| { |
| "id": "-8WOMg810tk_48.4_60.3", |
| "fps": 15.04201680672269, |
| "duration": 11.899999999999999, |
| "video_source": { |
| "type": "youtube", |
| "youtube_id": "-8WOMg810tk", |
| "start_seconds": 48.4, |
| "end_seconds": 60.3, |
| "url": "https://youtube.com/watch?v=-8WOMg810tk&t=48", |
| "embed_blocked": false |
| }, |
| "action100m_metadata": { |
| "action_brief": "Season and garnish bacon", |
| "action_detailed": "Sprinkle the dry rub over the slab of bacon, then open the silver can, remove a green olive, rub it in your hand and set the olive on the board beside the bacon before closing the can and setting the containers aside.", |
| "actor": "A man wearing a black shirt, black vest and blue jeans", |
| "summary": "The man stands at a red countertop behind a wooden cutting board that holds a slab of bacon. He flips a clear seasoning packet from his left hand to his right and shakes the dry rub evenly over the bacon, then places the packet back on the board. Next he opens a small silver can, revealing green olives, picks one with his left hand, rubs it in his palm and places the olive on the board beside the bacon. He closes the can, moves the can and the seasoning packet away, and the segment ends with the seasoned bacon ready for the next step.", |
| "video_title": null, |
| "video_duration": null, |
| "segment_id": 5089520, |
| "level": null, |
| "favorited_at": null, |
| "source_dataset": "Action100M", |
| "license": "fair-noncommercial-research-license-v1" |
| }, |
| "camera": { |
| "focal": 894.1433790922165, |
| "cx": 426.5, |
| "cy": 240.0, |
| "width": 853, |
| "height": 480, |
| "gravity_up": [ |
| 0.009098009206354618, |
| -0.8988101482391357, |
| -0.43824371695518494 |
| ] |
| }, |
| "reconstruction": { |
| "hand_joints": "hand_joints.bin", |
| "hand_joints_2d": "hand_joints_2d.bin", |
| "hand_verts": "hand_verts.bin", |
| "hand_faces": "hand_faces.bin", |
| "hand_meta": "hand_meta.json", |
| "objects": [ |
| { |
| "id": 0, |
| "prompt": "cutting board", |
| "color_hex": "#d97757", |
| "ply": "objects/obj_0.ply", |
| "n_points": 22036, |
| "scale_correction": 0.8559684753417969, |
| "tracker_ok": true, |
| "canonical_translation": [ |
| 0.06076955795288086, |
| -0.13900908827781677, |
| 1.8004283905029297 |
| ], |
| "canonical_rotation_quat": [ |
| 0.004013740923255682, |
| 0.01852097176015377, |
| 0.8677310347557068, |
| 0.4966725707054138 |
| ], |
| "canonical_scale": 0.8559684753417969 |
| }, |
| { |
| "id": 1, |
| "prompt": "bacon", |
| "color_hex": "#6a9460", |
| "ply": "objects/obj_1.ply", |
| "n_points": 42696, |
| "scale_correction": 0.2694116532802582, |
| "tracker_ok": true, |
| "canonical_translation": [ |
| 0.028492063283920288, |
| -0.05582856014370918, |
| 1.7351410388946533 |
| ], |
| "canonical_rotation_quat": [ |
| 0.014631418511271477, |
| 0.03124440647661686, |
| 0.8415850400924683, |
| 0.5390216708183289 |
| ], |
| "canonical_scale": 0.2694116532802582 |
| }, |
| { |
| "id": 2, |
| "prompt": "seasoning packet", |
| "color_hex": "#5a7daa", |
| "ply": "objects/obj_2.ply", |
| "n_points": 50852, |
| "scale_correction": 0.20641130208969116, |
| "tracker_ok": true, |
| "canonical_translation": [ |
| -0.3736613690853119, |
| 0.04801443591713905, |
| 1.6247901916503906 |
| ], |
| "canonical_rotation_quat": [ |
| 0.25062140822410583, |
| 0.3387928307056427, |
| 0.873778760433197, |
| 0.24273234605789185 |
| ], |
| "canonical_scale": 0.20641130208969116 |
| }, |
| { |
| "id": 3, |
| "prompt": "silver can", |
| "color_hex": "#c89968", |
| "ply": "objects/obj_3.ply", |
| "n_points": 40524, |
| "scale_correction": 0.10609336942434311, |
| "tracker_ok": true, |
| "canonical_translation": [ |
| -0.28695037961006165, |
| -0.08451979607343674, |
| 1.9305706024169922 |
| ], |
| "canonical_rotation_quat": [ |
| 0.11396346986293793, |
| 0.17488224804401398, |
| 0.7954998016357422, |
| 0.5688660740852356 |
| ], |
| "canonical_scale": 0.10609336942434311 |
| } |
| ], |
| "object_pose_traj": "object_pose.bin", |
| "object_pose_shape": [ |
| 179, |
| 4, |
| 4, |
| 4 |
| ], |
| "object_obb": "object_obb.bin", |
| "object_obb_shape": [ |
| 4, |
| 8, |
| 3 |
| ], |
| "depth_video": "depth.mp4", |
| "flow_video": "flow.mp4", |
| "mask_video": "mask.mp4", |
| "signals": "signals.json", |
| "thumb": "thumb.jpg", |
| "raw": { |
| "depth_npz": "depth.npz", |
| "depth_unit": "millimeter", |
| "depth_dtype": "uint16", |
| "depth_shape": [ |
| 179, |
| 480, |
| 853 |
| ], |
| "masks_npz": "masks.npz", |
| "masks_meta": { |
| "shape": [ |
| 179, |
| 480, |
| 853 |
| ], |
| "oids": [ |
| 0, |
| 1, |
| 2, |
| 3 |
| ], |
| "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": 179, |
| "n_objects": 4, |
| "has_grasp": false, |
| "mean_trust": null, |
| "mean_iou": null, |
| "sam3_quality": 0.9393982330378361 |
| }, |
| "tracking_summary": { |
| "0": { |
| "path": null, |
| "anchor_fitness": null, |
| "median_chamfer_mm": null, |
| "mean_iou": null, |
| "grasp_rate": 0.0, |
| "trust_rate": 0.0, |
| "tracking_status": "ok", |
| "state_counts": { |
| "static": 179, |
| "grasped_l": 0, |
| "grasped_r": 0, |
| "grasped_both": 0, |
| "moving": 0 |
| }, |
| "state_fractions": { |
| "static": 1.0, |
| "grasped": 0.0, |
| "moving": 0.0 |
| }, |
| "is_static_global": true, |
| "n_state_frames": 179 |
| }, |
| "1": { |
| "path": null, |
| "anchor_fitness": null, |
| "median_chamfer_mm": null, |
| "mean_iou": null, |
| "grasp_rate": 0.0, |
| "trust_rate": 0.0, |
| "tracking_status": "ok", |
| "state_counts": { |
| "static": 179, |
| "grasped_l": 0, |
| "grasped_r": 0, |
| "grasped_both": 0, |
| "moving": 0 |
| }, |
| "state_fractions": { |
| "static": 1.0, |
| "grasped": 0.0, |
| "moving": 0.0 |
| }, |
| "is_static_global": true, |
| "n_state_frames": 179 |
| }, |
| "2": { |
| "path": null, |
| "anchor_fitness": null, |
| "median_chamfer_mm": null, |
| "mean_iou": null, |
| "grasp_rate": 0.0, |
| "trust_rate": 0.11173184357541899, |
| "tracking_status": "ok", |
| "state_counts": { |
| "static": 134, |
| "grasped_l": 7, |
| "grasped_r": 0, |
| "grasped_both": 18, |
| "moving": 20 |
| }, |
| "state_fractions": { |
| "static": 0.7486033519553073, |
| "grasped": 0.0, |
| "moving": 0.11173184357541899 |
| }, |
| "is_static_global": false, |
| "n_state_frames": 179 |
| }, |
| "3": { |
| "path": null, |
| "anchor_fitness": null, |
| "median_chamfer_mm": null, |
| "mean_iou": null, |
| "grasp_rate": 0.0, |
| "trust_rate": 0.16201117318435754, |
| "tracking_status": "ok", |
| "state_counts": { |
| "static": 124, |
| "grasped_l": 12, |
| "grasped_r": 14, |
| "grasped_both": 0, |
| "moving": 29 |
| }, |
| "state_fractions": { |
| "static": 0.6927374301675978, |
| "grasped": 0.0, |
| "moving": 0.16201117318435754 |
| }, |
| "is_static_global": false, |
| "n_state_frames": 179 |
| } |
| }, |
| "_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms." |
| } |
