ],
+ "oos_forced_returns": 0,
+ "visible_ratio": [
+  1.0,
+  0.9091,
+  0.9421,
+  0.6116
+ ],
+ "visibility_frac_per_cam": [
+  1.0,
+  0.9091,
+  0.9421,
+  0.6116
+ ],
+ "min_visible_ratio_non_oos": 0.9091,
+ "points_ok": true,
+ "points_n": 256,
+ "points_track_complete_ratio": 1.0,
+ "points_track_breaks": 0,
+ "points_in_frustum_ratio": 0.9247,
+ "num_points": 256,
+ "track_breaks": 0,
+ "depth_qc": {
+  "frames": 484,
+  "sky": 0,
+  "near": 0,
+  "const": 0,
+  "per_cam": [
+   {
+    "frames": 121,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 121,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 121,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 121,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   }
+  ],
+  "dist": {
+   "saturated_frac_p50": 0.0,
+   "saturated_frac_p90": 0.0937,
+   "saturated_frac_max": 0.1034,
+   "near_frac_max": 0.123,
+   "unique_values_min": 806,
+   "unique_values_p50": 8598
+  }
+ },
+ "view_blocked": false,
+ "view_block_ratios": [
+  0.0,
+  0.083,
+  0.05,
+  0.0
+ ],
+ "save_errors": 0,
+ "flush_ok": true,
+ "quality_ok": true,
+ "modalities": [
+  "rgb",
+  "seg",
+  "depth"
+ ],
+ "capture_build": "c1",
+ "bench_guards": {
+  "placement_ban": {
+   "rejected_cams": [],
+   "reallocations": 0
+  },
+  "target_los_guard": {
+   "enabled": true,
+   "abort_frames": 45,
+   "aborts": 0,
+   "max_streak_frames": 0,
+   "doomed_aborts": 0,
+   "gate1_min_visible": 0.1,
+   "cams": [
+    1,
+    2,
+    3
+   ]
+  },
+  "view_block_guard": {
+   "enabled": true,
+   "aborts": 0,
+   "doomed_aborts": 0,
+   "max_view_block_ratio": 0.6,
+   "streak_guard_retired": true
+  },
+  "depth_probe": {
+   "enabled": true,
+   "per_cam": [
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0646,
+     "near_frac": 0.0,
+     "unique_values": 16152
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0,
+     "near_frac": 0.0,
+     "unique_values": 4172
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0,
+     "near_frac": 0.0,
+     "unique_values": 3977
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0062,
+     "near_frac": 0.0,
+     "unique_values": 17813
+    }
+   ],
+   "rejected_cams": [],
+   "probed_cams": 4,
+   "num_cams": 4
+  },
+  "depth_doomed_guard": {
+   "enabled": true,
+   "ratio_max": 0.25,
+   "aborts": 0,
+   "last": {
+    "sky": 0,
+    "near": 0,
+    "const": 0,
+    "total": 484
+   }
+  },
+  "oos_guard": {
+   "enabled": true,
+   "doomed_aborts": 0,
+   "window_retries": 0
+  },
+  "union_guard": {
+   "enabled": false,
+   "hard_all_blind_max_run": null,
+   "allow_blind_run": null,
+   "all_blind_max_run": 0,
+   "violation_frame": null,
+   "hard_union_min_frac": null,
+   "blind_frames": 0,
+   "union_visible_frac": 1.0,
+   "doomed_aborts": 0
+  },
+  "motion_gate": {
+   "required_travel_m": 1.49,
+   "v_max_m_s": 1.6,
+   "travel_m": 12.893,
+   "moving_steps": 120,
+   "steps": 120,
+   "doomed_aborts": 0,
+   "enabled": true,
+   "preroll_waited_frames": 16,
+   "preroll_red_light_frames": 0,
+   "preroll_max_queue": 0,
+   "preroll_rejects": []
+  }
+ },
+ "difficulty_requested": "normal",
+ "hard_relay_k_requested": null,
+ "capture_wall_s": 85.9,
+ "capture_wall_sec": 85.9,
+ "abort": null
+}

Simul-General/clip_00018/source/meta.json

@@ -0,0 +1,638 @@
+{
+ "spec_gen": "carla1",
+ "mode": "carla_game",
+ "clip": 18,
+ "clip_index": 18,
+ "map": "Town10HD_x6",
+ "num_cams": 4,
+ "resolution": [
+  1280,
+  1280
+ ],
+ "fps": 15.0,
+ "frames": 121,
+ "frame_count": 121,
+ "frame_bucket": 121,
+ "target_class": "pedestrian",
+ "target_class_requested": "pedestrian",
+ "target_class_fallback": false,
+ "hfov_deg_per_cam": [
+  69.448,
+  28.322,
+  60.627,
+  28.627
+ ],
+ "hfov_range_deg": [
+  28.322,
+  69.448
+ ],
+ "intrinsics_mode": "per_camera",
+ "capture_depth": true,
+ "fixed_timestep": 0.066667,
+ "bucket_retired": false,
+ "target": {
+  "tracked": true,
+  "kind": "walker",
+  "bp_id": "walker.pedestrian.0048",
+  "model_id": "walker.pedestrian.0048",
+  "half_extent_m": 0.901,
+  "motion_kinds": [
+   "pan_tilt",
+   "pan_tilt",
+   "random_polyline",
+   "arc"
+  ],
+  "semantic_tags": [
+   12
+  ]
+ },
+ "bench": {
+  "mode": true,
+  "clip_id": 18,
+  "bg_ratio": 0.0,
+  "placement_fallbacks": [],
+  "target_reacquires": 0,
+  "placement_ban": {
+   "rejected_cams": [],
+   "reallocations": 0
+  },
+  "target_los_guard": {
+   "enabled": true,
+   "abort_frames": 45,
+   "aborts": 0,
+   "max_streak_frames": 0,
+   "doomed_aborts": 0,
+   "gate1_min_visible": 0.1,
+   "cams": [
+    1,
+    2,
+    3
+   ]
+  },
+  "view_block_guard": {
+   "enabled": true,
+   "aborts": 0,
+   "doomed_aborts": 0,
+   "max_view_block_ratio": 0.6,
+   "streak_guard_retired": true
+  },
+  "depth_probe": {
+   "enabled": true,
+   "per_cam": [
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0646,
+     "near_frac": 0.0,
+     "unique_values": 16152
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0,
+     "near_frac": 0.0,
+     "unique_values": 4172
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0,
+     "near_frac": 0.0,
+     "unique_values": 3977
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0062,
+     "near_frac": 0.0,
+     "unique_values": 17813
+    }
+   ],
+   "rejected_cams": [],
+   "probed_cams": 4,
+   "num_cams": 4
+  },
+  "depth_doomed_guard": {
+   "enabled": true,
+   "ratio_max": 0.25,
+   "aborts": 0,
+   "last": {
+    "sky": 0,
+    "near": 0,
+    "const": 0,
+    "total": 484
+   }
+  },
+  "oos_guard": {
+   "enabled": true,
+   "doomed_aborts": 0,
+   "window_retries": 0
+  },
+  "difficulty_requested": "normal",
+  "hard_relay_k_requested": null,
+  "union_guard": {
+   "enabled": false,
+   "hard_all_blind_max_run": null,
+   "allow_blind_run": null,
+   "all_blind_max_run": 0,
+   "violation_frame": null,
+   "hard_union_min_frac": null,
+   "blind_frames": 0,
+   "union_visible_frac": 1.0,
+   "doomed_aborts": 0
+  },
+  "motion_gate": {
+   "required_travel_m": 1.49,
+   "v_max_m_s": 1.6,
+   "travel_m": 12.893,
+   "moving_steps": 120,
+   "steps": 120,
+   "doomed_aborts": 0,
+   "enabled": true,
+   "preroll_waited_frames": 16,
+   "preroll_red_light_frames": 0,
+   "preroll_max_queue": 0,
+   "preroll_rejects": []
+  }
+ },
+ "continuity": {
+  "target_lost_frame": null,
+  "target_survived": true,
+  "enclosed_retries_budget": 6,
+  "min_usable_dirs_used": 22
+ },
+ "oos": {
+  "prob": 0.3,
+  "max_cams": 2,
+  "force_min": 0,
+  "enabled": true,
+  "pan_tilt_scale_half_fov": 1.5,
+  "pan_tilt_cap_deg": [
+   12.1534,
+   4.9563,
+   10.6097,
+   21.4703
+  ],
+  "pan_tilt_cap_source": "oos_open_or_tracking",
+  "allowed": [
+   false,
+   false,
+   false,
+   true
+  ],
+  "reasons": [
+   "none",
+   "none",
+   "none",
+   "sampled"
+  ],
+  "effective": [
+   false,
+   false,
+   false,
+   true
+  ],
+  "num_allowed": 1,
+  "num_effective": 1,
+  "cycles_per_cam": [
+   0,
+   0,
+   0,
+   1
+  ],
+  "cycles": [
+   0,
+   0,
+   0,
+   1
+  ],
+  "aim_mode": "offset_from_live_anchor",
+  "segments": [
+   {
+    "cam": 3,
+    "cam_name": "cam04",
+    "start": 42,
+    "end": 73,
+    "kind": "out_of_frustum",
+    "len": 32
+   },
+   {
+    "cam": 3,
+    "cam_name": "cam04",
+    "start": 88,
+    "end": 98,
+    "kind": "occluded",
+    "len": 11
+   }
+  ],
+  "departed": [
+   false,
+   false,
+   false,
+   true
+  ],
+  "num_departed": 1,
+  "scheduler": {
+   "enabled": true,
+   "min_clip_frames": 100,
+   "out_run_target_frames": [
+    12,
+    24
+   ],
+   "gate_min_out_frames": 8,
+   "reentry_visible_frames": 8,
+   "segment_min_len": 8,
+   "window_lead_frac": 0.12,
+   "two_window_frames": 181,
+   "slew_half_fov_frac": 0.08,
+   "open_slew": true,
+   "aim_offset_frac": 1.15,
+   "skipped_short_bucket": false,
+   "per_cam": [
+    null,
+    null,
+    null,
+    {
+     "windows": [
+      20
+     ],
+     "target_out_frames": [
+      22
+     ],
+     "opened_at": 20,
+     "left_at": 42,
+     "out_run_max": 22,
+     "returned_at": 86,
+     "cycles_live": 1,
+     "forced_returns": 0,
+     "aim_offset": {
+      "applied": true,
+      "reason": null,
+      "deg": 23.98,
+      "m": 3.89,
+      "cm": 388.8,
+      "frac": 1.744,
+      "need_frac": 1.694,
+      "radius_m": 1.074,
+      "dist_m": 8.74,
+      "clamped": false
+     },
+     "events": [
+      {
+       "window": 0,
+       "opened_at": 20,
+       "left_at": 42,
+       "out_run": 22,
+       "return_at": 63,
+       "forced": false
+      }
+     ],
+     "open_est_frames": 21,
+     "return_est_frames": 36,
+     "window_retries": 0,
+     "relay_phase": null,
+     "hard_offset_frac": null,
+     "hard_offset_floor": null,
+     "phase_delayed_frames": 0,
+     "reaims_reentry": 0
+    }
+   ]
+  },
+  "schedule": [
+   null,
+   null,
+   null,
+   {
+    "windows": [
+     20
+    ],
+    "target_out_frames": [
+     22
+    ],
+    "opened_at": 20,
+    "left_at": 42,
+    "out_run_max": 22,
+    "returned_at": 86,
+    "cycles_live": 1,
+    "forced_returns": 0,
+    "aim_offset": {
+     "applied": true,
+     "reason": null,
+     "deg": 23.98,
+     "m": 3.89,
+     "cm": 388.8,
+     "frac": 1.744,
+     "need_frac": 1.694,
+     "radius_m": 1.074,
+     "dist_m": 8.74,
+     "clamped": false
+    },
+    "events": [
+     {
+      "window": 0,
+      "opened_at": 20,
+      "left_at": 42,
+      "out_run": 22,
+      "return_at": 63,
+      "forced": false
+     }
+    ],
+    "open_est_frames": 21,
+    "return_est_frames": 36,
+    "window_retries": 0,
+    "relay_phase": null,
+    "hard_offset_frac": null,
+    "hard_offset_floor": null,
+    "phase_delayed_frames": 0,
+    "reaims_reentry": 0
+   }
+  ],
+  "relay": null
+ },
+ "smoothing": {
+  "max_step_m": 1.5,
+  "max_accel_m": 0.2,
+  "lag_closure_frac": 0.12,
+  "rot_cap_frac_hfov": 0.06,
+  "max_step_cm": 150.0,
+  "max_accel_cm": 20.0,
+  "rot_cap_deg_per_cam": [
+   4.167,
+   1.699,
+   3.638,
+   1.718
+  ],
+  "oos_slew_half_fov_frac": 0.08,
+  "anchor_stabilize": true,
+  "anchor_stabilize_tau_s": 0.5
+ },
+ "visibility": {
+  "frames": 121,
+  "states": [
+   "visible",
+   "occluded",
+   "out_of_frustum",
+   "target_absent"
+  ],
+  "per_cam_ratio": [
+   {
+    "visible": 1.0,
+    "occluded": 0.0,
+    "out_of_frustum": 0.0,
+    "target_absent": 0.0
+   },
+   {
+    "visible": 0.9091,
+    "occluded": 0.0909,
+    "out_of_frustum": 0.0,
+    "target_absent": 0.0
+   },
+   {
+    "visible": 0.9421,
+    "occluded": 0.0579,
+    "out_of_frustum": 0.0,
+    "target_absent": 0.0
+   },
+   {
+    "visible": 0.6116,
+    "occluded": 0.1653,
+    "out_of_frustum": 0.2231,
+    "target_absent": 0.0
+   }
+  ],
+  "visible_ratio": [
+   1.0,
+   0.9091,
+   0.9421,
+   0.6116
+  ],
+  "non_oos_cams": [
+   1,
+   2,
+   3
+  ],
+  "min_visible_ratio_non_oos": 0.9091,
+  "target_absent_frames": 0,
+  "bbox_sources": {
+   "actor_bounding_box": 121
+  },
+  "all_blind_max_run_strict": 0,
+  "target_px_percentiles": {
+   "n": 457,
+   "p01": 0,
+   "p05": 0,
+   "p10": 5017,
+   "p50": 41526,
+   "p90": 61251,
+   "min": 0,
+   "max": 71421
+  },
+  "gate1_cams": [
+   1,
+   2,
+   3
+  ],
+  "min_visible_ratio_gate1": 0.9091
+ },
+ "points": {
+  "enabled": true,
+  "num_points": 256,
+  "frames": 121,
+  "valid_frames": 121,
+  "track_complete_ratio": 1.0,
+  "track_breaks": 0,
+  "dead_points": 0,
+  "in_frustum_ratio": 0.9247,
+  "npz_source": "client_lbs",
+  "sample_log": "n=256 parts=1 skinned=256",
+  "npz_written": true
+ },
+ "depth_qc": {
+  "frames": 484,
+  "sky": 0,
+  "near": 0,
+  "const": 0,
+  "per_cam": [
+   {
+    "frames": 121,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 121,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 121,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 121,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   }
+  ],
+  "dist": {
+   "saturated_frac_p50": 0.0,
+   "saturated_frac_p90": 0.0937,
+   "saturated_frac_max": 0.1034,
+   "near_frac_max": 0.123,
+   "unique_values_min": 806,
+   "unique_values_p50": 8598
+  }
+ },
+ "placement": [
+  {
+   "cam": 1,
+   "hfov_deg": 69.448,
+   "azimuth_deg": 0.0,
+   "want_dist_m": 4.0,
+   "clear_m": 26.0,
+   "dist_m": 4.0,
+   "elev_m": 1.55,
+   "fill_frac": 0.375,
+   "sphere_clamp": "floor",
+   "floor_m": 4.0,
+   "realloc": null,
+   "rejected": false,
+   "avoid_az_deg": null
+  },
+  {
+   "cam": 2,
+   "hfov_deg": 28.322,
+   "azimuth_deg": 33.8,
+   "want_dist_m": 8.69,
+   "clear_m": 26.0,
+   "dist_m": 8.69,
+   "elev_m": 2.96,
+   "fill_frac": 0.42,
+   "sphere_clamp": null,
+   "floor_m": 4.0,
+   "realloc": null,
+   "rejected": false,
+   "avoid_az_deg": null
+  },
+  {
+   "cam": 3,
+   "hfov_deg": 60.627,
+   "azimuth_deg": 112.5,
+   "want_dist_m": 4.09,
+   "clear_m": 26.0,
+   "dist_m": 4.09,
+   "elev_m": 1.76,
+   "fill_frac": 0.42,
+   "sphere_clamp": null,
+   "floor_m": 4.0,
+   "realloc": null,
+   "rejected": false,
+   "avoid_az_deg": null
+  },
+  {
+   "cam": 4,
+   "hfov_deg": 28.627,
+   "azimuth_deg": 180.0,
+   "want_dist_m": 8.6,
+   "clear_m": 26.0,
+   "dist_m": 8.6,
+   "elev_m": 2.37,
+   "fill_frac": 0.42,
+   "sphere_clamp": null,
+   "floor_m": 4.0,
+   "realloc": null,
+   "rejected": false,
+   "avoid_az_deg": null
+  }
+ ],
+ "placement_diag": {
+  "usable_dirs": 22,
+  "probe_dirs": 32
+ },
+ "acquire": [
+  {
+   "attempt": 1,
+   "target_px": [
+    39469,
+    56239,
+    52113,
+    61764
+   ],
+   "framing_ok": true,
+   "framing_bad": [],
+   "usable_dirs": 22,
+   "trace_self_test": "\ud788\ud2b8 1",
+   "depth_bad_cams": [],
+   "place_rejected_cams": [],
+   "preroll": {
+    "enabled": true,
+    "ok": true,
+    "reason": null,
+    "waited_frames": 16,
+    "red_light_frames": 0,
+    "max_queue": 0
+   }
+  }
+ ],
+ "acquire_wall_s": 8.1,
+ "capture_wall_s": 85.9,
+ "wall_per_frame_s": 0.71,
+ "wall_breakdown_s": {
+  "tick": 5.6,
+  "collect": 29.5,
+  "decode": 35.6,
+  "pose": 0.2,
+  "write": 12.1
+ },
+ "sensor_spawn_wall_s": 1.73,
+ "modalities": [
+  "rgb",
+  "seg",
+  "depth"
+ ],
+ "post_process_profile": "MV4D",
+ "abort": null,
+ "view_block_streak_max": 0,
+ "capture_build": "c1",
+ "target_px_median_per_cam": [
+  42257,
+  50528,
+  14619,
+  43164
+ ],
+ "visibility_frac_per_cam": [
+  1.0,
+  0.9091,
+  0.9421,
+  0.6116
+ ],
+ "visibility_strict_frac_per_cam": [
+  1.0,
+  0.917,
+  0.95,
+  0.645
+ ],
+ "config_diff": {
+  "max_consecutive_skips": 6,
+  "server_restart_every": 30,
+  "server_restart_auto": true,
+  "map_name": "Town10HD_x6",
+  "walker_tiles": [
+   0,
+   1
+  ],
+  "bench_schedule": true
+ },
+ "tm_seed": 260903,
+ "tile_of_target": 0,
+ "target_tile_requested": -1,
+ "walker_forced_to_vehicle": false
+}

Simul-General/clip_00022/captions.json

@@ -0,0 +1,29 @@
+{
+ "caption": "A black-and-white police cruiser marked \"POLICE 911 PURSUIT\" drives away down a wide downtown boulevard, continuing straight through intersections past a plaza and turning onto another avenue lined with skyscrapers and palm trees under a bright, partly cloudy sky.",
+ "structured": {
+  "target_class": "vehicle",
+  "semantic_tag": "car",
+  "semantic_tag_id": 14,
+  "blueprint": "vehicle.dodgecop.charger",
+  "motion_kinds": {
+   "view0": "pan_tilt",
+   "view1": "translation",
+   "view2": "static",
+   "view3": "static"
+  },
+  "motion_kinds_note": "vendor camera motion labels relative to the target-following anchor; every camera moves in the world"
+ },
+ "legacy_prompts": {
+  "view0": "A black-and-white police cruiser marked \"POLICE 911 PURSUIT\" drives away down a wide downtown boulevard, continuing straight through intersections past a plaza and turning onto another avenue lined with skyscrapers and palm trees under a bright, partly cloudy sky. The camera travels about 27.3 m, panning right.",
+  "view1": "A black-and-white police cruiser marked \"POLICE 911 PURSUIT\" drives away down a wide downtown boulevard, continuing straight through intersections past a plaza and turning onto another avenue lined with skyscrapers and palm trees under a bright, partly cloudy sky. The camera travels about 26.1 m.",
+  "view2": "A black-and-white police cruiser marked \"POLICE 911 PURSUIT\" drives away down a wide downtown boulevard, continuing straight through intersections past a plaza and turning onto another avenue lined with skyscrapers and palm trees under a bright, partly cloudy sky. The camera travels about 27.3 m.",
+  "view3": "A black-and-white police cruiser marked \"POLICE 911 PURSUIT\" drives away down a wide downtown boulevard, continuing straight through intersections past a plaza and turning onto another avenue lined with skyscrapers and palm trees under a bright, partly cloudy sky. The camera travels about 27.3 m."
+ },
+ "camera_phrases_corrected": {
+  "view0": "The camera travels about 27.3 m, panning left.",
+  "view1": "The camera travels about 26.1 m, panning left.",
+  "view2": "The camera travels about 27.3 m.",
+  "view3": "The camera travels about 27.3 m."
+ },
+ "camera_phrase_note": "legacy_prompts = caption + ' ' + the pre-release camera phrase of view k exactly as given to the pre-release baselines: frames 16 -> 80, float32 poses, pan = atan2(f_x, f_z), which is wrong in this z-up world. camera_phrases_corrected uses the same wording rules (static if moved < 0.05 m and |pan| < 2 deg, pan word if |pan| > 8 deg) with the z-up heading atan2(f_y, f_x) (counter-clockwise seen from above = panning left), except that a camera moving < 0.05 m with |pan| >= 2 deg 'rotates in place, panning <dir>'."
+}

Simul-General/clip_00022/labels/oos_segments.json

@@ -0,0 +1,54 @@
+{
+ "note": "Out-of-sight segments (vendor visibility.json oos_segments: maximal runs >= 8 frames of visibility_strict, start/end inclusive local frames; 'cam' = 0-based view index) and the per-view departure schedule. relay = meta.oos.relay of hard clips (null otherwise).",
+ "segment_note": "derived from `visibility_strict` (frame-level is authoritative); maximal runs only, no merging/smoothing; min length 8f applies to this list only; start/end inclusive",
+ "segments": [
+  {
+   "view": "view2",
+   "cam": 2,
+   "cam_name": "cam03",
+   "start": 37,
+   "end": 60,
+   "kind": "out_of_frustum",
+   "len": 24
+  }
+ ],
+ "per_view": [
+  {
+   "view": "view0",
+   "source_view": "cam01",
+   "oos_allowed": false,
+   "oos_reason": "none",
+   "oos_effective": false,
+   "oos_departed": false,
+   "oos_cycles": 0
+  },
+  {
+   "view": "view1",
+   "source_view": "cam02",
+   "oos_allowed": false,
+   "oos_reason": "none",
+   "oos_effective": false,
+   "oos_departed": false,
+   "oos_cycles": 0
+  },
+  {
+   "view": "view2",
+   "source_view": "cam03",
+   "oos_allowed": true,
+   "oos_reason": "sampled",
+   "oos_effective": true,
+   "oos_departed": true,
+   "oos_cycles": 1
+  },
+  {
+   "view": "view3",
+   "source_view": "cam04",
+   "oos_allowed": false,
+   "oos_reason": "none",
+   "oos_effective": false,
+   "oos_departed": false,
+   "oos_cycles": 0
+  }
+ ],
+ "relay": null
+}

Simul-General/clip_00022/sample.json

@@ -0,0 +1,268 @@
+{
+ "schema": "vpm-worldbench/sample/1.0",
+ "uid": "Simul-General/clip_00022",
+ "subset": "Simul-General",
+ "id": "clip_00022",
+ "source": {
+  "dataset": "HyperWorld-Bench-General",
+  "repo": "hf:rooty2020/HyperWorld-Bench-General",
+  "revision": "ca94a48704dc230bf39202f3c672f356aacb21c7",
+  "id": "clip_00022",
+  "path": "bench_people&car/clip_00022"
+ },
+ "n_views": 4,
+ "n_frames": 121,
+ "fps": 15.0,
+ "duration_s": 8.0667,
+ "views": [
+  {
+   "name": "view0",
+   "video": "videos/view0.mp4",
+   "width": 1280,
+   "height": 1280,
+   "source_name": "cam01",
+   "role": null,
+   "static": false,
+   "hfov_deg": 61.51,
+   "motion_kind_rel_anchor": "pan_tilt",
+   "max_travel_m": 48.2478,
+   "max_rotation_deg": 12.364
+  },
+  {
+   "name": "view1",
+   "video": "videos/view1.mp4",
+   "width": 1280,
+   "height": 1280,
+   "source_name": "cam02",
+   "role": null,
+   "static": false,
+   "hfov_deg": 53.385,
+   "motion_kind_rel_anchor": "translation",
+   "max_travel_m": 45.9826,
+   "max_rotation_deg": 18.736
+  },
+  {
+   "name": "view2",
+   "video": "videos/view2.mp4",
+   "width": 1280,
+   "height": 1280,
+   "source_name": "cam03",
+   "role": null,
+   "static": false,
+   "hfov_deg": 73.187,
+   "motion_kind_rel_anchor": "static",
+   "max_travel_m": 48.2478,
+   "max_rotation_deg": 70.116
+  },
+  {
+   "name": "view3",
+   "video": "videos/view3.mp4",
+   "width": 1280,
+   "height": 1280,
+   "source_name": "cam04",
+   "role": null,
+   "static": false,
+   "hfov_deg": 45.839,
+   "motion_kind_rel_anchor": "static",
+   "max_travel_m": 48.2478,
+   "max_rotation_deg": 0.0
+  }
+ ],
+ "world": {
+  "description": "CARLA Town10HD_x6 map frame as delivered by the vendor in right-handed metres (X_ue/100, -Y_ue/100, Z_ue/100), +z up, ground at z ~ 0, recentred per sample: X = X_source - o with o = (x, y, 0) of the target surface-point centroid at frame 0.",
+  "units": "m",
+  "handedness": "right",
+  "up": "+z",
+  "origin_in_source": [
+   117.69070243867081,
+   471.0500588882546,
+   0.0
+  ],
+  "to_source": {
+   "note": "X_source = A @ X + b; source = vendor right-handed metre world of cameras.json extrinsic_w2c / c2w",
+   "A": [
+    [
+     1.0,
+     0.0,
+     0.0
+    ],
+    [
+     0.0,
+     1.0,
+     0.0
+    ],
+    [
+     0.0,
+     0.0,
+     1.0
+    ]
+   ],
+   "b": [
+    117.69070243867081,
+    471.0500588882546,
+    0.0
+   ],
+   "source_units": "m"
+  },
+  "to_ue_cm": {
+   "note": "X_ue = A @ X + b; Unreal/CARLA left-handed centimetre world of ue_pose.location_cm and visibility.json *_cm",
+   "A": [
+    [
+     100.0,
+     0.0,
+     0.0
+    ],
+    [
+     0.0,
+     -100.0,
+     0.0
+    ],
+    [
+     0.0,
+     0.0,
+     100.0
+    ]
+   ],
+   "b": [
+    11769.070243867081,
+    -47105.005888825464,
+    0.0
+   ],
+   "source_units": "cm"
+  }
+ },
+ "files": {
+  "cameras": "cameras.npz",
+  "tracks3d": "tracks3d.npz",
+  "captions": "captions.json",
+  "depth": "depth/depth.zip",
+  "labels": {
+   "target": "labels/target.npz",
+   "oos_segments": "labels/oos_segments.json"
+  }
+ },
+ "tracks": {
+  "n_points": 256,
+  "groups": [
+   "target"
+  ],
+  "visible_outside_frustum_dropped": 0,
+  "default_report_group": "target",
+  "visibility_rule": "visible = in_frustum AND depth test against depth.zip of that view and frame at the nearest pixel (rint(u), rint(v)) of the native 1280x1280 grid, (u, v) projected with the stored K (OpenCV pixel centres, cx = cy = 639.5; = floor(u), floor(v) with K_delivered): |D - z| <= clip(0.02 z, 0.05 m, 0.15 m), D = planar depth in metres, 65535 (sky) never passes. Strict rule: area-sampled points on the far side or inside the target (vehicle interior/glass, eyes) fail it; the tolerance is 2 % of the distance, at least 5 cm and at most 15 cm. in_frustum = recomputed with the stored K (valid, z > 0.05 m and -0.5 <= u, v < 1279.5, i.e. the vendor in_frustum_cam rule z > 0 and 0 <= u, v < 1280 with the delivered K; agreement with in_frustum_cam in stats). The legacy pre-release protocol used the vendor in_frustum_cam alone (frustum-only).",
+  "accuracy": "exact simulator GT: 256 triangle-area-weighted surface points moved by linear blend skinning of the CARLA bone transforms (rigid propagation for unskinned vehicle parts); no cloth/hair secondary motion; other traffic is untracked. Stored as float32 (< 4e-6 m rounding within 100 m of the origin). Depth is quantised to 1 cm. K = delivered intrinsics with cx = cy = 640 - 0.5 = 639.5: the vendor uses the CARLA/UE pixel-corner convention (depth-vs-track residuals are lowest with the corrected K); cameras.npz K_delivered keeps the delivered matrix (pre-release numbers used 640, docs/DATA_FORMAT.md §1).",
+  "depth_test": {
+   "pixel": "rint",
+   "K": "cameras.npz K (OpenCV pixel centres)",
+   "tol_rel": 0.02,
+   "tol_min_m": 0.05,
+   "tol_max_m": 0.15,
+   "grid": [
+    1280,
+    1280
+   ],
+   "invalid_values": [
+    65535
+   ]
+  },
+  "stats": {
+   "n_in_frustum": 115122,
+   "n_visible": 26383,
+   "visible_frac_of_in_frustum": 0.2292,
+   "in_frustum_sky_hits": 0,
+   "n_visible_other_pixel_rule": {
+    "rint_K_delivered": 25866
+   },
+   "visible_abs_dz_m": {
+    "median": 0.017776,
+    "p90": 0.119952
+   },
+   "in_frustum_recomputed_agreement": 1.0,
+   "in_frustum_recomputed_mismatches": 0
+  },
+  "part_note": "part = vendor point_section (mesh section / material slot, '<mesh>/<material>'; a name that occurs more than once gets '#<section index>' appended, codes unchanged); component = mesh component (doors, glass, lights for vehicles); point_skinned = driven by bone skinning (else rigid).",
+  "extras": {
+   "component": "(N,) int16 index into component_names: mesh component of the point (e.g. body, doors, glass, lights for vehicles)",
+   "component_names": "(C,) str component names",
+   "component_mesh_names": "(C,) str mesh file of each component",
+   "point_skinned": "(N,) bool, moved by bone skinning (else rigid with its component)"
+  }
+ },
+ "depth": {
+  "file": "depth/depth.zip",
+  "member": "{source_view}/frame_{t:04d}.png",
+  "view_member_names": [
+   "cam01",
+   "cam02",
+   "cam03",
+   "cam04"
+  ],
+  "dtype": "uint16",
+  "unit_scale": 0.01,
+  "invalid_values": [
+   65535
+  ],
+  "valid_max_m": 655.34,
+  "width": 1280,
+  "height": 1280,
+  "kind": "rendered (synthetic GT)",
+  "planar_z": true,
+  "note": "CARLA sensor.camera.depth decoded by the vendor to linear planar z in cm, lossless 16-bit grayscale PNG, pixel-aligned with the RGB video; 65535 = sky/far clamp (no zeros occur). The pre-release loader additionally discarded depth > 80 m."
+ },
+ "caption": "A black-and-white police cruiser marked \"POLICE 911 PURSUIT\" drives away down a wide downtown boulevard, continuing straight through intersections past a plaza and turning onto another avenue lined with skyscrapers and palm trees under a bright, partly cloudy sky.",
+ "attributes": {
+  "category": "vehicle",
+  "subcategory": "car",
+  "semantic_tag": 14,
+  "blueprint": "vehicle.dodgecop.charger",
+  "difficulty": "normal",
+  "hard_relay_k": null,
+  "camera_motion_kinds": [
+   "pan_tilt",
+   "translation",
+   "static",
+   "static"
+  ],
+  "all_cameras_moving": true,
+  "map": "Town10HD_x6",
+  "tile": 3,
+  "rotation_only_views": [],
+  "oos_departed_views": [
+   "view2"
+  ],
+  "n_frames_target_invisible_all_views": 0,
+  "n_default_queries_at_ref_frame": 111,
+  "visible_frac_of_in_frustum": 0.2292,
+  "quality_ok": true,
+  "abort": null,
+  "source_frame_range": [
+   2400,
+   2520
+  ],
+  "flag_rules": {
+   "quality_ok_false": "the vendor capture gate .capture_done quality_ok is false",
+   "target_not_visible_in_view_at_ref_frame": "at frame 16 the target is not visible in that view by either trigger: (a) the vendor target state (labels/target.npz state_strict) is not 'visible' (instance mask < 300 px, out of frustum or absent), or (b) the view has zero visible GT track points (tracks3d visible, depth test)",
+   "target_invisible_all_views_some_frames": "at some frame the vendor target state (state_strict) is not 'visible' in any view",
+   "caption_mentions_leaving_view": "the caption says the target leaves the view (out of/from view|frame|sight, leaves the view|frame, off-screen, disappear*)",
+   "few_default_queries_at_ref_frame": "fewer than 20 points with default_gt and visible in >= 1 view at frame 16 (exact count in attributes.n_default_queries_at_ref_frame)"
+  }
+ },
+ "flags": [],
+ "files_sha256": {
+  "cameras.npz": "a714e0d0d64743d0d1d5c63e2038bfadbc752af1081bb7feb143066a0369442f",
+  "captions.json": "9abd9b784253989ebbb18c17f0753d87142bebac49cc5182ea66271287bf6918",
+  "depth/depth.zip": "2679aac9f5e46102a5fcc9f9dbd221fe8f0e06011ac9cb2b1e51c4684066c664",
+  "labels/oos_segments.json": "1ef8033281a29bc39feea8820aab215a8529a84a0e3009f9ed57a63bc91214c9",
+  "labels/target.npz": "c246ea17d2322b8bdf7cd0e193f4d0fdc6fd5282c4530f7913bd986d1de42ea7",
+  "source/cameras.json": "14a87edb86e2e16bffed40fa9ee5f749006f3c1fbd6566ea4d678c4a2bb2ddff",
+  "source/caption.txt": "5b0165513f8ea49884b40da875a86836c15f08bc194a86f4657c755fe709b870",
+  "source/capture_done.json": "cba0559b5ff08dcc49c2f5f66ea10193c5c3746ec3461a4183eb9efe5932c38d",
+  "source/meta.json": "22a1d3a3db30209e287a24bba9bd63dfd74b90ed0b05029caf33282d86e92312",
+  "source/points_target.npz": "64a511bb27190f7e14d14c823110437e3eb474afb782fb51c2d31ee7130b9254",
+  "source/visibility.json": "f75993f6a97fb6c0c3a8a136df819617a0dc6b310bcd749f52ca07dce85c0151",
+  "tracks3d.npz": "99bfe013c7e756b17c9b1397c7a1032667cd78b4c5b8c2d4f9615d58a0014e53",
+  "videos/view0.mp4": "dd1aceb15ed16400856baa6e0ce53cd745a4e125c493734e661ae8c19a80cc13",
+  "videos/view1.mp4": "bd5cf997bc91d572a9b78d23693cb9a8dc0d066cf892f1de64cbd4eee3473b65",
+  "videos/view2.mp4": "e71c59b4ce08bd90c672e6b1eebaaf8513f376097ec75789982c548bea22fd27",
+  "videos/view3.mp4": "e8f8a528192fbc9692ccdf24bfa289c810f54c432ed26d2125f06cc2806bca2c"
+ }
+}

Simul-General/clip_00022/source/caption.txt

@@ -0,0 +1 @@
+A black-and-white police cruiser marked "POLICE 911 PURSUIT" drives away down a wide downtown boulevard, continuing straight through intersections past a plaza and turning onto another avenue lined with skyscrapers and palm trees under a bright, partly cloudy sky.

Simul-General/clip_00022/source/capture_done.json

@@ -0,0 +1,240 @@
+{
+ "clip": 22,
+ "spec_gen": "carla1",
+ "map": "Town10HD_x6",
+ "target_bp_id": "vehicle.dodgecop.charger",
+ "target_kind": "vehicle",
+ "target_class": "vehicle",
+ "target_class_fallback": false,
+ "target_model": "vehicle.dodgecop.charger",
+ "target_lost_frame": null,
+ "bucket_retired": false,
+ "num_cams": 4,
+ "frames": 121,
+ "frame_count": 121,
+ "frame_bucket": 121,
+ "hfov_deg_per_cam": [
+  61.51,
+  53.385,
+  73.187,
+  45.839
+ ],
+ "oos_allowed": [
+  false,
+  false,
+  true,
+  false
+ ],
+ "oos_effective": [
+  false,
+  false,
+  true,
+  false
+ ],
+ "oos_departed": [
+  false,
+  false,
+  true,
+  false
+ ],
+ "oos_cycles": [
+  0,
+  0,
+  1,
+  0
+ ],
+ "oos_cycles_per_cam": [
+  0,
+  0,
+  1,
+  0
+ ],
+ "oos_forced_returns": 0,
+ "visible_ratio": [
+  1.0,
+  1.0,
+  0.7769,
+  1.0
+ ],
+ "visibility_frac_per_cam": [
+  1.0,
+  1.0,
+  0.7769,
+  1.0
+ ],
+ "min_visible_ratio_non_oos": 1.0,
+ "points_ok": true,
+ "points_n": 256,
+ "points_track_complete_ratio": 1.0,
+ "points_track_breaks": 0,
+ "points_in_frustum_ratio": 0.9291,
+ "num_points": 256,
+ "track_breaks": 0,
+ "depth_qc": {
+  "frames": 484,
+  "sky": 0,
+  "near": 0,
+  "const": 0,
+  "per_cam": [
+   {
+    "frames": 121,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 121,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 121,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 121,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   }
+  ],
+  "dist": {
+   "saturated_frac_p50": 0.11,
+   "saturated_frac_p90": 0.2444,
+   "saturated_frac_max": 0.3186,
+   "near_frac_max": 0.0,
+   "unique_values_min": 18049,
+   "unique_values_p50": 26890
+  }
+ },
+ "view_blocked": false,
+ "view_block_ratios": [
+  0.0,
+  0.0,
+  0.0,
+  0.0
+ ],
+ "save_errors": 0,
+ "flush_ok": true,
+ "quality_ok": true,
+ "modalities": [
+  "rgb",
+  "seg",
+  "depth"
+ ],
+ "capture_build": "c1",
+ "bench_guards": {
+  "placement_ban": {
+   "rejected_cams": [],
+   "reallocations": 0
+  },
+  "target_los_guard": {
+   "enabled": true,
+   "abort_frames": 45,
+   "aborts": 0,
+   "max_streak_frames": 0,
+   "doomed_aborts": 0,
+   "gate1_min_visible": 0.1,
+   "cams": [
+    1,
+    2,
+    4
+   ]
+  },
+  "view_block_guard": {
+   "enabled": true,
+   "aborts": 0,
+   "doomed_aborts": 0,
+   "max_view_block_ratio": 0.6,
+   "streak_guard_retired": true
+  },
+  "depth_probe": {
+   "enabled": true,
+   "per_cam": [
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.2043,
+     "near_frac": 0.0,
+     "unique_values": 19803
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0943,
+     "near_frac": 0.0,
+     "unique_values": 31879
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0,
+     "near_frac": 0.0,
+     "unique_values": 21156
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0016,
+     "near_frac": 0.0,
+     "unique_values": 25613
+    }
+   ],
+   "rejected_cams": [],
+   "probed_cams": 4,
+   "num_cams": 4
+  },
+  "depth_doomed_guard": {
+   "enabled": true,
+   "ratio_max": 0.25,
+   "aborts": 0,
+   "last": {
+    "sky": 0,
+    "near": 0,
+    "const": 0,
+    "total": 484
+   }
+  },
+  "oos_guard": {
+   "enabled": true,
+   "doomed_aborts": 0,
+   "window_retries": 0
+  },
+  "union_guard": {
+   "enabled": false,
+   "hard_all_blind_max_run": null,
+   "allow_blind_run": null,
+   "all_blind_max_run": 0,
+   "violation_frame": null,
+   "hard_union_min_frac": null,
+   "blind_frames": 0,
+   "union_visible_frac": 1.0,
+   "doomed_aborts": 0
+  },
+  "motion_gate": {
+   "required_travel_m": 1.49,
+   "v_max_m_s": 25.0,
+   "travel_m": 48.25,
+   "moving_steps": 120,
+   "steps": 120,
+   "doomed_aborts": 0,
+   "enabled": true,
+   "preroll_waited_frames": 16,
+   "preroll_red_light_frames": 0,
+   "preroll_max_queue": 0,
+   "preroll_rejects": []
+  }
+ },
+ "difficulty_requested": "normal",
+ "hard_relay_k_requested": null,
+ "capture_wall_s": 86.0,
+ "capture_wall_sec": 86.0,
+ "abort": null
+}

Simul-General/clip_00022/source/meta.json

@@ -0,0 +1,630 @@
+{
+ "spec_gen": "carla1",
+ "mode": "carla_game",
+ "clip": 22,
+ "clip_index": 22,
+ "map": "Town10HD_x6",
+ "num_cams": 4,
+ "resolution": [
+  1280,
+  1280
+ ],
+ "fps": 15.0,
+ "frames": 121,
+ "frame_count": 121,
+ "frame_bucket": 121,
+ "target_class": "vehicle",
+ "target_class_requested": "vehicle",
+ "target_class_fallback": false,
+ "hfov_deg_per_cam": [
+  61.51,
+  53.385,
+  73.187,
+  45.839
+ ],
+ "hfov_range_deg": [
+  45.839,
+  73.187
+ ],
+ "intrinsics_mode": "per_camera",
+ "capture_depth": true,
+ "fixed_timestep": 0.066667,
+ "bucket_retired": false,
+ "target": {
+  "tracked": true,
+  "kind": "vehicle",
+  "bp_id": "vehicle.dodgecop.charger",
+  "model_id": "vehicle.dodgecop.charger",
+  "half_extent_m": 2.526,
+  "motion_kinds": [
+   "pan_tilt",
+   "translation",
+   "static",
+   "static"
+  ],
+  "semantic_tags": [
+   14
+  ]
+ },
+ "bench": {
+  "mode": true,
+  "clip_id": 22,
+  "bg_ratio": 0.0,
+  "placement_fallbacks": [],
+  "target_reacquires": 0,
+  "placement_ban": {
+   "rejected_cams": [],
+   "reallocations": 0
+  },
+  "target_los_guard": {
+   "enabled": true,
+   "abort_frames": 45,
+   "aborts": 0,
+   "max_streak_frames": 0,
+   "doomed_aborts": 0,
+   "gate1_min_visible": 0.1,
+   "cams": [
+    1,
+    2,
+    4
+   ]
+  },
+  "view_block_guard": {
+   "enabled": true,
+   "aborts": 0,
+   "doomed_aborts": 0,
+   "max_view_block_ratio": 0.6,
+   "streak_guard_retired": true
+  },
+  "depth_probe": {
+   "enabled": true,
+   "per_cam": [
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.2043,
+     "near_frac": 0.0,
+     "unique_values": 19803
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0943,
+     "near_frac": 0.0,
+     "unique_values": 31879
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0,
+     "near_frac": 0.0,
+     "unique_values": 21156
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0016,
+     "near_frac": 0.0,
+     "unique_values": 25613
+    }
+   ],
+   "rejected_cams": [],
+   "probed_cams": 4,
+   "num_cams": 4
+  },
+  "depth_doomed_guard": {
+   "enabled": true,
+   "ratio_max": 0.25,
+   "aborts": 0,
+   "last": {
+    "sky": 0,
+    "near": 0,
+    "const": 0,
+    "total": 484
+   }
+  },
+  "oos_guard": {
+   "enabled": true,
+   "doomed_aborts": 0,
+   "window_retries": 0
+  },
+  "difficulty_requested": "normal",
+  "hard_relay_k_requested": null,
+  "union_guard": {
+   "enabled": false,
+   "hard_all_blind_max_run": null,
+   "allow_blind_run": null,
+   "all_blind_max_run": 0,
+   "violation_frame": null,
+   "hard_union_min_frac": null,
+   "blind_frames": 0,
+   "union_visible_frac": 1.0,
+   "doomed_aborts": 0
+  },
+  "motion_gate": {
+   "required_travel_m": 1.49,
+   "v_max_m_s": 25.0,
+   "travel_m": 48.25,
+   "moving_steps": 120,
+   "steps": 120,
+   "doomed_aborts": 0,
+   "enabled": true,
+   "preroll_waited_frames": 16,
+   "preroll_red_light_frames": 0,
+   "preroll_max_queue": 0,
+   "preroll_rejects": []
+  }
+ },
+ "continuity": {
+  "target_lost_frame": null,
+  "target_survived": true,
+  "enclosed_retries_budget": 6,
+  "min_usable_dirs_used": 28
+ },
+ "oos": {
+  "prob": 0.3,
+  "max_cams": 2,
+  "force_min": 0,
+  "enabled": true,
+  "pan_tilt_scale_half_fov": 1.5,
+  "pan_tilt_cap_deg": [
+   10.7642,
+   9.3424,
+   54.8902,
+   8.0218
+  ],
+  "pan_tilt_cap_source": "oos_open_or_tracking",
+  "allowed": [
+   false,
+   false,
+   true,
+   false
+  ],
+  "reasons": [
+   "none",
+   "none",
+   "sampled",
+   "none"
+  ],
+  "effective": [
+   false,
+   false,
+   true,
+   false
+  ],
+  "num_allowed": 1,
+  "num_effective": 1,
+  "cycles_per_cam": [
+   0,
+   0,
+   1,
+   0
+  ],
+  "cycles": [
+   0,
+   0,
+   1,
+   0
+  ],
+  "aim_mode": "offset_from_live_anchor",
+  "segments": [
+   {
+    "cam": 2,
+    "cam_name": "cam03",
+    "start": 37,
+    "end": 60,
+    "kind": "out_of_frustum",
+    "len": 24
+   }
+  ],
+  "departed": [
+   false,
+   false,
+   true,
+   false
+  ],
+  "num_departed": 1,
+  "scheduler": {
+   "enabled": true,
+   "min_clip_frames": 100,
+   "out_run_target_frames": [
+    12,
+    24
+   ],
+   "gate_min_out_frames": 8,
+   "reentry_visible_frames": 8,
+   "segment_min_len": 8,
+   "window_lead_frac": 0.12,
+   "two_window_frames": 181,
+   "slew_half_fov_frac": 0.08,
+   "open_slew": true,
+   "aim_offset_frac": 1.15,
+   "skipped_short_bucket": false,
+   "per_cam": [
+    null,
+    null,
+    {
+     "windows": [
+      18
+     ],
+     "target_out_frames": [
+      19
+     ],
+     "opened_at": 18,
+     "left_at": 37,
+     "out_run_max": 19,
+     "returned_at": 80,
+     "cycles_live": 1,
+     "forced_returns": 0,
+     "aim_offset": {
+      "applied": true,
+      "reason": null,
+      "deg": 55.34,
+      "m": 15.21,
+      "cm": 1521.5,
+      "frac": 1.948,
+      "need_frac": 1.898,
+      "radius_m": 2.908,
+      "dist_m": 10.52,
+      "clamped": false
+     },
+     "events": [
+      {
+       "window": 0,
+       "opened_at": 18,
+       "left_at": 37,
+       "out_run": 19,
+       "return_at": 55,
+       "forced": false
+      }
+     ],
+     "open_est_frames": 19,
+     "return_est_frames": 34,
+     "window_retries": 0,
+     "relay_phase": null,
+     "hard_offset_frac": null,
+     "hard_offset_floor": null,
+     "phase_delayed_frames": 0,
+     "reaims_reentry": 0
+    },
+    null
+   ]
+  },
+  "schedule": [
+   null,
+   null,
+   {
+    "windows": [
+     18
+    ],
+    "target_out_frames": [
+     19
+    ],
+    "opened_at": 18,
+    "left_at": 37,
+    "out_run_max": 19,
+    "returned_at": 80,
+    "cycles_live": 1,
+    "forced_returns": 0,
+    "aim_offset": {
+     "applied": true,
+     "reason": null,
+     "deg": 55.34,
+     "m": 15.21,
+     "cm": 1521.5,
+     "frac": 1.948,
+     "need_frac": 1.898,
+     "radius_m": 2.908,
+     "dist_m": 10.52,
+     "clamped": false
+    },
+    "events": [
+     {
+      "window": 0,
+      "opened_at": 18,
+      "left_at": 37,
+      "out_run": 19,
+      "return_at": 55,
+      "forced": false
+     }
+    ],
+    "open_est_frames": 19,
+    "return_est_frames": 34,
+    "window_retries": 0,
+    "relay_phase": null,
+    "hard_offset_frac": null,
+    "hard_offset_floor": null,
+    "phase_delayed_frames": 0,
+    "reaims_reentry": 0
+   },
+   null
+  ],
+  "relay": null
+ },
+ "smoothing": {
+  "max_step_m": 1.5,
+  "max_accel_m": 0.2,
+  "lag_closure_frac": 0.12,
+  "rot_cap_frac_hfov": 0.06,
+  "max_step_cm": 150.0,
+  "max_accel_cm": 20.0,
+  "rot_cap_deg_per_cam": [
+   3.691,
+   3.203,
+   4.391,
+   2.75
+  ],
+  "oos_slew_half_fov_frac": 0.08,
+  "anchor_stabilize": true,
+  "anchor_stabilize_tau_s": 0.5
+ },
+ "visibility": {
+  "frames": 121,
+  "states": [
+   "visible",
+   "occluded",
+   "out_of_frustum",
+   "target_absent"
+  ],
+  "per_cam_ratio": [
+   {
+    "visible": 1.0,
+    "occluded": 0.0,
+    "out_of_frustum": 0.0,
+    "target_absent": 0.0
+   },
+   {
+    "visible": 1.0,
+    "occluded": 0.0,
+    "out_of_frustum": 0.0,
+    "target_absent": 0.0
+   },
+   {
+    "visible": 0.7769,
+    "occluded": 0.0413,
+    "out_of_frustum": 0.1818,
+    "target_absent": 0.0
+   },
+   {
+    "visible": 1.0,
+    "occluded": 0.0,
+    "out_of_frustum": 0.0,
+    "target_absent": 0.0
+   }
+  ],
+  "visible_ratio": [
+   1.0,
+   1.0,
+   0.7769,
+   1.0
+  ],
+  "non_oos_cams": [
+   1,
+   2,
+   4
+  ],
+  "min_visible_ratio_non_oos": 1.0,
+  "target_absent_frames": 0,
+  "bbox_sources": {
+   "actor_bounding_box": 121
+  },
+  "all_blind_max_run_strict": 0,
+  "target_px_percentiles": {
+   "n": 462,
+   "p01": 8850,
+   "p05": 32986,
+   "p10": 33242,
+   "p50": 47283,
+   "p90": 59906,
+   "min": 0,
+   "max": 72414
+  },
+  "gate1_cams": [
+   1,
+   2,
+   4
+  ],
+  "min_visible_ratio_gate1": 1.0
+ },
+ "points": {
+  "enabled": true,
+  "num_points": 256,
+  "frames": 121,
+  "valid_frames": 121,
+  "track_complete_ratio": 1.0,
+  "track_breaks": 0,
+  "dead_points": 0,
+  "in_frustum_ratio": 0.9291,
+  "npz_source": "client_lbs",
+  "sample_log": "n=256 parts=25 skinned=177",
+  "npz_written": true
+ },
+ "depth_qc": {
+  "frames": 484,
+  "sky": 0,
+  "near": 0,
+  "const": 0,
+  "per_cam": [
+   {
+    "frames": 121,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 121,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 121,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 121,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   }
+  ],
+  "dist": {
+   "saturated_frac_p50": 0.11,
+   "saturated_frac_p90": 0.2444,
+   "saturated_frac_max": 0.3186,
+   "near_frac_max": 0.0,
+   "unique_values_min": 18049,
+   "unique_values_p50": 26890
+  }
+ },
+ "placement": [
+  {
+   "cam": 1,
+   "hfov_deg": 61.51,
+   "azimuth_deg": 0.0,
+   "want_dist_m": 11.3,
+   "clear_m": 26.0,
+   "dist_m": 11.3,
+   "elev_m": 1.62,
+   "fill_frac": 0.42,
+   "sphere_clamp": null,
+   "floor_m": 5.05,
+   "realloc": null,
+   "rejected": false,
+   "avoid_az_deg": null
+  },
+  {
+   "cam": 2,
+   "hfov_deg": 53.385,
+   "azimuth_deg": 33.8,
+   "want_dist_m": 12.99,
+   "clear_m": 26.0,
+   "dist_m": 12.99,
+   "elev_m": 2.17,
+   "fill_frac": 0.42,
+   "sphere_clamp": null,
+   "floor_m": 5.05,
+   "realloc": null,
+   "rejected": false,
+   "avoid_az_deg": null
+  },
+  {
+   "cam": 3,
+   "hfov_deg": 73.187,
+   "azimuth_deg": 101.2,
+   "want_dist_m": 9.53,
+   "clear_m": 26.0,
+   "dist_m": 9.53,
+   "elev_m": 3.49,
+   "fill_frac": 0.42,
+   "sphere_clamp": null,
+   "floor_m": 5.05,
+   "realloc": null,
+   "rejected": false,
+   "avoid_az_deg": null
+  },
+  {
+   "cam": 4,
+   "hfov_deg": 45.839,
+   "azimuth_deg": 135.0,
+   "want_dist_m": 15.11,
+   "clear_m": 26.0,
+   "dist_m": 15.11,
+   "elev_m": 2.35,
+   "fill_frac": 0.42,
+   "sphere_clamp": null,
+   "floor_m": 5.05,
+   "realloc": null,
+   "rejected": false,
+   "avoid_az_deg": null
+  }
+ ],
+ "placement_diag": {
+  "usable_dirs": 28,
+  "probe_dirs": 32
+ },
+ "acquire": [
+  {
+   "attempt": 1,
+   "target_px": [
+    35454,
+    52074,
+    54597,
+    57440
+   ],
+   "framing_ok": true,
+   "framing_bad": [],
+   "usable_dirs": 28,
+   "trace_self_test": "\ud788\ud2b8 3",
+   "depth_bad_cams": [],
+   "place_rejected_cams": [],
+   "preroll": {
+    "enabled": true,
+    "ok": true,
+    "reason": null,
+    "waited_frames": 16,
+    "red_light_frames": 0,
+    "max_queue": 0
+   }
+  }
+ ],
+ "acquire_wall_s": 8.4,
+ "capture_wall_s": 86.0,
+ "wall_per_frame_s": 0.711,
+ "wall_breakdown_s": {
+  "tick": 5.5,
+  "collect": 30.9,
+  "decode": 35.3,
+  "pose": 0.1,
+  "write": 10.7
+ },
+ "sensor_spawn_wall_s": 1.77,
+ "modalities": [
+  "rgb",
+  "seg",
+  "depth"
+ ],
+ "post_process_profile": "MV4D",
+ "abort": null,
+ "view_block_streak_max": 0,
+ "capture_build": "c1",
+ "target_px_median_per_cam": [
+  33586,
+  43790,
+  55338,
+  59503
+ ],
+ "visibility_frac_per_cam": [
+  1.0,
+  1.0,
+  0.7769,
+  1.0
+ ],
+ "visibility_strict_frac_per_cam": [
+  1.0,
+  1.0,
+  0.802,
+  1.0
+ ],
+ "config_diff": {
+  "max_consecutive_skips": 6,
+  "server_restart_every": 30,
+  "server_restart_auto": true,
+  "map_name": "Town10HD_x6",
+  "walker_tiles": [
+   0,
+   1
+  ],
+  "bench_schedule": true
+ },
+ "tm_seed": 260903,
+ "tile_of_target": 3,
+ "target_tile_requested": -1,
+ "walker_forced_to_vehicle": false
+}

Simul-General/clip_00026/captions.json

@@ -0,0 +1,29 @@
+{
+ "caption": "A stocky pedestrian with short dark hair, wearing a white floral-print tunic and striped pants, walks steadily along a wide paved sidewalk beside a chain-link construction fence, advancing past traffic cones and barriers toward an intersection lined with colorful multistory buildings under a partly cloudy sky.",
+ "structured": {
+  "target_class": "pedestrian",
+  "semantic_tag": "pedestrian",
+  "semantic_tag_id": 12,
+  "blueprint": "walker.pedestrian.0024",
+  "motion_kinds": {
+   "view0": "random_polyline",
+   "view1": "translation",
+   "view2": "random_polyline",
+   "view3": "arc"
+  },
+  "motion_kinds_note": "vendor camera motion labels relative to the target-following anchor; every camera moves in the world"
+ },
+ "legacy_prompts": {
+  "view0": "A stocky pedestrian with short dark hair, wearing a white floral-print tunic and striped pants, walks steadily along a wide paved sidewalk beside a chain-link construction fence, advancing past traffic cones and barriers toward an intersection lined with colorful multistory buildings under a partly cloudy sky. The camera travels about 6.2 m.",
+  "view1": "A stocky pedestrian with short dark hair, wearing a white floral-print tunic and striped pants, walks steadily along a wide paved sidewalk beside a chain-link construction fence, advancing past traffic cones and barriers toward an intersection lined with colorful multistory buildings under a partly cloudy sky. The camera travels about 8.4 m, panning right.",
+  "view2": "A stocky pedestrian with short dark hair, wearing a white floral-print tunic and striped pants, walks steadily along a wide paved sidewalk beside a chain-link construction fence, advancing past traffic cones and barriers toward an intersection lined with colorful multistory buildings under a partly cloudy sky. The camera travels about 7.9 m, panning left.",
+  "view3": "A stocky pedestrian with short dark hair, wearing a white floral-print tunic and striped pants, walks steadily along a wide paved sidewalk beside a chain-link construction fence, advancing past traffic cones and barriers toward an intersection lined with colorful multistory buildings under a partly cloudy sky. The camera travels about 5.6 m."
+ },
+ "camera_phrases_corrected": {
+  "view0": "The camera travels about 6.2 m.",
+  "view1": "The camera travels about 8.4 m, panning right.",
+  "view2": "The camera travels about 7.9 m.",
+  "view3": "The camera travels about 5.6 m, panning right."
+ },
+ "camera_phrase_note": "legacy_prompts = caption + ' ' + the pre-release camera phrase of view k exactly as given to the pre-release baselines: frames 16 -> 80, float32 poses, pan = atan2(f_x, f_z), which is wrong in this z-up world. camera_phrases_corrected uses the same wording rules (static if moved < 0.05 m and |pan| < 2 deg, pan word if |pan| > 8 deg) with the z-up heading atan2(f_y, f_x) (counter-clockwise seen from above = panning left), except that a camera moving < 0.05 m with |pan| >= 2 deg 'rotates in place, panning <dir>'."
+}

Simul-General/clip_00026/labels/oos_segments.json

@@ -0,0 +1,263 @@
+{
+ "note": "Out-of-sight segments (vendor visibility.json oos_segments: maximal runs >= 8 frames of visibility_strict, start/end inclusive local frames; 'cam' = 0-based view index) and the per-view departure schedule. relay = meta.oos.relay of hard clips (null otherwise).",
+ "segment_note": "derived from `visibility_strict` (frame-level is authoritative); maximal runs only, no merging/smoothing; min length 8f applies to this list only; start/end inclusive",
+ "segments": [
+  {
+   "view": "view0",
+   "cam": 0,
+   "cam_name": "cam01",
+   "start": 29,
+   "end": 70,
+   "kind": "out_of_frustum",
+   "len": 42
+  },
+  {
+   "view": "view0",
+   "cam": 0,
+   "cam_name": "cam01",
+   "start": 71,
+   "end": 101,
+   "kind": "occluded",
+   "len": 31
+  },
+  {
+   "view": "view1",
+   "cam": 1,
+   "cam_name": "cam02",
+   "start": 30,
+   "end": 47,
+   "kind": "out_of_frustum",
+   "len": 18
+  },
+  {
+   "view": "view1",
+   "cam": 1,
+   "cam_name": "cam02",
+   "start": 52,
+   "end": 82,
+   "kind": "out_of_frustum",
+   "len": 31
+  },
+  {
+   "view": "view2",
+   "cam": 2,
+   "cam_name": "cam03",
+   "start": 29,
+   "end": 41,
+   "kind": "out_of_frustum",
+   "len": 13
+  },
+  {
+   "view": "view2",
+   "cam": 2,
+   "cam_name": "cam03",
+   "start": 47,
+   "end": 79,
+   "kind": "out_of_frustum",
+   "len": 33
+  },
+  {
+   "view": "view3",
+   "cam": 3,
+   "cam_name": "cam04",
+   "start": 94,
+   "end": 144,
+   "kind": "out_of_frustum",
+   "len": 51
+  }
+ ],
+ "per_view": [
+  {
+   "view": "view0",
+   "source_view": "cam01",
+   "oos_allowed": true,
+   "oos_reason": "hard_relay",
+   "oos_effective": true,
+   "oos_departed": true,
+   "oos_cycles": 1
+  },
+  {
+   "view": "view1",
+   "source_view": "cam02",
+   "oos_allowed": true,
+   "oos_reason": "hard_relay",
+   "oos_effective": true,
+   "oos_departed": true,
+   "oos_cycles": 1
+  },
+  {
+   "view": "view2",
+   "source_view": "cam03",
+   "oos_allowed": true,
+   "oos_reason": "hard_relay",
+   "oos_effective": true,
+   "oos_departed": true,
+   "oos_cycles": 1
+  },
+  {
+   "view": "view3",
+   "source_view": "cam04",
+   "oos_allowed": true,
+   "oos_reason": "hard_relay",
+   "oos_effective": true,
+   "oos_departed": true,
+   "oos_cycles": 1
+  }
+ ],
+ "relay": {
+  "enabled": true,
+  "k_requested": 3,
+  "phases": [
+   [
+    1,
+    2,
+    3
+   ],
+   [
+    4
+   ]
+  ],
+  "budget": {
+   "open_phase0": 23,
+   "return_per_phase": [
+    38,
+    39
+   ],
+   "out_target": 30,
+   "vis_min": 8,
+   "span_frames": 168,
+   "budget_frames": 168,
+   "lead_frames": 10,
+   "offset_cap": 2.3,
+   "feasible": true,
+   "offset_floor": [
+    1.828,
+    1.872,
+    1.744,
+    1.785
+   ],
+   "offset_frac": [
+    2.3,
+    2.3,
+    2.3,
+    2.3
+   ],
+   "model": "overlap_max",
+   "phases": [
+    [
+     1,
+     2,
+     3
+    ],
+    [
+     4
+    ]
+   ],
+   "blind_start_frames": [
+    33,
+    101
+   ],
+   "relay_k": 3
+  },
+  "cams": [
+   {
+    "cam": 1,
+    "phase": 0,
+    "window_start": 12,
+    "target_out_frames": 30,
+    "offset_frac": 2.3,
+    "offset_floor": 1.525,
+    "open_est_frames": 21,
+    "return_est_frames": 36,
+    "left_at": 29,
+    "out_run_max": 30,
+    "returned_at": 89,
+    "cycles_live": 1,
+    "forced_returns": 0,
+    "window_retries": 0,
+    "phase_delayed_frames": 0,
+    "reaims_reentry": 0,
+    "windows_opened": 1,
+    "departed": true
+   },
+   {
+    "cam": 2,
+    "phase": 0,
+    "window_start": 11,
+    "target_out_frames": 30,
+    "offset_frac": 2.3,
+    "offset_floor": 1.633,
+    "open_est_frames": 22,
+    "return_est_frames": 37,
+    "left_at": 52,
+    "out_run_max": 30,
+    "returned_at": 112,
+    "cycles_live": 1,
+    "forced_returns": 0,
+    "window_retries": 0,
+    "phase_delayed_frames": 0,
+    "reaims_reentry": 1,
+    "windows_opened": 1,
+    "departed": true
+   },
+   {
+    "cam": 3,
+    "phase": 0,
+    "window_start": 10,
+    "target_out_frames": 30,
+    "offset_frac": 2.3,
+    "offset_floor": 1.669,
+    "open_est_frames": 23,
+    "return_est_frames": 38,
+    "left_at": 47,
+    "out_run_max": 30,
+    "returned_at": 99,
+    "cycles_live": 1,
+    "forced_returns": 0,
+    "window_retries": 0,
+    "phase_delayed_frames": 0,
+    "reaims_reentry": 1,
+    "windows_opened": 1,
+    "departed": true
+   },
+   {
+    "cam": 4,
+    "phase": 1,
+    "window_start": 76,
+    "target_out_frames": 30,
+    "offset_frac": 2.3,
+    "offset_floor": 1.786,
+    "open_est_frames": 25,
+    "return_est_frames": 39,
+    "left_at": 94,
+    "out_run_max": 30,
+    "returned_at": 162,
+    "cycles_live": 1,
+    "forced_returns": 0,
+    "window_retries": 0,
+    "phase_delayed_frames": 4,
+    "reaims_reentry": 0,
+    "windows_opened": 1,
+    "departed": true
+   }
+  ],
+  "windows_opened": 4,
+  "cams_departed": 4,
+  "num_cams": 4,
+  "handoff_delayed_frames": 4,
+  "handoff_abort": null,
+  "p_cam_departed": 1.0,
+  "all_blind_max_run": 0,
+  "union_guard": {
+   "enabled": true,
+   "hard_all_blind_max_run": 0,
+   "allow_blind_run": 0,
+   "all_blind_max_run": 0,
+   "violation_frame": null,
+   "hard_union_min_frac": 0.95,
+   "blind_frames": 0,
+   "union_visible_frac": 1.0,
+   "doomed_aborts": 0
+  }
+ }
+}

Simul-General/clip_00026/sample.json

@@ -0,0 +1,271 @@
+{
+ "schema": "vpm-worldbench/sample/1.0",
+ "uid": "Simul-General/clip_00026",
+ "subset": "Simul-General",
+ "id": "clip_00026",
+ "source": {
+  "dataset": "HyperWorld-Bench-General",
+  "repo": "hf:rooty2020/HyperWorld-Bench-General",
+  "revision": "ca94a48704dc230bf39202f3c672f356aacb21c7",
+  "id": "clip_00026",
+  "path": "bench_people&car/clip_00026"
+ },
+ "n_views": 4,
+ "n_frames": 181,
+ "fps": 15.0,
+ "duration_s": 12.0667,
+ "views": [
+  {
+   "name": "view0",
+   "video": "videos/view0.mp4",
+   "width": 1280,
+   "height": 1280,
+   "source_name": "cam01",
+   "role": null,
+   "static": false,
+   "hfov_deg": 69.421,
+   "motion_kind_rel_anchor": "random_polyline",
+   "max_travel_m": 18.1718,
+   "max_rotation_deg": 72.43
+  },
+  {
+   "name": "view1",
+   "video": "videos/view1.mp4",
+   "width": 1280,
+   "height": 1280,
+   "source_name": "cam02",
+   "role": null,
+   "static": false,
+   "hfov_deg": 61.095,
+   "motion_kind_rel_anchor": "translation",
+   "max_travel_m": 10.5363,
+   "max_rotation_deg": 120.67
+  },
+  {
+   "name": "view2",
+   "video": "videos/view2.mp4",
+   "width": 1280,
+   "height": 1280,
+   "source_name": "cam03",
+   "role": null,
+   "static": false,
+   "hfov_deg": 54.35,
+   "motion_kind_rel_anchor": "random_polyline",
+   "max_travel_m": 19.975,
+   "max_rotation_deg": 57.226
+  },
+  {
+   "name": "view3",
+   "video": "videos/view3.mp4",
+   "width": 1280,
+   "height": 1280,
+   "source_name": "cam04",
+   "role": null,
+   "static": false,
+   "hfov_deg": 43.152,
+   "motion_kind_rel_anchor": "arc",
+   "max_travel_m": 15.2585,
+   "max_rotation_deg": 43.941
+  }
+ ],
+ "world": {
+  "description": "CARLA Town10HD_x6 map frame as delivered by the vendor in right-handed metres (X_ue/100, -Y_ue/100, Z_ue/100), +z up, ground at z ~ 0, recentred per sample: X = X_source - o with o = (x, y, 0) of the target surface-point centroid at frame 0.",
+  "units": "m",
+  "handedness": "right",
+  "up": "+z",
+  "origin_in_source": [
+   569.9425499345483,
+   -43.445713026321755,
+   0.0
+  ],
+  "to_source": {
+   "note": "X_source = A @ X + b; source = vendor right-handed metre world of cameras.json extrinsic_w2c / c2w",
+   "A": [
+    [
+     1.0,
+     0.0,
+     0.0
+    ],
+    [
+     0.0,
+     1.0,
+     0.0
+    ],
+    [
+     0.0,
+     0.0,
+     1.0
+    ]
+   ],
+   "b": [
+    569.9425499345483,
+    -43.445713026321755,
+    0.0
+   ],
+   "source_units": "m"
+  },
+  "to_ue_cm": {
+   "note": "X_ue = A @ X + b; Unreal/CARLA left-handed centimetre world of ue_pose.location_cm and visibility.json *_cm",
+   "A": [
+    [
+     100.0,
+     0.0,
+     0.0
+    ],
+    [
+     0.0,
+     -100.0,
+     0.0
+    ],
+    [
+     0.0,
+     0.0,
+     100.0
+    ]
+   ],
+   "b": [
+    56994.25499345483,
+    4344.5713026321755,
+    0.0
+   ],
+   "source_units": "cm"
+  }
+ },
+ "files": {
+  "cameras": "cameras.npz",
+  "tracks3d": "tracks3d.npz",
+  "captions": "captions.json",
+  "depth": "depth/depth.zip",
+  "labels": {
+   "target": "labels/target.npz",
+   "oos_segments": "labels/oos_segments.json"
+  }
+ },
+ "tracks": {
+  "n_points": 256,
+  "groups": [
+   "target"
+  ],
+  "visible_outside_frustum_dropped": 0,
+  "default_report_group": "target",
+  "visibility_rule": "visible = in_frustum AND depth test against depth.zip of that view and frame at the nearest pixel (rint(u), rint(v)) of the native 1280x1280 grid, (u, v) projected with the stored K (OpenCV pixel centres, cx = cy = 639.5; = floor(u), floor(v) with K_delivered): |D - z| <= clip(0.02 z, 0.05 m, 0.15 m), D = planar depth in metres, 65535 (sky) never passes. Strict rule: area-sampled points on the far side or inside the target (vehicle interior/glass, eyes) fail it; the tolerance is 2 % of the distance, at least 5 cm and at most 15 cm. in_frustum = recomputed with the stored K (valid, z > 0.05 m and -0.5 <= u, v < 1279.5, i.e. the vendor in_frustum_cam rule z > 0 and 0 <= u, v < 1280 with the delivered K; agreement with in_frustum_cam in stats). The legacy pre-release protocol used the vendor in_frustum_cam alone (frustum-only).",
+  "accuracy": "exact simulator GT: 256 triangle-area-weighted surface points moved by linear blend skinning of the CARLA bone transforms (rigid propagation for unskinned vehicle parts); no cloth/hair secondary motion; other traffic is untracked. Stored as float32 (< 4e-6 m rounding within 100 m of the origin). Depth is quantised to 1 cm. K = delivered intrinsics with cx = cy = 640 - 0.5 = 639.5: the vendor uses the CARLA/UE pixel-corner convention (depth-vs-track residuals are lowest with the corrected K); cameras.npz K_delivered keeps the delivered matrix (pre-release numbers used 640, docs/DATA_FORMAT.md §1).",
+  "depth_test": {
+   "pixel": "rint",
+   "K": "cameras.npz K (OpenCV pixel centres)",
+   "tol_rel": 0.02,
+   "tol_min_m": 0.05,
+   "tol_max_m": 0.15,
+   "grid": [
+    1280,
+    1280
+   ],
+   "invalid_values": [
+    65535
+   ]
+  },
+  "stats": {
+   "n_in_frustum": 129093,
+   "n_visible": 56815,
+   "visible_frac_of_in_frustum": 0.4401,
+   "in_frustum_sky_hits": 0,
+   "n_visible_other_pixel_rule": {
+    "rint_K_delivered": 55865
+   },
+   "visible_abs_dz_m": {
+    "median": 0.006565,
+    "p90": 0.0774
+   },
+   "in_frustum_recomputed_agreement": 1.0,
+   "in_frustum_recomputed_mismatches": 0
+  },
+  "part_note": "part = vendor point_section (mesh section / material slot, '<mesh>/<material>'; a name that occurs more than once gets '#<section index>' appended, codes unchanged); component = mesh component (doors, glass, lights for vehicles); point_skinned = driven by bone skinning (else rigid).",
+  "extras": {
+   "component": "(N,) int16 index into component_names: mesh component of the point (e.g. body, doors, glass, lights for vehicles)",
+   "component_names": "(C,) str component names",
+   "component_mesh_names": "(C,) str mesh file of each component",
+   "point_skinned": "(N,) bool, moved by bone skinning (else rigid with its component)"
+  }
+ },
+ "depth": {
+  "file": "depth/depth.zip",
+  "member": "{source_view}/frame_{t:04d}.png",
+  "view_member_names": [
+   "cam01",
+   "cam02",
+   "cam03",
+   "cam04"
+  ],
+  "dtype": "uint16",
+  "unit_scale": 0.01,
+  "invalid_values": [
+   65535
+  ],
+  "valid_max_m": 655.34,
+  "width": 1280,
+  "height": 1280,
+  "kind": "rendered (synthetic GT)",
+  "planar_z": true,
+  "note": "CARLA sensor.camera.depth decoded by the vendor to linear planar z in cm, lossless 16-bit grayscale PNG, pixel-aligned with the RGB video; 65535 = sky/far clamp (no zeros occur). The pre-release loader additionally discarded depth > 80 m."
+ },
+ "caption": "A stocky pedestrian with short dark hair, wearing a white floral-print tunic and striped pants, walks steadily along a wide paved sidewalk beside a chain-link construction fence, advancing past traffic cones and barriers toward an intersection lined with colorful multistory buildings under a partly cloudy sky.",
+ "attributes": {
+  "category": "pedestrian",
+  "subcategory": "pedestrian",
+  "semantic_tag": 12,
+  "blueprint": "walker.pedestrian.0024",
+  "difficulty": "hard",
+  "hard_relay_k": 3,
+  "camera_motion_kinds": [
+   "random_polyline",
+   "translation",
+   "random_polyline",
+   "arc"
+  ],
+  "all_cameras_moving": true,
+  "map": "Town10HD_x6",
+  "tile": 1,
+  "rotation_only_views": [],
+  "oos_departed_views": [
+   "view0",
+   "view1",
+   "view2",
+   "view3"
+  ],
+  "n_frames_target_invisible_all_views": 0,
+  "n_default_queries_at_ref_frame": 240,
+  "visible_frac_of_in_frustum": 0.4401,
+  "quality_ok": true,
+  "abort": null,
+  "source_frame_range": [
+   3965,
+   4145
+  ],
+  "flag_rules": {
+   "quality_ok_false": "the vendor capture gate .capture_done quality_ok is false",
+   "target_not_visible_in_view_at_ref_frame": "at frame 16 the target is not visible in that view by either trigger: (a) the vendor target state (labels/target.npz state_strict) is not 'visible' (instance mask < 300 px, out of frustum or absent), or (b) the view has zero visible GT track points (tracks3d visible, depth test)",
+   "target_invisible_all_views_some_frames": "at some frame the vendor target state (state_strict) is not 'visible' in any view",
+   "caption_mentions_leaving_view": "the caption says the target leaves the view (out of/from view|frame|sight, leaves the view|frame, off-screen, disappear*)",
+   "few_default_queries_at_ref_frame": "fewer than 20 points with default_gt and visible in >= 1 view at frame 16 (exact count in attributes.n_default_queries_at_ref_frame)"
+  }
+ },
+ "flags": [],
+ "files_sha256": {
+  "cameras.npz": "f73b091ad51aef5ae4802b6dd3de3ccf8104bcbc7720341b018758788b8e3d7d",
+  "captions.json": "def7b39b6cbe43802bd2900b4f17a1584e3d419f40f418b32d32c585caf1450d",
+  "depth/depth.zip": "913893685cc971f569c507f03bf661e19254319a088baf41cc89122cd2f5a222",
+  "labels/oos_segments.json": "7d2a47611c214feb138fc68e37ea9e12b3fa0e65c56bfe9fde3749bce6d86999",
+  "labels/target.npz": "6aa896e2485ba8d26d18847ed19cee6963c48b3194534e2f1ee99a48dae9721a",
+  "source/cameras.json": "3ea5f6aa9efea51bd77fd7922f079b51d890f6ded01e921cedc9855c0e77199a",
+  "source/caption.txt": "76fa3a6902cb573c9795707332c85b5b110dad9d9376e8bc9361b5e679d5a028",
+  "source/capture_done.json": "0ee878b33b2af9d6cb19514f43b6c4e295fa20bb259760cd1201a3439c040348",
+  "source/meta.json": "ab1b415b4e025b760752694c94a679a9d0bfeff23a4ba11b64b3142fdb9e664a",
+  "source/points_target.npz": "7907f4c7832450fd9456e4d50f0c1a92a084feec07db0dbba8c0ef2f46156549",
+  "source/visibility.json": "a3871b2856f414e3a662f391d5f62ec007dea532eb871e9eea3dcb0082d14896",
+  "tracks3d.npz": "15a99a62ca6861c0b37f414bb9dcbbacdbdeff0cfbcb2fbd0ff33a52df8427e1",
+  "videos/view0.mp4": "b8ae83f651d97d2a558585610470890cd72f22291949b41b9f4e4ad27c5d23e2",
+  "videos/view1.mp4": "ed0979f81a3e38e142633dfab1cdc5132b5b71079f841260664b85f1d086f471",
+  "videos/view2.mp4": "402a2c72c8d01d86eb3a2369a69078b61c070609cd723cc8cb075f38176ca5ec",
+  "videos/view3.mp4": "edf4c350f8efdf56c95c86f920f5cfbd86c578e65bee57d255f8c29c3da49b4b"
+ }
+}

Simul-General/clip_00026/source/caption.txt

@@ -0,0 +1 @@
+A stocky pedestrian with short dark hair, wearing a white floral-print tunic and striped pants, walks steadily along a wide paved sidewalk beside a chain-link construction fence, advancing past traffic cones and barriers toward an intersection lined with colorful multistory buildings under a partly cloudy sky.

Simul-General/clip_00026/source/capture_done.json

@@ -0,0 +1,236 @@
+{
+ "clip": 26,
+ "spec_gen": "carla1",
+ "map": "Town10HD_x6",
+ "target_bp_id": "walker.pedestrian.0024",
+ "target_kind": "walker",
+ "target_class": "pedestrian",
+ "target_class_fallback": false,
+ "target_model": "walker.pedestrian.0024",
+ "target_lost_frame": null,
+ "bucket_retired": false,
+ "num_cams": 4,
+ "frames": 181,
+ "frame_count": 181,
+ "frame_bucket": 181,
+ "hfov_deg_per_cam": [
+  69.421,
+  61.095,
+  54.35,
+  43.152
+ ],
+ "oos_allowed": [
+  true,
+  true,
+  true,
+  true
+ ],
+ "oos_effective": [
+  true,
+  true,
+  true,
+  true
+ ],
+ "oos_departed": [
+  true,
+  true,
+  true,
+  true
+ ],
+ "oos_cycles": [
+  1,
+  1,
+  1,
+  1
+ ],
+ "oos_cycles_per_cam": [
+  1,
+  1,
+  1,
+  1
+ ],
+ "oos_forced_returns": 0,
+ "visible_ratio": [
+  0.5912,
+  0.7017,
+  0.7182,
+  0.7072
+ ],
+ "visibility_frac_per_cam": [
+  0.5912,
+  0.7017,
+  0.7182,
+  0.7072
+ ],
+ "min_visible_ratio_non_oos": null,
+ "points_ok": true,
+ "points_n": 256,
+ "points_track_complete_ratio": 1.0,
+ "points_track_breaks": 0,
+ "points_in_frustum_ratio": 0.6965,
+ "num_points": 256,
+ "track_breaks": 0,
+ "depth_qc": {
+  "frames": 724,
+  "sky": 52,
+  "near": 0,
+  "const": 0,
+  "per_cam": [
+   {
+    "frames": 181,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 181,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 181,
+    "sky": 52,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 181,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   }
+  ],
+  "dist": {
+   "saturated_frac_p50": 0.0066,
+   "saturated_frac_p90": 0.4006,
+   "saturated_frac_max": 0.6929,
+   "near_frac_max": 0.2822,
+   "unique_values_min": 985,
+   "unique_values_p50": 13556
+  }
+ },
+ "view_blocked": false,
+ "view_block_ratios": [
+  0.0,
+  0.0,
+  0.0,
+  0.0
+ ],
+ "save_errors": 0,
+ "flush_ok": true,
+ "quality_ok": true,
+ "modalities": [
+  "rgb",
+  "seg",
+  "depth"
+ ],
+ "capture_build": "c1",
+ "bench_guards": {
+  "placement_ban": {
+   "rejected_cams": [],
+   "reallocations": 0
+  },
+  "target_los_guard": {
+   "enabled": true,
+   "abort_frames": 45,
+   "aborts": 0,
+   "max_streak_frames": 0,
+   "doomed_aborts": 0,
+   "gate1_min_visible": 0.1,
+   "cams": []
+  },
+  "view_block_guard": {
+   "enabled": true,
+   "aborts": 0,
+   "doomed_aborts": 0,
+   "max_view_block_ratio": 0.6,
+   "streak_guard_retired": true
+  },
+  "depth_probe": {
+   "enabled": true,
+   "per_cam": [
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0002,
+     "near_frac": 0.0,
+     "unique_values": 5416
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0019,
+     "near_frac": 0.0,
+     "unique_values": 15312
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0,
+     "near_frac": 0.0,
+     "unique_values": 4978
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0043,
+     "near_frac": 0.0,
+     "unique_values": 16922
+    }
+   ],
+   "rejected_cams": [],
+   "probed_cams": 4,
+   "num_cams": 4
+  },
+  "depth_doomed_guard": {
+   "enabled": true,
+   "ratio_max": 0.25,
+   "aborts": 0,
+   "last": {
+    "sky": 52,
+    "near": 0,
+    "const": 0,
+    "total": 724
+   }
+  },
+  "oos_guard": {
+   "enabled": true,
+   "doomed_aborts": 0,
+   "window_retries": 0
+  },
+  "union_guard": {
+   "enabled": true,
+   "hard_all_blind_max_run": 0,
+   "allow_blind_run": 0,
+   "all_blind_max_run": 0,
+   "violation_frame": null,
+   "hard_union_min_frac": 0.95,
+   "blind_frames": 0,
+   "union_visible_frac": 1.0,
+   "doomed_aborts": 0
+  },
+  "motion_gate": {
+   "required_travel_m": 2.23,
+   "v_max_m_s": 1.6,
+   "travel_m": 19.411,
+   "moving_steps": 180,
+   "steps": 180,
+   "doomed_aborts": 0,
+   "enabled": true,
+   "preroll_waited_frames": 16,
+   "preroll_red_light_frames": 0,
+   "preroll_max_queue": 0,
+   "preroll_rejects": []
+  }
+ },
+ "difficulty_requested": "hard",
+ "hard_relay_k_requested": 3,
+ "capture_wall_s": 123.2,
+ "capture_wall_sec": 123.2,
+ "abort": null
+}

Simul-General/clip_00026/source/meta.json

@@ -0,0 +1,1125 @@
+{
+ "spec_gen": "carla1",
+ "mode": "carla_game",
+ "clip": 26,
+ "clip_index": 26,
+ "map": "Town10HD_x6",
+ "num_cams": 4,
+ "resolution": [
+  1280,
+  1280
+ ],
+ "fps": 15.0,
+ "frames": 181,
+ "frame_count": 181,
+ "frame_bucket": 181,
+ "target_class": "pedestrian",
+ "target_class_requested": "pedestrian",
+ "target_class_fallback": false,
+ "hfov_deg_per_cam": [
+  69.421,
+  61.095,
+  54.35,
+  43.152
+ ],
+ "hfov_range_deg": [
+  43.152,
+  69.421
+ ],
+ "intrinsics_mode": "per_camera",
+ "capture_depth": true,
+ "fixed_timestep": 0.066667,
+ "bucket_retired": false,
+ "target": {
+  "tracked": true,
+  "kind": "walker",
+  "bp_id": "walker.pedestrian.0024",
+  "model_id": "walker.pedestrian.0024",
+  "half_extent_m": 0.925,
+  "motion_kinds": [
+   "random_polyline",
+   "translation",
+   "random_polyline",
+   "arc"
+  ],
+  "semantic_tags": [
+   12
+  ]
+ },
+ "bench": {
+  "mode": true,
+  "clip_id": 26,
+  "bg_ratio": 0.0,
+  "placement_fallbacks": [],
+  "target_reacquires": 0,
+  "placement_ban": {
+   "rejected_cams": [],
+   "reallocations": 0
+  },
+  "target_los_guard": {
+   "enabled": true,
+   "abort_frames": 45,
+   "aborts": 0,
+   "max_streak_frames": 0,
+   "doomed_aborts": 0,
+   "gate1_min_visible": 0.1,
+   "cams": []
+  },
+  "view_block_guard": {
+   "enabled": true,
+   "aborts": 0,
+   "doomed_aborts": 0,
+   "max_view_block_ratio": 0.6,
+   "streak_guard_retired": true
+  },
+  "depth_probe": {
+   "enabled": true,
+   "per_cam": [
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0002,
+     "near_frac": 0.0,
+     "unique_values": 5416
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0019,
+     "near_frac": 0.0,
+     "unique_values": 15312
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0,
+     "near_frac": 0.0,
+     "unique_values": 4978
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0043,
+     "near_frac": 0.0,
+     "unique_values": 16922
+    }
+   ],
+   "rejected_cams": [],
+   "probed_cams": 4,
+   "num_cams": 4
+  },
+  "depth_doomed_guard": {
+   "enabled": true,
+   "ratio_max": 0.25,
+   "aborts": 0,
+   "last": {
+    "sky": 52,
+    "near": 0,
+    "const": 0,
+    "total": 724
+   }
+  },
+  "oos_guard": {
+   "enabled": true,
+   "doomed_aborts": 0,
+   "window_retries": 0
+  },
+  "difficulty_requested": "hard",
+  "hard_relay_k_requested": 3,
+  "union_guard": {
+   "enabled": true,
+   "hard_all_blind_max_run": 0,
+   "allow_blind_run": 0,
+   "all_blind_max_run": 0,
+   "violation_frame": null,
+   "hard_union_min_frac": 0.95,
+   "blind_frames": 0,
+   "union_visible_frac": 1.0,
+   "doomed_aborts": 0
+  },
+  "motion_gate": {
+   "required_travel_m": 2.23,
+   "v_max_m_s": 1.6,
+   "travel_m": 19.411,
+   "moving_steps": 180,
+   "steps": 180,
+   "doomed_aborts": 0,
+   "enabled": true,
+   "preroll_waited_frames": 16,
+   "preroll_red_light_frames": 0,
+   "preroll_max_queue": 0,
+   "preroll_rejects": []
+  }
+ },
+ "continuity": {
+  "target_lost_frame": null,
+  "target_survived": true,
+  "enclosed_retries_budget": 6,
+  "min_usable_dirs_used": 28
+ },
+ "oos": {
+  "prob": 0.3,
+  "max_cams": 2,
+  "force_min": 0,
+  "enabled": true,
+  "pan_tilt_scale_half_fov": 1.5,
+  "pan_tilt_cap_deg": [
+   12.1487,
+   10.6916,
+   9.5113,
+   7.5516
+  ],
+  "pan_tilt_cap_source": "hard_tracking",
+  "allowed": [
+   true,
+   true,
+   true,
+   true
+  ],
+  "reasons": [
+   "hard_relay",
+   "hard_relay",
+   "hard_relay",
+   "hard_relay"
+  ],
+  "effective": [
+   true,
+   true,
+   true,
+   true
+  ],
+  "num_allowed": 4,
+  "num_effective": 4,
+  "cycles_per_cam": [
+   1,
+   1,
+   1,
+   1
+  ],
+  "cycles": [
+   1,
+   1,
+   1,
+   1
+  ],
+  "aim_mode": "offset_from_live_anchor",
+  "segments": [
+   {
+    "cam": 0,
+    "cam_name": "cam01",
+    "start": 29,
+    "end": 70,
+    "kind": "out_of_frustum",
+    "len": 42
+   },
+   {
+    "cam": 0,
+    "cam_name": "cam01",
+    "start": 71,
+    "end": 101,
+    "kind": "occluded",
+    "len": 31
+   },
+   {
+    "cam": 1,
+    "cam_name": "cam02",
+    "start": 30,
+    "end": 47,
+    "kind": "out_of_frustum",
+    "len": 18
+   },
+   {
+    "cam": 1,
+    "cam_name": "cam02",
+    "start": 52,
+    "end": 82,
+    "kind": "out_of_frustum",
+    "len": 31
+   },
+   {
+    "cam": 2,
+    "cam_name": "cam03",
+    "start": 29,
+    "end": 41,
+    "kind": "out_of_frustum",
+    "len": 13
+   },
+   {
+    "cam": 2,
+    "cam_name": "cam03",
+    "start": 47,
+    "end": 79,
+    "kind": "out_of_frustum",
+    "len": 33
+   },
+   {
+    "cam": 3,
+    "cam_name": "cam04",
+    "start": 94,
+    "end": 144,
+    "kind": "out_of_frustum",
+    "len": 51
+   }
+  ],
+  "departed": [
+   true,
+   true,
+   true,
+   true
+  ],
+  "num_departed": 4,
+  "scheduler": {
+   "enabled": true,
+   "min_clip_frames": 100,
+   "out_run_target_frames": [
+    12,
+    24
+   ],
+   "gate_min_out_frames": 8,
+   "reentry_visible_frames": 8,
+   "segment_min_len": 8,
+   "window_lead_frac": 0.12,
+   "two_window_frames": 181,
+   "slew_half_fov_frac": 0.08,
+   "open_slew": true,
+   "aim_offset_frac": 1.15,
+   "skipped_short_bucket": false,
+   "per_cam": [
+    {
+     "windows": [
+      12
+     ],
+     "target_out_frames": [
+      30
+     ],
+     "opened_at": 12,
+     "left_at": 29,
+     "out_run_max": 30,
+     "returned_at": 89,
+     "cycles_live": 1,
+     "forced_returns": 0,
+     "aim_offset": {
+      "applied": true,
+      "reason": null,
+      "deg": 57.89,
+      "m": 7.25,
+      "cm": 724.8,
+      "hard_offset_cap": 2.3,
+      "frac": 2.3,
+      "need_frac": 1.78,
+      "radius_m": 1.12,
+      "dist_m": 4.55,
+      "clamped": false
+     },
+     "events": [
+      {
+       "window": 0,
+       "opened_at": 12,
+       "left_at": 29,
+       "out_run": 30,
+       "return_at": 58,
+       "forced": false
+      }
+     ],
+     "open_est_frames": 21,
+     "return_est_frames": 36,
+     "window_retries": 0,
+     "relay_phase": 0,
+     "hard_offset_frac": 2.3,
+     "hard_offset_floor": 1.525,
+     "phase_delayed_frames": 0,
+     "reaims_reentry": 0
+    },
+    {
+     "windows": [
+      11
+     ],
+     "target_out_frames": [
+      30
+     ],
+     "opened_at": 51,
+     "left_at": 52,
+     "out_run_max": 30,
+     "returned_at": 112,
+     "cycles_live": 1,
+     "forced_returns": 0,
+     "aim_offset": {
+      "applied": true,
+      "reason": null,
+      "deg": 53.62,
+      "m": 7.53,
+      "cm": 752.8,
+      "hard_offset_cap": 2.3,
+      "frac": 2.3,
+      "need_frac": 1.648,
+      "radius_m": 1.12,
+      "dist_m": 5.55,
+      "clamped": false
+     },
+     "events": [
+      {
+       "window": 0,
+       "opened_at": 11,
+       "left_at": 30,
+       "out_run": 0,
+       "out_run_max": 18,
+       "reaim_at": 51,
+       "reason": "reentered"
+      },
+      {
+       "window": 0,
+       "opened_at": 51,
+       "left_at": 52,
+       "out_run": 30,
+       "return_at": 81,
+       "forced": false
+      }
+     ],
+     "open_est_frames": 22,
+     "return_est_frames": 37,
+     "window_retries": 0,
+     "relay_phase": 0,
+     "hard_offset_frac": 2.3,
+     "hard_offset_floor": 1.633,
+     "phase_delayed_frames": 0,
+     "reaims_reentry": 1
+    },
+    {
+     "windows": [
+      10
+     ],
+     "target_out_frames": [
+      30
+     ],
+     "opened_at": 45,
+     "left_at": 47,
+     "out_run_max": 30,
+     "returned_at": 99,
+     "cycles_live": 1,
+     "forced_returns": 0,
+     "aim_offset": {
+      "applied": true,
+      "reason": null,
+      "deg": 49.74,
+      "m": 8.62,
+      "cm": 861.6,
+      "hard_offset_cap": 2.3,
+      "frac": 2.3,
+      "need_frac": 1.522,
+      "radius_m": 1.12,
+      "dist_m": 7.3,
+      "clamped": false
+     },
+     "events": [
+      {
+       "window": 0,
+       "opened_at": 10,
+       "left_at": 29,
+       "out_run": 0,
+       "out_run_max": 13,
+       "reaim_at": 45,
+       "reason": "reentered"
+      },
+      {
+       "window": 0,
+       "opened_at": 45,
+       "left_at": 47,
+       "out_run": 30,
+       "return_at": 76,
+       "forced": false
+      }
+     ],
+     "open_est_frames": 23,
+     "return_est_frames": 38,
+     "window_retries": 0,
+     "relay_phase": 0,
+     "hard_offset_frac": 2.3,
+     "hard_offset_floor": 1.669,
+     "phase_delayed_frames": 0,
+     "reaims_reentry": 1
+    },
+    {
+     "windows": [
+      76
+     ],
+     "target_out_frames": [
+      30
+     ],
+     "opened_at": 80,
+     "left_at": 94,
+     "out_run_max": 30,
+     "returned_at": 162,
+     "cycles_live": 1,
+     "forced_returns": 0,
+     "aim_offset": {
+      "applied": true,
+      "reason": null,
+      "deg": 42.29,
+      "m": 5.39,
+      "cm": 539.1,
+      "hard_offset_cap": 2.3,
+      "frac": 2.3,
+      "need_frac": 1.736,
+      "radius_m": 1.12,
+      "dist_m": 5.93,
+      "clamped": false
+     },
+     "events": [
+      {
+       "window": 0,
+       "opened_at": 80,
+       "left_at": 94,
+       "out_run": 30,
+       "return_at": 123,
+       "forced": false
+      }
+     ],
+     "open_est_frames": 25,
+     "return_est_frames": 39,
+     "window_retries": 0,
+     "relay_phase": 1,
+     "hard_offset_frac": 2.3,
+     "hard_offset_floor": 1.786,
+     "phase_delayed_frames": 4,
+     "reaims_reentry": 0
+    }
+   ]
+  },
+  "schedule": [
+   {
+    "windows": [
+     12
+    ],
+    "target_out_frames": [
+     30
+    ],
+    "opened_at": 12,
+    "left_at": 29,
+    "out_run_max": 30,
+    "returned_at": 89,
+    "cycles_live": 1,
+    "forced_returns": 0,
+    "aim_offset": {
+     "applied": true,
+     "reason": null,
+     "deg": 57.89,
+     "m": 7.25,
+     "cm": 724.8,
+     "hard_offset_cap": 2.3,
+     "frac": 2.3,
+     "need_frac": 1.78,
+     "radius_m": 1.12,
+     "dist_m": 4.55,
+     "clamped": false
+    },
+    "events": [
+     {
+      "window": 0,
+      "opened_at": 12,
+      "left_at": 29,
+      "out_run": 30,
+      "return_at": 58,
+      "forced": false
+     }
+    ],
+    "open_est_frames": 21,
+    "return_est_frames": 36,
+    "window_retries": 0,
+    "relay_phase": 0,
+    "hard_offset_frac": 2.3,
+    "hard_offset_floor": 1.525,
+    "phase_delayed_frames": 0,
+    "reaims_reentry": 0
+   },
+   {
+    "windows": [
+     11
+    ],
+    "target_out_frames": [
+     30
+    ],
+    "opened_at": 51,
+    "left_at": 52,
+    "out_run_max": 30,
+    "returned_at": 112,
+    "cycles_live": 1,
+    "forced_returns": 0,
+    "aim_offset": {
+     "applied": true,
+     "reason": null,
+     "deg": 53.62,
+     "m": 7.53,
+     "cm": 752.8,
+     "hard_offset_cap": 2.3,
+     "frac": 2.3,
+     "need_frac": 1.648,
+     "radius_m": 1.12,
+     "dist_m": 5.55,
+     "clamped": false
+    },
+    "events": [
+     {
+      "window": 0,
+      "opened_at": 11,
+      "left_at": 30,
+      "out_run": 0,
+      "out_run_max": 18,
+      "reaim_at": 51,
+      "reason": "reentered"
+     },
+     {
+      "window": 0,
+      "opened_at": 51,
+      "left_at": 52,
+      "out_run": 30,
+      "return_at": 81,
+      "forced": false
+     }
+    ],
+    "open_est_frames": 22,
+    "return_est_frames": 37,
+    "window_retries": 0,
+    "relay_phase": 0,
+    "hard_offset_frac": 2.3,
+    "hard_offset_floor": 1.633,
+    "phase_delayed_frames": 0,
+    "reaims_reentry": 1
+   },
+   {
+    "windows": [
+     10
+    ],
+    "target_out_frames": [
+     30
+    ],
+    "opened_at": 45,
+    "left_at": 47,
+    "out_run_max": 30,
+    "returned_at": 99,
+    "cycles_live": 1,
+    "forced_returns": 0,
+    "aim_offset": {
+     "applied": true,
+     "reason": null,
+     "deg": 49.74,
+     "m": 8.62,
+     "cm": 861.6,
+     "hard_offset_cap": 2.3,
+     "frac": 2.3,
+     "need_frac": 1.522,
+     "radius_m": 1.12,
+     "dist_m": 7.3,
+     "clamped": false
+    },
+    "events": [
+     {
+      "window": 0,
+      "opened_at": 10,
+      "left_at": 29,
+      "out_run": 0,
+      "out_run_max": 13,
+      "reaim_at": 45,
+      "reason": "reentered"
+     },
+     {
+      "window": 0,
+      "opened_at": 45,
+      "left_at": 47,
+      "out_run": 30,
+      "return_at": 76,
+      "forced": false
+     }
+    ],
+    "open_est_frames": 23,
+    "return_est_frames": 38,
+    "window_retries": 0,
+    "relay_phase": 0,
+    "hard_offset_frac": 2.3,
+    "hard_offset_floor": 1.669,
+    "phase_delayed_frames": 0,
+    "reaims_reentry": 1
+   },
+   {
+    "windows": [
+     76
+    ],
+    "target_out_frames": [
+     30
+    ],
+    "opened_at": 80,
+    "left_at": 94,
+    "out_run_max": 30,
+    "returned_at": 162,
+    "cycles_live": 1,
+    "forced_returns": 0,
+    "aim_offset": {
+     "applied": true,
+     "reason": null,
+     "deg": 42.29,
+     "m": 5.39,
+     "cm": 539.1,
+     "hard_offset_cap": 2.3,
+     "frac": 2.3,
+     "need_frac": 1.736,
+     "radius_m": 1.12,
+     "dist_m": 5.93,
+     "clamped": false
+    },
+    "events": [
+     {
+      "window": 0,
+      "opened_at": 80,
+      "left_at": 94,
+      "out_run": 30,
+      "return_at": 123,
+      "forced": false
+     }
+    ],
+    "open_est_frames": 25,
+    "return_est_frames": 39,
+    "window_retries": 0,
+    "relay_phase": 1,
+    "hard_offset_frac": 2.3,
+    "hard_offset_floor": 1.786,
+    "phase_delayed_frames": 4,
+    "reaims_reentry": 0
+   }
+  ],
+  "relay": {
+   "enabled": true,
+   "k_requested": 3,
+   "phases": [
+    [
+     1,
+     2,
+     3
+    ],
+    [
+     4
+    ]
+   ],
+   "budget": {
+    "open_phase0": 23,
+    "return_per_phase": [
+     38,
+     39
+    ],
+    "out_target": 30,
+    "vis_min": 8,
+    "span_frames": 168,
+    "budget_frames": 168,
+    "lead_frames": 10,
+    "offset_cap": 2.3,
+    "feasible": true,
+    "offset_floor": [
+     1.828,
+     1.872,
+     1.744,
+     1.785
+    ],
+    "offset_frac": [
+     2.3,
+     2.3,
+     2.3,
+     2.3
+    ],
+    "model": "overlap_max",
+    "phases": [
+     [
+      1,
+      2,
+      3
+     ],
+     [
+      4
+     ]
+    ],
+    "blind_start_frames": [
+     33,
+     101
+    ],
+    "relay_k": 3
+   },
+   "cams": [
+    {
+     "cam": 1,
+     "phase": 0,
+     "window_start": 12,
+     "target_out_frames": 30,
+     "offset_frac": 2.3,
+     "offset_floor": 1.525,
+     "open_est_frames": 21,
+     "return_est_frames": 36,
+     "left_at": 29,
+     "out_run_max": 30,
+     "returned_at": 89,
+     "cycles_live": 1,
+     "forced_returns": 0,
+     "window_retries": 0,
+     "phase_delayed_frames": 0,
+     "reaims_reentry": 0,
+     "windows_opened": 1,
+     "departed": true
+    },
+    {
+     "cam": 2,
+     "phase": 0,
+     "window_start": 11,
+     "target_out_frames": 30,
+     "offset_frac": 2.3,
+     "offset_floor": 1.633,
+     "open_est_frames": 22,
+     "return_est_frames": 37,
+     "left_at": 52,
+     "out_run_max": 30,
+     "returned_at": 112,
+     "cycles_live": 1,
+     "forced_returns": 0,
+     "window_retries": 0,
+     "phase_delayed_frames": 0,
+     "reaims_reentry": 1,
+     "windows_opened": 1,
+     "departed": true
+    },
+    {
+     "cam": 3,
+     "phase": 0,
+     "window_start": 10,
+     "target_out_frames": 30,
+     "offset_frac": 2.3,
+     "offset_floor": 1.669,
+     "open_est_frames": 23,
+     "return_est_frames": 38,
+     "left_at": 47,
+     "out_run_max": 30,
+     "returned_at": 99,
+     "cycles_live": 1,
+     "forced_returns": 0,
+     "window_retries": 0,
+     "phase_delayed_frames": 0,
+     "reaims_reentry": 1,
+     "windows_opened": 1,
+     "departed": true
+    },
+    {
+     "cam": 4,
+     "phase": 1,
+     "window_start": 76,
+     "target_out_frames": 30,
+     "offset_frac": 2.3,
+     "offset_floor": 1.786,
+     "open_est_frames": 25,
+     "return_est_frames": 39,
+     "left_at": 94,
+     "out_run_max": 30,
+     "returned_at": 162,
+     "cycles_live": 1,
+     "forced_returns": 0,
+     "window_retries": 0,
+     "phase_delayed_frames": 4,
+     "reaims_reentry": 0,
+     "windows_opened": 1,
+     "departed": true
+    }
+   ],
+   "windows_opened": 4,
+   "cams_departed": 4,
+   "num_cams": 4,
+   "handoff_delayed_frames": 4,
+   "handoff_abort": null,
+   "p_cam_departed": 1.0,
+   "all_blind_max_run": 0,
+   "union_guard": {
+    "enabled": true,
+    "hard_all_blind_max_run": 0,
+    "allow_blind_run": 0,
+    "all_blind_max_run": 0,
+    "violation_frame": null,
+    "hard_union_min_frac": 0.95,
+    "blind_frames": 0,
+    "union_visible_frac": 1.0,
+    "doomed_aborts": 0
+   }
+  }
+ },
+ "smoothing": {
+  "max_step_m": 1.5,
+  "max_accel_m": 0.2,
+  "lag_closure_frac": 0.12,
+  "rot_cap_frac_hfov": 0.06,
+  "max_step_cm": 150.0,
+  "max_accel_cm": 20.0,
+  "rot_cap_deg_per_cam": [
+   4.165,
+   3.666,
+   3.261,
+   2.589
+  ],
+  "oos_slew_half_fov_frac": 0.08,
+  "anchor_stabilize": true,
+  "anchor_stabilize_tau_s": 0.5
+ },
+ "visibility": {
+  "frames": 181,
+  "states": [
+   "visible",
+   "occluded",
+   "out_of_frustum",
+   "target_absent"
+  ],
+  "per_cam_ratio": [
+   {
+    "visible": 0.5912,
+    "occluded": 0.1768,
+    "out_of_frustum": 0.232,
+    "target_absent": 0.0
+   },
+   {
+    "visible": 0.7017,
+    "occluded": 0.1381,
+    "out_of_frustum": 0.1602,
+    "target_absent": 0.0
+   },
+   {
+    "visible": 0.7182,
+    "occluded": 0.0829,
+    "out_of_frustum": 0.1989,
+    "target_absent": 0.0
+   },
+   {
+    "visible": 0.7072,
+    "occluded": 0.0221,
+    "out_of_frustum": 0.2707,
+    "target_absent": 0.0
+   }
+  ],
+  "visible_ratio": [
+   0.5912,
+   0.7017,
+   0.7182,
+   0.7072
+  ],
+  "non_oos_cams": [],
+  "min_visible_ratio_non_oos": null,
+  "target_absent_frames": 0,
+  "bbox_sources": {
+   "actor_bounding_box": 181
+  },
+  "all_blind_max_run_strict": 0,
+  "target_px_percentiles": {
+   "n": 568,
+   "p01": 0,
+   "p05": 0,
+   "p10": 0,
+   "p50": 30493,
+   "p90": 53529,
+   "min": 0,
+   "max": 61454
+  },
+  "gate1_cams": [],
+  "min_visible_ratio_gate1": null
+ },
+ "points": {
+  "enabled": true,
+  "num_points": 256,
+  "frames": 181,
+  "valid_frames": 181,
+  "track_complete_ratio": 1.0,
+  "track_breaks": 0,
+  "dead_points": 0,
+  "in_frustum_ratio": 0.6965,
+  "npz_source": "client_lbs",
+  "sample_log": "n=256 parts=1 skinned=256",
+  "npz_written": true
+ },
+ "depth_qc": {
+  "frames": 724,
+  "sky": 52,
+  "near": 0,
+  "const": 0,
+  "per_cam": [
+   {
+    "frames": 181,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 181,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 181,
+    "sky": 52,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 181,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   }
+  ],
+  "dist": {
+   "saturated_frac_p50": 0.0066,
+   "saturated_frac_p90": 0.4006,
+   "saturated_frac_max": 0.6929,
+   "near_frac_max": 0.2822,
+   "unique_values_min": 985,
+   "unique_values_p50": 13556
+  }
+ },
+ "placement": [
+  {
+   "cam": 1,
+   "hfov_deg": 69.421,
+   "azimuth_deg": 0.0,
+   "want_dist_m": 4.0,
+   "clear_m": 26.0,
+   "dist_m": 4.0,
+   "elev_m": 3.03,
+   "fill_frac": 0.385,
+   "sphere_clamp": "floor",
+   "floor_m": 4.0,
+   "realloc": null,
+   "rejected": false,
+   "avoid_az_deg": null
+  },
+  {
+   "cam": 2,
+   "hfov_deg": 61.095,
+   "azimuth_deg": 56.2,
+   "want_dist_m": 4.17,
+   "clear_m": 26.0,
+   "dist_m": 4.17,
+   "elev_m": 2.44,
+   "fill_frac": 0.42,
+   "sphere_clamp": null,
+   "floor_m": 4.0,
+   "realloc": null,
+   "rejected": false,
+   "avoid_az_deg": null
+  },
+  {
+   "cam": 3,
+   "hfov_deg": 54.35,
+   "azimuth_deg": 101.2,
+   "want_dist_m": 4.68,
+   "clear_m": 26.0,
+   "dist_m": 4.68,
+   "elev_m": 3.65,
+   "fill_frac": 0.42,
+   "sphere_clamp": null,
+   "floor_m": 4.0,
+   "realloc": null,
+   "rejected": false,
+   "avoid_az_deg": null
+  },
+  {
+   "cam": 4,
+   "hfov_deg": 43.152,
+   "azimuth_deg": 135.0,
+   "want_dist_m": 5.87,
+   "clear_m": 26.0,
+   "dist_m": 5.87,
+   "elev_m": 1.66,
+   "fill_frac": 0.42,
+   "sphere_clamp": null,
+   "floor_m": 4.0,
+   "realloc": null,
+   "rejected": false,
+   "avoid_az_deg": null
+  }
+ ],
+ "placement_diag": {
+  "usable_dirs": 28,
+  "probe_dirs": 32
+ },
+ "acquire": [
+  {
+   "attempt": 1,
+   "target_px": [
+    26033,
+    43833,
+    13779,
+    42478
+   ],
+   "framing_ok": true,
+   "framing_bad": [],
+   "usable_dirs": 28,
+   "trace_self_test": "\ud788\ud2b8 1",
+   "depth_bad_cams": [],
+   "place_rejected_cams": [],
+   "preroll": {
+    "enabled": true,
+    "ok": true,
+    "reason": null,
+    "waited_frames": 16,
+    "red_light_frames": 0,
+    "max_queue": 0
+   }
+  }
+ ],
+ "acquire_wall_s": 8.7,
+ "capture_wall_s": 123.2,
+ "wall_per_frame_s": 0.681,
+ "wall_breakdown_s": {
+  "tick": 7.7,
+  "collect": 45.5,
+  "decode": 49.5,
+  "pose": 0.3,
+  "write": 17.0
+ },
+ "sensor_spawn_wall_s": 1.75,
+ "modalities": [
+  "rgb",
+  "seg",
+  "depth"
+ ],
+ "post_process_profile": "MV4D",
+ "abort": null,
+ "view_block_streak_max": 0,
+ "capture_build": "c1",
+ "target_px_median_per_cam": [
+  8489,
+  24184,
+  27264,
+  47712
+ ],
+ "visibility_frac_per_cam": [
+  0.5912,
+  0.7017,
+  0.7182,
+  0.7072
+ ],
+ "visibility_strict_frac_per_cam": [
+  0.597,
+  0.707,
+  0.735,
+  0.713
+ ],
+ "config_diff": {
+  "max_consecutive_skips": 6,
+  "server_restart_every": 30,
+  "server_restart_auto": true,
+  "map_name": "Town10HD_x6",
+  "walker_tiles": [
+   0,
+   1
+  ],
+  "hard_mode": true,
+  "hard_relay_k": 3,
+  "bench_schedule": true
+ },
+ "tm_seed": 260903,
+ "tile_of_target": 1,
+ "target_tile_requested": -1,
+ "walker_forced_to_vehicle": false
+}

Simul-General/clip_00055/source/caption.txt

@@ -0,0 +1 @@
+A dark red Mini Cooper hatchback with black roof and racing stripes pulls away from a museum-district crosswalk and drives on through a curving intersection past sparse traffic, leaving the plaza behind for a wider avenue lined with mid-rise buildings and distant skyscrapers under a partly cloudy sky.

Simul-General/clip_00055/source/meta.json

@@ -0,0 +1,630 @@
+{
+ "spec_gen": "carla1",
+ "mode": "carla_game",
+ "clip": 55,
+ "clip_index": 55,
+ "map": "Town10HD_x6",
+ "num_cams": 4,
+ "resolution": [
+  1280,
+  1280
+ ],
+ "fps": 15.0,
+ "frames": 121,
+ "frame_count": 121,
+ "frame_bucket": 121,
+ "target_class": "vehicle",
+ "target_class_requested": "vehicle",
+ "target_class_fallback": false,
+ "hfov_deg_per_cam": [
+  78.056,
+  80.756,
+  82.64,
+  57.789
+ ],
+ "hfov_range_deg": [
+  57.789,
+  82.64
+ ],
+ "intrinsics_mode": "per_camera",
+ "capture_depth": true,
+ "fixed_timestep": 0.066667,
+ "bucket_retired": false,
+ "target": {
+  "tracked": true,
+  "kind": "vehicle",
+  "bp_id": "vehicle.mini.cooper",
+  "model_id": "vehicle.mini.cooper",
+  "half_extent_m": 2.246,
+  "motion_kinds": [
+   "translation",
+   "random_polyline",
+   "pan_tilt",
+   "arc"
+  ],
+  "semantic_tags": [
+   14
+  ]
+ },
+ "bench": {
+  "mode": true,
+  "clip_id": 55,
+  "bg_ratio": 0.0,
+  "placement_fallbacks": [],
+  "target_reacquires": 0,
+  "placement_ban": {
+   "rejected_cams": [],
+   "reallocations": 0
+  },
+  "target_los_guard": {
+   "enabled": true,
+   "abort_frames": 45,
+   "aborts": 0,
+   "max_streak_frames": 0,
+   "doomed_aborts": 0,
+   "gate1_min_visible": 0.1,
+   "cams": [
+    1,
+    2,
+    3
+   ]
+  },
+  "view_block_guard": {
+   "enabled": true,
+   "aborts": 0,
+   "doomed_aborts": 0,
+   "max_view_block_ratio": 0.6,
+   "streak_guard_retired": true
+  },
+  "depth_probe": {
+   "enabled": true,
+   "per_cam": [
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0205,
+     "near_frac": 0.0,
+     "unique_values": 14901
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0456,
+     "near_frac": 0.0,
+     "unique_values": 24257
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0224,
+     "near_frac": 0.0,
+     "unique_values": 18441
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0005,
+     "near_frac": 0.0,
+     "unique_values": 7397
+    }
+   ],
+   "rejected_cams": [],
+   "probed_cams": 4,
+   "num_cams": 4
+  },
+  "depth_doomed_guard": {
+   "enabled": true,
+   "ratio_max": 0.25,
+   "aborts": 0,
+   "last": {
+    "sky": 0,
+    "near": 0,
+    "const": 0,
+    "total": 484
+   }
+  },
+  "oos_guard": {
+   "enabled": true,
+   "doomed_aborts": 0,
+   "window_retries": 0
+  },
+  "difficulty_requested": "normal",
+  "hard_relay_k_requested": null,
+  "union_guard": {
+   "enabled": false,
+   "hard_all_blind_max_run": null,
+   "allow_blind_run": null,
+   "all_blind_max_run": 0,
+   "violation_frame": null,
+   "hard_union_min_frac": null,
+   "blind_frames": 0,
+   "union_visible_frac": 1.0,
+   "doomed_aborts": 0
+  },
+  "motion_gate": {
+   "required_travel_m": 1.49,
+   "v_max_m_s": 25.0,
+   "travel_m": 65.127,
+   "moving_steps": 120,
+   "steps": 120,
+   "doomed_aborts": 0,
+   "enabled": true,
+   "preroll_waited_frames": 16,
+   "preroll_red_light_frames": 0,
+   "preroll_max_queue": 0,
+   "preroll_rejects": []
+  }
+ },
+ "continuity": {
+  "target_lost_frame": null,
+  "target_survived": true,
+  "enclosed_retries_budget": 6,
+  "min_usable_dirs_used": 29
+ },
+ "oos": {
+  "prob": 0.3,
+  "max_cams": 2,
+  "force_min": 0,
+  "enabled": true,
+  "pan_tilt_scale_half_fov": 1.5,
+  "pan_tilt_cap_deg": [
+   13.6598,
+   14.1323,
+   14.462,
+   43.3418
+  ],
+  "pan_tilt_cap_source": "oos_open_or_tracking",
+  "allowed": [
+   false,
+   false,
+   false,
+   true
+  ],
+  "reasons": [
+   "none",
+   "none",
+   "none",
+   "sampled"
+  ],
+  "effective": [
+   false,
+   false,
+   false,
+   true
+  ],
+  "num_allowed": 1,
+  "num_effective": 1,
+  "cycles_per_cam": [
+   0,
+   0,
+   0,
+   1
+  ],
+  "cycles": [
+   0,
+   0,
+   0,
+   1
+  ],
+  "aim_mode": "offset_from_live_anchor",
+  "segments": [
+   {
+    "cam": 3,
+    "cam_name": "cam04",
+    "start": 37,
+    "end": 63,
+    "kind": "out_of_frustum",
+    "len": 27
+   }
+  ],
+  "departed": [
+   false,
+   false,
+   false,
+   true
+  ],
+  "num_departed": 1,
+  "scheduler": {
+   "enabled": true,
+   "min_clip_frames": 100,
+   "out_run_target_frames": [
+    12,
+    24
+   ],
+   "gate_min_out_frames": 8,
+   "reentry_visible_frames": 8,
+   "segment_min_len": 8,
+   "window_lead_frac": 0.12,
+   "two_window_frames": 181,
+   "slew_half_fov_frac": 0.08,
+   "open_slew": true,
+   "aim_offset_frac": 1.15,
+   "skipped_short_bucket": false,
+   "per_cam": [
+    null,
+    null,
+    null,
+    {
+     "windows": [
+      17
+     ],
+     "target_out_frames": [
+      16
+     ],
+     "opened_at": 17,
+     "left_at": 37,
+     "out_run_max": 16,
+     "returned_at": 79,
+     "cycles_live": 1,
+     "forced_returns": 0,
+     "aim_offset": {
+      "applied": true,
+      "reason": null,
+      "deg": 45.69,
+      "m": 11.24,
+      "cm": 1124.4,
+      "frac": 1.856,
+      "need_frac": 1.806,
+      "radius_m": 2.658,
+      "dist_m": 10.98,
+      "clamped": false
+     },
+     "events": [
+      {
+       "window": 0,
+       "opened_at": 17,
+       "left_at": 37,
+       "out_run": 16,
+       "return_at": 52,
+       "forced": false
+      }
+     ],
+     "open_est_frames": 20,
+     "return_est_frames": 35,
+     "window_retries": 0,
+     "relay_phase": null,
+     "hard_offset_frac": null,
+     "hard_offset_floor": null,
+     "phase_delayed_frames": 0,
+     "reaims_reentry": 0
+    }
+   ]
+  },
+  "schedule": [
+   null,
+   null,
+   null,
+   {
+    "windows": [
+     17
+    ],
+    "target_out_frames": [
+     16
+    ],
+    "opened_at": 17,
+    "left_at": 37,
+    "out_run_max": 16,
+    "returned_at": 79,
+    "cycles_live": 1,
+    "forced_returns": 0,
+    "aim_offset": {
+     "applied": true,
+     "reason": null,
+     "deg": 45.69,
+     "m": 11.24,
+     "cm": 1124.4,
+     "frac": 1.856,
+     "need_frac": 1.806,
+     "radius_m": 2.658,
+     "dist_m": 10.98,
+     "clamped": false
+    },
+    "events": [
+     {
+      "window": 0,
+      "opened_at": 17,
+      "left_at": 37,
+      "out_run": 16,
+      "return_at": 52,
+      "forced": false
+     }
+    ],
+    "open_est_frames": 20,
+    "return_est_frames": 35,
+    "window_retries": 0,
+    "relay_phase": null,
+    "hard_offset_frac": null,
+    "hard_offset_floor": null,
+    "phase_delayed_frames": 0,
+    "reaims_reentry": 0
+   }
+  ],
+  "relay": null
+ },
+ "smoothing": {
+  "max_step_m": 1.5,
+  "max_accel_m": 0.2,
+  "lag_closure_frac": 0.12,
+  "rot_cap_frac_hfov": 0.06,
+  "max_step_cm": 150.0,
+  "max_accel_cm": 20.0,
+  "rot_cap_deg_per_cam": [
+   4.683,
+   4.845,
+   4.958,
+   3.467
+  ],
+  "oos_slew_half_fov_frac": 0.08,
+  "anchor_stabilize": true,
+  "anchor_stabilize_tau_s": 0.5
+ },
+ "visibility": {
+  "frames": 121,
+  "states": [
+   "visible",
+   "occluded",
+   "out_of_frustum",
+   "target_absent"
+  ],
+  "per_cam_ratio": [
+   {
+    "visible": 1.0,
+    "occluded": 0.0,
+    "out_of_frustum": 0.0,
+    "target_absent": 0.0
+   },
+   {
+    "visible": 0.9917,
+    "occluded": 0.0083,
+    "out_of_frustum": 0.0,
+    "target_absent": 0.0
+   },
+   {
+    "visible": 1.0,
+    "occluded": 0.0,
+    "out_of_frustum": 0.0,
+    "target_absent": 0.0
+   },
+   {
+    "visible": 0.7603,
+    "occluded": 0.0413,
+    "out_of_frustum": 0.1983,
+    "target_absent": 0.0
+   }
+  ],
+  "visible_ratio": [
+   1.0,
+   0.9917,
+   1.0,
+   0.7603
+  ],
+  "non_oos_cams": [
+   1,
+   2,
+   3
+  ],
+  "min_visible_ratio_non_oos": 0.9917,
+  "target_absent_frames": 0,
+  "bbox_sources": {
+   "actor_bounding_box": 121
+  },
+  "all_blind_max_run_strict": 0,
+  "target_px_percentiles": {
+   "n": 460,
+   "p01": 0,
+   "p05": 32713,
+   "p10": 43978,
+   "p50": 65792,
+   "p90": 96636,
+   "min": 0,
+   "max": 101718
+  },
+  "gate1_cams": [
+   1,
+   2,
+   3
+  ],
+  "min_visible_ratio_gate1": 0.9917
+ },
+ "points": {
+  "enabled": true,
+  "num_points": 256,
+  "frames": 121,
+  "valid_frames": 121,
+  "track_complete_ratio": 1.0,
+  "track_breaks": 0,
+  "dead_points": 0,
+  "in_frustum_ratio": 0.9257,
+  "npz_source": "client_lbs",
+  "sample_log": "n=256 parts=16 skinned=192",
+  "npz_written": true
+ },
+ "depth_qc": {
+  "frames": 484,
+  "sky": 0,
+  "near": 0,
+  "const": 0,
+  "per_cam": [
+   {
+    "frames": 121,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 121,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 121,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 121,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   }
+  ],
+  "dist": {
+   "saturated_frac_p50": 0.014,
+   "saturated_frac_p90": 0.1213,
+   "saturated_frac_max": 0.258,
+   "near_frac_max": 0.2335,
+   "unique_values_min": 5223,
+   "unique_values_p50": 21604
+  }
+ },
+ "placement": [
+  {
+   "cam": 1,
+   "hfov_deg": 78.056,
+   "azimuth_deg": 0.0,
+   "want_dist_m": 7.96,
+   "clear_m": 26.0,
+   "dist_m": 7.96,
+   "elev_m": 3.07,
+   "fill_frac": 0.42,
+   "sphere_clamp": null,
+   "floor_m": 4.49,
+   "realloc": null,
+   "rejected": false,
+   "avoid_az_deg": null
+  },
+  {
+   "cam": 2,
+   "hfov_deg": 80.756,
+   "azimuth_deg": 45.0,
+   "want_dist_m": 7.7,
+   "clear_m": 26.0,
+   "dist_m": 7.7,
+   "elev_m": 2.11,
+   "fill_frac": 0.42,
+   "sphere_clamp": null,
+   "floor_m": 4.49,
+   "realloc": null,
+   "rejected": false,
+   "avoid_az_deg": null
+  },
+  {
+   "cam": 3,
+   "hfov_deg": 82.64,
+   "azimuth_deg": 78.8,
+   "want_dist_m": 7.53,
+   "clear_m": 26.0,
+   "dist_m": 7.53,
+   "elev_m": 1.82,
+   "fill_frac": 0.42,
+   "sphere_clamp": null,
+   "floor_m": 4.49,
+   "realloc": null,
+   "rejected": false,
+   "avoid_az_deg": null
+  },
+  {
+   "cam": 4,
+   "hfov_deg": 57.789,
+   "azimuth_deg": 135.0,
+   "want_dist_m": 10.69,
+   "clear_m": 26.0,
+   "dist_m": 10.69,
+   "elev_m": 1.55,
+   "fill_frac": 0.42,
+   "sphere_clamp": null,
+   "floor_m": 4.49,
+   "realloc": null,
+   "rejected": false,
+   "avoid_az_deg": null
+  }
+ ],
+ "placement_diag": {
+  "usable_dirs": 29,
+  "probe_dirs": 32
+ },
+ "acquire": [
+  {
+   "attempt": 1,
+   "target_px": [
+    48085,
+    63332,
+    64340,
+    73090
+   ],
+   "framing_ok": true,
+   "framing_bad": [],
+   "usable_dirs": 29,
+   "trace_self_test": "\ud788\ud2b8 3",
+   "depth_bad_cams": [],
+   "place_rejected_cams": [],
+   "preroll": {
+    "enabled": true,
+    "ok": true,
+    "reason": null,
+    "waited_frames": 16,
+    "red_light_frames": 0,
+    "max_queue": 0
+   }
+  }
+ ],
+ "acquire_wall_s": 8.9,
+ "capture_wall_s": 88.5,
+ "wall_per_frame_s": 0.732,
+ "wall_breakdown_s": {
+  "tick": 5.5,
+  "collect": 35.5,
+  "decode": 32.5,
+  "pose": 0.2,
+  "write": 11.1
+ },
+ "sensor_spawn_wall_s": 1.87,
+ "modalities": [
+  "rgb",
+  "seg",
+  "depth"
+ ],
+ "post_process_profile": "MV4D",
+ "abort": null,
+ "view_block_streak_max": 0,
+ "capture_build": "c1",
+ "target_px_median_per_cam": [
+  86701,
+  54559,
+  52556,
+  68641
+ ],
+ "visibility_frac_per_cam": [
+  1.0,
+  0.9917,
+  1.0,
+  0.7603
+ ],
+ "visibility_strict_frac_per_cam": [
+  1.0,
+  0.992,
+  1.0,
+  0.777
+ ],
+ "config_diff": {
+  "max_consecutive_skips": 6,
+  "server_restart_every": 30,
+  "server_restart_auto": true,
+  "map_name": "Town10HD_x6",
+  "walker_tiles": [
+   0,
+   1
+  ],
+  "bench_schedule": true
+ },
+ "tm_seed": 260903,
+ "tile_of_target": 5,
+ "target_tile_requested": -1,
+ "walker_forced_to_vehicle": false
+}

Simul-General/clip_00078/captions.json

@@ -0,0 +1,29 @@
+{
+ "caption": "A woman with short brown hair, a green jacket, gray pants, and teal shoes walks along a curving sidewalk beside an empty multi-lane street, continuing forward past a lamppost and no-parking sign into an open paved plaza near shops on a bright, sunny day.",
+ "structured": {
+  "target_class": "pedestrian",
+  "semantic_tag": "pedestrian",
+  "semantic_tag_id": 12,
+  "blueprint": "walker.pedestrian.0033",
+  "motion_kinds": {
+   "view0": "translation",
+   "view1": "translation",
+   "view2": "static",
+   "view3": "arc"
+  },
+  "motion_kinds_note": "vendor camera motion labels relative to the target-following anchor; every camera moves in the world"
+ },
+ "legacy_prompts": {
+  "view0": "A woman with short brown hair, a green jacket, gray pants, and teal shoes walks along a curving sidewalk beside an empty multi-lane street, continuing forward past a lamppost and no-parking sign into an open paved plaza near shops on a bright, sunny day. The camera travels about 4.9 m.",
+  "view1": "A woman with short brown hair, a green jacket, gray pants, and teal shoes walks along a curving sidewalk beside an empty multi-lane street, continuing forward past a lamppost and no-parking sign into an open paved plaza near shops on a bright, sunny day. The camera travels about 3.6 m, panning right.",
+  "view2": "A woman with short brown hair, a green jacket, gray pants, and teal shoes walks along a curving sidewalk beside an empty multi-lane street, continuing forward past a lamppost and no-parking sign into an open paved plaza near shops on a bright, sunny day. The camera travels about 5.9 m.",
+  "view3": "A woman with short brown hair, a green jacket, gray pants, and teal shoes walks along a curving sidewalk beside an empty multi-lane street, continuing forward past a lamppost and no-parking sign into an open paved plaza near shops on a bright, sunny day. The camera travels about 8.1 m, panning left."
+ },
+ "camera_phrases_corrected": {
+  "view0": "The camera travels about 4.9 m, panning left.",
+  "view1": "The camera travels about 3.6 m, panning left.",
+  "view2": "The camera travels about 5.9 m.",
+  "view3": "The camera travels about 8.1 m, panning left."
+ },
+ "camera_phrase_note": "legacy_prompts = caption + ' ' + the pre-release camera phrase of view k exactly as given to the pre-release baselines: frames 16 -> 80, float32 poses, pan = atan2(f_x, f_z), which is wrong in this z-up world. camera_phrases_corrected uses the same wording rules (static if moved < 0.05 m and |pan| < 2 deg, pan word if |pan| > 8 deg) with the z-up heading atan2(f_y, f_x) (counter-clockwise seen from above = panning left), except that a camera moving < 0.05 m with |pan| >= 2 deg 'rotates in place, panning <dir>'."
+}

Simul-General/clip_00078/labels/oos_segments.json

@@ -0,0 +1,44 @@
+{
+ "note": "Out-of-sight segments (vendor visibility.json oos_segments: maximal runs >= 8 frames of visibility_strict, start/end inclusive local frames; 'cam' = 0-based view index) and the per-view departure schedule. relay = meta.oos.relay of hard clips (null otherwise).",
+ "segment_note": "derived from `visibility_strict` (frame-level is authoritative); maximal runs only, no merging/smoothing; min length 8f applies to this list only; start/end inclusive",
+ "segments": [],
+ "per_view": [
+  {
+   "view": "view0",
+   "source_view": "cam01",
+   "oos_allowed": false,
+   "oos_reason": "none",
+   "oos_effective": false,
+   "oos_departed": false,
+   "oos_cycles": 0
+  },
+  {
+   "view": "view1",
+   "source_view": "cam02",
+   "oos_allowed": false,
+   "oos_reason": "none",
+   "oos_effective": false,
+   "oos_departed": false,
+   "oos_cycles": 0
+  },
+  {
+   "view": "view2",
+   "source_view": "cam03",
+   "oos_allowed": false,
+   "oos_reason": "none",
+   "oos_effective": false,
+   "oos_departed": false,
+   "oos_cycles": 0
+  },
+  {
+   "view": "view3",
+   "source_view": "cam04",
+   "oos_allowed": false,
+   "oos_reason": "none",
+   "oos_effective": false,
+   "oos_departed": false,
+   "oos_cycles": 0
+  }
+ ],
+ "relay": null
+}

Simul-General/clip_00078/sample.json

@@ -0,0 +1,266 @@
+{
+ "schema": "vpm-worldbench/sample/1.0",
+ "uid": "Simul-General/clip_00078",
+ "subset": "Simul-General",
+ "id": "clip_00078",
+ "source": {
+  "dataset": "HyperWorld-Bench-General",
+  "repo": "hf:rooty2020/HyperWorld-Bench-General",
+  "revision": "ca94a48704dc230bf39202f3c672f356aacb21c7",
+  "id": "clip_00078",
+  "path": "bench_people&car/clip_00078"
+ },
+ "n_views": 4,
+ "n_frames": 81,
+ "fps": 15.0,
+ "duration_s": 5.4,
+ "views": [
+  {
+   "name": "view0",
+   "video": "videos/view0.mp4",
+   "width": 1280,
+   "height": 1280,
+   "source_name": "cam01",
+   "role": null,
+   "static": false,
+   "hfov_deg": 77.258,
+   "motion_kind_rel_anchor": "translation",
+   "max_travel_m": 5.8934,
+   "max_rotation_deg": 33.103
+  },
+  {
+   "name": "view1",
+   "video": "videos/view1.mp4",
+   "width": 1280,
+   "height": 1280,
+   "source_name": "cam02",
+   "role": null,
+   "static": false,
+   "hfov_deg": 33.404,
+   "motion_kind_rel_anchor": "translation",
+   "max_travel_m": 4.4761,
+   "max_rotation_deg": 28.759
+  },
+  {
+   "name": "view2",
+   "video": "videos/view2.mp4",
+   "width": 1280,
+   "height": 1280,
+   "source_name": "cam03",
+   "role": null,
+   "static": false,
+   "hfov_deg": 52.851,
+   "motion_kind_rel_anchor": "static",
+   "max_travel_m": 7.1997,
+   "max_rotation_deg": 0.0
+  },
+  {
+   "name": "view3",
+   "video": "videos/view3.mp4",
+   "width": 1280,
+   "height": 1280,
+   "source_name": "cam04",
+   "role": null,
+   "static": false,
+   "hfov_deg": 48.26,
+   "motion_kind_rel_anchor": "arc",
+   "max_travel_m": 9.9715,
+   "max_rotation_deg": 32.627
+  }
+ ],
+ "world": {
+  "description": "CARLA Town10HD_x6 map frame as delivered by the vendor in right-handed metres (X_ue/100, -Y_ue/100, Z_ue/100), +z up, ground at z ~ 0, recentred per sample: X = X_source - o with o = (x, y, 0) of the target surface-point centroid at frame 0.",
+  "units": "m",
+  "handedness": "right",
+  "up": "+z",
+  "origin_in_source": [
+   90.4672172718678,
+   -137.96359411182084,
+   0.0
+  ],
+  "to_source": {
+   "note": "X_source = A @ X + b; source = vendor right-handed metre world of cameras.json extrinsic_w2c / c2w",
+   "A": [
+    [
+     1.0,
+     0.0,
+     0.0
+    ],
+    [
+     0.0,
+     1.0,
+     0.0
+    ],
+    [
+     0.0,
+     0.0,
+     1.0
+    ]
+   ],
+   "b": [
+    90.4672172718678,
+    -137.96359411182084,
+    0.0
+   ],
+   "source_units": "m"
+  },
+  "to_ue_cm": {
+   "note": "X_ue = A @ X + b; Unreal/CARLA left-handed centimetre world of ue_pose.location_cm and visibility.json *_cm",
+   "A": [
+    [
+     100.0,
+     0.0,
+     0.0
+    ],
+    [
+     0.0,
+     -100.0,
+     0.0
+    ],
+    [
+     0.0,
+     0.0,
+     100.0
+    ]
+   ],
+   "b": [
+    9046.72172718678,
+    13796.359411182084,
+    0.0
+   ],
+   "source_units": "cm"
+  }
+ },
+ "files": {
+  "cameras": "cameras.npz",
+  "tracks3d": "tracks3d.npz",
+  "captions": "captions.json",
+  "depth": "depth/depth.zip",
+  "labels": {
+   "target": "labels/target.npz",
+   "oos_segments": "labels/oos_segments.json"
+  }
+ },
+ "tracks": {
+  "n_points": 256,
+  "groups": [
+   "target"
+  ],
+  "visible_outside_frustum_dropped": 0,
+  "default_report_group": "target",
+  "visibility_rule": "visible = in_frustum AND depth test against depth.zip of that view and frame at the nearest pixel (rint(u), rint(v)) of the native 1280x1280 grid, (u, v) projected with the stored K (OpenCV pixel centres, cx = cy = 639.5; = floor(u), floor(v) with K_delivered): |D - z| <= clip(0.02 z, 0.05 m, 0.15 m), D = planar depth in metres, 65535 (sky) never passes. Strict rule: area-sampled points on the far side or inside the target (vehicle interior/glass, eyes) fail it; the tolerance is 2 % of the distance, at least 5 cm and at most 15 cm. in_frustum = recomputed with the stored K (valid, z > 0.05 m and -0.5 <= u, v < 1279.5, i.e. the vendor in_frustum_cam rule z > 0 and 0 <= u, v < 1280 with the delivered K; agreement with in_frustum_cam in stats). The legacy pre-release protocol used the vendor in_frustum_cam alone (frustum-only).",
+  "accuracy": "exact simulator GT: 256 triangle-area-weighted surface points moved by linear blend skinning of the CARLA bone transforms (rigid propagation for unskinned vehicle parts); no cloth/hair secondary motion; other traffic is untracked. Stored as float32 (< 4e-6 m rounding within 100 m of the origin). Depth is quantised to 1 cm. K = delivered intrinsics with cx = cy = 640 - 0.5 = 639.5: the vendor uses the CARLA/UE pixel-corner convention (depth-vs-track residuals are lowest with the corrected K); cameras.npz K_delivered keeps the delivered matrix (pre-release numbers used 640, docs/DATA_FORMAT.md §1).",
+  "depth_test": {
+   "pixel": "rint",
+   "K": "cameras.npz K (OpenCV pixel centres)",
+   "tol_rel": 0.02,
+   "tol_min_m": 0.05,
+   "tol_max_m": 0.15,
+   "grid": [
+    1280,
+    1280
+   ],
+   "invalid_values": [
+    65535
+   ]
+  },
+  "stats": {
+   "n_in_frustum": 82944,
+   "n_visible": 50367,
+   "visible_frac_of_in_frustum": 0.6072,
+   "in_frustum_sky_hits": 0,
+   "n_visible_other_pixel_rule": {
+    "rint_K_delivered": 49765
+   },
+   "visible_abs_dz_m": {
+    "median": 0.011116,
+    "p90": 0.07986
+   },
+   "in_frustum_recomputed_agreement": 1.0,
+   "in_frustum_recomputed_mismatches": 0
+  },
+  "part_note": "part = vendor point_section (mesh section / material slot, '<mesh>/<material>'; a name that occurs more than once gets '#<section index>' appended, codes unchanged); component = mesh component (doors, glass, lights for vehicles); point_skinned = driven by bone skinning (else rigid).",
+  "extras": {
+   "component": "(N,) int16 index into component_names: mesh component of the point (e.g. body, doors, glass, lights for vehicles)",
+   "component_names": "(C,) str component names",
+   "component_mesh_names": "(C,) str mesh file of each component",
+   "point_skinned": "(N,) bool, moved by bone skinning (else rigid with its component)"
+  }
+ },
+ "depth": {
+  "file": "depth/depth.zip",
+  "member": "{source_view}/frame_{t:04d}.png",
+  "view_member_names": [
+   "cam01",
+   "cam02",
+   "cam03",
+   "cam04"
+  ],
+  "dtype": "uint16",
+  "unit_scale": 0.01,
+  "invalid_values": [
+   65535
+  ],
+  "valid_max_m": 655.34,
+  "width": 1280,
+  "height": 1280,
+  "kind": "rendered (synthetic GT)",
+  "planar_z": true,
+  "note": "CARLA sensor.camera.depth decoded by the vendor to linear planar z in cm, lossless 16-bit grayscale PNG, pixel-aligned with the RGB video; 65535 = sky/far clamp (no zeros occur). The pre-release loader additionally discarded depth > 80 m."
+ },
+ "caption": "A woman with short brown hair, a green jacket, gray pants, and teal shoes walks along a curving sidewalk beside an empty multi-lane street, continuing forward past a lamppost and no-parking sign into an open paved plaza near shops on a bright, sunny day.",
+ "attributes": {
+  "category": "pedestrian",
+  "subcategory": "pedestrian",
+  "semantic_tag": 12,
+  "blueprint": "walker.pedestrian.0033",
+  "difficulty": "normal",
+  "hard_relay_k": null,
+  "camera_motion_kinds": [
+   "translation",
+   "translation",
+   "static",
+   "arc"
+  ],
+  "all_cameras_moving": true,
+  "map": "Town10HD_x6",
+  "tile": 0,
+  "rotation_only_views": [],
+  "oos_departed_views": [],
+  "n_frames_target_invisible_all_views": 0,
+  "n_default_queries_at_ref_frame": 255,
+  "visible_frac_of_in_frustum": 0.6072,
+  "quality_ok": true,
+  "abort": null,
+  "source_frame_range": [
+   3671,
+   3751
+  ],
+  "flag_rules": {
+   "quality_ok_false": "the vendor capture gate .capture_done quality_ok is false",
+   "target_not_visible_in_view_at_ref_frame": "at frame 16 the target is not visible in that view by either trigger: (a) the vendor target state (labels/target.npz state_strict) is not 'visible' (instance mask < 300 px, out of frustum or absent), or (b) the view has zero visible GT track points (tracks3d visible, depth test)",
+   "target_invisible_all_views_some_frames": "at some frame the vendor target state (state_strict) is not 'visible' in any view",
+   "caption_mentions_leaving_view": "the caption says the target leaves the view (out of/from view|frame|sight, leaves the view|frame, off-screen, disappear*)",
+   "few_default_queries_at_ref_frame": "fewer than 20 points with default_gt and visible in >= 1 view at frame 16 (exact count in attributes.n_default_queries_at_ref_frame)"
+  }
+ },
+ "flags": [],
+ "files_sha256": {
+  "cameras.npz": "2989489a63ab4395e422aff95b3d5da1bdfe24e24e5eeca5f00092cdd57cb34a",
+  "captions.json": "4bc3db54c05d43eafeacfd73c643b5a139f60f558ce078c16242cae6d37c95cb",
+  "depth/depth.zip": "eb7078a9b13948e43d96640fdb03b891053a7fd24123ac01523d16992ec0e14b",
+  "labels/oos_segments.json": "b947cf6462023fd22b02443f58ec8d86d38f33f770cdb40be418a0dc6a47e490",
+  "labels/target.npz": "b71c5a8c4ee5051360cae78445ccaa45fd3d0c0a34814dc2e9d354bf9b44271f",
+  "source/cameras.json": "268c2b2a7a77357bf242190e9f8bfc1c58793d7401f121a9da540bd0b999cb03",
+  "source/caption.txt": "d5bbd53d718b5ce64fadc7231968d1a7a3c6c5cbe856e0e78a1e5dfbf5abd03f",
+  "source/capture_done.json": "3c15d823dcdcc127e2d30a51b16a9328ecc8b528eacf78bee20e5482e09c50d2",
+  "source/meta.json": "5003ea4cb7832c90633e3b57c208593659df0c98f72e03f600db2c3564b2c2a8",
+  "source/points_target.npz": "821bb67b60b250a8b273999490e2cb41c9ca18ac2ff3da2b5118a23050f10ed7",
+  "source/visibility.json": "4a3e0a54904a8afef475cfb9429ffd1218b0ddd3e1170e07f99a2993f48bd22e",
+  "tracks3d.npz": "6030c148e42188c793f6fa4a66f76f9d4fa7de6bd8484d11d4c3ac843ec94cee",
+  "videos/view0.mp4": "307f289316d63ad8593bc2cb4ca0afdc74611f1dfa06faf81bf57bd965d91fbc",
+  "videos/view1.mp4": "dcad379db2b3f3f4c0c597a938e10a06b92dc8552498b96ce86b6e03af0b11e3",
+  "videos/view2.mp4": "99d2cbd621b38bc8cfeb94c31c8bdc3f3460d8b371f39c1ec03c76b2ae3a3374",
+  "videos/view3.mp4": "edd8bdef24395fa85fd7c0625a7d0464fd8e59384f05c834f0c07228b60f3ee2"
+ }
+}

Simul-General/clip_00078/source/caption.txt

@@ -0,0 +1 @@
+A woman with short brown hair, a green jacket, gray pants, and teal shoes walks along a curving sidewalk beside an empty multi-lane street, continuing forward past a lamppost and no-parking sign into an open paved plaza near shops on a bright, sunny day.

Simul-General/clip_00078/source/capture_done.json

@@ -0,0 +1,241 @@
+{
+ "clip": 78,
+ "spec_gen": "carla1",
+ "map": "Town10HD_x6",
+ "target_bp_id": "walker.pedestrian.0033",
+ "target_kind": "walker",
+ "target_class": "pedestrian",
+ "target_class_fallback": false,
+ "target_model": "walker.pedestrian.0033",
+ "target_lost_frame": null,
+ "bucket_retired": false,
+ "num_cams": 4,
+ "frames": 81,
+ "frame_count": 81,
+ "frame_bucket": 81,
+ "hfov_deg_per_cam": [
+  77.258,
+  33.404,
+  52.851,
+  48.26
+ ],
+ "oos_allowed": [
+  false,
+  false,
+  false,
+  false
+ ],
+ "oos_effective": [
+  false,
+  false,
+  false,
+  false
+ ],
+ "oos_departed": [
+  false,
+  false,
+  false,
+  false
+ ],
+ "oos_cycles": [
+  0,
+  0,
+  0,
+  0
+ ],
+ "oos_cycles_per_cam": [
+  0,
+  0,
+  0,
+  0
+ ],
+ "oos_forced_returns": 0,
+ "visible_ratio": [
+  0.9136,
+  1.0,
+  1.0,
+  1.0
+ ],
+ "visibility_frac_per_cam": [
+  0.9136,
+  1.0,
+  1.0,
+  1.0
+ ],
+ "min_visible_ratio_non_oos": 0.9136,
+ "points_ok": true,
+ "points_n": 256,
+ "points_track_complete_ratio": 1.0,
+ "points_track_breaks": 0,
+ "points_in_frustum_ratio": 1.0,
+ "num_points": 256,
+ "track_breaks": 0,
+ "depth_qc": {
+  "frames": 324,
+  "sky": 0,
+  "near": 0,
+  "const": 0,
+  "per_cam": [
+   {
+    "frames": 81,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 81,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 81,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 81,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   }
+  ],
+  "dist": {
+   "saturated_frac_p50": 0.0,
+   "saturated_frac_p90": 0.0082,
+   "saturated_frac_max": 0.0102,
+   "near_frac_max": 0.2375,
+   "unique_values_min": 1548,
+   "unique_values_p50": 7669
+  }
+ },
+ "view_blocked": false,
+ "view_block_ratios": [
+  0.086,
+  0.0,
+  0.0,
+  0.0
+ ],
+ "save_errors": 0,
+ "flush_ok": true,
+ "quality_ok": true,
+ "modalities": [
+  "rgb",
+  "seg",
+  "depth"
+ ],
+ "capture_build": "c1",
+ "bench_guards": {
+  "placement_ban": {
+   "rejected_cams": [],
+   "reallocations": 0
+  },
+  "target_los_guard": {
+   "enabled": true,
+   "abort_frames": 45,
+   "aborts": 0,
+   "max_streak_frames": 0,
+   "doomed_aborts": 0,
+   "gate1_min_visible": 0.1,
+   "cams": [
+    1,
+    2,
+    3,
+    4
+   ]
+  },
+  "view_block_guard": {
+   "enabled": true,
+   "aborts": 0,
+   "doomed_aborts": 0,
+   "max_view_block_ratio": 0.6,
+   "streak_guard_retired": true
+  },
+  "depth_probe": {
+   "enabled": true,
+   "per_cam": [
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0128,
+     "near_frac": 0.0,
+     "unique_values": 14400
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0,
+     "near_frac": 0.0,
+     "unique_values": 6908
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0074,
+     "near_frac": 0.0,
+     "unique_values": 10010
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0,
+     "near_frac": 0.0,
+     "unique_values": 2835
+    }
+   ],
+   "rejected_cams": [],
+   "probed_cams": 4,
+   "num_cams": 4
+  },
+  "depth_doomed_guard": {
+   "enabled": true,
+   "ratio_max": 0.25,
+   "aborts": 0,
+   "last": {
+    "sky": 0,
+    "near": 0,
+    "const": 0,
+    "total": 324
+   }
+  },
+  "oos_guard": {
+   "enabled": true,
+   "doomed_aborts": 0,
+   "window_retries": 0
+  },
+  "union_guard": {
+   "enabled": false,
+   "hard_all_blind_max_run": null,
+   "allow_blind_run": null,
+   "all_blind_max_run": 0,
+   "violation_frame": null,
+   "hard_union_min_frac": null,
+   "blind_frames": 0,
+   "union_visible_frac": 1.0,
+   "doomed_aborts": 0
+  },
+  "motion_gate": {
+   "required_travel_m": 1.0,
+   "v_max_m_s": 1.6,
+   "travel_m": 7.335,
+   "moving_steps": 80,
+   "steps": 80,
+   "doomed_aborts": 0,
+   "enabled": true,
+   "preroll_waited_frames": 16,
+   "preroll_red_light_frames": 0,
+   "preroll_max_queue": 0,
+   "preroll_rejects": []
+  }
+ },
+ "difficulty_requested": "normal",
+ "hard_relay_k_requested": null,
+ "capture_wall_s": 56.6,
+ "capture_wall_sec": 56.6,
+ "abort": null
+}

Simul-General/clip_00078/source/meta.json

@@ -0,0 +1,538 @@
+{
+ "spec_gen": "carla1",
+ "mode": "carla_game",
+ "clip": 78,
+ "clip_index": 78,
+ "map": "Town10HD_x6",
+ "num_cams": 4,
+ "resolution": [
+  1280,
+  1280
+ ],
+ "fps": 15.0,
+ "frames": 81,
+ "frame_count": 81,
+ "frame_bucket": 81,
+ "target_class": "pedestrian",
+ "target_class_requested": "pedestrian",
+ "target_class_fallback": false,
+ "hfov_deg_per_cam": [
+  77.258,
+  33.404,
+  52.851,
+  48.26
+ ],
+ "hfov_range_deg": [
+  33.404,
+  77.258
+ ],
+ "intrinsics_mode": "per_camera",
+ "capture_depth": true,
+ "fixed_timestep": 0.066667,
+ "bucket_retired": false,
+ "target": {
+  "tracked": true,
+  "kind": "walker",
+  "bp_id": "walker.pedestrian.0033",
+  "model_id": "walker.pedestrian.0033",
+  "half_extent_m": 0.911,
+  "motion_kinds": [
+   "translation",
+   "translation",
+   "static",
+   "arc"
+  ],
+  "semantic_tags": [
+   12
+  ]
+ },
+ "bench": {
+  "mode": true,
+  "clip_id": 78,
+  "bg_ratio": 0.0,
+  "placement_fallbacks": [],
+  "target_reacquires": 0,
+  "placement_ban": {
+   "rejected_cams": [],
+   "reallocations": 0
+  },
+  "target_los_guard": {
+   "enabled": true,
+   "abort_frames": 45,
+   "aborts": 0,
+   "max_streak_frames": 0,
+   "doomed_aborts": 0,
+   "gate1_min_visible": 0.1,
+   "cams": [
+    1,
+    2,
+    3,
+    4
+   ]
+  },
+  "view_block_guard": {
+   "enabled": true,
+   "aborts": 0,
+   "doomed_aborts": 0,
+   "max_view_block_ratio": 0.6,
+   "streak_guard_retired": true
+  },
+  "depth_probe": {
+   "enabled": true,
+   "per_cam": [
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0128,
+     "near_frac": 0.0,
+     "unique_values": 14400
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0,
+     "near_frac": 0.0,
+     "unique_values": 6908
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0074,
+     "near_frac": 0.0,
+     "unique_values": 10010
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0,
+     "near_frac": 0.0,
+     "unique_values": 2835
+    }
+   ],
+   "rejected_cams": [],
+   "probed_cams": 4,
+   "num_cams": 4
+  },
+  "depth_doomed_guard": {
+   "enabled": true,
+   "ratio_max": 0.25,
+   "aborts": 0,
+   "last": {
+    "sky": 0,
+    "near": 0,
+    "const": 0,
+    "total": 324
+   }
+  },
+  "oos_guard": {
+   "enabled": true,
+   "doomed_aborts": 0,
+   "window_retries": 0
+  },
+  "difficulty_requested": "normal",
+  "hard_relay_k_requested": null,
+  "union_guard": {
+   "enabled": false,
+   "hard_all_blind_max_run": null,
+   "allow_blind_run": null,
+   "all_blind_max_run": 0,
+   "violation_frame": null,
+   "hard_union_min_frac": null,
+   "blind_frames": 0,
+   "union_visible_frac": 1.0,
+   "doomed_aborts": 0
+  },
+  "motion_gate": {
+   "required_travel_m": 1.0,
+   "v_max_m_s": 1.6,
+   "travel_m": 7.335,
+   "moving_steps": 80,
+   "steps": 80,
+   "doomed_aborts": 0,
+   "enabled": true,
+   "preroll_waited_frames": 16,
+   "preroll_red_light_frames": 0,
+   "preroll_max_queue": 0,
+   "preroll_rejects": []
+  }
+ },
+ "continuity": {
+  "target_lost_frame": null,
+  "target_survived": true,
+  "enclosed_retries_budget": 6,
+  "min_usable_dirs_used": 32
+ },
+ "oos": {
+  "prob": 0.3,
+  "max_cams": 2,
+  "force_min": 0,
+  "enabled": true,
+  "pan_tilt_scale_half_fov": 1.5,
+  "pan_tilt_cap_deg": [
+   13.5201,
+   5.8457,
+   9.2489,
+   8.4455
+  ],
+  "pan_tilt_cap_source": "oos_open_or_tracking",
+  "allowed": [
+   false,
+   false,
+   false,
+   false
+  ],
+  "reasons": [
+   "none",
+   "none",
+   "none",
+   "none"
+  ],
+  "effective": [
+   false,
+   false,
+   false,
+   false
+  ],
+  "num_allowed": 0,
+  "num_effective": 0,
+  "cycles_per_cam": [
+   0,
+   0,
+   0,
+   0
+  ],
+  "cycles": [
+   0,
+   0,
+   0,
+   0
+  ],
+  "aim_mode": "offset_from_live_anchor",
+  "segments": [],
+  "departed": [
+   false,
+   false,
+   false,
+   false
+  ],
+  "num_departed": 0,
+  "scheduler": {
+   "enabled": true,
+   "min_clip_frames": 100,
+   "out_run_target_frames": [
+    12,
+    24
+   ],
+   "gate_min_out_frames": 8,
+   "reentry_visible_frames": 8,
+   "segment_min_len": 8,
+   "window_lead_frac": 0.12,
+   "two_window_frames": 181,
+   "slew_half_fov_frac": 0.08,
+   "open_slew": true,
+   "aim_offset_frac": 1.15,
+   "skipped_short_bucket": true,
+   "per_cam": [
+    null,
+    null,
+    null,
+    null
+   ]
+  },
+  "schedule": [
+   null,
+   null,
+   null,
+   null
+  ],
+  "relay": null
+ },
+ "smoothing": {
+  "max_step_m": 1.5,
+  "max_accel_m": 0.2,
+  "lag_closure_frac": 0.12,
+  "rot_cap_frac_hfov": 0.06,
+  "max_step_cm": 150.0,
+  "max_accel_cm": 20.0,
+  "rot_cap_deg_per_cam": [
+   4.635,
+   2.004,
+   3.171,
+   2.896
+  ],
+  "oos_slew_half_fov_frac": 0.08,
+  "anchor_stabilize": true,
+  "anchor_stabilize_tau_s": 0.5
+ },
+ "visibility": {
+  "frames": 81,
+  "states": [
+   "visible",
+   "occluded",
+   "out_of_frustum",
+   "target_absent"
+  ],
+  "per_cam_ratio": [
+   {
+    "visible": 0.9136,
+    "occluded": 0.0864,
+    "out_of_frustum": 0.0,
+    "target_absent": 0.0
+   },
+   {
+    "visible": 1.0,
+    "occluded": 0.0,
+    "out_of_frustum": 0.0,
+    "target_absent": 0.0
+   },
+   {
+    "visible": 1.0,
+    "occluded": 0.0,
+    "out_of_frustum": 0.0,
+    "target_absent": 0.0
+   },
+   {
+    "visible": 1.0,
+    "occluded": 0.0,
+    "out_of_frustum": 0.0,
+    "target_absent": 0.0
+   }
+  ],
+  "visible_ratio": [
+   0.9136,
+   1.0,
+   1.0,
+   1.0
+  ],
+  "non_oos_cams": [
+   1,
+   2,
+   3,
+   4
+  ],
+  "min_visible_ratio_non_oos": 0.9136,
+  "target_absent_frames": 0,
+  "bbox_sources": {
+   "actor_bounding_box": 81
+  },
+  "all_blind_max_run_strict": 0,
+  "target_px_percentiles": {
+   "n": 324,
+   "p01": 0,
+   "p05": 8761,
+   "p10": 10101,
+   "p50": 34674,
+   "p90": 77182,
+   "min": 0,
+   "max": 115207
+  },
+  "gate1_cams": [
+   1,
+   2,
+   3,
+   4
+  ],
+  "min_visible_ratio_gate1": 0.9136
+ },
+ "points": {
+  "enabled": true,
+  "num_points": 256,
+  "frames": 81,
+  "valid_frames": 81,
+  "track_complete_ratio": 1.0,
+  "track_breaks": 0,
+  "dead_points": 0,
+  "in_frustum_ratio": 1.0,
+  "npz_source": "client_lbs",
+  "sample_log": "n=256 parts=1 skinned=256",
+  "npz_written": true
+ },
+ "depth_qc": {
+  "frames": 324,
+  "sky": 0,
+  "near": 0,
+  "const": 0,
+  "per_cam": [
+   {
+    "frames": 81,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 81,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 81,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 81,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   }
+  ],
+  "dist": {
+   "saturated_frac_p50": 0.0,
+   "saturated_frac_p90": 0.0082,
+   "saturated_frac_max": 0.0102,
+   "near_frac_max": 0.2375,
+   "unique_values_min": 1548,
+   "unique_values_p50": 7669
+  }
+ },
+ "placement": [
+  {
+   "cam": 1,
+   "hfov_deg": 77.258,
+   "azimuth_deg": 0.0,
+   "want_dist_m": 4.0,
+   "clear_m": 26.0,
+   "dist_m": 4.0,
+   "elev_m": 3.6,
+   "fill_frac": 0.341,
+   "sphere_clamp": "floor",
+   "floor_m": 4.0,
+   "realloc": null,
+   "rejected": false,
+   "avoid_az_deg": null
+  },
+  {
+   "cam": 2,
+   "hfov_deg": 33.404,
+   "azimuth_deg": 157.5,
+   "want_dist_m": 7.46,
+   "clear_m": 26.0,
+   "dist_m": 7.46,
+   "elev_m": 2.84,
+   "fill_frac": 0.42,
+   "sphere_clamp": null,
+   "floor_m": 4.0,
+   "realloc": null,
+   "rejected": false,
+   "avoid_az_deg": null
+  },
+  {
+   "cam": 3,
+   "hfov_deg": 52.851,
+   "azimuth_deg": 191.2,
+   "want_dist_m": 4.73,
+   "clear_m": 26.0,
+   "dist_m": 4.73,
+   "elev_m": 1.8,
+   "fill_frac": 0.42,
+   "sphere_clamp": null,
+   "floor_m": 4.0,
+   "realloc": null,
+   "rejected": false,
+   "avoid_az_deg": null
+  },
+  {
+   "cam": 4,
+   "hfov_deg": 48.26,
+   "azimuth_deg": 236.2,
+   "want_dist_m": 5.18,
+   "clear_m": 26.0,
+   "dist_m": 5.18,
+   "elev_m": 3.57,
+   "fill_frac": 0.42,
+   "sphere_clamp": null,
+   "floor_m": 4.0,
+   "realloc": null,
+   "rejected": false,
+   "avoid_az_deg": null
+  }
+ ],
+ "placement_diag": {
+  "usable_dirs": 32,
+  "probe_dirs": 32
+ },
+ "acquire": [
+  {
+   "attempt": 1,
+   "target_px": [
+    12935,
+    44125,
+    36536,
+    28671
+   ],
+   "framing_ok": true,
+   "framing_bad": [],
+   "usable_dirs": 32,
+   "trace_self_test": "\ud788\ud2b8 1",
+   "depth_bad_cams": [],
+   "place_rejected_cams": [],
+   "preroll": {
+    "enabled": true,
+    "ok": true,
+    "reason": null,
+    "waited_frames": 16,
+    "red_light_frames": 0,
+    "max_queue": 0
+   }
+  }
+ ],
+ "acquire_wall_s": 8.9,
+ "capture_wall_s": 56.6,
+ "wall_per_frame_s": 0.698,
+ "wall_breakdown_s": {
+  "tick": 3.6,
+  "collect": 23.1,
+  "decode": 20.8,
+  "pose": 0.1,
+  "write": 5.5
+ },
+ "sensor_spawn_wall_s": 1.8,
+ "modalities": [
+  "rgb",
+  "seg",
+  "depth"
+ ],
+ "post_process_profile": "MV4D",
+ "abort": null,
+ "view_block_streak_max": 0,
+ "capture_build": "c1",
+ "target_px_median_per_cam": [
+  10505,
+  72613,
+  38547,
+  27593
+ ],
+ "visibility_frac_per_cam": [
+  0.9136,
+  1.0,
+  1.0,
+  1.0
+ ],
+ "visibility_strict_frac_per_cam": [
+  0.914,
+  1.0,
+  1.0,
+  1.0
+ ],
+ "config_diff": {
+  "max_consecutive_skips": 6,
+  "server_restart_every": 30,
+  "server_restart_auto": true,
+  "map_name": "Town10HD_x6",
+  "walker_tiles": [
+   0,
+   1
+  ],
+  "bench_schedule": true
+ },
+ "tm_seed": 260903,
+ "tile_of_target": 0,
+ "target_tile_requested": -1,
+ "walker_forced_to_vehicle": false
+}

Simul-General/clip_00078/source/visibility.json

@@ -0,0 +1,6043 @@
+{
+ "version": 1,
+ "convention": "visibility[t][k] = state of the target in camera k at capture frame t (index-aligned with views/camKK/frame_%04d.png)",
+ "states": [
+  "visible",
+  "occluded",
+  "out_of_frustum",
+  "target_absent"
+ ],
+ "state_note": "visible = in-frustum and the target instance covers >= target_min_px pixels in the instance-segmentation buffer; occluded = in-frustum but below that pixel count; out_of_frustum = the target bbox does not overlap the image rect; target_absent = the target actor is gone. `visibility` uses the world-axis-aligned bbox (gate (1) reference); `visibility_strict` uses the surface points from points_target.npz (reference for departure, oos_segments and gate (7))",
+ "num_cams": 4,
+ "frames": 81,
+ "fps": 15.0,
+ "clip_id": 78,
+ "target_class": "pedestrian",
+ "target_lost_frame": null,
+ "target_bbox_local_extent_cm": [
+  31.0,
+  17.6,
+  92.3
+ ],
+ "target_bbox_extent_cm": [
+  27.7,
+  35.3,
+  92.3
+ ],
+ "bbox_sources": {
+  "actor_bounding_box": 81
+ },
+ "target_world_units": "cm, Unreal left-handed world (same frame as cameras.json ue_pose.location_cm)",
+ "target_min_px": 300,
+ "cameras": [
+  {
+   "name": "cam01",
+   "hfov_deg": 77.258,
+   "motion_kind": "translation",
+   "oos_allowed": false,
+   "oos_reason": "none",
+   "oos_effective": false,
+   "oos_cycles": 0,
+   "pinned": false,
+   "ratio": {
+    "visible": 0.9136,
+    "occluded": 0.0864,
+    "out_of_frustum": 0.0,
+    "target_absent": 0.0
+   },
+   "target_px_median": 10505
+  },
+  {
+   "name": "cam02",
+   "hfov_deg": 33.404,
+   "motion_kind": "translation",
+   "oos_allowed": false,
+   "oos_reason": "none",
+   "oos_effective": false,
+   "oos_cycles": 0,
+   "pinned": false,
+   "ratio": {
+    "visible": 1.0,
+    "occluded": 0.0,
+    "out_of_frustum": 0.0,
+    "target_absent": 0.0
+   },
+   "target_px_median": 72613
+  },
+  {
+   "name": "cam03",
+   "hfov_deg": 52.851,
+   "motion_kind": "static",
+   "oos_allowed": false,
+   "oos_reason": "none",
+   "oos_effective": false,
+   "oos_cycles": 0,
+   "pinned": false,
+   "ratio": {
+    "visible": 1.0,
+    "occluded": 0.0,
+    "out_of_frustum": 0.0,
+    "target_absent": 0.0
+   },
+   "target_px_median": 38547
+  },
+  {
+   "name": "cam04",
+   "hfov_deg": 48.26,
+   "motion_kind": "arc",
+   "oos_allowed": false,
+   "oos_reason": "none",
+   "oos_effective": false,
+   "oos_cycles": 0,
+   "pinned": false,
+   "ratio": {
+    "visible": 1.0,
+    "occluded": 0.0,
+    "out_of_frustum": 0.0,
+    "target_absent": 0.0
+   },
+   "target_px_median": 27593
+  }
+ ],
+ "summary": {
+  "frames": 81,
+  "states": [
+   "visible",
+   "occluded",
+   "out_of_frustum",
+   "target_absent"
+  ],
+  "per_cam_ratio": [
+   {
+    "visible": 0.9136,
+    "occluded": 0.0864,
+    "out_of_frustum": 0.0,
+    "target_absent": 0.0
+   },
+   {
+    "visible": 1.0,
+    "occluded": 0.0,
+    "out_of_frustum": 0.0,
+    "target_absent": 0.0
+   },
+   {
+    "visible": 1.0,
+    "occluded": 0.0,
+    "out_of_frustum": 0.0,
+    "target_absent": 0.0
+   },
+   {
+    "visible": 1.0,
+    "occluded": 0.0,
+    "out_of_frustum": 0.0,
+    "target_absent": 0.0
+   }
+  ],
+  "visible_ratio": [
+   0.9136,
+   1.0,
+   1.0,
+   1.0
+  ],
+  "non_oos_cams": [
+   1,
+   2,
+   3,
+   4
+  ],
+  "min_visible_ratio_non_oos": 0.9136,
+  "target_absent_frames": 0,
+  "bbox_sources": {
+   "actor_bounding_box": 81
+  },
+  "all_blind_max_run_strict": 0,
+  "target_px_percentiles": {
+   "n": 324,
+   "p01": 0,
+   "p05": 8761,
+   "p10": 10101,
+   "p50": 34674,
+   "p90": 77182,
+   "min": 0,
+   "max": 115207
+  }
+ },
+ "oos_segments": [],
+ "oos_segment_note": "derived from `visibility_strict` (frame-level is authoritative); maximal runs only, no merging/smoothing; min length 8f applies to this list only; start/end inclusive",
+ "oos_cycles_per_cam": [
+  0,
+  0,
+  0,
+  0
+ ],
+ "oos_params": {
+  "segment_min_len": 8,
+  "min_out": 8,
+  "min_visible": 8
+ },
+ "visibility": [
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "occluded",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "occluded",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "occluded",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "occluded",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "occluded",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "occluded",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "occluded",
+   "visible",
+   "visible",
+   "visible"
+  ]
+ ],
+ "visibility_strict": [
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "visible",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "occluded",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "occluded",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "occluded",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "occluded",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "occluded",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "occluded",
+   "visible",
+   "visible",
+   "visible"
+  ],
+  [
+   "occluded",
+   "visible",
+   "visible",
+   "visible"
+  ]
+ ],
+ "array_note": "`visibility` = world-axis-aligned bbox projection (gate (1) reference, offline-reproducible from target_bbox_cm). `visibility_strict` = surface points of points_target.npz (reference for departure, oos_segments and gate (7)). Do not mix them",
+ "target_px": [
+  [
+   13116,
+   44678,
+   37112,
+   23725
+  ],
+  [
+   13272,
+   45461,
+   36978,
+   27072
+  ],
+  [
+   13222,
+   45682,
+   36432,
+   28223
+  ],
+  [
+   12988,
+   45510,
+   36066,
+   28838
+  ],
+  [
+   12619,
+   45696,
+   36138,
+   29126
+  ],
+  [
+   12251,
+   46050,
+   36001,
+   29154
+  ],
+  [
+   12201,
+   46895,
+   36026,
+   28857
+  ],
+  [
+   12297,
+   47680,
+   36367,
+   28332
+  ],
+  [
+   12574,
+   48638,
+   37074,
+   27551
+  ],
+  [
+   12710,
+   50267,
+   38598,
+   27115
+  ],
+  [
+   12885,
+   51745,
+   39853,
+   25995
+  ],
+  [
+   13223,
+   52704,
+   39575,
+   23822
+  ],
+  [
+   13114,
+   52751,
+   36900,
+   23909
+  ],
+  [
+   12691,
+   51511,
+   40708,
+   27767
+  ],
+  [
+   13028,
+   50884,
+   42882,
+   28967
+  ],
+  [
+   12957,
+   51370,
+   43173,
+   29388
+  ],
+  [
+   12780,
+   51181,
+   42926,
+   29508
+  ],
+  [
+   12436,
+   51471,
+   42564,
+   29409
+  ],
+  [
+   12087,
+   52636,
+   41652,
+   28437
+  ],
+  [
+   11664,
+   55045,
+   39859,
+   26428
+  ],
+  [
+   11776,
+   56478,
+   39054,
+   24934
+  ],
+  [
+   12187,
+   57852,
+   37638,
+   24417
+  ],
+  [
+   12398,
+   58930,
+   38286,
+   23571
+  ],
+  [
+   12563,
+   60018,
+   38173,
+   26119
+  ],
+  [
+   12420,
+   60760,
+   37691,
+   26839
+  ],
+  [
+   12183,
+   61148,
+   37666,
+   27467
+  ],
+  [
+   11940,
+   61187,
+   37198,
+   27757
+  ],
+  [
+   11648,
+   60896,
+   36359,
+   27929
+  ],
+  [
+   11306,
+   60982,
+   36067,
+   27902
+  ],
+  [
+   11231,
+   61628,
+   36188,
+   27316
+  ],
+  [
+   11208,
+   61781,
+   36232,
+   26666
+  ],
+  [
+   11255,
+   63155,
+   36653,
+   26295
+  ],
+  [
+   11213,
+   65693,
+   37252,
+   24486
+  ],
+  [
+   11419,
+   67967,
+   35695,
+   23366
+  ],
+  [
+   11517,
+   69715,
+   38507,
+   27327
+  ],
+  [
+   11324,
+   71037,
+   42204,
+   29256
+  ],
+  [
+   10862,
+   71075,
+   42795,
+   30335
+  ],
+  [
+   10714,
+   71011,
+   42613,
+   30412
+  ],
+  [
+   10635,
+   71606,
+   42176,
+   29842
+  ],
+  [
+   10597,
+   71792,
+   41452,
+   29026
+  ],
+  [
+   10497,
+   72613,
+   40719,
+   28412
+  ],
+  [
+   10359,
+   73078,
+   39462,
+   27341
+  ],
+  [
+   10275,
+   73644,
+   38720,
+   26239
+  ],
+  [
+   10294,
+   74784,
+   36880,
+   25357
+  ],
+  [
+   10307,
+   75897,
+   37529,
+   24805
+  ],
+  [
+   10491,
+   76733,
+   37426,
+   26949
+  ],
+  [
+   10505,
+   76583,
+   36860,
+   27099
+  ],
+  [
+   10284,
+   76444,
+   36424,
+   27247
+  ],
+  [
+   9987,
+   77375,
+   36564,
+   27593
+  ],
+  [
+   9711,
+   77671,
+   36439,
+   27604
+  ],
+  [
+   9708,
+   77904,
+   36450,
+   27476
+  ],
+  [
+   9787,
+   78945,
+   36732,
+   27401
+  ],
+  [
+   9881,
+   80314,
+   37489,
+   27482
+  ],
+  [
+   9893,
+   82916,
+   38892,
+   27813
+  ],
+  [
+   9883,
+   86058,
+   40229,
+   28259
+  ],
+  [
+   9999,
+   88430,
+   40575,
+   27446
+  ],
+  [
+   10027,
+   90043,
+   38999,
+   25777
+  ],
+  [
+   9983,
+   90822,
+   39539,
+   29605
+  ],
+  [
+   9719,
+   91697,
+   42794,
+   31806
+  ],
+  [
+   9429,
+   92315,
+   43135,
+   32559
+  ],
+  [
+   9207,
+   91956,
+   42830,
+   32463
+  ],
+  [
+   9036,
+   91116,
+   42461,
+   32171
+  ],
+  [
+   8773,
+   91956,
+   41721,
+   31433
+  ],
+  [
+   8720,
+   93877,
+   40171,
+   29575
+  ],
+  [
+   8762,
+   96305,
+   40047,
+   28652
+  ],
+  [
+   8761,
+   98160,
+   38547,
+   27447
+  ],
+  [
+   8414,
+   99210,
+   38550,
+   26476
+  ],
+  [
+   7921,
+   97373,
+   39083,
+   27765
+  ],
+  [
+   6523,
+   95908,
+   38671,
+   27678
+  ],
+  [
+   4760,
+   99667,
+   38582,
+   27700
+  ],
+  [
+   3068,
+   102149,
+   38224,
+   27506
+  ],
+  [
+   1743,
+   103539,
+   37634,
+   27153
+  ],
+  [
+   968,
+   104929,
+   37086,
+   27171
+  ],
+  [
+   421,
+   106377,
+   37178,
+   27385
+  ],
+  [
+   0,
+   106676,
+   37336,
+   27528
+  ],
+  [
+   0,
+   107049,
+   38228,
+   27807
+  ],
+  [
+   0,
+   108041,
+   39614,
+   28231
+  ],
+  [
+   0,
+   114227,
+   38983,
+   27328
+  ],
+  [
+   0,
+   115207,
+   39010,
+   30488
+  ],
+  [
+   0,
+   115104,
+   42463,
+   32977
+  ],
+  [
+   0,
+   113467,
+   43178,
+   33654
+  ]
+ ],
+ "visible_frac": [
+  0.9136,
+  1.0,
+  1.0,
+  1.0
+ ],
+ "visible_frac_strict": [
+  0.9136,
+  1.0,
+  1.0,
+  1.0
+ ],
+ "target_world_cm": [
+  [
+   9047.3,
+   13793.1,
+   101.2
+  ],
+  [
+   9040.1,
+   13796.3,
+   102.7
+  ],
+  [
+   9034.2,
+   13799.6,
+   104.3
+  ],
+  [
+   9028.6,
+   13803.8,
+   105.5
+  ],
+  [
+   9023.9,
+   13809.1,
+   106.6
+  ],
+  [
+   9018.6,
+   13813.3,
+   106.1
+  ],
+  [
+   9012.2,
+   13817.8,
+   104.1
+  ],
+  [
+   9006.2,
+   13822.0,
+   102.8
+  ],
+  [
+   9000.3,
+   13827.2,
+   101.5
+  ],
+  [
+   8994.2,
+   13832.5,
+   100.5
+  ],
+  [
+   8985.8,
+   13837.7,
+   100.7
+  ],
+  [
+   8976.7,
+   13843.2,
+   101.1
+  ],
+  [
+   8968.4,
+   13849.3,
+   102.6
+  ],
+  [
+   8961.7,
+   13855.7,
+   104.3
+  ],
+  [
+   8954.9,
+   13860.8,
+   105.7
+  ],
+  [
+   8947.8,
+   13865.7,
+   106.3
+  ],
+  [
+   8939.4,
+   13871.1,
+   106.0
+  ],
+  [
+   8929.5,
+   13876.4,
+   104.9
+  ],
+  [
+   8918.4,
+   13880.2,
+   103.3
+  ],
+  [
+   8909.6,
+   13884.2,
+   101.0
+  ],
+  [
+   8900.4,
+   13889.3,
+   99.5
+  ],
+  [
+   8891.2,
+   13894.4,
+   100.7
+  ],
+  [
+   8883.0,
+   13897.1,
+   101.7
+  ],
+  [
+   8875.0,
+   13901.2,
+   102.5
+  ],
+  [
+   8867.1,
+   13905.7,
+   104.0
+  ],
+  [
+   8859.7,
+   13910.9,
+   105.0
+  ],
+  [
+   8851.5,
+   13916.0,
+   105.3
+  ],
+  [
+   8843.4,
+   13920.2,
+   104.3
+  ],
+  [
+   8836.1,
+   13924.7,
+   102.9
+  ],
+  [
+   8828.4,
+   13928.6,
+   101.3
+  ],
+  [
+   8820.9,
+   13932.3,
+   101.1
+  ],
+  [
+   8814.4,
+   13936.0,
+   99.6
+  ],
+  [
+   8808.9,
+   13941.1,
+   98.0
+  ],
+  [
+   8802.6,
+   13947.2,
+   99.0
+  ],
+  [
+   8795.9,
+   13952.8,
+   102.1
+  ],
+  [
+   8788.7,
+   13958.5,
+   104.7
+  ],
+  [
+   8779.0,
+   13964.5,
+   105.3
+  ],
+  [
+   8769.9,
+   13969.3,
+   105.1
+  ],
+  [
+   8761.6,
+   13973.4,
+   104.4
+  ],
+  [
+   8752.3,
+   13977.6,
+   103.6
+  ],
+  [
+   8742.5,
+   13982.6,
+   102.8
+  ],
+  [
+   8734.0,
+   13986.8,
+   101.4
+  ],
+  [
+   8726.4,
+   13990.1,
+   99.9
+  ],
+  [
+   8717.8,
+   13992.1,
+   99.2
+  ],
+  [
+   8709.7,
+   13995.4,
+   101.1
+  ],
+  [
+   8702.0,
+   13998.4,
+   102.5
+  ],
+  [
+   8695.7,
+   14001.6,
+   104.2
+  ],
+  [
+   8690.0,
+   14005.0,
+   105.5
+  ],
+  [
+   8685.2,
+   14009.7,
+   106.5
+  ],
+  [
+   8679.0,
+   14014.2,
+   106.5
+  ],
+  [
+   8671.8,
+   14018.5,
+   104.7
+  ],
+  [
+   8664.9,
+   14022.7,
+   103.3
+  ],
+  [
+   8658.6,
+   14027.2,
+   102.0
+  ],
+  [
+   8652.7,
+   14031.5,
+   100.8
+  ],
+  [
+   8644.9,
+   14035.9,
+   100.7
+  ],
+  [
+   8636.1,
+   14040.3,
+   101.1
+  ],
+  [
+   8627.5,
+   14045.3,
+   102.5
+  ],
+  [
+   8619.7,
+   14051.1,
+   104.3
+  ],
+  [
+   8612.8,
+   14055.9,
+   105.7
+  ],
+  [
+   8605.5,
+   14060.5,
+   106.5
+  ],
+  [
+   8597.1,
+   14065.1,
+   106.2
+  ],
+  [
+   8587.4,
+   14069.7,
+   105.2
+  ],
+  [
+   8576.5,
+   14073.3,
+   103.7
+  ],
+  [
+   8567.1,
+   14076.6,
+   101.9
+  ],
+  [
+   8558.5,
+   14081.0,
+   100.1
+  ],
+  [
+   8548.3,
+   14084.8,
+   100.9
+  ],
+  [
+   8540.7,
+   14086.6,
+   102.2
+  ],
+  [
+   8533.5,
+   14090.1,
+   102.9
+  ],
+  [
+   8525.5,
+   14093.2,
+   104.4
+  ],
+  [
+   8517.9,
+   14097.0,
+   105.3
+  ],
+  [
+   8509.3,
+   14101.3,
+   105.7
+  ],
+  [
+   8500.6,
+   14104.8,
+   104.8
+  ],
+  [
+   8492.2,
+   14108.2,
+   103.7
+  ],
+  [
+   8483.2,
+   14111.8,
+   102.2
+  ],
+  [
+   8474.3,
+   14115.1,
+   101.9
+  ],
+  [
+   8465.9,
+   14118.4,
+   100.6
+  ],
+  [
+   8458.4,
+   14122.9,
+   98.8
+  ],
+  [
+   8450.1,
+   14128.5,
+   99.2
+  ],
+  [
+   8440.9,
+   14134.0,
+   102.2
+  ],
+  [
+   8430.8,
+   14139.6,
+   104.9
+  ],
+  [
+   8419.1,
+   14144.9,
+   106.3
+  ]
+ ],
+ "target_bbox_cm": [
+  [
+   9053.0,
+   13793.7,
+   105.7,
+   31.2,
+   35.6,
+   92.3
+  ],
+  [
+   9045.9,
+   13797.9,
+   105.7,
+   31.2,
+   35.6,
+   92.3
+  ],
+  [
+   9038.6,
+   13802.5,
+   105.7,
+   31.2,
+   35.6,
+   92.3
+  ],
+  [
+   9031.6,
+   13806.8,
+   105.7,
+   31.3,
+   35.6,
+   92.3
+  ],
+  [
+   9025.0,
+   13811.0,
+   105.7,
+   31.3,
+   35.6,
+   92.3
+  ],
+  [
+   9018.1,
+   13815.4,
+   105.7,
+   31.4,
+   35.6,
+   92.3
+  ],
+  [
+   9011.2,
+   13819.8,
+   105.7,
+   31.5,
+   35.6,
+   92.3
+  ],
+  [
+   9003.8,
+   13824.7,
+   105.7,
+   31.6,
+   35.6,
+   92.3
+  ],
+  [
+   8996.4,
+   13829.5,
+   105.7,
+   31.7,
+   35.6,
+   92.3
+  ],
+  [
+   8989.0,
+   13834.3,
+   105.7,
+   31.6,
+   35.6,
+   92.3
+  ],
+  [
+   8981.4,
+   13839.4,
+   105.7,
+   31.7,
+   35.6,
+   92.3
+  ],
+  [
+   8974.1,
+   13844.4,
+   105.7,
+   31.9,
+   35.6,
+   92.3
+  ],
+  [
+   8966.6,
+   13849.4,
+   105.7,
+   31.9,
+   35.6,
+   92.3
+  ],
+  [
+   8959.1,
+   13854.3,
+   105.7,
+   31.8,
+   35.6,
+   92.3
+  ],
+  [
+   8951.4,
+   13859.1,
+   105.7,
+   31.7,
+   35.6,
+   92.3
+  ],
+  [
+   8943.7,
+   13864.2,
+   105.7,
+   31.7,
+   35.6,
+   92.3
+  ],
+  [
+   8935.7,
+   13869.2,
+   105.7,
+   31.6,
+   35.6,
+   92.3
+  ],
+  [
+   8927.7,
+   13874.2,
+   105.7,
+   31.4,
+   35.6,
+   92.3
+  ],
+  [
+   8919.5,
+   13879.1,
+   105.7,
+   31.3,
+   35.6,
+   92.3
+  ],
+  [
+   8911.6,
+   13883.8,
+   105.7,
+   31.2,
+   35.6,
+   92.3
+  ],
+  [
+   8903.6,
+   13889.4,
+   105.7,
+   31.7,
+   35.6,
+   92.3
+  ],
+  [
+   8894.6,
+   13894.7,
+   105.7,
+   31.3,
+   35.6,
+   92.3
+  ],
+  [
+   8885.7,
+   13899.9,
+   105.7,
+   31.1,
+   35.7,
+   92.3
+  ],
+  [
+   8877.1,
+   13904.7,
+   105.7,
+   30.9,
+   35.7,
+   92.3
+  ],
+  [
+   8868.5,
+   13909.7,
+   105.7,
+   30.8,
+   35.7,
+   92.3
+  ],
+  [
+   8860.2,
+   13914.3,
+   105.7,
+   30.6,
+   35.7,
+   92.3
+  ],
+  [
+   8852.0,
+   13918.8,
+   105.7,
+   30.6,
+   35.7,
+   92.3
+  ],
+  [
+   8843.9,
+   13923.4,
+   105.7,
+   30.6,
+   35.7,
+   92.3
+  ],
+  [
+   8836.0,
+   13927.8,
+   105.7,
+   30.5,
+   35.7,
+   92.3
+  ],
+  [
+   8828.1,
+   13932.2,
+   105.7,
+   30.5,
+   35.7,
+   92.3
+  ],
+  [
+   8820.4,
+   13936.7,
+   105.7,
+   30.6,
+   35.7,
+   92.3
+  ],
+  [
+   8812.7,
+   13941.2,
+   105.7,
+   30.7,
+   35.7,
+   92.3
+  ],
+  [
+   8805.0,
+   13945.7,
+   105.7,
+   30.8,
+   35.7,
+   92.3
+  ],
+  [
+   8797.5,
+   13950.1,
+   105.7,
+   30.8,
+   35.7,
+   92.3
+  ],
+  [
+   8790.2,
+   13954.1,
+   105.7,
+   30.6,
+   35.7,
+   92.3
+  ],
+  [
+   8782.5,
+   13958.3,
+   105.7,
+   30.5,
+   35.7,
+   92.3
+  ],
+  [
+   8774.9,
+   13962.5,
+   105.7,
+   30.5,
+   35.7,
+   92.3
+  ],
+  [
+   8767.3,
+   13966.7,
+   105.7,
+   30.5,
+   35.7,
+   92.3
+  ],
+  [
+   8759.7,
+   13971.0,
+   105.7,
+   30.6,
+   35.7,
+   92.3
+  ],
+  [
+   8752.2,
+   13975.4,
+   105.7,
+   30.6,
+   35.7,
+   92.3
+  ],
+  [
+   8744.8,
+   13979.7,
+   105.7,
+   30.7,
+   35.7,
+   92.3
+  ],
+  [
+   8737.3,
+   13983.8,
+   105.7,
+   30.5,
+   35.7,
+   92.3
+  ],
+  [
+   8729.8,
+   13987.8,
+   105.7,
+   30.4,
+   35.7,
+   92.3
+  ],
+  [
+   8722.4,
+   13991.9,
+   105.7,
+   30.4,
+   35.7,
+   92.3
+  ],
+  [
+   8715.0,
+   13996.0,
+   105.7,
+   30.4,
+   35.7,
+   92.3
+  ],
+  [
+   8707.6,
+   14000.2,
+   105.7,
+   30.5,
+   35.7,
+   92.3
+  ],
+  [
+   8700.3,
+   14004.1,
+   105.7,
+   30.4,
+   35.7,
+   92.3
+  ],
+  [
+   8693.1,
+   14008.0,
+   105.7,
+   30.3,
+   35.7,
+   92.3
+  ],
+  [
+   8685.5,
+   14012.1,
+   105.7,
+   30.3,
+   35.7,
+   92.3
+  ],
+  [
+   8677.8,
+   14016.2,
+   105.7,
+   30.3,
+   35.7,
+   92.3
+  ],
+  [
+   8670.2,
+   14020.4,
+   105.7,
+   30.3,
+   35.7,
+   92.3
+  ],
+  [
+   8662.6,
+   14024.7,
+   105.7,
+   30.4,
+   35.7,
+   92.3
+  ],
+  [
+   8655.2,
+   14028.7,
+   105.7,
+   30.4,
+   35.7,
+   92.3
+  ],
+  [
+   8647.9,
+   14032.8,
+   105.7,
+   30.4,
+   35.7,
+   92.3
+  ],
+  [
+   8640.5,
+   14037.0,
+   105.7,
+   30.5,
+   35.7,
+   92.3
+  ],
+  [
+   8633.1,
+   14041.1,
+   105.7,
+   30.5,
+   35.7,
+   92.3
+  ],
+  [
+   8625.3,
+   14045.3,
+   105.7,
+   30.4,
+   35.7,
+   92.3
+  ],
+  [
+   8617.4,
+   14049.7,
+   105.7,
+   30.4,
+   35.7,
+   92.3
+  ],
+  [
+   8609.5,
+   14054.1,
+   105.7,
+   30.4,
+   35.7,
+   92.3
+  ],
+  [
+   8601.6,
+   14058.4,
+   105.7,
+   30.4,
+   35.7,
+   92.3
+  ],
+  [
+   8593.7,
+   14062.8,
+   105.7,
+   30.5,
+   35.7,
+   92.3
+  ],
+  [
+   8585.7,
+   14067.2,
+   105.7,
+   30.4,
+   35.7,
+   92.3
+  ],
+  [
+   8577.8,
+   14071.6,
+   105.7,
+   30.4,
+   35.7,
+   92.3
+  ],
+  [
+   8569.7,
+   14075.9,
+   105.7,
+   30.3,
+   35.7,
+   92.3
+  ],
+  [
+   8561.3,
+   14080.3,
+   105.7,
+   30.2,
+   35.7,
+   92.3
+  ],
+  [
+   8552.8,
+   14084.6,
+   105.7,
+   29.9,
+   35.6,
+   92.3
+  ],
+  [
+   8544.3,
+   14089.4,
+   105.7,
+   30.3,
+   35.7,
+   92.3
+  ],
+  [
+   8535.6,
+   14093.1,
+   105.7,
+   29.5,
+   35.6,
+   92.3
+  ],
+  [
+   8526.8,
+   14096.9,
+   105.7,
+   29.0,
+   35.5,
+   92.3
+  ],
+  [
+   8518.0,
+   14100.6,
+   105.7,
+   28.7,
+   35.5,
+   92.3
+  ],
+  [
+   8509.2,
+   14104.3,
+   105.7,
+   28.5,
+   35.5,
+   92.3
+  ],
+  [
+   8500.1,
+   14107.9,
+   105.7,
+   28.1,
+   35.4,
+   92.3
+  ],
+  [
+   8490.9,
+   14111.6,
+   105.7,
+   28.1,
+   35.4,
+   92.3
+  ],
+  [
+   8481.7,
+   14115.3,
+   105.7,
+   28.0,
+   35.4,
+   92.3
+  ],
+  [
+   8472.5,
+   14119.0,
+   105.7,
+   28.0,
+   35.4,
+   92.3
+  ],
+  [
+   8463.2,
+   14122.8,
+   105.7,
+   28.0,
+   35.4,
+   92.3
+  ],
+  [
+   8453.8,
+   14126.6,
+   105.7,
+   28.0,
+   35.4,
+   92.3
+  ],
+  [
+   8444.0,
+   14130.4,
+   105.7,
+   27.8,
+   35.3,
+   92.3
+  ],
+  [
+   8434.1,
+   14134.2,
+   105.7,
+   27.8,
+   35.3,
+   92.3
+  ],
+  [
+   8424.2,
+   14138.1,
+   105.7,
+   27.7,
+   35.3,
+   92.3
+  ],
+  [
+   8414.3,
+   14141.9,
+   105.7,
+   27.7,
+   35.3,
+   92.3
+  ]
+ ],
+ "target_bbox_format": "[cx,cy,cz,ex,ey,ez] = centre + half extent of the WORLD-AXIS-ALIGNED bounding box, cm, Unreal world",
+ "target_world_cam01_m": [
+  [
+   0.00022863769530090394,
+   0.009648796141895843,
+   4.857031592608223
+  ],
+  [
+   0.00037489740455498577,
+   -0.0034656495119662623,
+   4.859912977143637
+  ],
+  [
+   -0.0002611351445409582,
+   -0.016346714047479338,
+   4.861735446522815
+  ],
+  [
+   0.00046992236738674364,
+   -0.02584666001947511,
+   4.866895339918159
+  ],
+  [
+   0.0001488177855151207,
+   -0.034282242566554544,
+   4.873520302499145
+  ],
+  [
+   9.923503566255931e-05,
+   -0.02898449786812307,
+   4.889267122502432
+  ],
+  [
+   -2.10619695906189e-05,
+   -0.011779877224739721,
+   4.914302708514725
+  ],
+  [
+   0.00041989674554088197,
+   3.9838450675233616e-05,
+   4.9345951146353855
+  ],
+  [
+   0.00032788133029271194,
+   0.011354919599561697,
+   4.9551367058976155
+  ],
+  [
+   -0.00016635330496228562,
+   0.01939602726797318,
+   4.974527238750397
+  ],
+  [
+   5.087402487902182e-05,
+   0.017152375909994078,
+   4.9873268699049405
+  ],
+  [
+   0.0003943632862899449,
+   0.013450242676739776,
+   4.99862592804952
+  ],
+  [
+   0.00032627048733502306,
+   0.0013667927969436278,
+   5.003138995665218
+  ],
+  [
+   0.000228265806242689,
+   -0.012805564963436211,
+   5.007987636325083
+  ],
+  [
+   0.0003998350321694488,
+   -0.024061626157141802,
+   5.01499504241599
+  ],
+  [
+   0.0003286475207460171,
+   -0.028185669307127625,
+   5.026816245746552
+  ],
+  [
+   -9.58084106628121e-05,
+   -0.024713491159481293,
+   5.044221052938859
+  ],
+  [
+   -0.00034858584734820397,
+   -0.015024361590100455,
+   5.0669869115025605
+  ],
+  [
+   0.00010663966401125435,
+   -0.0011324712526032954,
+   5.092305484313442
+  ],
+  [
+   0.000384571967259717,
+   0.017869118243517335,
+   5.121787944182152
+  ],
+  [
+   0.0004014962601104344,
+   0.03004967823392235,
+   5.1461555883778445
+  ],
+  [
+   0.00014909553999586933,
+   0.020064518347005844,
+   5.154782030993793
+  ],
+  [
+   0.00041772446456889156,
+   0.011227701548584434,
+   5.165357414301333
+  ],
+  [
+   -0.00030991702226401685,
+   0.003716094661442071,
+   5.177873765439749
+  ],
+  [
+   -0.00040133196330316423,
+   -0.008369468339324726,
+   5.185499404307983
+  ],
+  [
+   -3.068665097316625e-05,
+   -0.016380139419943873,
+   5.196939182197248
+  ],
+  [
+   0.0004580493034893607,
+   -0.018604470360124026,
+   5.2131296099015
+  ],
+  [
+   -0.00013077728027610647,
+   -0.010113690923628127,
+   5.237070661603688
+  ],
+  [
+   -0.000461483690003206,
+   0.0018885624579247917,
+   5.262943417522969
+  ],
+  [
+   -0.00033882455269917955,
+   0.014576080451853102,
+   5.290905136831164
+  ],
+  [
+   -0.0005022338756930367,
+   0.016108606663259195,
+   5.310076051203346
+  ],
+  [
+   -0.000270838534277118,
+   0.027512783563437893,
+   5.337198704044404
+  ],
+  [
+   -0.00045637588345925906,
+   0.0395779700193124,
+   5.364289431975521
+  ],
+  [
+   0.0003602446685420091,
+   0.030401831038922467,
+   5.376104604999924
+  ],
+  [
+   -7.554448703217531e-05,
+   0.0038443292012253494,
+   5.376860743576039
+  ],
+  [
+   4.106471732256978e-05,
+   -0.01780855533727177,
+   5.380666089541208
+  ],
+  [
+   -0.00031943336924200594,
+   -0.02339024149628699,
+   5.3976388131845425
+  ],
+  [
+   0.00042908024749976903,
+   -0.021167505948660903,
+   5.418376483292889
+  ],
+  [
+   -0.0001947568152900203,
+   -0.014744931239096815,
+   5.442412735826927
+  ],
+  [
+   -0.0004121951832303239,
+   -0.00786950836108602,
+   5.467807895326757
+  ],
+  [
+   6.768307673610252e-05,
+   -0.001231401223233064,
+   5.493533734045975
+  ],
+  [
+   0.00011547305936687735,
+   0.010601580272627587,
+   5.521963544392872
+  ],
+  [
+   0.00027065964710004664,
+   0.02281440980917182,
+   5.550963933641892
+  ],
+  [
+   0.00045505568562020926,
+   0.027557098143994097,
+   5.576062071429085
+  ],
+  [
+   -1.6952535389691548e-05,
+   0.011383605275870678,
+   5.585799894015526
+  ],
+  [
+   0.0004123823883901423,
+   -0.0007338864433457104,
+   5.598998605838304
+  ],
+  [
+   0.00015945541053952184,
+   -0.014392325837558673,
+   5.610086252344463
+  ],
+  [
+   -0.00027174295277632154,
+   -0.025179003183566806,
+   5.625142947048332
+  ],
+  [
+   -9.82922715593304e-05,
+   -0.032276691469045105,
+   5.6413183279860775
+  ],
+  [
+   3.0455973842435924e-05,
+   -0.03130517494596141,
+   5.664303398712839
+  ],
+  [
+   0.00015104955596711989,
+   -0.015619689615443022,
+   5.697848806282185
+  ],
+  [
+   -5.527522233705895e-06,
+   -0.0031935498405033513,
+   5.728865907892317
+  ],
+  [
+   -0.0004864429348003796,
+   0.007877652740241103,
+   5.759563872733633
+  ],
+  [
+   0.00032151742891528556,
+   0.018109256268903806,
+   5.789005408024423
+  ],
+  [
+   9.242023986644199e-05,
+   0.01833700529385851,
+   5.81303106799249
+  ],
+  [
+   -0.00012946281196946074,
+   0.014772170050379785,
+   5.833507928045279
+  ],
+  [
+   -0.0005198446111194244,
+   0.003205251143974408,
+   5.848198720068201
+  ],
+  [
+   0.0005719882688879352,
+   -0.01178891337969823,
+   5.861515242329489
+  ],
+  [
+   0.0001618038930359944,
+   -0.02254854911764248,
+   5.876711314148126
+  ],
+  [
+   -0.0005815057327538398,
+   -0.02865511678112931,
+   5.896701793066418
+  ],
+  [
+   -0.0002845229278420902,
+   -0.025238146997216937,
+   5.922965245481933
+  ],
+  [
+   0.00040230731815427134,
+   -0.016378795420777692,
+   5.953909904630086
+  ],
+  [
+   -0.0002132480042860152,
+   -0.0034179195510937177,
+   5.987511369752154
+  ],
+  [
+   0.00035834960232250523,
+   0.012091735583378949,
+   6.022052164920746
+  ],
+  [
+   0.00047762330808609477,
+   0.026922601390841017,
+   6.056591412108235
+  ],
+  [
+   -0.00019397097594264778,
+   0.019579912963470836,
+   6.076992940841711
+  ],
+  [
+   0.0001552105968869455,
+   0.008581312921990492,
+   6.093908840263403
+  ],
+  [
+   0.00022165164617149458,
+   0.002800546574939222,
+   6.114076723351737
+  ],
+  [
+   -0.00013146941148534097,
+   -0.009826277482480439,
+   6.130731033842219
+  ],
+  [
+   -0.00019089623646095788,
+   -0.01740765168944769,
+   6.151434140019977
+  ],
+  [
+   0.000441246264927031,
+   -0.020067679482612566,
+   6.174532418831114
+  ],
+  [
+   -0.0002944824753114972,
+   -0.012044920616972377,
+   6.205373219081273
+  ],
+  [
+   -0.0005417132441891681,
+   -0.002480526329568744,
+   6.237467327640658
+  ],
+  [
+   5.384941098895979e-05,
+   0.00993547454473731,
+   6.272064368190442
+  ],
+  [
+   5.170841552626371e-05,
+   0.012736725046947228,
+   6.29907629082733
+  ],
+  [
+   9.304896295248e-05,
+   0.022898966071246196,
+   6.332431378193152
+  ],
+  [
+   -0.0001487673067686046,
+   0.0365016073537241,
+   6.368690027467695
+  ],
+  [
+   -0.00011708624191442141,
+   0.032116005549084115,
+   6.3917269289342915
+  ],
+  [
+   -7.312356174793422e-05,
+   0.006700319029017798,
+   6.399919458914894
+  ],
+  [
+   0.00035020683424136223,
+   -0.016582207008267957,
+   6.4114936064542505
+  ],
+  [
+   7.441397414709172e-05,
+   -0.028001565757010738,
+   6.430062042755627
+  ]
+ ],
+ "target_bbox_centre_cam01_m": [
+  [
+   -0.005771362304699323,
+   0.004786848387979603,
+   4.784572214581374
+  ],
+  [
+   -0.01615320292614797,
+   0.004594097389073681,
+   4.79524565634442
+  ],
+  [
+   -0.03005728943116992,
+   -0.003208990690950486,
+   4.818002285023383
+  ],
+  [
+   -0.030336695619581633,
+   -0.010914244936259365,
+   4.841756221636359
+  ],
+  [
+   -0.019237756767552128,
+   -0.021018154347167695,
+   4.870169975528881
+  ],
+  [
+   -0.020652909897904692,
+   -0.029085567511266675,
+   4.896432195117754
+  ],
+  [
+   -0.019449511464273428,
+   -0.031235824220658515,
+   4.91426428034579
+  ],
+  [
+   -0.025011333892365428,
+   -0.03841898923038656,
+   4.939086337368906
+  ],
+  [
+   -0.019804888764724637,
+   -0.046292016419180015,
+   4.964383453214836
+  ],
+  [
+   -0.013905261365835031,
+   -0.05374505786204509,
+   4.988442125429685
+  ],
+  [
+   -0.012938795449144891,
+   -0.04980998602873399,
+   4.995830432131619
+  ],
+  [
+   -0.008991128798328418,
+   -0.03974770812561701,
+   4.99439620361872
+  ],
+  [
+   0.0012580983797363388,
+   -0.034351091365266484,
+   5.000078857146427
+  ],
+  [
+   0.017140931992400965,
+   -0.038173978434244304,
+   5.019752215384678
+  ],
+  [
+   0.021615850573141415,
+   -0.0428210292525435,
+   5.0416777236918335
+  ],
+  [
+   0.020638572297229985,
+   -0.04552228263894875,
+   5.061872611698455
+  ],
+  [
+   0.023939006098146365,
+   -0.041812436588251956,
+   5.073699074526992
+  ],
+  [
+   0.024097243671661772,
+   -0.029921797172733022,
+   5.0742303797457
+  ],
+  [
+   0.009230433723644182,
+   -0.013474485485616583,
+   5.0681718756601555
+  ],
+  [
+   0.0010027430622585598,
+   -0.008757087940082897,
+   5.078019656475568
+  ],
+  [
+   -0.006168763097889496,
+   -0.002491306418022532,
+   5.084780381576955
+  ],
+  [
+   -0.00901334591532077,
+   -0.001768805101669102,
+   5.09906528616996
+  ],
+  [
+   -0.032220693565875536,
+   -0.009198558233805443,
+   5.124977944520609
+  ],
+  [
+   -0.03878772676597464,
+   -0.014529864876728027,
+   5.148267294561592
+  ],
+  [
+   -0.04243248105092334,
+   -0.01910815454725423,
+   5.17124938238166
+  ],
+  [
+   -0.0343109524161207,
+   -0.02349151815108641,
+   5.194867547187322
+  ],
+  [
+   -0.027952272857334037,
+   -0.022655108488891074,
+   5.211927143490854
+  ],
+  [
+   -0.032421562556095296,
+   -0.022986737128938728,
+   5.231021705688171
+  ],
+  [
+   -0.030330591027848186,
+   -0.025785620488807837,
+   5.25356386395849
+  ],
+  [
+   -0.034495597176487536,
+   -0.02811794026762726,
+   5.2750452667582195
+  ],
+  [
+   -0.041797291167199546,
+   -0.030663841185528895,
+   5.296509313735271
+  ],
+  [
+   -0.04603011795018119,
+   -0.039590326494863604,
+   5.326369993694648
+  ],
+  [
+   -0.03429546812836293,
+   -0.05210802898459477,
+   5.36046929811701
+  ],
+  [
+   -0.013443365340037872,
+   -0.05723479893937622,
+   5.383868717104939
+  ],
+  [
+   0.0036003736008467513,
+   -0.05926824257963048,
+   5.4036430308088015
+  ],
+  [
+   0.019964271786705012,
+   -0.059934674145374345,
+   5.422814113625805
+  ],
+  [
+   0.030977994673918374,
+   -0.0458398737419472,
+   5.422407442737239
+  ],
+  [
+   0.03311618565851404,
+   -0.035795963968908495,
+   5.428650788904399
+  ],
+  [
+   0.028533128120699303,
+   -0.03146212360003631,
+   5.443528131125149
+  ],
+  [
+   0.02075879428920757,
+   -0.021508906057594146,
+   5.450727027806778
+  ],
+  [
+   0.01999584355320394,
+   -0.006899427188088225,
+   5.451323049359676
+  ],
+  [
+   0.017435513764354482,
+   -0.0007925673776050246,
+   5.46358384253255
+  ],
+  [
+   0.010371291847405928,
+   -0.0016049995363367486,
+   5.485004327242429
+  ],
+  [
+   -0.013582506314122611,
+   -0.00025774640431563967,
+   5.5027525817578535
+  ],
+  [
+   -0.02431807367642591,
+   0.0011624654221584763,
+   5.520485394772415
+  ],
+  [
+   -0.03649753594825711,
+   -0.0005035091436162986,
+   5.543127281756227
+  ],
+  [
+   -0.039927207304486956,
+   -0.007265326541130435,
+   5.573916301371337
+  ],
+  [
+   -0.039650669933877225,
+   -0.01667728352296116,
+   5.6095859270049395
+  ],
+  [
+   -0.023449378750513006,
+   -0.029357369888586504,
+   5.65107559818637
+  ],
+  [
+   -0.01381614532604658,
+   -0.03554695814083786,
+   5.684260325023551
+  ],
+  [
+   -0.01108551463082108,
+   -0.03653024034104568,
+   5.710237853607438
+  ],
+  [
+   -0.009233758438256245,
+   -0.039520620349543734,
+   5.738875088797489
+  ],
+  [
+   -0.0005139236643856293,
+   -0.0437468238755212,
+   5.76877867924042
+  ],
+  [
+   0.00808778549870226,
+   -0.050197599653932556,
+   5.80116511666419
+  ],
+  [
+   0.008337729621786139,
+   -0.048193748017475,
+   5.820947742611473
+  ],
+  [
+   0.005234336232888381,
+   -0.04045157274825151,
+   5.8322557734551275
+  ],
+  [
+   0.008862965117316435,
+   -0.03442518509871206,
+   5.8462205517776
+  ],
+  [
+   0.023137531044056914,
+   -0.03167246574485283,
+   5.865569946338923
+  ],
+  [
+   0.030793672429780372,
+   -0.034988758350555926,
+   5.894597896387014
+  ],
+  [
+   0.03553464348854618,
+   -0.036714689556845315,
+   5.92232730871193
+  ],
+  [
+   0.03553131517182351,
+   -0.03256166146140327,
+   5.942293770441518
+  ],
+  [
+   0.030396983196595784,
+   -0.022643796363470692,
+   5.954172929599688
+  ],
+  [
+   0.008906503201615124,
+   -0.00884919602207912,
+   5.960210612000074
+  ],
+  [
+   -0.005536871108716923,
+   -0.0042367400671654565,
+   5.9788361117032505
+  ],
+  [
+   -0.006514259999079286,
+   -0.003267365210759543,
+   6.001739981093047
+  ],
+  [
+   -0.019832982465999294,
+   0.003053719954578593,
+   6.0163778092958164
+  ],
+  [
+   -0.04170164328976966,
+   -0.009987654325685824,
+   6.0591497085414225
+  ],
+  [
+   -0.036201848115752,
+   -0.01813445821911497,
+   6.09510162811173
+  ],
+  [
+   -0.0387496665015874,
+   -0.02440940757341048,
+   6.129008486234426
+  ],
+  [
+   -0.031953419917272186,
+   -0.030300216230407795,
+   6.163178239346127
+  ],
+  [
+   -0.025029903887002547,
+   -0.029033009844437463,
+   6.187641322730458
+  ],
+  [
+   -0.024518269660660508,
+   -0.03074462969056313,
+   6.216798148619921
+  ],
+  [
+   -0.023154337039613893,
+   -0.03507392701476131,
+   6.249769338730812
+  ],
+  [
+   -0.0222300678850047,
+   -0.03637257055682086,
+   6.277894633091524
+  ],
+  [
+   -0.023924197008994952,
+   -0.03872467321716733,
+   6.307192967966179
+  ],
+  [
+   -0.023233417196138362,
+   -0.04516077309254718,
+   6.3419049140421455
+  ],
+  [
+   -0.00724511490014379,
+   -0.05349369912556945,
+   6.3785127899373215
+  ],
+  [
+   0.01632078741781129,
+   -0.05631401011888926,
+   6.406455426430972
+  ],
+  [
+   0.03478529057429114,
+   -0.05499715568073338,
+   6.428751950627512
+  ],
+  [
+   0.04871571610760839,
+   -0.04967961593648518,
+   6.4462835336597335
+  ],
+  [
+   0.0514184211463089,
+   -0.03632643177860295,
+   6.453181072433092
+  ]
+ ],
+ "target_bbox_half_world_m": [
+  [
+   0.312,
+   0.35600000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.312,
+   0.35600000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.312,
+   0.35600000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.313,
+   0.35600000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.313,
+   0.35600000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.314,
+   0.35600000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.315,
+   0.35600000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.316,
+   0.35600000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.317,
+   0.35600000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.316,
+   0.35600000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.317,
+   0.35600000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.319,
+   0.35600000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.319,
+   0.35600000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.318,
+   0.35600000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.317,
+   0.35600000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.317,
+   0.35600000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.316,
+   0.35600000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.314,
+   0.35600000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.313,
+   0.35600000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.312,
+   0.35600000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.317,
+   0.35600000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.313,
+   0.35600000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.311,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.309,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.308,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.306,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.306,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.306,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.305,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.305,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.306,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.307,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.308,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.308,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.306,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.305,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.305,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.305,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.306,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.306,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.307,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.305,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.304,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.304,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.304,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.305,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.304,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.303,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.303,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.303,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.303,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.304,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.304,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.304,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.305,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.305,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.304,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.304,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.304,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.304,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.305,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.304,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.304,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.303,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.302,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.299,
+   0.35600000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.303,
+   0.35700000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.295,
+   0.35600000000000004,
+   0.9229999999999999
+  ],
+  [
+   0.29,
+   0.355,
+   0.9229999999999999
+  ],
+  [
+   0.287,
+   0.355,
+   0.9229999999999999
+  ],
+  [
+   0.285,
+   0.355,
+   0.9229999999999999
+  ],
+  [
+   0.281,
+   0.354,
+   0.9229999999999999
+  ],
+  [
+   0.281,
+   0.354,
+   0.9229999999999999
+  ],
+  [
+   0.28,
+   0.354,
+   0.9229999999999999
+  ],
+  [
+   0.28,
+   0.354,
+   0.9229999999999999
+  ],
+  [
+   0.28,
+   0.354,
+   0.9229999999999999
+  ],
+  [
+   0.28,
+   0.354,
+   0.9229999999999999
+  ],
+  [
+   0.278,
+   0.353,
+   0.9229999999999999
+  ],
+  [
+   0.278,
+   0.353,
+   0.9229999999999999
+  ],
+  [
+   0.27699999999999997,
+   0.353,
+   0.9229999999999999
+  ],
+  [
+   0.27699999999999997,
+   0.353,
+   0.9229999999999999
+  ]
+ ],
+ "w2c_cam01": [
+  [
+   [
+    -1.2246467991473532e-16,
+    1.0,
+    -0.0,
+    137.9312286376953
+   ],
+   [
+    0.5657074306474766,
+    6.927917941963056e-17,
+    -0.8246060289072779,
+    -50.337098275573084
+   ],
+   [
+    -0.8246060289072779,
+    -1.0098511338589077e-16,
+    -0.5657074306474766,
+    80.03410876575161
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.009116642238703135,
+    0.9999584425536351,
+    -0.0,
+    138.7817950824527
+   ],
+   [
+    0.5665860094938131,
+    0.00516557661418264,
+    -0.8239864141259367,
+    -49.66451500003235
+   ],
+   [
+    -0.8239521713547262,
+    -0.007511989347138048,
+    -0.5666095563400606,
+    78.89154464784428
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.01820362679907027,
+    0.9998343002574778,
+    -0.0,
+    139.61742501546797
+   ],
+   [
+    0.5673810159044852,
+    0.010330103961969327,
+    -0.8233905948839404,
+    -48.99037303609062
+   ],
+   [
+    -0.823254159274373,
+    -0.014988695099131708,
+    -0.5674750463735571,
+    77.75965920815607
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.027258857941026726,
+    0.9996284082916767,
+    -0.0,
+    140.44826939419738
+   ],
+   [
+    0.5680930609662502,
+    0.015491324493894927,
+    -0.8228185054721492,
+    -48.310231788656964
+   ],
+   [
+    -0.8225127529380607,
+    -0.022429092751913238,
+    -0.5683042381089365,
+    76.63177561760024
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.03628028468871801,
+    0.9993416537615679,
+    -0.0,
+    141.2741337373994
+   ],
+   [
+    0.5687228195225444,
+    0.02064701868833661,
+    -0.8222700621897958,
+    -47.62755340947602
+   ],
+   [
+    -0.8217287237873778,
+    -0.029832191947255653,
+    -0.5690974827095875,
+    75.51259930672828
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.04526590275726881,
+    0.9989749736843108,
+    -0.0,
+    142.0738599810376
+   ],
+   [
+    0.5692710279680224,
+    0.025795007556089346,
+    -0.8217451638442494,
+    -46.93424802860816
+   ],
+   [
+    -0.8209028534265187,
+    -0.03719703667782972,
+    -0.5698551444872527,
+    74.38968990250878
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.05421375634950819,
+    0.9985293529098062,
+    -0.0,
+    142.86062001413197
+   ],
+   [
+    0.5697384819581448,
+    0.030933154998206158,
+    -0.8212436922728148,
+    -46.22855517325855
+   ],
+   [
+    -0.8200359326264337,
+    -0.04452270543644886,
+    -0.5705776002456759,
+    73.25949391873232
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.06312193982012546,
+    0.9980058219836919,
+    -0.0,
+    143.62967275541158
+   ],
+   [
+    0.570126034043113,
+    0.036059370013719456,
+    -0.8207655128844564,
+    -45.51877796899865
+   ],
+   [
+    -0.8191287603421185,
+    -0.051808311310727065,
+    -0.5712652386234569,
+    72.13328540450348
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.07198859920576914,
+    0.9974054549602138,
+    -0.0,
+    144.39276484390584
+   ],
+   [
+    0.5704345912354767,
+    0.04117160875483235,
+    -0.8203104752193242,
+    -44.803973777271246
+   ],
+   [
+    -0.8181821427447593,
+    -0.05905300202485795,
+    -0.5719184594375726,
+    71.00910463970214
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.08081193361976978,
+    0.9967293671727717,
+    -0.0,
+    145.140810294498
+   ],
+   [
+    0.5706651125207431,
+    0.046267876427635114,
+    -0.8198784135239595,
+    -44.0833837106285
+   ],
+   [
+    -0.8171968922703522,
+    -0.06625595992998037,
+    -0.5725376730289766,
+    69.88539482741001
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.08959019651100464,
+    0.9959787129698704,
+    -0.0,
+    145.87099311674248
+   ],
+   [
+    0.5708186063202034,
+    0.051346229037238324,
+    -0.8194691473401033,
+    -43.34512338395343
+   ],
+   [
+    -0.8161738266863132,
+    -0.07341640194490527,
+    -0.5731232996115966,
+    68.7450682990624
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.09832169678695371,
+    0.9951546834241068,
+    -0.0,
+    146.58769125452673
+   ],
+   [
+    0.5708961279151209,
+    0.056404774976871415,
+    -0.8190824821050261,
+    -42.59786427287348
+   ],
+   [
+    -0.815113768177459,
+    -0.08053357944903582,
+    -0.5736757686260329,
+    67.60050528782747
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.10700479980130469,
+    0.994258504021707,
+    -0.0,
+    147.2947877333458
+   ],
+   [
+    0.5708987768412365,
+    0.06144167646100667,
+    -0.8187182097613569,
+    -41.849872128103165
+   ],
+   [
+    -0.8140175424526568,
+    -0.08760677812919657,
+    -0.5741955180991566,
+    66.4636873511122
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.11563792820734825,
+    0.9932914323399312,
+    -0.0,
+    147.99083346868804
+   ],
+   [
+    0.5708276942623451,
+    0.06645515080339988,
+    -0.8183761093744318,
+    -41.10727842972781
+   ],
+   [
+    -0.8128859778733096,
+    -0.09463531778244953,
+    -0.5746829940107572,
+    65.34339895216783
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.12421956267847127,
+    0.9922547557195024,
+    -0.0,
+    148.65858463409538
+   ],
+   [
+    0.5706840603314884,
+    0.07144347154128584,
+    -0.8180559477552226,
+    -40.36092670460978
+   ],
+   [
+    -0.8117199046047444,
+    -0.1016185520766761,
+    -0.5751386496683252,
+    64.22647806632173
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.13274824249794773,
+    0.9911497889389403,
+    -0.0,
+    149.30823217465877
+   ],
+   [
+    0.5704690915479991,
+    0.0764049694077703,
+    -0.8177574800869744,
+    -39.609258998333324
+   ],
+   [
+    -0.8105201537914444,
+    -0.10855586827109633,
+    -0.5755629450909794,
+    63.11033095046371
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.14122256602022737,
+    0.9899778718974795,
+    -0.0,
+    149.94517484717284
+   ],
+   [
+    0.5701840381183612,
+    0.0813380331547339,
+    -0.8174804505537479,
+    -38.84673620019899
+   ],
+   [
+    -0.809287556756992,
+    -0.11544668689857188,
+    -0.5759563464034765,
+    61.98646124247328
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.14964119100674314,
+    0.9887403673129177,
+    -0.0,
+    150.56342989490952
+   ],
+   [
+    0.5698301813285045,
+    0.08624111022929384,
+    -0.8172245929691192,
+    -38.07358038543658
+   ],
+   [
+    -0.8080229442294365,
+    -0.12229046141189988,
+    -0.5763193252411873,
+    60.85444110128722
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.1580028348392793,
+    0.9874386584404884,
+    -0.0,
+    151.149892130827
+   ],
+   [
+    0.5694088309348085,
+    0.09111270730711615,
+    -0.816989631403375,
+    -37.29271336046054
+   ],
+   [
+    -0.8067271455927377,
+    -0.12908667779603114,
+    -0.57665235816684,
+    59.71765207139779
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.16630627461447722,
+    0.9860741468185108,
+    -0.0,
+    151.7261151075944
+   ],
+   [
+    0.5689213225807099,
+    0.09595139068639762,
+    -0.8167752808076173,
+    -36.52371901911091
+   ],
+   [
+    -0.8054009881648208,
+    -0.13583485414830834,
+    -0.5769559260997654,
+    58.602937051416355
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.1745503471234032,
+    0.9846482500462281,
+    -0.0,
+    152.29682998530225
+   ],
+   [
+    0.5683690152454163,
+    0.10075578654673534,
+    -0.816581247633268,
+    -35.75029435243829
+   ],
+   [
+    -0.804045296502663,
+    -0.1425345402288486,
+    -0.5772305137583212,
+    57.486697623484915
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.18273394872011342,
+    0.9831623995989447,
+    -0.0,
+    152.85190639401847
+   ],
+   [
+    0.5677532887308323,
+    0.10552458107728371,
+    -0.816407230445559,
+    -34.97588641502798
+   ],
+   [
+    -0.8026608917347844,
+    -0.14918531698296858,
+    -0.5774766091160853,
+    56.37408149941526
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.19085603508379528,
+    0.9816180386851563,
+    -0.0,
+    153.37059977507295
+   ],
+   [
+    0.5670755411923777,
+    0.1102565204791313,
+    -0.8162529205296645,
+    -34.209504494886296
+   ],
+   [
+    -0.80124859092136,
+    -0.15578679603786,
+    -0.5776947028723677,
+    55.27793842648949
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.19891562087882778,
+    0.9800166201500822,
+    -0.0,
+    153.8875218362769
+   ],
+   [
+    0.5663371867189813,
+    0.11495041084683112,
+    -0.8161180024882275,
+    -33.442701761458025
+   ],
+   [
+    -0.7998092064421491,
+    -0.1623386191753345,
+    -0.5778852879375158,
+    54.18625712851484
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.20691177931772367,
+    0.9783596044295644,
+    -0.0,
+    154.39442456508053
+   ],
+   [
+    0.565539652967051,
+    0.1196051179344915,
+    -0.8160021548291302,
+    -32.674764910941825
+   ],
+   [
+    -0.7983435454122999,
+    -0.16884045778279197,
+    -0.578048858933409,
+    53.09814319495108
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.21484364163166692,
+    0.976648457558012,
+    -0.0,
+    154.8950617134273
+   ],
+   [
+    0.5646843788528665,
+    0.1242195668117967,
+    -0.815905050542428,
+    -31.908962029955585
+   ],
+   [
+    -0.7968524091260542,
+    -0.1752920122842045,
+    -0.5781859117095106,
+    52.01807074398986
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.22271039645374602,
+    0.9748846492336493,
+    -0.0,
+    155.37861657876144
+   ],
+   [
+    0.5637728123073615,
+    0.12879274141562927,
+    -0.8158263576654627,
+    -31.139091901725532
+   ],
+   [
+    -0.7953365925282603,
+    -0.1816930115530908,
+    -0.5782969428747696,
+    50.93689529065948
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.23051128912000818,
+    0.9730696509439763,
+    -0.0,
+    155.8381461154619
+   ],
+   [
+    0.5628064080968301,
+    0.13332368400303857,
+    -0.8157657398352803,
+    -30.37156845731953
+   ],
+   [
+    -0.7937968837135708,
+    -0.18804321230936769,
+    -0.5783824493455847,
+    49.86296593070844
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.23824562089336182,
+    0.9712049341540314,
+    -0.0,
+    156.2885332902148
+   ],
+   [
+    0.5617866257127478,
+    0.13781149451130464,
+    -0.8157228568275169,
+    -29.608923476255033
+   ],
+   [
+    -0.792234063453107,
+    -0.19434239850177865,
+    -0.5784429279100527,
+    48.79915930694523
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.24591274811568575,
+    0.9692919685596241,
+    -0.0,
+    156.7186233628883
+   ],
+   [
+    0.5607149273333834,
+    0.14225532983105232,
+    -0.8156973650810557,
+    -28.847103262573498
+   ],
+   [
+    -0.7906489047483148,
+    -0.2005903806778062,
+    -0.578478874808599,
+    47.739120380723584
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.2535120812931421,
+    0.9673322204074561,
+    -0.0,
+    157.13317188873907
+   ],
+   [
+    0.559592775859578,
+    0.14665440299818933,
+    -0.8156889182078035,
+    -28.08801767390944
+   ],
+   [
+    -0.7890421724117105,
+    -0.20678699534261186,
+    -0.5784907853310917,
+    46.685366669318945
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.2610430841200714,
+    0.965327150883617,
+    -0.0,
+    157.53710251528616
+   ],
+   [
+    0.5584216330265993,
+    0.15100798231065704,
+    -0.815697167487034,
+    -27.337096844302874
+   ],
+   [
+    -0.7874146226740951,
+    -0.21293210430882178,
+    -0.5784791534304669,
+    45.64502038536917
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.26850527244637806,
+    0.9632782145717281,
+    -0.0,
+    157.9434837403047
+   ],
+   [
+    0.5572029575936678,
+    0.15531539037570016,
+    -0.8157217623438234,
+    -26.591792146685606
+   ],
+   [
+    -0.7857670028178617,
+    -0.21902559403856797,
+    -0.5784444713528576,
+    44.61401743461314
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.27589821319369257,
+    0.9611868579815934,
+    -0.0,
+    158.34522981566533
+   ],
+   [
+    0.5559382036123397,
+    0.1595760030935556,
+    -0.8157623508111724,
+    -25.842625449373447
+   ],
+   [
+    -0.7841000508358692,
+    -0.22506737497948867,
+    -0.5783872292841792,
+    43.57930211373025
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.2832215232251278,
+    0.9590545181490145,
+    -0.0,
+    158.72676522516767
+   ],
+   [
+    0.5546288187746322,
+    0.1637892485831527,
+    -0.8158185799754885,
+    -25.09461489493155
+   ],
+   [
+    -0.7824144951154054,
+    -0.23105738089601857,
+    -0.5783079150130815,
+    42.54873545900067
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.29047486817357215,
+    0.9568826213070994,
+    -0.0,
+    159.09546649903953
+   ],
+   [
+    0.5532762428414237,
+    0.16795460605544124,
+    -0.8158900964051712,
+    -24.3454170927565
+   ],
+   [
+    -0.7807110541466823,
+    -0.23699556819741519,
+    -0.5782070136101434,
+    41.519374861744296
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.2976579612333752,
+    0.9546725816291104,
+    -0.0,
+    159.4463256449059
+   ],
+   [
+    0.551881906151338,
+    0.17207160463985727,
+    -0.8159765465621119,
+    -23.58494024905948
+   ],
+   [
+    -0.7789904362552574,
+    -0.24288191526392847,
+    -0.5780850071231476,
+    40.47668766750297
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.3047705619198826,
+    0.9524258000427325,
+    -0.0,
+    159.7757198754287
+   ],
+   [
+    0.5504472282100794,
+    0.17613982216913995,
+    -0.8160775771959823,
+    -22.831641260837774
+   ],
+   [
+    -0.7772533393578182,
+    -0.2487164217722359,
+    -0.5779423742882464,
+    39.44619142038218
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.31181247480154567,
+    0.9501436631152868,
+    -0.0,
+    160.08694165714843
+   ],
+   [
+    0.5489736163598462,
+    0.18015888392779608,
+    -0.8161928357212426,
+    -22.087190494963743
+   ],
+   [
+    -0.7755004507406349,
+    -0.25449910802153203,
+    -0.5777795902568008,
+    38.42968375986574
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.3187835482087345,
+    0.9478275420093306,
+    -0.0,
+    160.38402280658605
+   ],
+   [
+    0.5474624645282701,
+    0.1841284613690856,
+    -0.8163219705768587,
+    -21.34097741342593
+   ],
+   [
+    -0.7737324468600771,
+    -0.2602300142612372,
+    -0.5775971263376526,
+    37.411672991368405
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.32568367292364,
+    0.9454787915077564,
+    -0.0,
+    160.6754802897895
+   ],
+   [
+    0.5459151520560015,
+    0.18804827080545614,
+    -0.8164646315687842,
+    -20.594500414822747
+   ],
+   [
+    -0.7719499931644797,
+    -0.26590920002156815,
+    -0.5773954497545416,
+    36.393804606582485
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.3325127808551351,
+    0.9430987491074224,
+    -0.0,
+    160.95111759310382
+   ],
+   [
+    0.5443330426019448,
+    0.19191807207698147,
+    -0.8166204701952823,
+    -19.860196298539975
+   ],
+   [
+    -0.7701537439366859,
+    -0.2715367434478613,
+    -0.5771750234184048,
+    35.393145781003824
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.33927084370248317,
+    0.9406887341801247,
+    -0.0,
+    161.20969616503425
+   ],
+   [
+    0.5427174831248645,
+    0.19573766720225627,
+    -0.8167891399552465,
+    -19.137016307520852
+   ],
+   [
+    -0.7683443421565735,
+    -0.2771127406396421,
+    -0.5769363057142173,
+    34.40777444877506
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.345957871611627,
+    0.9382500471995474,
+    -0.0,
+    161.4412552412519
+   ],
+   [
+    0.5410698029399357,
+    0.19950689901602692,
+    -0.816970296639693,
+    -18.416186831065637
+   ],
+   [
+    -0.7665224193828202,
+    -0.28263730499538775,
+    -0.576679750302065,
+    33.42512550842458
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.3525739118273852,
+    0.9357839690327758,
+    -0.0,
+    161.6748226479075
+   ],
+   [
+    0.5393913128486826,
+    0.20322564979749944,
+    -0.817163598606643,
+    -17.699586579955287
+   ],
+   [
+    -0.7646885956532304,
+    -0.28811056656368733,
+    -0.5764058059321066,
+    32.448402546568005
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.3591190473450152,
+    0.9332917602947155,
+    -0.0,
+    161.89686565544707
+   ],
+   [
+    0.5376833043405176,
+    0.20689383989323096,
+    -0.8173687070396667,
+    -16.99030482182548
+   ],
+   [
+    -0.7628434794028661,
+    -0.2935326714017119,
+    -0.5761149162730501,
+    31.482278499158348
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.36559339556407233,
+    0.9307746607637811,
+    -0.0,
+    162.11440925497715
+   ],
+   [
+    0.5359470488640786,
+    0.21051142633811887,
+    -0.8175852861903617,
+    -16.29184811554284
+   ],
+   [
+    -0.7609876673992929,
+    -0.29890378094155823,
+    -0.5758075197538013,
+    30.531970489655027
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.37199710694765364,
+    0.9282338888569928,
+    -0.0,
+    162.32543298522017
+   ],
+   [
+    0.534183797166333,
+    0.2140784014779737,
+    -0.8178130036050989,
+    -15.601278131144312
+   ],
+   [
+    -0.7591217446941788,
+    -0.30422407136526786,
+    -0.5754840494178848,
+    29.59337703840258
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.3783303636895851,
+    0.9256706411626687,
+    -0.0,
+    162.5423302698627
+   ],
+   [
+    0.5323947786974184,
+    0.2175947915967604,
+    -0.8180515303363776,
+    -14.916225612757641
+   ],
+   [
+    -0.757246284590577,
+    -0.3094937329889834,
+    -0.5751449327902582,
+    28.663058480110887
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.3845933783921917,
+    0.923086092028734,
+    -0.0,
+    162.742020875723
+   ],
+   [
+    0.53058120107906,
+    0.2210606555515415,
+    -0.8183005411391494,
+    -14.229075149980266
+   ],
+   [
+    -0.7553618486251358,
+    -0.3147129696568641,
+    -0.5747905917561414,
+    27.729805227456424
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.39078639275701776,
+    0.9204813932046415,
+    -0.0,
+    162.9260495630517
+   ],
+   [
+    0.5287442496343192,
+    0.22447608341788025,
+    -0.8185597146525166,
+    -13.542051754227598
+   ],
+   [
+    -0.7534689865645423,
+    -0.31988199814527074,
+    -0.5744214424514378,
+    26.79593372343803
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.3969096762905598,
+    0.9178576735349131,
+    -0.0,
+    163.10024900015875
+   ],
+   [
+    0.5268850869764535,
+    0.2278411951482072,
+    -0.8188287335671921,
+    -12.861922097440669
+   ],
+   [
+    -0.7515682364155222,
+    -0.32500104757756326,
+    -0.5740378951643771,
+    25.870561272106734
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.4029635250271696,
+    0.9152160387021622,
+    -0.0,
+    163.2696975158974
+   ],
+   [
+    0.5250048526545179,
+    0.23115613924559003,
+    -0.819107284779156,
+    -12.1899691244717
+   ],
+   [
+    -0.749660124447663,
+    -0.3300703588500423,
+    -0.5736403542479545,
+    24.95511919287875
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.4089482602707807,
+    0.912557571017578,
+    -0.0,
+    163.43090321121022
+   ],
+   [
+    0.5231046628534234,
+    0.23442109145497422,
+    -0.8193950595299344,
+    -11.525822238938375
+   ],
+   [
+    -0.7477451652284406,
+    -0.33509018406923946,
+    -0.5732292180427784,
+    24.048787193857486
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.41486422735728956,
+    0.9098833292566906,
+    -0.0,
+    163.57500422219005
+   ],
+   [
+    0.5211856101460417,
+    0.23763625347396175,
+    -0.8196917535339472,
+    -10.85782130906081
+   ],
+   [
+    -0.7458238616697225,
+    -0.3400607860010028,
+    -0.5728048788099162,
+    23.13498073612516
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.42071179443892504,
+    0.9071943485383822,
+    -0.0,
+    163.7057699345625
+   ],
+   [
+    0.5192487632950489,
+    0.24080185168482687,
+    -0.8199970670933653,
+    -10.1897508599372
+   ],
+   [
+    -0.7438967050851496,
+    -0.3449824375315053,
+    -0.5723677226733519,
+    22.219265866790714
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.4264913512920921,
+    0.904491640244975,
+    -0.0,
+    163.8335858354416
+   ],
+   [
+    0.5172951671020878,
+    0.24391813590945313,
+    -0.8203107052009505,
+    -9.526582874867259
+   ],
+   [
+    -0.7419641752577198,
+    -0.34985542114052237,
+    -0.5719181295716367,
+    21.30913055778913
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.4322033081497694,
+    0.9017761919813561,
+    -0.0,
+    163.96467505234688
+   ],
+   [
+    0.5153258423019488,
+    0.24698537818857547,
+    -0.8206323776313199,
+    -8.871248497756381
+   ],
+   [
+    -0.7400267405169778,
+    -0.3546800283870673,
+    -0.5714564732183604,
+    20.409183827542968
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.4378480945595513,
+    0.8990489675710496,
+    -0.0,
+    164.08056632493722
+   ],
+   [
+    0.5133417854994226,
+    0.25000387158662457,
+    -0.8209617990211014,
+    -8.22759904270223
+   ],
+   [
+    -0.7380848578251927,
+    -0.3594565594075706,
+    -0.5709831210710494,
+    19.5251585741197
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.44342615826828286,
+    0.8963109070871735,
+    -0.0,
+    164.18425163503636
+   ],
+   [
+    0.5113439691464938,
+    0.2529739290233054,
+    -0.8212986889384527,
+    -7.58827798764135
+   ],
+   [
+    -0.736138972871931,
+    -0.36418532242675555,
+    -0.5704984343080871,
+    18.646444676284595
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.4489379641339623,
+    0.8935629269163158,
+    -0.0,
+    164.27588042533978
+   ],
+   [
+    0.5093333415576682,
+    0.2558958821328339,
+    -0.8216427719423804,
+    -6.948538512383485
+   ],
+   [
+    -0.7341895201764684,
+    -0.3688666332811978,
+    -0.5700027678133164,
+    17.76585458635709
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.4543839930657017,
+    0.8908059198532913,
+    -0.0,
+    164.35389383344074
+   ],
+   [
+    0.5073108269611311,
+    0.258770080151719,
+    -0.8219937776323409,
+    -6.308277328705314
+   ],
+   [
+    -0.7322369231974593,
+    -0.37350081495574355,
+    -0.5694964701679139,
+    16.88268957207709
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.4597647409921252,
+    0.8880407552249188,
+    -0.0,
+    164.40814936825382
+   ],
+   [
+    0.5052773255836268,
+    0.26159688883570653,
+    -0.8223514406885517,
+    -5.670434347721335
+   ],
+   [
+    -0.7302815944493615,
+    -0.378088197132673,
+    -0.5689798836492055,
+    16.000658209973395
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.4650807178587955,
+    0.8852682790408496,
+    -0.0,
+    164.45996309674743
+   ],
+   [
+    0.5032337137668537,
+    0.2643766894065299,
+    -0.8227155009034798,
+    -5.046847600116509
+   ],
+   [
+    -0.728323935625054,
+    -0.3826291157537489,
+    -0.5684533442360388,
+    15.136375903439063
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.4703324466548398,
+    0.88248931416968,
+    -0.0,
+    164.5172003984952
+   ],
+   [
+    0.501180844113345,
+    0.2671098775288334,
+    -0.8230857032049376,
+    -4.430989298306608
+   ],
+   [
+    -0.7263643377241942,
+    -0.3871239125949976,
+    -0.567917181620378,
+    14.280050222533774
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.47552046246908014,
+    0.8797046605385197,
+    -0.0,
+    164.55336374979782
+   ],
+   [
+    0.4991195456597974,
+    0.2697968623176477,
+    -0.8234617976712154,
+    -3.8154347911066804
+   ],
+   [
+    -0.7244031811867957,
+    -0.39157293485423644,
+    -0.5673717192247868,
+    13.421363414580885
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.4806453115758146,
+    0.8769150953542698,
+    -0.0,
+    164.57815115852705
+   ],
+   [
+    0.49705062407585365,
+    0.27243806537664306,
+    -0.8238435395386896,
+    -3.2237927227697067
+   ],
+   [
+    -0.7224408360315692,
+    -0.3959765347512954,
+    -0.5668172742254453,
+    12.595070033194064
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.4857075505501966,
+    0.8741213733449882,
+    -0.0,
+    164.61265110352937
+   ],
+   [
+    0.4949748618864942,
+    0.27503391986724424,
+    -0.8242306892023035,
+    -2.635191570105285
+   ],
+   [
+    -0.7204776619986036,
+    -0.4003350691407512,
+    -0.5662541575804064,
+    11.771101961151826
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.4907077454133193,
+    0.8713242270196422,
+    -0.0,
+    164.63262332813326
+   ],
+   [
+    0.4928930187161333,
+    0.27758486960871154,
+    -0.8246230122093441,
+    -2.049923319684925
+   ],
+   [
+    -0.7185140086959156,
+    -0.4046488991371873,
+    -0.565682674062754,
+    10.95023690373193
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.4956464708067388,
+    0.8685243669447764,
+    -0.0,
+    164.6543598488159
+   ],
+   [
+    0.4908058315527109,
+    0.28009136820905745,
+    -0.8250202792468984,
+    -1.4705310470399993
+   ],
+   [
+    -0.716550215749515,
+    -0.40891838975271527,
+    -0.5651031222983729,
+    10.136293151687836
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.5005243091964157,
+    0.8657224820365075,
+    -0.0,
+    164.66968064812954
+   ],
+   [
+    0.48871401503001916,
+    0.28255387822675454,
+    -0.8254222661233817,
+    -0.889967994750279
+   ],
+   [
+    -0.7145866129565326,
+    -0.41314390954674557,
+    -0.5645157948080296,
+    9.318882153338187
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.505341850105727,
+    0.8629192398664669,
+    -0.0,
+    164.66982777229754
+   ],
+   [
+    0.4866182617266647,
+    0.28497287036297736,
+    -0.8258287537445066,
+    -0.31719492407236105
+   ],
+   [
+    -0.7126235204410813,
+    -0.4173258302877558,
+    -0.5639209780534814,
+    8.510663672268507
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.510099689377285,
+    0.8601152869802962,
+    -0.0,
+    164.66492902580777
+   ],
+   [
+    0.4845192424800899,
+    0.28734882268413064,
+    -0.8262395280840562,
+    0.24773335632191706
+   ],
+   [
+    -0.7106612488124825,
+    -0.42146452662691164,
+    -0.5633189524873419,
+    7.711345307445731
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.5147984284632849,
+    0.857311249227334,
+    -0.0,
+    164.6534830012713
+   ],
+   [
+    0.48241760671411676,
+    0.2896822198743735,
+    -0.8266543801498174,
+    0.8097013425177351
+   ],
+   [
+    -0.7087000993254875,
+    -0.42556037578341693,
+    -0.5627099926064234,
+    6.913371696809744
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.519438673743856,
+    0.854507732100315,
+    -0.0,
+    164.63346413118268
+   ],
+   [
+    0.48031398277863935,
+    0.2919735525176926,
+    -0.827073105945006,
+    1.364635288819506
+   ],
+   [
+    -0.7067403640422307,
+    -0.42961375724128564,
+    -0.5620943670083173,
+    6.1227376724748455
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.5240210358731394,
+    0.85170532108379,
+    -0.0,
+    164.61035397684088
+   ],
+   [
+    0.47820897830003156,
+    0.29422331640918,
+    -0.8274955064255174,
+    1.9102902555466161
+   ],
+   [
+    -0.7047823259955387,
+    -0.43362505245746774,
+    -0.5614723384509486,
+    5.342520080975987
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.5285461291524814,
+    0.8489045820102095,
+    -0.0,
+    164.5963422336466
+   ],
+   [
+    0.4761031805410338,
+    0.2964320118949741,
+    -0.8279213874533075,
+    2.448573123190075
+   ],
+   [
+    -0.7028262593533626,
+    -0.43759464458099745,
+    -0.5608441639148884,
+    4.569606323030747
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.5330145709303643,
+    0.8461060614225143,
+    -0.0,
+    164.58224206002473
+   ],
+   [
+    0.47399715676881843,
+    0.2986001432404129,
+    -0.8283505597462231,
+    2.9883272544171438
+   ],
+   [
+    -0.700872429584012,
+    -0.4415229181830602,
+    -0.5602100946681691,
+    3.791311019630048
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.5374269810284247,
+    0.8433102869422816,
+    -0.0,
+    164.55707687448864
+   ],
+   [
+    0.4718914546301304,
+    0.3007282180258052,
+    -0.8287828388245521,
+    3.5267569222003496
+   ],
+   [
+    -0.6989210936219717,
+    -0.44541025899764647,
+    -0.5595703763334122,
+    3.0127449683372993
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.5417839811931261,
+    0.840517767642378,
+    -0.0,
+    164.52292436682598
+   ],
+   [
+    0.4697866025323285,
+    0.3028167465693023,
+    -0.8292180449545915,
+    4.063575333766624
+   ],
+   [
+    -0.6969725000340102,
+    -0.4492570536726792,
+    -0.5589252489570363,
+    2.2350133643753596
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ],
+  [
+   [
+    -0.5460861945723943,
+    0.8377289944232807,
+    -0.0,
+    164.4715457533972
+   ],
+   [
+    0.46768311002933677,
+    0.3048662413762163,
+    -0.8296560030894888,
+    4.60223902547164
+   ],
+   [
+    -0.6950268891853958,
+    -0.45306368953128157,
+    -0.5582749470803559,
+    1.4531113183994755
+   ],
+   [
+    0,
+    0,
+    0,
+    1.0
+   ]
+  ]
+ ],
+ "cv_convention": "opencv_rh camera space of cam01 at the same frame t (X right, Y down, Z forward), metres -- same frame as points_target.npz xyz. Back to world: X_world = inv(w2c_cam01[t]) @ X"
+}

Simul-General/clip_00090/captions.json

@@ -0,0 +1,29 @@
+{
+ "caption": "A gray-haired man in a dark vest, shirt, and trousers walks away along a paved pedestrian plaza, passing planters and a bench before continuing past a Stardust Coffee storefront, on a sunlit street lined with palm trees, low buildings, and a nearby crosswalk.",
+ "structured": {
+  "target_class": "pedestrian",
+  "semantic_tag": "pedestrian",
+  "semantic_tag_id": 12,
+  "blueprint": "walker.pedestrian.0027",
+  "motion_kinds": {
+   "view0": "random_polyline",
+   "view1": "random_polyline",
+   "view2": "arc",
+   "view3": "static"
+  },
+  "motion_kinds_note": "vendor camera motion labels relative to the target-following anchor; every camera moves in the world"
+ },
+ "legacy_prompts": {
+  "view0": "A gray-haired man in a dark vest, shirt, and trousers walks away along a paved pedestrian plaza, passing planters and a bench before continuing past a Stardust Coffee storefront, on a sunlit street lined with palm trees, low buildings, and a nearby crosswalk. The camera travels about 7.0 m.",
+  "view1": "A gray-haired man in a dark vest, shirt, and trousers walks away along a paved pedestrian plaza, passing planters and a bench before continuing past a Stardust Coffee storefront, on a sunlit street lined with palm trees, low buildings, and a nearby crosswalk. The camera travels about 7.0 m.",
+  "view2": "A gray-haired man in a dark vest, shirt, and trousers walks away along a paved pedestrian plaza, passing planters and a bench before continuing past a Stardust Coffee storefront, on a sunlit street lined with palm trees, low buildings, and a nearby crosswalk. The camera travels about 6.0 m, panning right.",
+  "view3": "A gray-haired man in a dark vest, shirt, and trousers walks away along a paved pedestrian plaza, passing planters and a bench before continuing past a Stardust Coffee storefront, on a sunlit street lined with palm trees, low buildings, and a nearby crosswalk. The camera travels about 6.8 m."
+ },
+ "camera_phrases_corrected": {
+  "view0": "The camera travels about 7.0 m, panning left.",
+  "view1": "The camera travels about 7.0 m.",
+  "view2": "The camera travels about 6.0 m, panning left.",
+  "view3": "The camera travels about 6.8 m."
+ },
+ "camera_phrase_note": "legacy_prompts = caption + ' ' + the pre-release camera phrase of view k exactly as given to the pre-release baselines: frames 16 -> 80, float32 poses, pan = atan2(f_x, f_z), which is wrong in this z-up world. camera_phrases_corrected uses the same wording rules (static if moved < 0.05 m and |pan| < 2 deg, pan word if |pan| > 8 deg) with the z-up heading atan2(f_y, f_x) (counter-clockwise seen from above = panning left), except that a camera moving < 0.05 m with |pan| >= 2 deg 'rotates in place, panning <dir>'."
+}

Simul-General/clip_00090/labels/oos_segments.json

@@ -0,0 +1,63 @@
+{
+ "note": "Out-of-sight segments (vendor visibility.json oos_segments: maximal runs >= 8 frames of visibility_strict, start/end inclusive local frames; 'cam' = 0-based view index) and the per-view departure schedule. relay = meta.oos.relay of hard clips (null otherwise).",
+ "segment_note": "derived from `visibility_strict` (frame-level is authoritative); maximal runs only, no merging/smoothing; min length 8f applies to this list only; start/end inclusive",
+ "segments": [
+  {
+   "view": "view0",
+   "cam": 0,
+   "cam_name": "cam01",
+   "start": 90,
+   "end": 98,
+   "kind": "occluded",
+   "len": 9
+  },
+  {
+   "view": "view1",
+   "cam": 1,
+   "cam_name": "cam02",
+   "start": 37,
+   "end": 64,
+   "kind": "out_of_frustum",
+   "len": 28
+  }
+ ],
+ "per_view": [
+  {
+   "view": "view0",
+   "source_view": "cam01",
+   "oos_allowed": false,
+   "oos_reason": "none",
+   "oos_effective": false,
+   "oos_departed": false,
+   "oos_cycles": 0
+  },
+  {
+   "view": "view1",
+   "source_view": "cam02",
+   "oos_allowed": true,
+   "oos_reason": "sampled",
+   "oos_effective": true,
+   "oos_departed": true,
+   "oos_cycles": 1
+  },
+  {
+   "view": "view2",
+   "source_view": "cam03",
+   "oos_allowed": false,
+   "oos_reason": "none",
+   "oos_effective": false,
+   "oos_departed": false,
+   "oos_cycles": 0
+  },
+  {
+   "view": "view3",
+   "source_view": "cam04",
+   "oos_allowed": false,
+   "oos_reason": "none",
+   "oos_effective": false,
+   "oos_departed": false,
+   "oos_cycles": 0
+  }
+ ],
+ "relay": null
+}

Simul-General/clip_00090/sample.json

@@ -0,0 +1,268 @@
+{
+ "schema": "vpm-worldbench/sample/1.0",
+ "uid": "Simul-General/clip_00090",
+ "subset": "Simul-General",
+ "id": "clip_00090",
+ "source": {
+  "dataset": "HyperWorld-Bench-General",
+  "repo": "hf:rooty2020/HyperWorld-Bench-General",
+  "revision": "ca94a48704dc230bf39202f3c672f356aacb21c7",
+  "id": "clip_00090",
+  "path": "bench_people&car/clip_00090"
+ },
+ "n_views": 4,
+ "n_frames": 144,
+ "fps": 15.0,
+ "duration_s": 9.6,
+ "views": [
+  {
+   "name": "view0",
+   "video": "videos/view0.mp4",
+   "width": 1280,
+   "height": 1280,
+   "source_name": "cam01",
+   "role": null,
+   "static": false,
+   "hfov_deg": 55.441,
+   "motion_kind_rel_anchor": "random_polyline",
+   "max_travel_m": 11.3754,
+   "max_rotation_deg": 23.959
+  },
+  {
+   "name": "view1",
+   "video": "videos/view1.mp4",
+   "width": 1280,
+   "height": 1280,
+   "source_name": "cam02",
+   "role": null,
+   "static": false,
+   "hfov_deg": 50.579,
+   "motion_kind_rel_anchor": "random_polyline",
+   "max_travel_m": 11.4621,
+   "max_rotation_deg": 62.023
+  },
+  {
+   "name": "view2",
+   "video": "videos/view2.mp4",
+   "width": 1280,
+   "height": 1280,
+   "source_name": "cam03",
+   "role": null,
+   "static": false,
+   "hfov_deg": 55.352,
+   "motion_kind_rel_anchor": "arc",
+   "max_travel_m": 10.0974,
+   "max_rotation_deg": 22.197
+  },
+  {
+   "name": "view3",
+   "video": "videos/view3.mp4",
+   "width": 1280,
+   "height": 1280,
+   "source_name": "cam04",
+   "role": null,
+   "static": false,
+   "hfov_deg": 31.483,
+   "motion_kind_rel_anchor": "static",
+   "max_travel_m": 11.4229,
+   "max_rotation_deg": 0.0
+  }
+ ],
+ "world": {
+  "description": "CARLA Town10HD_x6 map frame as delivered by the vendor in right-handed metres (X_ue/100, -Y_ue/100, Z_ue/100), +z up, ground at z ~ 0, recentred per sample: X = X_source - o with o = (x, y, 0) of the target surface-point centroid at frame 0.",
+  "units": "m",
+  "handedness": "right",
+  "up": "+z",
+  "origin_in_source": [
+   -18.619830349600253,
+   76.25088002557732,
+   0.0
+  ],
+  "to_source": {
+   "note": "X_source = A @ X + b; source = vendor right-handed metre world of cameras.json extrinsic_w2c / c2w",
+   "A": [
+    [
+     1.0,
+     0.0,
+     0.0
+    ],
+    [
+     0.0,
+     1.0,
+     0.0
+    ],
+    [
+     0.0,
+     0.0,
+     1.0
+    ]
+   ],
+   "b": [
+    -18.619830349600253,
+    76.25088002557732,
+    0.0
+   ],
+   "source_units": "m"
+  },
+  "to_ue_cm": {
+   "note": "X_ue = A @ X + b; Unreal/CARLA left-handed centimetre world of ue_pose.location_cm and visibility.json *_cm",
+   "A": [
+    [
+     100.0,
+     0.0,
+     0.0
+    ],
+    [
+     0.0,
+     -100.0,
+     0.0
+    ],
+    [
+     0.0,
+     0.0,
+     100.0
+    ]
+   ],
+   "b": [
+    -1861.9830349600254,
+    -7625.088002557732,
+    0.0
+   ],
+   "source_units": "cm"
+  }
+ },
+ "files": {
+  "cameras": "cameras.npz",
+  "tracks3d": "tracks3d.npz",
+  "captions": "captions.json",
+  "depth": "depth/depth.zip",
+  "labels": {
+   "target": "labels/target.npz",
+   "oos_segments": "labels/oos_segments.json"
+  }
+ },
+ "tracks": {
+  "n_points": 256,
+  "groups": [
+   "target"
+  ],
+  "visible_outside_frustum_dropped": 0,
+  "default_report_group": "target",
+  "visibility_rule": "visible = in_frustum AND depth test against depth.zip of that view and frame at the nearest pixel (rint(u), rint(v)) of the native 1280x1280 grid, (u, v) projected with the stored K (OpenCV pixel centres, cx = cy = 639.5; = floor(u), floor(v) with K_delivered): |D - z| <= clip(0.02 z, 0.05 m, 0.15 m), D = planar depth in metres, 65535 (sky) never passes. Strict rule: area-sampled points on the far side or inside the target (vehicle interior/glass, eyes) fail it; the tolerance is 2 % of the distance, at least 5 cm and at most 15 cm. in_frustum = recomputed with the stored K (valid, z > 0.05 m and -0.5 <= u, v < 1279.5, i.e. the vendor in_frustum_cam rule z > 0 and 0 <= u, v < 1280 with the delivered K; agreement with in_frustum_cam in stats). The legacy pre-release protocol used the vendor in_frustum_cam alone (frustum-only).",
+  "accuracy": "exact simulator GT: 256 triangle-area-weighted surface points moved by linear blend skinning of the CARLA bone transforms (rigid propagation for unskinned vehicle parts); no cloth/hair secondary motion; other traffic is untracked. Stored as float32 (< 4e-6 m rounding within 100 m of the origin). Depth is quantised to 1 cm. K = delivered intrinsics with cx = cy = 640 - 0.5 = 639.5: the vendor uses the CARLA/UE pixel-corner convention (depth-vs-track residuals are lowest with the corrected K); cameras.npz K_delivered keeps the delivered matrix (pre-release numbers used 640, docs/DATA_FORMAT.md §1).",
+  "depth_test": {
+   "pixel": "rint",
+   "K": "cameras.npz K (OpenCV pixel centres)",
+   "tol_rel": 0.02,
+   "tol_min_m": 0.05,
+   "tol_max_m": 0.15,
+   "grid": [
+    1280,
+    1280
+   ],
+   "invalid_values": [
+    65535
+   ]
+  },
+  "stats": {
+   "n_in_frustum": 139033,
+   "n_visible": 74093,
+   "visible_frac_of_in_frustum": 0.5329,
+   "in_frustum_sky_hits": 0,
+   "n_visible_other_pixel_rule": {
+    "rint_K_delivered": 73016
+   },
+   "visible_abs_dz_m": {
+    "median": 0.013514,
+    "p90": 0.089858
+   },
+   "in_frustum_recomputed_agreement": 1.0,
+   "in_frustum_recomputed_mismatches": 0
+  },
+  "part_note": "part = vendor point_section (mesh section / material slot, '<mesh>/<material>'; a name that occurs more than once gets '#<section index>' appended, codes unchanged); component = mesh component (doors, glass, lights for vehicles); point_skinned = driven by bone skinning (else rigid).",
+  "extras": {
+   "component": "(N,) int16 index into component_names: mesh component of the point (e.g. body, doors, glass, lights for vehicles)",
+   "component_names": "(C,) str component names",
+   "component_mesh_names": "(C,) str mesh file of each component",
+   "point_skinned": "(N,) bool, moved by bone skinning (else rigid with its component)"
+  }
+ },
+ "depth": {
+  "file": "depth/depth.zip",
+  "member": "{source_view}/frame_{t:04d}.png",
+  "view_member_names": [
+   "cam01",
+   "cam02",
+   "cam03",
+   "cam04"
+  ],
+  "dtype": "uint16",
+  "unit_scale": 0.01,
+  "invalid_values": [
+   65535
+  ],
+  "valid_max_m": 655.34,
+  "width": 1280,
+  "height": 1280,
+  "kind": "rendered (synthetic GT)",
+  "planar_z": true,
+  "note": "CARLA sensor.camera.depth decoded by the vendor to linear planar z in cm, lossless 16-bit grayscale PNG, pixel-aligned with the RGB video; 65535 = sky/far clamp (no zeros occur). The pre-release loader additionally discarded depth > 80 m."
+ },
+ "caption": "A gray-haired man in a dark vest, shirt, and trousers walks away along a paved pedestrian plaza, passing planters and a bench before continuing past a Stardust Coffee storefront, on a sunlit street lined with palm trees, low buildings, and a nearby crosswalk.",
+ "attributes": {
+  "category": "pedestrian",
+  "subcategory": "pedestrian",
+  "semantic_tag": 12,
+  "blueprint": "walker.pedestrian.0027",
+  "difficulty": "normal",
+  "hard_relay_k": null,
+  "camera_motion_kinds": [
+   "random_polyline",
+   "random_polyline",
+   "arc",
+   "static"
+  ],
+  "all_cameras_moving": true,
+  "map": "Town10HD_x6",
+  "tile": 0,
+  "rotation_only_views": [],
+  "oos_departed_views": [
+   "view1"
+  ],
+  "n_frames_target_invisible_all_views": 0,
+  "n_default_queries_at_ref_frame": 249,
+  "visible_frac_of_in_frustum": 0.5329,
+  "quality_ok": true,
+  "abort": null,
+  "source_frame_range": [
+   8285,
+   8428
+  ],
+  "flag_rules": {
+   "quality_ok_false": "the vendor capture gate .capture_done quality_ok is false",
+   "target_not_visible_in_view_at_ref_frame": "at frame 16 the target is not visible in that view by either trigger: (a) the vendor target state (labels/target.npz state_strict) is not 'visible' (instance mask < 300 px, out of frustum or absent), or (b) the view has zero visible GT track points (tracks3d visible, depth test)",
+   "target_invisible_all_views_some_frames": "at some frame the vendor target state (state_strict) is not 'visible' in any view",
+   "caption_mentions_leaving_view": "the caption says the target leaves the view (out of/from view|frame|sight, leaves the view|frame, off-screen, disappear*)",
+   "few_default_queries_at_ref_frame": "fewer than 20 points with default_gt and visible in >= 1 view at frame 16 (exact count in attributes.n_default_queries_at_ref_frame)"
+  }
+ },
+ "flags": [],
+ "files_sha256": {
+  "cameras.npz": "1029da22c1661485f474dbfa49bb70441aa344811bbcf0bbbb27112306e0a3b2",
+  "captions.json": "1e539896b577fe92511fccc04e85870e91c79e8761adb7f1e8561b25a1de7fb2",
+  "depth/depth.zip": "812779e422005ca9ec98cf5b4cb54d8b423f16d13c089f671c052c5cbb5b5788",
+  "labels/oos_segments.json": "e204c84350d9a05054a9b999cc2d419e59199f314ff1706733081599c92cf546",
+  "labels/target.npz": "643f32a6eabc500226553a09dbefe4fd21fe6864b9df88f98b62a77f8a3fe113",
+  "source/cameras.json": "db2cc93a5aae4a8ef3844c7fac7a4617d2d51846b2f140dee649d9deb21a0af4",
+  "source/caption.txt": "523ee1447d16e21a514a3b0e3d66b181e4da3099bbf41d5bc590d5a49ae0b5a2",
+  "source/capture_done.json": "462d2520d231f02efd8f03959e82046b89d5a179fcfcfc401b33f7d4bdec6b19",
+  "source/meta.json": "ce89cbd48d204bc390029682ac6c3abca646fb9492acc305d0c576f2ce2bcacf",
+  "source/points_target.npz": "99d839c3e1c1804fd1a7bb543f895fb1cceb560201062ae1c27822aa29abad4e",
+  "source/visibility.json": "c67a9c1a2d5d8549d10bb2f24b02e16ff6380c106decd4e598df186766ff4445",
+  "tracks3d.npz": "8ffa3023c8b32a4b40bc9c222d034cddf5a395562c3bf9176abd3ee9ac8068c8",
+  "videos/view0.mp4": "d1b58f756b109b55b069c87a0257297edec212dfd384d92d1a7c372ca7cf27ab",
+  "videos/view1.mp4": "bdd765f8c21391cd8a6edce58f483fbb5d7c0ef771eaeb56d4c3a89c6c6f6877",
+  "videos/view2.mp4": "61f86f6a7289d3fb50dfeb8e126f154f9653b41e70101faba7cfc32230d89d3b",
+  "videos/view3.mp4": "2d24eafdc89f6e5b722f3921171a6f72a49684e852ac8ebe704ca636e294d5f1"
+ }
+}

Simul-General/clip_00090/source/caption.txt

@@ -0,0 +1 @@
+A gray-haired man in a dark vest, shirt, and trousers walks away along a paved pedestrian plaza, passing planters and a bench before continuing past a Stardust Coffee storefront, on a sunlit street lined with palm trees, low buildings, and a nearby crosswalk.

Simul-General/clip_00090/source/capture_done.json

@@ -0,0 +1,240 @@
+{
+ "clip": 90,
+ "spec_gen": "carla1",
+ "map": "Town10HD_x6",
+ "target_bp_id": "walker.pedestrian.0027",
+ "target_kind": "walker",
+ "target_class": "pedestrian",
+ "target_class_fallback": false,
+ "target_model": "walker.pedestrian.0027",
+ "target_lost_frame": null,
+ "bucket_retired": false,
+ "num_cams": 4,
+ "frames": 144,
+ "frame_count": 144,
+ "frame_bucket": 144,
+ "hfov_deg_per_cam": [
+  55.441,
+  50.579,
+  55.352,
+  31.483
+ ],
+ "oos_allowed": [
+  false,
+  true,
+  false,
+  false
+ ],
+ "oos_effective": [
+  false,
+  true,
+  false,
+  false
+ ],
+ "oos_departed": [
+  false,
+  true,
+  false,
+  false
+ ],
+ "oos_cycles": [
+  0,
+  1,
+  0,
+  0
+ ],
+ "oos_cycles_per_cam": [
+  0,
+  1,
+  0,
+  0
+ ],
+ "oos_forced_returns": 0,
+ "visible_ratio": [
+  0.8889,
+  0.7847,
+  1.0,
+  1.0
+ ],
+ "visibility_frac_per_cam": [
+  0.8889,
+  0.7847,
+  1.0,
+  1.0
+ ],
+ "min_visible_ratio_non_oos": 0.8889,
+ "points_ok": true,
+ "points_n": 256,
+ "points_track_complete_ratio": 1.0,
+ "points_track_breaks": 0,
+ "points_in_frustum_ratio": 0.9429,
+ "num_points": 256,
+ "track_breaks": 0,
+ "depth_qc": {
+  "frames": 576,
+  "sky": 0,
+  "near": 0,
+  "const": 0,
+  "per_cam": [
+   {
+    "frames": 144,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 144,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 144,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 144,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   }
+  ],
+  "dist": {
+   "saturated_frac_p50": 0.0,
+   "saturated_frac_p90": 0.017,
+   "saturated_frac_max": 0.0226,
+   "near_frac_max": 0.3466,
+   "unique_values_min": 1903,
+   "unique_values_p50": 14183
+  }
+ },
+ "view_blocked": false,
+ "view_block_ratios": [
+  0.069,
+  0.0,
+  0.0,
+  0.0
+ ],
+ "save_errors": 0,
+ "flush_ok": true,
+ "quality_ok": true,
+ "modalities": [
+  "rgb",
+  "seg",
+  "depth"
+ ],
+ "capture_build": "c1",
+ "bench_guards": {
+  "placement_ban": {
+   "rejected_cams": [],
+   "reallocations": 0
+  },
+  "target_los_guard": {
+   "enabled": true,
+   "abort_frames": 45,
+   "aborts": 0,
+   "max_streak_frames": 0,
+   "doomed_aborts": 0,
+   "gate1_min_visible": 0.1,
+   "cams": [
+    1,
+    3,
+    4
+   ]
+  },
+  "view_block_guard": {
+   "enabled": true,
+   "aborts": 0,
+   "doomed_aborts": 0,
+   "max_view_block_ratio": 0.6,
+   "streak_guard_retired": true
+  },
+  "depth_probe": {
+   "enabled": true,
+   "per_cam": [
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0,
+     "near_frac": 0.0,
+     "unique_values": 9917
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0,
+     "near_frac": 0.0,
+     "unique_values": 4802
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.011,
+     "near_frac": 0.0,
+     "unique_values": 15566
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0,
+     "near_frac": 0.0,
+     "unique_values": 5022
+    }
+   ],
+   "rejected_cams": [],
+   "probed_cams": 4,
+   "num_cams": 4
+  },
+  "depth_doomed_guard": {
+   "enabled": true,
+   "ratio_max": 0.25,
+   "aborts": 0,
+   "last": {
+    "sky": 0,
+    "near": 0,
+    "const": 0,
+    "total": 576
+   }
+  },
+  "oos_guard": {
+   "enabled": true,
+   "doomed_aborts": 0,
+   "window_retries": 0
+  },
+  "union_guard": {
+   "enabled": false,
+   "hard_all_blind_max_run": null,
+   "allow_blind_run": null,
+   "all_blind_max_run": 0,
+   "violation_frame": null,
+   "hard_union_min_frac": null,
+   "blind_frames": 0,
+   "union_visible_frac": 1.0,
+   "doomed_aborts": 0
+  },
+  "motion_gate": {
+   "required_travel_m": 1.78,
+   "v_max_m_s": 1.6,
+   "travel_m": 11.781,
+   "moving_steps": 110,
+   "steps": 143,
+   "doomed_aborts": 0,
+   "enabled": true,
+   "preroll_waited_frames": 16,
+   "preroll_red_light_frames": 0,
+   "preroll_max_queue": 0,
+   "preroll_rejects": []
+  }
+ },
+ "difficulty_requested": "normal",
+ "hard_relay_k_requested": null,
+ "capture_wall_s": 99.5,
+ "capture_wall_sec": 99.5,
+ "abort": null
+}

Simul-General/clip_00090/source/meta.json

@@ -0,0 +1,638 @@
+{
+ "spec_gen": "carla1",
+ "mode": "carla_game",
+ "clip": 90,
+ "clip_index": 90,
+ "map": "Town10HD_x6",
+ "num_cams": 4,
+ "resolution": [
+  1280,
+  1280
+ ],
+ "fps": 15.0,
+ "frames": 144,
+ "frame_count": 144,
+ "frame_bucket": 144,
+ "target_class": "pedestrian",
+ "target_class_requested": "pedestrian",
+ "target_class_fallback": false,
+ "hfov_deg_per_cam": [
+  55.441,
+  50.579,
+  55.352,
+  31.483
+ ],
+ "hfov_range_deg": [
+  31.483,
+  55.441
+ ],
+ "intrinsics_mode": "per_camera",
+ "capture_depth": true,
+ "fixed_timestep": 0.066667,
+ "bucket_retired": false,
+ "target": {
+  "tracked": true,
+  "kind": "walker",
+  "bp_id": "walker.pedestrian.0027",
+  "model_id": "walker.pedestrian.0027",
+  "half_extent_m": 0.923,
+  "motion_kinds": [
+   "random_polyline",
+   "random_polyline",
+   "arc",
+   "static"
+  ],
+  "semantic_tags": [
+   12
+  ]
+ },
+ "bench": {
+  "mode": true,
+  "clip_id": 90,
+  "bg_ratio": 0.0,
+  "placement_fallbacks": [],
+  "target_reacquires": 0,
+  "placement_ban": {
+   "rejected_cams": [],
+   "reallocations": 0
+  },
+  "target_los_guard": {
+   "enabled": true,
+   "abort_frames": 45,
+   "aborts": 0,
+   "max_streak_frames": 0,
+   "doomed_aborts": 0,
+   "gate1_min_visible": 0.1,
+   "cams": [
+    1,
+    3,
+    4
+   ]
+  },
+  "view_block_guard": {
+   "enabled": true,
+   "aborts": 0,
+   "doomed_aborts": 0,
+   "max_view_block_ratio": 0.6,
+   "streak_guard_retired": true
+  },
+  "depth_probe": {
+   "enabled": true,
+   "per_cam": [
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0,
+     "near_frac": 0.0,
+     "unique_values": 9917
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0,
+     "near_frac": 0.0,
+     "unique_values": 4802
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.011,
+     "near_frac": 0.0,
+     "unique_values": 15566
+    },
+    {
+     "sky": 0,
+     "near": 0,
+     "const": 0,
+     "saturated_frac": 0.0,
+     "near_frac": 0.0,
+     "unique_values": 5022
+    }
+   ],
+   "rejected_cams": [],
+   "probed_cams": 4,
+   "num_cams": 4
+  },
+  "depth_doomed_guard": {
+   "enabled": true,
+   "ratio_max": 0.25,
+   "aborts": 0,
+   "last": {
+    "sky": 0,
+    "near": 0,
+    "const": 0,
+    "total": 576
+   }
+  },
+  "oos_guard": {
+   "enabled": true,
+   "doomed_aborts": 0,
+   "window_retries": 0
+  },
+  "difficulty_requested": "normal",
+  "hard_relay_k_requested": null,
+  "union_guard": {
+   "enabled": false,
+   "hard_all_blind_max_run": null,
+   "allow_blind_run": null,
+   "all_blind_max_run": 0,
+   "violation_frame": null,
+   "hard_union_min_frac": null,
+   "blind_frames": 0,
+   "union_visible_frac": 1.0,
+   "doomed_aborts": 0
+  },
+  "motion_gate": {
+   "required_travel_m": 1.78,
+   "v_max_m_s": 1.6,
+   "travel_m": 11.781,
+   "moving_steps": 110,
+   "steps": 143,
+   "doomed_aborts": 0,
+   "enabled": true,
+   "preroll_waited_frames": 16,
+   "preroll_red_light_frames": 0,
+   "preroll_max_queue": 0,
+   "preroll_rejects": []
+  }
+ },
+ "continuity": {
+  "target_lost_frame": null,
+  "target_survived": true,
+  "enclosed_retries_budget": 6,
+  "min_usable_dirs_used": 27
+ },
+ "oos": {
+  "prob": 0.3,
+  "max_cams": 2,
+  "force_min": 0,
+  "enabled": true,
+  "pan_tilt_scale_half_fov": 1.5,
+  "pan_tilt_cap_deg": [
+   9.7022,
+   37.9342,
+   9.6866,
+   5.5095
+  ],
+  "pan_tilt_cap_source": "oos_open_or_tracking",
+  "allowed": [
+   false,
+   true,
+   false,
+   false
+  ],
+  "reasons": [
+   "none",
+   "sampled",
+   "none",
+   "none"
+  ],
+  "effective": [
+   false,
+   true,
+   false,
+   false
+  ],
+  "num_allowed": 1,
+  "num_effective": 1,
+  "cycles_per_cam": [
+   0,
+   1,
+   0,
+   0
+  ],
+  "cycles": [
+   0,
+   1,
+   0,
+   0
+  ],
+  "aim_mode": "offset_from_live_anchor",
+  "segments": [
+   {
+    "cam": 0,
+    "cam_name": "cam01",
+    "start": 90,
+    "end": 98,
+    "kind": "occluded",
+    "len": 9
+   },
+   {
+    "cam": 1,
+    "cam_name": "cam02",
+    "start": 37,
+    "end": 64,
+    "kind": "out_of_frustum",
+    "len": 28
+   }
+  ],
+  "departed": [
+   false,
+   true,
+   false,
+   false
+  ],
+  "num_departed": 1,
+  "scheduler": {
+   "enabled": true,
+   "min_clip_frames": 100,
+   "out_run_target_frames": [
+    12,
+    24
+   ],
+   "gate_min_out_frames": 8,
+   "reentry_visible_frames": 8,
+   "segment_min_len": 8,
+   "window_lead_frac": 0.12,
+   "two_window_frames": 181,
+   "slew_half_fov_frac": 0.08,
+   "open_slew": true,
+   "aim_offset_frac": 1.15,
+   "skipped_short_bucket": false,
+   "per_cam": [
+    null,
+    {
+     "windows": [
+      19
+     ],
+     "target_out_frames": [
+      16
+     ],
+     "opened_at": 19,
+     "left_at": 37,
+     "out_run_max": 16,
+     "returned_at": 80,
+     "cycles_live": 1,
+     "forced_returns": 0,
+     "aim_offset": {
+      "applied": true,
+      "reason": null,
+      "deg": 38.05,
+      "m": 4.87,
+      "cm": 486.9,
+      "frac": 1.656,
+      "need_frac": 1.606,
+      "radius_m": 1.07,
+      "dist_m": 6.22,
+      "clamped": false
+     },
+     "events": [
+      {
+       "window": 0,
+       "opened_at": 19,
+       "left_at": 37,
+       "out_run": 16,
+       "return_at": 52,
+       "forced": false
+      }
+     ],
+     "open_est_frames": 18,
+     "return_est_frames": 33,
+     "window_retries": 0,
+     "relay_phase": null,
+     "hard_offset_frac": null,
+     "hard_offset_floor": null,
+     "phase_delayed_frames": 0,
+     "reaims_reentry": 0
+    },
+    null,
+    null
+   ]
+  },
+  "schedule": [
+   null,
+   {
+    "windows": [
+     19
+    ],
+    "target_out_frames": [
+     16
+    ],
+    "opened_at": 19,
+    "left_at": 37,
+    "out_run_max": 16,
+    "returned_at": 80,
+    "cycles_live": 1,
+    "forced_returns": 0,
+    "aim_offset": {
+     "applied": true,
+     "reason": null,
+     "deg": 38.05,
+     "m": 4.87,
+     "cm": 486.9,
+     "frac": 1.656,
+     "need_frac": 1.606,
+     "radius_m": 1.07,
+     "dist_m": 6.22,
+     "clamped": false
+    },
+    "events": [
+     {
+      "window": 0,
+      "opened_at": 19,
+      "left_at": 37,
+      "out_run": 16,
+      "return_at": 52,
+      "forced": false
+     }
+    ],
+    "open_est_frames": 18,
+    "return_est_frames": 33,
+    "window_retries": 0,
+    "relay_phase": null,
+    "hard_offset_frac": null,
+    "hard_offset_floor": null,
+    "phase_delayed_frames": 0,
+    "reaims_reentry": 0
+   },
+   null,
+   null
+  ],
+  "relay": null
+ },
+ "smoothing": {
+  "max_step_m": 1.5,
+  "max_accel_m": 0.2,
+  "lag_closure_frac": 0.12,
+  "rot_cap_frac_hfov": 0.06,
+  "max_step_cm": 150.0,
+  "max_accel_cm": 20.0,
+  "rot_cap_deg_per_cam": [
+   3.326,
+   3.035,
+   3.321,
+   1.889
+  ],
+  "oos_slew_half_fov_frac": 0.08,
+  "anchor_stabilize": true,
+  "anchor_stabilize_tau_s": 0.5
+ },
+ "visibility": {
+  "frames": 144,
+  "states": [
+   "visible",
+   "occluded",
+   "out_of_frustum",
+   "target_absent"
+  ],
+  "per_cam_ratio": [
+   {
+    "visible": 0.8889,
+    "occluded": 0.1111,
+    "out_of_frustum": 0.0,
+    "target_absent": 0.0
+   },
+   {
+    "visible": 0.7847,
+    "occluded": 0.0417,
+    "out_of_frustum": 0.1736,
+    "target_absent": 0.0
+   },
+   {
+    "visible": 1.0,
+    "occluded": 0.0,
+    "out_of_frustum": 0.0,
+    "target_absent": 0.0
+   },
+   {
+    "visible": 1.0,
+    "occluded": 0.0,
+    "out_of_frustum": 0.0,
+    "target_absent": 0.0
+   }
+  ],
+  "visible_ratio": [
+   0.8889,
+   0.7847,
+   1.0,
+   1.0
+  ],
+  "non_oos_cams": [
+   1,
+   3,
+   4
+  ],
+  "min_visible_ratio_non_oos": 0.8889,
+  "target_absent_frames": 0,
+  "bbox_sources": {
+   "actor_bounding_box": 144
+  },
+  "all_blind_max_run_strict": 0,
+  "target_px_percentiles": {
+   "n": 551,
+   "p01": 0,
+   "p05": 1513,
+   "p10": 3998,
+   "p50": 32009,
+   "p90": 51804,
+   "min": 0,
+   "max": 53749
+  },
+  "gate1_cams": [
+   1,
+   3,
+   4
+  ],
+  "min_visible_ratio_gate1": 0.8889
+ },
+ "points": {
+  "enabled": true,
+  "num_points": 256,
+  "frames": 144,
+  "valid_frames": 144,
+  "track_complete_ratio": 1.0,
+  "track_breaks": 0,
+  "dead_points": 0,
+  "in_frustum_ratio": 0.9429,
+  "npz_source": "client_lbs",
+  "sample_log": "n=256 parts=1 skinned=256",
+  "npz_written": true
+ },
+ "depth_qc": {
+  "frames": 576,
+  "sky": 0,
+  "near": 0,
+  "const": 0,
+  "per_cam": [
+   {
+    "frames": 144,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 144,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 144,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 144,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   }
+  ],
+  "dist": {
+   "saturated_frac_p50": 0.0,
+   "saturated_frac_p90": 0.017,
+   "saturated_frac_max": 0.0226,
+   "near_frac_max": 0.3466,
+   "unique_values_min": 1903,
+   "unique_values_p50": 14183
+  }
+ },
+ "placement": [
+  {
+   "cam": 1,
+   "hfov_deg": 55.441,
+   "azimuth_deg": 0.0,
+   "want_dist_m": 4.57,
+   "clear_m": 26.0,
+   "dist_m": 4.57,
+   "elev_m": 3.43,
+   "fill_frac": 0.42,
+   "sphere_clamp": null,
+   "floor_m": 4.0,
+   "realloc": null,
+   "rejected": false,
+   "avoid_az_deg": null
+  },
+  {
+   "cam": 2,
+   "hfov_deg": 50.579,
+   "azimuth_deg": 56.2,
+   "want_dist_m": 5.01,
+   "clear_m": 26.0,
+   "dist_m": 5.01,
+   "elev_m": 3.63,
+   "fill_frac": 0.42,
+   "sphere_clamp": null,
+   "floor_m": 4.0,
+   "realloc": null,
+   "rejected": false,
+   "avoid_az_deg": null
+  },
+  {
+   "cam": 3,
+   "hfov_deg": 55.352,
+   "azimuth_deg": 90.0,
+   "want_dist_m": 4.58,
+   "clear_m": 26.0,
+   "dist_m": 4.58,
+   "elev_m": 2.08,
+   "fill_frac": 0.42,
+   "sphere_clamp": null,
+   "floor_m": 4.0,
+   "realloc": null,
+   "rejected": false,
+   "avoid_az_deg": null
+  },
+  {
+   "cam": 4,
+   "hfov_deg": 31.483,
+   "azimuth_deg": 157.5,
+   "want_dist_m": 8.02,
+   "clear_m": 26.0,
+   "dist_m": 8.02,
+   "elev_m": 3.09,
+   "fill_frac": 0.42,
+   "sphere_clamp": null,
+   "floor_m": 4.0,
+   "realloc": null,
+   "rejected": false,
+   "avoid_az_deg": null
+  }
+ ],
+ "placement_diag": {
+  "usable_dirs": 27,
+  "probe_dirs": 32
+ },
+ "acquire": [
+  {
+   "attempt": 1,
+   "target_px": [
+    33727,
+    4283,
+    43116,
+    49179
+   ],
+   "framing_ok": true,
+   "framing_bad": [],
+   "usable_dirs": 27,
+   "trace_self_test": "\ud788\ud2b8 1",
+   "depth_bad_cams": [],
+   "place_rejected_cams": [],
+   "preroll": {
+    "enabled": true,
+    "ok": true,
+    "reason": null,
+    "waited_frames": 16,
+    "red_light_frames": 0,
+    "max_queue": 0
+   }
+  }
+ ],
+ "acquire_wall_s": 8.7,
+ "capture_wall_s": 99.5,
+ "wall_per_frame_s": 0.691,
+ "wall_breakdown_s": {
+  "tick": 6.7,
+  "collect": 37.9,
+  "decode": 39.7,
+  "pose": 0.2,
+  "write": 12.3
+ },
+ "sensor_spawn_wall_s": 1.79,
+ "modalities": [
+  "rgb",
+  "seg",
+  "depth"
+ ],
+ "post_process_profile": "MV4D",
+ "abort": null,
+ "view_block_streak_max": 0,
+ "capture_build": "c1",
+ "target_px_median_per_cam": [
+  36109,
+  15877,
+  32231,
+  50628
+ ],
+ "visibility_frac_per_cam": [
+  0.8889,
+  0.7847,
+  1.0,
+  1.0
+ ],
+ "visibility_strict_frac_per_cam": [
+  0.931,
+  0.792,
+  1.0,
+  1.0
+ ],
+ "config_diff": {
+  "max_consecutive_skips": 6,
+  "server_restart_every": 30,
+  "server_restart_auto": true,
+  "map_name": "Town10HD_x6",
+  "walker_tiles": [
+   0,
+   1
+  ],
+  "bench_schedule": true
+ },
+ "tm_seed": 260903,
+ "tile_of_target": 0,
+ "target_tile_requested": -1,
+ "walker_forced_to_vehicle": false
+}

Simul-General/clip_00092/cameras.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eb151f75e0bfbea9bc6309e07ad55fa4733fdafd6614202daeb7e586426cbcd
+size 58059

Simul-General/clip_00092/depth/depth.zip

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6552c0d0877dcfb98ea3b4af30e1016e2ffd7f8aff742e57acfb4b72fd282a0
+size 188220053

Simul-General/clip_00092/labels/target.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:339e09a00aa3b561d219a8812dcf5a87d3b4dbdf8d7e2990d0540c37df4bd0be
+size 9837

Simul-General/clip_00092/source/points_target.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8a77c3b6566efe35c67b552650d2331fd9f4a31723dc1d35e51fe81dd24eebb
+size 523645

Simul-General/clip_00092/tracks3d.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fb1432b2a75535e296462259e093a73b2307c0695627b766c414196c3a2a7bf
+size 527691