Release update 2026-11-05: new sessions, instructions, annotations (part 343)
Browse files- actions/locomanipulation/LM35/session_012/motions/smplx.npz +2 -2
- actions/locomanipulation/LM35/session_013/annotations.json +28 -0
- actions/locomanipulation/LM35/session_013/cameras/gsi_online_calibration.json +255 -0
- actions/locomanipulation/LM35/session_013/cameras/slam.npz +3 -0
- actions/locomanipulation/LM35/session_013/meta.json +116 -2
- actions/locomanipulation/LM35/session_013/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM35/session_013/motions/smplx.npz +2 -2
- actions/locomanipulation/LM35/session_014/annotations.json +28 -0
- actions/locomanipulation/LM35/session_014/cameras/slam.npz +3 -0
- actions/locomanipulation/LM35/session_014/meta.json +116 -2
- actions/locomanipulation/LM35/session_014/motions/hands_mano.npz +3 -0
actions/locomanipulation/LM35/session_012/motions/smplx.npz
CHANGED
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version https://git-lfs.github.com/spec/v1
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oid sha256:
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size
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version https://git-lfs.github.com/spec/v1
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oid sha256:dfaaec80efd37c848d328de533bc1ce693be90355d354f394b15e7d64fa78804
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size 9613666
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actions/locomanipulation/LM35/session_013/annotations.json
ADDED
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{
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"schema_version": 1,
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| 3 |
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"source": "vendor annotation.json (schema 2, revision 1)",
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| 4 |
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"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
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"primitive": "LM35",
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| 6 |
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"instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking.",
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"segments": [
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{
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| 9 |
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"id": "segment1",
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| 10 |
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"duration_s": 128.966656,
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| 11 |
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"video": "left_eye",
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| 12 |
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"video_t_start": 0.039379756380576
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| 13 |
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}
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| 14 |
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],
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| 15 |
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"episodes": [
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{
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"id": "be33134c-b997-4b8b-b511-d3a8325b5158",
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| 18 |
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"segment": "segment1",
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| 19 |
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"action": "LM35",
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| 20 |
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"quality": "valid",
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| 21 |
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"start_s": 0,
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| 22 |
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"end_s": 122.589,
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| 23 |
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"t_start": 0.0394,
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| 24 |
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"t_end": 122.6284,
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| 25 |
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"instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking."
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| 26 |
+
}
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| 27 |
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]
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| 28 |
+
}
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actions/locomanipulation/LM35/session_013/cameras/gsi_online_calibration.json
ADDED
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@@ -0,0 +1,255 @@
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|
| 1 |
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{
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| 2 |
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"camera_fit": {
|
| 3 |
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"groups_dropped": [],
|
| 4 |
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"groups_used": 14,
|
| 5 |
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"median_px": 0.403
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},
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| 7 |
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"cameras": {
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| 8 |
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"left": {
|
| 9 |
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"accepted": true,
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| 10 |
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"against": [
|
| 11 |
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"left_front",
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|
| 15 |
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],
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"delta_deg": 1.0276,
|
| 17 |
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"gate_fail": [],
|
| 18 |
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"held_out_px_after": 0.503,
|
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| 21 |
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|
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"split_deg": 0.0776,
|
| 28 |
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"usable": true
|
| 29 |
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},
|
| 30 |
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"left_eye": {
|
| 31 |
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"accepted": true,
|
| 32 |
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"against": [
|
| 33 |
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"left_front",
|
| 34 |
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"right_front",
|
| 35 |
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"right_eye",
|
| 36 |
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|
| 37 |
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|
| 38 |
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],
|
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"delta_deg": 2.3001,
|
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|
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|
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|
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|
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|
| 45 |
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|
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| 49 |
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"left_front": {
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"role": "rig origin"
|
| 62 |
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},
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| 63 |
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| 64 |
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"accepted": true,
|
| 65 |
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],
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],
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],
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| 142 |
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| 143 |
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|
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|
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|
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|
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|
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|
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| 634 |
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| 635 |
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"primitive": "LM35",
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| 636 |
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"instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking."
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| 637 |
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| 638 |
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| 1 |
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{
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|
| 3 |
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"source": "vendor annotation.json (schema 2, revision 1)",
|
| 4 |
+
"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
|
| 5 |
+
"primitive": "LM35",
|
| 6 |
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"instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking.",
|
| 7 |
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|
| 8 |
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{
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| 9 |
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|
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{
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"id": "4196534c-a6f2-47c3-ab9e-563f12867f16",
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| 23 |
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| 24 |
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| 25 |
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"instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
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}
|
actions/locomanipulation/LM35/session_014/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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size 830312
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actions/locomanipulation/LM35/session_014/meta.json
CHANGED
|
@@ -325,8 +325,8 @@
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|
| 325 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 326 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 327 |
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|
| 328 |
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"observed":
|
| 329 |
-
"hand_pose": "
|
| 330 |
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|
| 331 |
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|
| 332 |
"left": {
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|
@@ -506,10 +506,124 @@
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|
| 506 |
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|
| 507 |
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|
| 509 |
"release": {
|
| 510 |
"release_path": "actions/locomanipulation/LM35/session_014",
|
| 511 |
"family": "locomanipulation",
|
| 512 |
"primitive": "LM35",
|
| 513 |
"source_session": "20260923/LM35/20260923_044606_session19"
|
|
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|
|
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|
|
|
|
| 514 |
}
|
| 515 |
}
|
|
|
|
| 325 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 326 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 327 |
"hands": {
|
| 328 |
+
"observed": true,
|
| 329 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 330 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 331 |
"hand_marker_offsets_m": {
|
| 332 |
"left": {
|
|
|
|
| 506 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 507 |
"remaining_gyro_frame_deg": 1.2361786899368716
|
| 508 |
},
|
| 509 |
+
"hands_registration": {
|
| 510 |
+
"cameras": {},
|
| 511 |
+
"hands": {
|
| 512 |
+
"left": {
|
| 513 |
+
"offset_deg": 32.58,
|
| 514 |
+
"offset_rotvec": [
|
| 515 |
+
-0.0755,
|
| 516 |
+
0.2756,
|
| 517 |
+
-0.4915
|
| 518 |
+
],
|
| 519 |
+
"dev_deg": {
|
| 520 |
+
"median": 15.17,
|
| 521 |
+
"p90": 135.52
|
| 522 |
+
},
|
| 523 |
+
"samples": 2498,
|
| 524 |
+
"accepted": 1690,
|
| 525 |
+
"wrist_pos_err_mm_median": 54.2,
|
| 526 |
+
"per_camera": {
|
| 527 |
+
"head": {
|
| 528 |
+
"samples": 2498,
|
| 529 |
+
"accepted": 1690,
|
| 530 |
+
"gate_deg": 30.0,
|
| 531 |
+
"offset_deg": 32.58,
|
| 532 |
+
"tier": "primary",
|
| 533 |
+
"dev_deg_median": 15.17,
|
| 534 |
+
"wrist_pos_err_mm_median": 54.2
|
| 535 |
+
}
|
| 536 |
+
},
|
| 537 |
+
"frames_by_state": {
|
| 538 |
+
"ace_sample": 6698,
|
| 539 |
+
"interpolated": 262,
|
| 540 |
+
"mean_hand": 10324,
|
| 541 |
+
"no_body_fit": 0
|
| 542 |
+
},
|
| 543 |
+
"observed_fraction": 0.4027,
|
| 544 |
+
"observed_fraction_of_valid": 0.4027,
|
| 545 |
+
"palm_axis_vs_markers_deg": {
|
| 546 |
+
"gsi": 21.14,
|
| 547 |
+
"smplx": 1.97
|
| 548 |
+
},
|
| 549 |
+
"hand_marker_to_mesh_mm": {
|
| 550 |
+
"flat": {
|
| 551 |
+
"median": 9.1,
|
| 552 |
+
"p90": 10.4
|
| 553 |
+
},
|
| 554 |
+
"registered": {
|
| 555 |
+
"median": 9.1,
|
| 556 |
+
"p90": 10.5
|
| 557 |
+
}
|
| 558 |
+
}
|
| 559 |
+
},
|
| 560 |
+
"right": {
|
| 561 |
+
"offset_deg": 22.93,
|
| 562 |
+
"offset_rotvec": [
|
| 563 |
+
0.0619,
|
| 564 |
+
-0.3617,
|
| 565 |
+
0.1597
|
| 566 |
+
],
|
| 567 |
+
"dev_deg": {
|
| 568 |
+
"median": 10.94,
|
| 569 |
+
"p90": 28.52
|
| 570 |
+
},
|
| 571 |
+
"samples": 3146,
|
| 572 |
+
"accepted": 2869,
|
| 573 |
+
"wrist_pos_err_mm_median": 75.8,
|
| 574 |
+
"per_camera": {
|
| 575 |
+
"head": {
|
| 576 |
+
"samples": 3146,
|
| 577 |
+
"accepted": 2869,
|
| 578 |
+
"gate_deg": 30.0,
|
| 579 |
+
"offset_deg": 22.93,
|
| 580 |
+
"tier": "primary",
|
| 581 |
+
"dev_deg_median": 10.94,
|
| 582 |
+
"wrist_pos_err_mm_median": 75.8
|
| 583 |
+
}
|
| 584 |
+
},
|
| 585 |
+
"frames_by_state": {
|
| 586 |
+
"ace_sample": 11510,
|
| 587 |
+
"interpolated": 1442,
|
| 588 |
+
"mean_hand": 4332,
|
| 589 |
+
"no_body_fit": 0
|
| 590 |
+
},
|
| 591 |
+
"observed_fraction": 0.7494,
|
| 592 |
+
"observed_fraction_of_valid": 0.7494,
|
| 593 |
+
"palm_axis_vs_markers_deg": {
|
| 594 |
+
"gsi": 23.38,
|
| 595 |
+
"smplx": 1.38
|
| 596 |
+
},
|
| 597 |
+
"hand_marker_to_mesh_mm": {
|
| 598 |
+
"flat": {
|
| 599 |
+
"median": 10.3,
|
| 600 |
+
"p90": 13.3
|
| 601 |
+
},
|
| 602 |
+
"registered": {
|
| 603 |
+
"median": 9.9,
|
| 604 |
+
"p90": 12.4
|
| 605 |
+
}
|
| 606 |
+
}
|
| 607 |
+
}
|
| 608 |
+
},
|
| 609 |
+
"max_dev_deg": 30.0,
|
| 610 |
+
"max_gap_s": 1.0,
|
| 611 |
+
"cameras_used": [
|
| 612 |
+
"head"
|
| 613 |
+
],
|
| 614 |
+
"generated_at_utc": "2026-11-03T22:39:18.459395+00:00",
|
| 615 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 616 |
+
"conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
|
| 617 |
+
"wrist_flip_suspect": []
|
| 618 |
+
},
|
| 619 |
"release": {
|
| 620 |
"release_path": "actions/locomanipulation/LM35/session_014",
|
| 621 |
"family": "locomanipulation",
|
| 622 |
"primitive": "LM35",
|
| 623 |
"source_session": "20260923/LM35/20260923_044606_session19"
|
| 624 |
+
},
|
| 625 |
+
"task": {
|
| 626 |
+
"primitive": "LM35",
|
| 627 |
+
"instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking."
|
| 628 |
}
|
| 629 |
}
|
actions/locomanipulation/LM35/session_014/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:602da0d7a1414b780d62f4ea7d783ae03e63441465fbc587173c1fd93e2f464d
|
| 3 |
+
size 3922036
|