Step 1 full re-run @ 15fps with compound+fallback prompts and containment merge (55 clips)

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samples/-4eiU1SHpzY_319.4_323.4/camera.json

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samples/-4eiU1SHpzY_319.4_323.4/depth.mp4

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samples/-4eiU1SHpzY_319.4_323.4/hand_joints.bin

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samples/-4eiU1SHpzY_319.4_323.4/hand_meta.json

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samples/-4eiU1SHpzY_319.4_323.4/scene.json

@@ -1,6 +1,6 @@
 {
   "id": "-4eiU1SHpzY_319.4_323.4",
-  "fps": 5.25,
+  "fps": 7.75,
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     "license": "fair-noncommercial-research-license-v1"
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@@ -85,7 +85,7 @@
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+        "prompt": "plastic container",
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@@ -145,18 +145,60 @@
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+        "prompt": "lid",
+        "color_hex": "#a05848",
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       },
@@ -195,8 +239,8 @@
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+    "n_objects": 7,
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samples/-4eiU1SHpzY_319.4_323.4/signals.json

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samples/-5a3oTSdP3U_168.6_173.4/camera.json

@@ -1,12 +1,12 @@
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   "cy": 240.0,
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samples/-5a3oTSdP3U_168.6_173.4/hand_meta.json

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+  "n_frames": 74,
   "max_hands": 2,
   "n_hands_per_frame": [
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@@ -73,6 +73,8 @@
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samples/-5a3oTSdP3U_168.6_173.4/object_obb.bin

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samples/-5a3oTSdP3U_168.6_173.4/object_pose.bin

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samples/-5a3oTSdP3U_168.6_173.4/scene.json

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 {
   "id": "-5a3oTSdP3U_168.6_173.4",
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+  "fps": 7.708333333333315,
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     "license": "fair-noncommercial-research-license-v1"
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@@ -40,17 +40,60 @@
     "hand_verts": "hand_verts.bin",
     "hand_faces": "hand_faces.bin",
     "hand_meta": "hand_meta.json",
-    "objects": [],
+    "objects": [
+      {
+        "id": 0,
+        "prompt": "brown book",
+        "color_hex": "#d97757",
+        "ply": "objects/obj_0.ply",
+        "n_points": 0,
+        "scale_correction": 1.0,
+        "tracker_ok": false,
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+        "prompt": "brown book",
+        "color_hex": "#6a9460",
+        "ply": "objects/obj_1.ply",
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     "object_obb": "object_obb.bin",
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+        74,
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-      "masks_meta": null,
+      "masks_npz": "masks.npz",
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+        "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)"
+      },
       "bg_template": "bg_template.png",
       "pose_track": "pose_track.json"
     }
   },
   "stats": {
-    "n_frames": 72,
-    "n_objects": 0,
+    "n_frames": 74,
+    "n_objects": 2,
     "has_grasp": false,
     "mean_trust": null,
     "mean_iou": null

samples/-5a3oTSdP3U_168.6_173.4/signals.json

@@ -1 +1 @@
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samples/-5nmuwQ0kwA_383.0_387.0/camera.json

@@ -1,12 +1,12 @@
 {
-  "focal": 893.6037334799767,
+  "focal": 910.857019662857,
   "cx": 426.5,
   "cy": 240.0,
   "width": 853,
   "height": 480,
   "gravity_up": [
-    -0.06183486431837082,
-    -0.8226391077041626,
-    -0.5651914477348328
+    -0.06075458601117134,
+    -0.7916518449783325,
+    -0.6079441905021667
   ]
 }

samples/-5nmuwQ0kwA_383.0_387.0/depth.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:682203a2bbf6014331cd3595cb417edf7c97af9903608f92b66629ea245c3394
-size 710191
+oid sha256:8935aaa3cce02784e550e693a35eb72af5b04ffc8159ed7fc5c081aa09e88ebf
+size 612989

samples/-5nmuwQ0kwA_383.0_387.0/depth.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:329e9d8ecc43a321807b34fe83e19e18e0a9cd63cd2ba94276dd0870556ba971
-size 4820223
+oid sha256:f9dadefd38c789771540073d006fcb1fb5edfa589cc4de70c09c82abf6179edf
+size 3535839