Release update 2026-11-05: new sessions, instructions, annotations (part 6)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +29 -0
- actions/locomanipulation/LM40/session_008/motions/smplx.npz +2 -2
- actions/locomanipulation/LM40/session_009/annotations.json +28 -0
- actions/locomanipulation/LM40/session_009/cameras/gsi_online_calibration.json +278 -0
- actions/locomanipulation/LM40/session_009/cameras/slam.npz +3 -0
- actions/locomanipulation/LM40/session_009/meta.json +105 -2
- actions/locomanipulation/LM40/session_009/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM40/session_009/motions/smplx.npz +2 -2
- actions/locomanipulation/LM40/session_010/annotations.json +28 -0
- actions/locomanipulation/LM40/session_010/cameras/gsi_online_calibration.json +256 -0
- actions/locomanipulation/LM40/session_010/cameras/slam.npz +3 -0
- actions/locomanipulation/LM40/session_010/meta.json +4 -0
- actions/locomanipulation/LM40/session_010/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM40/session_011/annotations.json +28 -0
- actions/locomanipulation/LM40/session_011/cameras/gsi_online_calibration.json +260 -0
- actions/locomanipulation/LM40/session_011/cameras/slam.npz +3 -0
- actions/locomanipulation/LM40/session_011/meta.json +4 -0
- actions/locomanipulation/LM40/session_011/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM40/session_012/annotations.json +28 -0
- actions/locomanipulation/LM40/session_012/cameras/gsi_online_calibration.json +258 -0
- actions/locomanipulation/LM40/session_012/cameras/slam.npz +3 -0
- actions/locomanipulation/LM40/session_012/meta.json +4 -0
- actions/locomanipulation/LM40/session_012/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM40/session_013/annotations.json +28 -0
- actions/locomanipulation/LM40/session_013/cameras/gsi_online_calibration.json +257 -0
- actions/locomanipulation/LM40/session_013/cameras/slam.npz +3 -0
- actions/locomanipulation/LM40/session_013/meta.json +116 -2
- actions/locomanipulation/LM40/session_013/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM40/session_013/motions/smplx.npz +2 -2
- actions/locomanipulation/LM40/session_014/annotations.json +28 -0
- actions/locomanipulation/LM40/session_014/cameras/gsi_online_calibration.json +255 -0
- actions/locomanipulation/LM40/session_014/cameras/slam.npz +3 -0
- actions/locomanipulation/LM40/session_014/meta.json +116 -2
- actions/locomanipulation/LM40/session_014/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM40/session_014/motions/smplx.npz +2 -2
- actions/locomanipulation/LM40/session_015/annotations.json +28 -0
- actions/locomanipulation/LM40/session_015/cameras/gsi_online_calibration.json +256 -0
- actions/locomanipulation/LM40/session_015/cameras/slam.npz +3 -0
- actions/locomanipulation/LM40/session_015/meta.json +116 -2
- actions/locomanipulation/LM40/session_015/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM40/session_015/motions/smplx.npz +2 -2
- actions/locomanipulation/LM40/session_016/annotations.json +28 -0
- actions/locomanipulation/LM40/session_016/cameras/gsi_online_calibration.json +258 -0
- actions/locomanipulation/LM40/session_016/cameras/slam.npz +3 -0
- actions/locomanipulation/LM40/session_016/meta.json +116 -2
- actions/locomanipulation/LM40/session_016/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM40/session_016/motions/smplx.npz +2 -2
- actions/locomanipulation/LM40/session_017/annotations.json +28 -0
- actions/locomanipulation/LM40/session_017/cameras/gsi_online_calibration.json +256 -0
- actions/locomanipulation/LM40/session_017/cameras/slam.npz +3 -0
.gitattributes
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actions/locomanipulation/LM39/session_041/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM40/session_039/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM40/session_039/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM40/session_039/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM41/session_008/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM41/session_008/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM40/session_008/motions/smplx.npz
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size 5909144
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actions/locomanipulation/LM40/session_009/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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"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": "LM40",
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"instruction": "Carry the object held up above your head, walking back and forth across the room.",
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"segments": [
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{
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"id": "segment1",
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"duration_s": 133.966711,
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"video": "left_eye",
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"video_t_start": 0.038595132590463876
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"episodes": [
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{
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"id": "d3b2cf7b-3289-429d-a01b-4a3e1026ff00",
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"segment": "segment1",
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"action": "LM40",
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"quality": "valid",
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"start_s": 0,
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"end_s": 129.49,
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"t_start": 0.0386,
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"t_end": 129.5286,
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"instruction": "Carry the object held up above your head, walking back and forth across the room."
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}
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]
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}
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actions/locomanipulation/LM40/session_009/cameras/gsi_online_calibration.json
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{
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"camera_fit": {
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"groups_dropped": [
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{
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"matches": 106,
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"median_px": 11.6,
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"pair": [
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| 8 |
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"left_front",
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"left"
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]
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},
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{
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"matches": 115,
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"median_px": 781.8,
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"pair": [
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"left_front",
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"right"
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]
|
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},
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{
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"matches": 90,
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"median_px": 4.19,
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"pair": [
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"right_front",
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"right"
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]
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}
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],
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"groups_used": 11,
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"median_px": 0.321
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},
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"cameras": {
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| 33 |
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"left": {
|
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"accepted": true,
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"against": [
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"right_front",
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"left_eye",
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"right_eye"
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],
|
| 40 |
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"delta_deg": 0.8762,
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| 41 |
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"gate_fail": [],
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| 42 |
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"held_out_px_after": 0.575,
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| 43 |
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"held_out_px_before": 4.973,
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actions/locomanipulation/LM40/session_010/cameras/gsi_online_calibration.json
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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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|
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|
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
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|
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actions/locomanipulation/LM40/session_013/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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size 774761
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actions/locomanipulation/LM40/session_013/meta.json
CHANGED
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@@ -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 |
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| 328 |
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| 329 |
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| 330 |
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| 332 |
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|
@@ -518,10 +518,124 @@
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|
| 518 |
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| 519 |
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| 521 |
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| 522 |
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| 525 |
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|
| 526 |
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|
| 527 |
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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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| 332 |
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| 518 |
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actions/locomanipulation/LM40/session_014/cameras/gsi_online_calibration.json
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|
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|
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|
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| 1 |
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:1e7adba36b0effee9cd03b33fd1255129ffc6eb9ba9a75685a5554767e366b11
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| 3 |
+
size 9189681
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actions/locomanipulation/LM40/session_015/annotations.json
ADDED
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@@ -0,0 +1,28 @@
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| 1 |
+
{
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| 2 |
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"schema_version": 1,
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| 3 |
+
"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",
|
| 5 |
+
"primitive": "LM40",
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| 6 |
+
"instruction": "Carry the object held up above your head, walking back and forth across the room.",
|
| 7 |
+
"segments": [
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| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 133.966656,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.039354481427454235
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "e55bfdde-eb58-4fe3-85e0-39324f86477c",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM40",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1.066,
|
| 22 |
+
"end_s": 124.938,
|
| 23 |
+
"t_start": 1.1054,
|
| 24 |
+
"t_end": 124.9774,
|
| 25 |
+
"instruction": "Carry the object held up above your head, walking back and forth across the room."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
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actions/locomanipulation/LM40/session_015/cameras/gsi_online_calibration.json
ADDED
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@@ -0,0 +1,256 @@
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|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
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"groups_used": 14,
|
| 5 |
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"median_px": 0.352
|
| 6 |
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},
|
| 7 |
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"cameras": {
|
| 8 |
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"left": {
|
| 9 |
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"accepted": true,
|
| 10 |
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"against": [
|
| 11 |
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"left_front",
|
| 12 |
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"right_front",
|
| 13 |
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"left_eye",
|
| 14 |
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"right_eye"
|
| 15 |
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],
|
| 16 |
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"delta_deg": 1.1982,
|
| 17 |
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"gate_fail": [],
|
| 18 |
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"held_out_px_after": 0.489,
|
| 19 |
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"held_out_px_before": 4.454,
|
| 20 |
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"inliers": 1456,
|
| 21 |
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"position_fitted": false,
|
| 22 |
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"rotvec_deg": [
|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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],
|
| 27 |
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"split_deg": 0.0179,
|
| 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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"left",
|
| 37 |
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"right"
|
| 38 |
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],
|
| 39 |
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"delta_deg": 2.3762,
|
| 40 |
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"gate_fail": [],
|
| 41 |
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"held_out_px_after": 0.412,
|
| 42 |
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"held_out_px_before": 7.255,
|
| 43 |
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"inliers": 2876,
|
| 44 |
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"position_fitted": true,
|
| 45 |
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"position_mm": [
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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],
|
| 50 |
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"position_sigma_mm": 0.132,
|
| 51 |
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|
| 52 |
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"rotvec_deg": [
|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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],
|
| 57 |
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"split_deg": 0.0414,
|
| 58 |
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"usable": true
|
| 59 |
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},
|
| 60 |
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"left_front": {
|
| 61 |
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"role": "rig origin"
|
| 62 |
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},
|
| 63 |
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"right": {
|
| 64 |
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"accepted": true,
|
| 65 |
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"against": [
|
| 66 |
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"left_front",
|
| 67 |
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"right_front",
|
| 68 |
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"left_eye",
|
| 69 |
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"right_eye"
|
| 70 |
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],
|
| 71 |
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"delta_deg": 1.7187,
|
| 72 |
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"gate_fail": [],
|
| 73 |
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| 74 |
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| 75 |
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|
| 76 |
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|
| 77 |
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| 81 |
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],
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| 82 |
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"split_deg": 0.2792,
|
| 83 |
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"usable": true
|
| 84 |
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},
|
| 85 |
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"right_eye": {
|
| 86 |
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"accepted": true,
|
| 87 |
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"against": [
|
| 88 |
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|
| 89 |
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| 90 |
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"left",
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| 92 |
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"right"
|
| 93 |
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],
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| 94 |
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"delta_deg": 1.0121,
|
| 95 |
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"gate_fail": [],
|
| 96 |
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|
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|
| 100 |
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"position_mm": [
|
| 101 |
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|
| 102 |
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|
| 103 |
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2.73
|
| 104 |
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],
|
| 105 |
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"position_sigma_mm": 0.13,
|
| 106 |
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"position_split_mm": 1.181,
|
| 107 |
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|
| 108 |
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|
| 109 |
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],
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| 115 |
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|
| 116 |
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|
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|
| 118 |
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| 119 |
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| 120 |
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| 121 |
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| 122 |
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|
| 123 |
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],
|
| 124 |
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"delta_deg": 1.8755,
|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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],
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| 137 |
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}
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},
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"code_fingerprint": "711ecf5b3dd408f8",
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| 140 |
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"device_id": "e17c9efadb69e7b1",
|
| 141 |
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"factory_root_name": "e17c9efadb69e7b1",
|
| 142 |
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"files": {
|
| 143 |
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"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 144 |
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| 146 |
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},
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| 147 |
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"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 148 |
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"sha256": "8cceec793ebf91dab00c00b0201699544d5859e6d0c55e15ce32a2d94d0f62e6",
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|
| 150 |
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},
|
| 151 |
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"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 152 |
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"sha256": "bab14d787f445a1813359b8140326bd882e24e3825e6e58486d61fd497514945",
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"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
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| 156 |
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},
|
| 160 |
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"input_fingerprint": "566c64d8f92aa1e5",
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|
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|
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|
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},
|
| 180 |
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|
| 181 |
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|
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| 186 |
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| 187 |
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},
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"runtime": {
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| 192 |
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},
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actions/locomanipulation/LM40/session_015/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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actions/locomanipulation/LM40/session_015/meta.json
CHANGED
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@@ -341,8 +341,8 @@
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|
| 341 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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|
@@ -538,10 +538,124 @@
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| 342 |
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| 343 |
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"tier": "primary",
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"instruction": "Carry the object held up above your head, walking back and forth across the room."
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| 661 |
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actions/locomanipulation/LM40/session_015/motions/hands_mano.npz
ADDED
|
@@ -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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size 3024001
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actions/locomanipulation/LM40/session_015/motions/smplx.npz
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@@ -1,3 +1,3 @@
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|
| 1 |
version https://git-lfs.github.com/spec/v1
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size 9235214
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actions/locomanipulation/LM40/session_016/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
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|
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|
| 1 |
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{
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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 |
+
"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": "LM40",
|
| 6 |
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"instruction": "Carry the object held up above your head, walking back and forth across the room.",
|
| 7 |
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"segments": [
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| 8 |
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{
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| 9 |
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"id": "segment1",
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"episodes": [
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{
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| 17 |
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"id": "2a6a40e7-bbe5-4257-a15f-dafa06b3c9ca",
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"segment": "segment1",
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"action": "LM40",
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"quality": "valid",
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| 21 |
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"start_s": 0,
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| 24 |
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| 25 |
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"instruction": "Carry the object held up above your head, walking back and forth across the room."
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}
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| 27 |
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]
|
| 28 |
+
}
|
actions/locomanipulation/LM40/session_016/cameras/gsi_online_calibration.json
ADDED
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@@ -0,0 +1,258 @@
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actions/locomanipulation/LM40/session_016/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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size 799594
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actions/locomanipulation/LM40/session_016/meta.json
CHANGED
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@@ -355,8 +355,8 @@
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|
| 355 |
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|
@@ -552,10 +552,124 @@
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|
| 552 |
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| 555 |
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| 558 |
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| 560 |
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|
| 561 |
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|
| 355 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 356 |
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|
| 357 |
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actions/locomanipulation/LM40/session_017/cameras/gsi_online_calibration.json
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|
actions/locomanipulation/LM40/session_017/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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size 743331
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