Release update 2026-11-05: new sessions, instructions, annotations (part 216)
Browse files- actions/locomanipulation/LM26/session_006/cameras/slam.npz +3 -0
- actions/locomanipulation/LM26/session_006/meta.json +4 -0
- actions/locomanipulation/LM26/session_006/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM26/session_007/annotations.json +28 -0
- actions/locomanipulation/LM26/session_007/cameras/slam.npz +3 -0
- actions/locomanipulation/LM26/session_007/meta.json +116 -2
- actions/locomanipulation/LM26/session_007/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM26/session_007/motions/smplx.npz +2 -2
- actions/locomanipulation/LM26/session_008/annotations.json +28 -0
- actions/locomanipulation/LM26/session_008/cameras/slam.npz +3 -0
- actions/locomanipulation/LM26/session_008/meta.json +116 -2
- actions/locomanipulation/LM26/session_008/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM26/session_008/motions/smplx.npz +2 -2
- actions/locomanipulation/LM26/session_009/annotations.json +28 -0
- actions/locomanipulation/LM26/session_009/cameras/slam.npz +3 -0
- actions/locomanipulation/LM26/session_009/meta.json +116 -2
- actions/locomanipulation/LM26/session_009/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM26/session_009/motions/smplx.npz +2 -2
- actions/locomanipulation/LM26/session_010/annotations.json +28 -0
- actions/locomanipulation/LM26/session_010/cameras/gsi_online_calibration.json +256 -0
- actions/locomanipulation/LM26/session_010/cameras/slam.npz +3 -0
- actions/locomanipulation/LM26/session_010/meta.json +116 -2
- actions/locomanipulation/LM26/session_010/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM26/session_010/motions/smplx.npz +2 -2
- actions/locomanipulation/LM26/session_011/annotations.json +28 -0
- actions/locomanipulation/LM26/session_011/cameras/gsi_online_calibration.json +258 -0
- actions/locomanipulation/LM26/session_011/cameras/slam.npz +3 -0
- actions/locomanipulation/LM26/session_011/meta.json +4 -0
- actions/locomanipulation/LM26/session_011/motions/hands_mano.npz +3 -0
actions/locomanipulation/LM26/session_006/cameras/slam.npz
ADDED
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version https://git-lfs.github.com/spec/v1
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oid sha256:2048a8220d67eb1ae7ee63d0327a3b34e01c4b6b06f3f0d725d5f79b57b68959
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+
size 627810
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actions/locomanipulation/LM26/session_006/meta.json
CHANGED
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@@ -516,5 +516,9 @@
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| 516 |
"family": "locomanipulation",
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| 517 |
"primitive": "LM26",
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| 518 |
"source_session": "20260914/LM26/20260914_012612_session11"
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| 519 |
}
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}
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"family": "locomanipulation",
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"primitive": "LM26",
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| 518 |
"source_session": "20260914/LM26/20260914_012612_session11"
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| 519 |
+
},
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| 520 |
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"task": {
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| 521 |
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"primitive": "LM26",
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| 522 |
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"instruction": "Carry the box across the room while freely looking around at the walls, ceiling and floor. Keep going until the operator says stop; one object at a time, and do not rush between trips."
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| 523 |
}
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| 524 |
}
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actions/locomanipulation/LM26/session_006/motions/hands_mano.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:d44a486a20969f95cc7503dcccf88dc077edfa3568f25f7d8ec72a00da673fec
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size 4352663
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actions/locomanipulation/LM26/session_007/annotations.json
ADDED
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{
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"schema_version": 1,
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"source": "vendor annotation.json (schema 2, revision 1)",
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| 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",
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| 5 |
+
"primitive": "LM26",
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| 6 |
+
"instruction": "Carry the box across the room while freely looking around at the walls, ceiling and floor. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
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| 7 |
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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 |
+
"duration_s": 108.966778,
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| 11 |
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"video": "left_eye",
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| 12 |
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"video_t_start": 0.039006481394614934
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| 13 |
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}
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| 14 |
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],
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| 15 |
+
"episodes": [
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{
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"id": "fcdfd423-3ca2-434c-b399-c3dc1c9c83fa",
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| 18 |
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"segment": "segment1",
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| 19 |
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"action": "LM26",
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| 20 |
+
"quality": "valid",
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| 21 |
+
"start_s": 0,
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| 22 |
+
"end_s": 106.382,
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| 23 |
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"t_start": 0.039,
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| 24 |
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"t_end": 106.421,
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| 25 |
+
"instruction": "Carry the box across the room while freely looking around at the walls, ceiling and floor. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
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| 27 |
+
]
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| 28 |
+
}
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actions/locomanipulation/LM26/session_007/cameras/slam.npz
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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+
oid sha256:d5d5dc08eacebfc0315e9bfa4a3e543c484301acd6e67b02b7e1254d5208fd3a
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+
size 629692
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actions/locomanipulation/LM26/session_007/meta.json
CHANGED
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@@ -340,8 +340,8 @@
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| 340 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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| 341 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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| 342 |
"hands": {
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| 343 |
-
"observed":
|
| 344 |
-
"hand_pose": "
|
| 345 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 346 |
"hand_marker_offsets_m": {
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| 347 |
"left": {
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@@ -521,10 +521,124 @@
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| 521 |
"generated_by": "scripts/correct_processed_rig.py",
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| 522 |
"remaining_gyro_frame_deg": 0.8454851990451081
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| 523 |
},
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| 524 |
"release": {
|
| 525 |
"release_path": "actions/locomanipulation/LM26/session_007",
|
| 526 |
"family": "locomanipulation",
|
| 527 |
"primitive": "LM26",
|
| 528 |
"source_session": "20260920/LM26/20260920_024538_session44"
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|
| 529 |
}
|
| 530 |
}
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|
| 340 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 341 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 342 |
"hands": {
|
| 343 |
+
"observed": true,
|
| 344 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 345 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 346 |
"hand_marker_offsets_m": {
|
| 347 |
"left": {
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|
| 521 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 522 |
"remaining_gyro_frame_deg": 0.8454851990451081
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| 523 |
},
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| 524 |
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"hands_registration": {
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"cameras": {},
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| 526 |
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"hands": {
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| 527 |
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"left": {
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| 528 |
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"offset_deg": 40.66,
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| 529 |
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"offset_rotvec": [
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0.6266,
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-0.3163,
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-0.1042
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],
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"dev_deg": {
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| 535 |
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"median": 18.11,
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| 536 |
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"p90": 37.67
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| 537 |
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},
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| 538 |
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"samples": 1545,
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| 539 |
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"accepted": 1251,
|
| 540 |
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"wrist_pos_err_mm_median": 324.8,
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| 541 |
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"per_camera": {
|
| 542 |
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"head": {
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| 543 |
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"samples": 1545,
|
| 544 |
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"accepted": 1251,
|
| 545 |
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"gate_deg": 30.0,
|
| 546 |
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"offset_deg": 40.66,
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| 547 |
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"tier": "primary",
|
| 548 |
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"dev_deg_median": 18.11,
|
| 549 |
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"wrist_pos_err_mm_median": 324.8
|
| 550 |
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}
|
| 551 |
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},
|
| 552 |
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"frames_by_state": {
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| 553 |
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"ace_sample": 5394,
|
| 554 |
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"interpolated": 6790,
|
| 555 |
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"mean_hand": 900,
|
| 556 |
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"no_body_fit": 0
|
| 557 |
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},
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| 558 |
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"observed_fraction": 0.9312,
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"observed_fraction_of_valid": 0.9312,
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| 560 |
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"palm_axis_vs_markers_deg": {
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| 561 |
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"gsi": 51.75,
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| 562 |
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"smplx": 0.38
|
| 563 |
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},
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"hand_marker_to_mesh_mm": {
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| 565 |
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"flat": {
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| 566 |
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"median": 13.5,
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"p90": 19.5
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},
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"registered": {
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| 570 |
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"median": 12.9,
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| 571 |
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"p90": 18.6
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| 572 |
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}
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}
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},
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| 575 |
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"right": {
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"offset_deg": 34.66,
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"offset_rotvec": [
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0.4873,
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0.044,
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0.3558
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],
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"dev_deg": {
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| 583 |
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"median": 16.44,
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"p90": 33.69
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| 585 |
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},
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"samples": 1905,
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"accepted": 1627,
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"wrist_pos_err_mm_median": 406.0,
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| 589 |
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"per_camera": {
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| 590 |
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"head": {
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| 591 |
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"samples": 1905,
|
| 592 |
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"accepted": 1627,
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"gate_deg": 30.0,
|
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"offset_deg": 34.66,
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"tier": "primary",
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"dev_deg_median": 16.44,
|
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"wrist_pos_err_mm_median": 406.0
|
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}
|
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},
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"frames_by_state": {
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"ace_sample": 6642,
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"interpolated": 3542,
|
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"mean_hand": 2900,
|
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"no_body_fit": 0
|
| 605 |
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},
|
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"observed_fraction": 0.7784,
|
| 607 |
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"observed_fraction_of_valid": 0.7784,
|
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"palm_axis_vs_markers_deg": {
|
| 609 |
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"gsi": 33.22,
|
| 610 |
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"smplx": 0.77
|
| 611 |
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},
|
| 612 |
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"hand_marker_to_mesh_mm": {
|
| 613 |
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"flat": {
|
| 614 |
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"median": 14.3,
|
| 615 |
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"p90": 21.6
|
| 616 |
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},
|
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"registered": {
|
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"median": 14.2,
|
| 619 |
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"p90": 21.1
|
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}
|
| 621 |
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}
|
| 622 |
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}
|
| 623 |
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},
|
| 624 |
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"max_dev_deg": 30.0,
|
| 625 |
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"max_gap_s": 1.0,
|
| 626 |
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"cameras_used": [
|
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"head"
|
| 628 |
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],
|
| 629 |
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"generated_at_utc": "2026-11-03T22:52:15.344419+00:00",
|
| 630 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 631 |
+
"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",
|
| 632 |
+
"wrist_flip_suspect": []
|
| 633 |
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},
|
| 634 |
"release": {
|
| 635 |
"release_path": "actions/locomanipulation/LM26/session_007",
|
| 636 |
"family": "locomanipulation",
|
| 637 |
"primitive": "LM26",
|
| 638 |
"source_session": "20260920/LM26/20260920_024538_session44"
|
| 639 |
+
},
|
| 640 |
+
"task": {
|
| 641 |
+
"primitive": "LM26",
|
| 642 |
+
"instruction": "Carry the box across the room while freely looking around at the walls, ceiling and floor. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 643 |
}
|
| 644 |
}
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actions/locomanipulation/LM26/session_007/motions/hands_mano.npz
ADDED
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@@ -0,0 +1,3 @@
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+
version https://git-lfs.github.com/spec/v1
|
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+
oid sha256:938a5397b7c955c64039443bc4a79f3c5cd8630311f42174dcb8c011767ef74e
|
| 3 |
+
size 2451814
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actions/locomanipulation/LM26/session_007/motions/smplx.npz
CHANGED
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@@ -1,3 +1,3 @@
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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 sha256:0f06e9843b678e8b683126963af039611bfea450022c304a6d17856d452f33b5
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+
size 9031408
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actions/locomanipulation/LM26/session_008/annotations.json
ADDED
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+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"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": "LM26",
|
| 6 |
+
"instruction": "Carry the box across the room while freely looking around at the walls, ceiling and floor. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 108.966656,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.0386745300223621
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
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| 16 |
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|
| 17 |
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|
| 18 |
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"segment": "segment1",
|
| 19 |
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|
| 20 |
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|
| 23 |
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|
| 25 |
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"instruction": "Carry the box across the room while freely looking around at the walls, ceiling and floor. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM26/session_008/cameras/slam.npz
ADDED
|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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size 629721
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actions/locomanipulation/LM26/session_008/meta.json
CHANGED
|
@@ -326,8 +326,8 @@
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|
| 326 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 327 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 328 |
"hands": {
|
| 329 |
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"observed":
|
| 330 |
-
"hand_pose": "
|
| 331 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 332 |
"hand_marker_offsets_m": {
|
| 333 |
"left": {
|
|
@@ -509,10 +509,124 @@
|
|
| 509 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 510 |
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|
| 511 |
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| 512 |
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| 514 |
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| 515 |
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|
| 516 |
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| 517 |
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| 518 |
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|
| 326 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 327 |
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|
| 328 |
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|
| 329 |
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"observed": true,
|
| 330 |
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"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 331 |
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|
| 332 |
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},
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"median": 18.96,
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},
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|
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],
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"generated_at_utc": "2026-11-03T22:52:15.330144+00:00",
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"generated_by": "scripts/register_hands_smplx.py",
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| 619 |
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"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",
|
| 620 |
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"wrist_flip_suspect": []
|
| 621 |
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},
|
| 622 |
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| 623 |
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| 624 |
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| 625 |
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|
| 626 |
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|
| 627 |
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},
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| 628 |
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"task": {
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| 629 |
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"primitive": "LM26",
|
| 630 |
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"instruction": "Carry the box across the room while freely looking around at the walls, ceiling and floor. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 631 |
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|
| 632 |
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|
actions/locomanipulation/LM26/session_008/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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actions/locomanipulation/LM26/session_008/motions/smplx.npz
CHANGED
|
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version https://git-lfs.github.com/spec/v1
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actions/locomanipulation/LM26/session_009/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
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|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"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": "LM26",
|
| 6 |
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"instruction": "Carry the box across the room while freely looking around at the walls, ceiling and floor. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
|
| 7 |
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"segments": [
|
| 8 |
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| 9 |
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"id": "segment1",
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|
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|
| 12 |
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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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| 16 |
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{
|
| 17 |
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| 18 |
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"segment": "segment1",
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| 19 |
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|
| 20 |
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|
| 21 |
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|
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|
| 23 |
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|
| 24 |
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|
| 25 |
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"instruction": "Carry the box across the room while freely looking around at the walls, ceiling and floor. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM26/session_009/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
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version https://git-lfs.github.com/spec/v1
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size 658714
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actions/locomanipulation/LM26/session_009/meta.json
CHANGED
|
@@ -326,8 +326,8 @@
|
|
| 326 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 327 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 328 |
"hands": {
|
| 329 |
-
"observed":
|
| 330 |
-
"hand_pose": "
|
| 331 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 332 |
"hand_marker_offsets_m": {
|
| 333 |
"left": {
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|
@@ -513,10 +513,124 @@
|
|
| 513 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 514 |
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|
| 515 |
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|
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|
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|
|
|
|
| 516 |
"release": {
|
| 517 |
"release_path": "actions/locomanipulation/LM26/session_009",
|
| 518 |
"family": "locomanipulation",
|
| 519 |
"primitive": "LM26",
|
| 520 |
"source_session": "20260920/LM26/20260920_025106_session46"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 521 |
}
|
| 522 |
}
|
|
|
|
| 326 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 327 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 328 |
"hands": {
|
| 329 |
+
"observed": true,
|
| 330 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 331 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 332 |
"hand_marker_offsets_m": {
|
| 333 |
"left": {
|
|
|
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actions/locomanipulation/LM26/session_010/cameras/gsi_online_calibration.json
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|
| 639 |
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|
| 640 |
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|
actions/locomanipulation/LM26/session_010/motions/hands_mano.npz
ADDED
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@@ -0,0 +1,3 @@
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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actions/locomanipulation/LM26/session_011/annotations.json
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| 1 |
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{
|
| 2 |
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"schema_version": 1,
|
| 3 |
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"source": "vendor annotation.json (schema 2, revision 1)",
|
| 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",
|
| 5 |
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"primitive": "LM26",
|
| 6 |
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"instruction": "Carry the box across the room while freely looking around at the walls, ceiling and floor. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
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"segments": [
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"instruction": "Carry the box across the room while freely looking around at the walls, ceiling and floor. Keep going until the operator says stop; one object at a time, and do not rush between trips."
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| 26 |
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}
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| 27 |
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]
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| 28 |
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actions/locomanipulation/LM26/session_011/cameras/gsi_online_calibration.json
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{
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|
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|
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actions/locomanipulation/LM26/session_011/cameras/slam.npz
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:106b4152e70682168ea1aae594bcc3a1450c22024864fd7a2e3d67ce6918e8a5
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size 686234
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actions/locomanipulation/LM26/session_011/meta.json
CHANGED
|
@@ -518,5 +518,9 @@
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|
| 518 |
"family": "locomanipulation",
|
| 519 |
"primitive": "LM26",
|
| 520 |
"source_session": "20260922/LM26/20260922_021722_session17"
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| 521 |
}
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}
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"family": "locomanipulation",
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"primitive": "LM26",
|
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"source_session": "20260922/LM26/20260922_021722_session17"
|
| 521 |
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},
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| 522 |
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"task": {
|
| 523 |
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"primitive": "LM26",
|
| 524 |
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"instruction": "Carry the box across the room while freely looking around at the walls, ceiling and floor. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 525 |
}
|
| 526 |
}
|
actions/locomanipulation/LM26/session_011/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:066caad7c7565e163e2e262efc7da93e137519a5c8fb03d8725b2517d6be74db
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size 4006988
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