rescue 7OrTlHd-2aw (metal tool/valve → brass valve/copper pipe, 0→0.83)

samples/-1r9yl-P-Ao_231.8_241.5/camera.json

@@ -5,8 +5,8 @@
   "width": 853,
   "height": 480,
   "gravity_up": [
-    -0.03731274977326393,
-    -0.9848600625991821,
-    -0.16928793489933014
+    -0.038695044815540314,
+    -0.9839451313018799,
+    -0.17422598600387573
   ]
 }

samples/-1r9yl-P-Ao_231.8_241.5/hand_joints_2d.bin

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:45dbb798e6d82bd78d5768a179021c0ad0f52020a33f92b853de5341e629a129
+oid sha256:3108df8eabcf9134ce093d8233e12a0428ce790ac416f3bd83823b183e67d36c
 size 49056

samples/-1r9yl-P-Ao_231.8_241.5/scene.json

@@ -30,9 +30,9 @@
     "width": 853,
     "height": 480,
     "gravity_up": [
-      -0.03731274977326393,
-      -0.9848600625991821,
-      -0.16928793489933014
+      -0.038695044815540314,
+      -0.9839451313018799,
+      -0.17422598600387573
     ]
   },
   "reconstruction": {

samples/7OrTlHd-2aw_262.8_266.8/camera.json

@@ -5,8 +5,8 @@
   "width": 853,
   "height": 480,
   "gravity_up": [
-    -0.007112840656191111,
-    -0.9755720496177673,
-    -0.21956473588943481
+    -0.005890014581382275,
+    -0.976705014705658,
+    -0.21450552344322205
   ]
 }

samples/7OrTlHd-2aw_262.8_266.8/flow.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:96c9359d689363a5401bf831a1529846cd1fa37ecf36dd492cbd21c7fe466bb3
-size 124935
+oid sha256:48083ac4708cf0d9e3f4bc9100d6fc59b20429a9b5bf42a923a91a12fb03ab15
+size 154264

samples/7OrTlHd-2aw_262.8_266.8/hand_joints_2d.bin

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:aad0ddc6c39aa3dfb3ff6d8155fbb2ad29a4abb7cb76f036eddfd27e7d444b8b
+oid sha256:66facc922efd759811163b03f1a28144170f6a2512de1eca2aadb834156edbdb
 size 20160

samples/7OrTlHd-2aw_262.8_266.8/mask.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:fa706adaf7c6ae4ce892bbba4a188bab36cd26b2e262036175f7cc78bccdc941
-size 3975
+oid sha256:436c515a3f28960861e2ab62fd00ef9ff78d48a6ca069a219bd2a12f4e4fc4aa
+size 22764

samples/7OrTlHd-2aw_262.8_266.8/masks.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3328565e6072ddab27e5557e0ff81a189c971b80802af1ca53b6ef853360a67c
+size 27583

samples/7OrTlHd-2aw_262.8_266.8/object_obb.bin

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff0ed0c1427a0802e69d23ec8a82eafac62148b51e507cb0d904f0d1f0cbbc82
+size 288

samples/7OrTlHd-2aw_262.8_266.8/object_pose.bin

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f294695e032a79438468f92f85661aa81e4c6ff6b1ba8a0d4de1fd55c579dc13
+size 11520

samples/7OrTlHd-2aw_262.8_266.8/scene.json

@@ -30,9 +30,9 @@
     "width": 853,
     "height": 480,
     "gravity_up": [
-      -0.007112840656191111,
-      -0.9755720496177673,
-      -0.21956473588943481
+      -0.005890014581382275,
+      -0.976705014705658,
+      -0.21450552344322205
     ]
   },
   "reconstruction": {
@@ -41,17 +41,81 @@
     "hand_verts": "hand_verts.bin",
     "hand_faces": "hand_faces.bin",
     "hand_meta": "hand_meta.json",
-    "objects": [],
+    "objects": [
+      {
+        "id": 0,
+        "prompt": "brass valve",
+        "color_hex": "#d97757",
+        "ply": "objects/obj_0.ply",
+        "n_points": 0,
+        "scale_correction": 1.0,
+        "tracker_ok": false,
+        "canonical_translation": [
+          0,
+          0,
+          0
+        ],
+        "canonical_rotation_quat": [
+          0,
+          0,
+          0,
+          1
+        ],
+        "canonical_scale": 1.0
+      },
+      {
+        "id": 1,
+        "prompt": "copper pipe",
+        "color_hex": "#6a9460",
+        "ply": "objects/obj_1.ply",
+        "n_points": 0,
+        "scale_correction": 1.0,
+        "tracker_ok": false,
+        "canonical_translation": [
+          0,
+          0,
+          0
+        ],
+        "canonical_rotation_quat": [
+          0,
+          0,
+          0,
+          1
+        ],
+        "canonical_scale": 1.0
+      },
+      {
+        "id": 2,
+        "prompt": "copper pipe",
+        "color_hex": "#5a7daa",
+        "ply": "objects/obj_2.ply",
+        "n_points": 0,
+        "scale_correction": 1.0,
+        "tracker_ok": false,
+        "canonical_translation": [
+          0,
+          0,
+          0
+        ],
+        "canonical_rotation_quat": [
+          0,
+          0,
+          0,
+          1
+        ],
+        "canonical_scale": 1.0
+      }
+    ],
     "object_pose_traj": "object_pose.bin",
     "object_pose_shape": [
       60,
-      0,
+      3,
       4,
       4
     ],
     "object_obb": "object_obb.bin",
     "object_obb_shape": [
-      0,
+      3,
       8,
       3
     ],
@@ -69,19 +133,31 @@
         480,
         853
       ],
-      "masks_npz": null,
-      "masks_meta": null,
+      "masks_npz": "masks.npz",
+      "masks_meta": {
+        "shape": [
+          60,
+          480,
+          853
+        ],
+        "oids": [
+          0,
+          1,
+          2
+        ],
+        "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": 60,
-    "n_objects": 0,
+    "n_objects": 3,
     "has_grasp": false,
     "mean_trust": null,
     "mean_iou": null,
-    "sam3_quality": 0.0
+    "sam3_quality": 0.8320823650327068
   },
   "tracking_summary": {},
   "_license": "This sample is a derivative work of Action100M and is distributed under FAIR Noncommercial Research License v1. See LICENSE-Action100M for terms."

samples/index.json

@@ -2214,6 +2214,32 @@
       "video_url": "./-QGsBuKzP4U_117.0_125.7/depth.mp4",
       "video_raw_url": "./-QGsBuKzP4U_117.0_125.7/depth.mp4"
     },
+    {
+      "name": "7OrTlHd-2aw_262.8_266.8",
+      "video_uid": "7OrTlHd-2aw",
+      "segment_id": 1149774,
+      "action_brief": "Turn valve",
+      "actor": "The male installer wearing a white (light‑colored) T‑shirt and beige/khaki pants",
+      "favorited_at": null,
+      "note": "",
+      "start_sec": 262.8,
+      "end_sec": 266.8,
+      "duration_sec": 4.0,
+      "n_frames": 60,
+      "n_objects": 3,
+      "sam3_quality": 0.8320823650327068,
+      "objects": [
+        "brass valve",
+        "copper pipe",
+        "copper pipe"
+      ],
+      "has_grasp": false,
+      "mean_trust": null,
+      "mean_iou": null,
+      "thumb_url": "https://i.ytimg.com/vi/7OrTlHd-2aw/hqdefault.jpg",
+      "video_url": "./7OrTlHd-2aw_262.8_266.8/depth.mp4",
+      "video_raw_url": "./7OrTlHd-2aw_262.8_266.8/depth.mp4"
+    },
     {
       "name": "-2cNMO9Mm3Q_192.4_209.2",
       "video_uid": "-2cNMO9Mm3Q",
@@ -2718,28 +2744,6 @@
       "thumb_url": "https://i.ytimg.com/vi/-1r9yl-P-Ao/hqdefault.jpg",
       "video_url": "./-1r9yl-P-Ao_231.8_241.5/depth.mp4",
       "video_raw_url": "./-1r9yl-P-Ao_231.8_241.5/depth.mp4"
-    },
-    {
-      "name": "7OrTlHd-2aw_262.8_266.8",
-      "video_uid": "7OrTlHd-2aw",
-      "segment_id": 1149774,
-      "action_brief": "Turn valve",
-      "actor": "The male installer wearing a white (light‑colored) T‑shirt and beige/khaki pants",
-      "favorited_at": null,
-      "note": "",
-      "start_sec": 262.8,
-      "end_sec": 266.8,
-      "duration_sec": 4.0,
-      "n_frames": 60,
-      "n_objects": 0,
-      "sam3_quality": 0.0,
-      "objects": [],
-      "has_grasp": false,
-      "mean_trust": null,
-      "mean_iou": null,
-      "thumb_url": "https://i.ytimg.com/vi/7OrTlHd-2aw/hqdefault.jpg",
-      "video_url": "./7OrTlHd-2aw_262.8_266.8/depth.mp4",
-      "video_raw_url": "./7OrTlHd-2aw_262.8_266.8/depth.mp4"
     }
   ]
 }