Release update 2026-11-05: new sessions, instructions, annotations (part 361)
Browse files- actions/locomanipulation/LM35/session_039/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM35/session_039/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM35/session_039/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM35/session_039/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM35/session_039/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM36/session_001/annotations.json +28 -0
- actions/locomanipulation/LM36/session_001/cameras/slam.npz +3 -0
- actions/locomanipulation/LM36/session_001/meta.json +116 -2
- actions/locomanipulation/LM36/session_001/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM36/session_001/motions/smplx.npz +2 -2
- actions/locomanipulation/LM36/session_002/annotations.json +28 -0
- actions/locomanipulation/LM36/session_002/cameras/slam.npz +3 -0
- actions/locomanipulation/LM36/session_002/meta.json +116 -2
- actions/locomanipulation/LM36/session_002/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM36/session_002/motions/smplx.npz +2 -2
- actions/locomanipulation/LM36/session_003/annotations.json +28 -0
- actions/locomanipulation/LM36/session_003/cameras/slam.npz +3 -0
- actions/locomanipulation/LM36/session_003/meta.json +116 -2
- actions/locomanipulation/LM36/session_003/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM36/session_003/motions/smplx.npz +2 -2
- actions/locomanipulation/LM36/session_004/annotations.json +28 -0
- actions/locomanipulation/LM36/session_004/cameras/slam.npz +3 -0
- actions/locomanipulation/LM36/session_004/meta.json +116 -2
- actions/locomanipulation/LM36/session_004/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM36/session_004/motions/smplx.npz +2 -2
- actions/locomanipulation/LM36/session_005/annotations.json +28 -0
- actions/locomanipulation/LM36/session_005/cameras/gsi_online_calibration.json +253 -0
- actions/locomanipulation/LM36/session_005/cameras/slam.npz +3 -0
- actions/locomanipulation/LM36/session_005/meta.json +116 -2
- actions/locomanipulation/LM36/session_005/motions/hands_mano.npz +3 -0
actions/locomanipulation/LM35/session_039/videos/head_right_eye.mp4
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actions/locomanipulation/LM35/session_039/videos/head_right_front.mp4
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actions/locomanipulation/LM35/session_039/videos/third_person.mp4
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version https://git-lfs.github.com/spec/v1
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actions/locomanipulation/LM35/session_039/videos/wrist_left.mp4
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actions/locomanipulation/LM35/session_039/videos/wrist_right.mp4
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version https://git-lfs.github.com/spec/v1
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actions/locomanipulation/LM36/session_001/annotations.json
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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": "LM36",
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| 6 |
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"instruction": "Carry the open tray of loose items across the room, back and forth, trying not to let anything fall out.",
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"segments": [
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{
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"id": "segment1",
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| 10 |
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"duration_s": 123.9667,
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"video": "left_eye",
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"video_t_start": 0.039065776960821585
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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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{
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| 17 |
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"id": "42620848-f235-4768-98de-b93e4383dd11",
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| 18 |
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"segment": "segment1",
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| 19 |
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"action": "LM36",
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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": 121.363,
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| 23 |
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"t_start": 0.0391,
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| 24 |
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"t_end": 121.4021,
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| 25 |
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"instruction": "Carry the open tray of loose items across the room, back and forth, trying not to let anything fall out."
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| 26 |
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}
|
| 27 |
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]
|
| 28 |
+
}
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actions/locomanipulation/LM36/session_001/cameras/slam.npz
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version https://git-lfs.github.com/spec/v1
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actions/locomanipulation/LM36/session_001/meta.json
CHANGED
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@@ -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 |
"hands": {
|
| 328 |
-
"observed":
|
| 329 |
-
"hand_pose": "
|
| 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": {
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|
@@ -515,10 +515,124 @@
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| 515 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 516 |
"remaining_gyro_frame_deg": 0.8265541156105445
|
| 517 |
},
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| 518 |
"release": {
|
| 519 |
"release_path": "actions/locomanipulation/LM36/session_001",
|
| 520 |
"family": "locomanipulation",
|
| 521 |
"primitive": "LM36",
|
| 522 |
"source_session": "20260915/LM36/20260915_105436_session135"
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|
| 523 |
}
|
| 524 |
}
|
|
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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 |
"hands": {
|
| 328 |
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"observed": true,
|
| 329 |
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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",
|
| 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": {
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|
| 515 |
"generated_by": "scripts/correct_processed_rig.py",
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| 516 |
"remaining_gyro_frame_deg": 0.8265541156105445
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| 517 |
},
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| 518 |
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"hands_registration": {
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| 519 |
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"cameras": {},
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| 520 |
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"hands": {
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| 521 |
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"left": {
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| 522 |
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"offset_deg": 8.12,
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| 523 |
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"offset_rotvec": [
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| 524 |
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0.0623,
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| 525 |
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0.109,
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| 526 |
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-0.0657
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| 527 |
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],
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| 528 |
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"dev_deg": {
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| 529 |
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"median": 5.79,
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| 530 |
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"p90": 13.06
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| 531 |
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},
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| 532 |
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"samples": 3639,
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| 533 |
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"accepted": 3542,
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| 534 |
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"wrist_pos_err_mm_median": 72.8,
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| 535 |
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"per_camera": {
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| 536 |
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"head": {
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| 537 |
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"samples": 3639,
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| 538 |
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"accepted": 3542,
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| 539 |
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"gate_deg": 30.0,
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| 540 |
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"offset_deg": 8.12,
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| 541 |
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"tier": "primary",
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| 542 |
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"dev_deg_median": 5.79,
|
| 543 |
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"wrist_pos_err_mm_median": 72.8
|
| 544 |
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}
|
| 545 |
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},
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| 546 |
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"frames_by_state": {
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"ace_sample": 14176,
|
| 548 |
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"interpolated": 314,
|
| 549 |
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"mean_hand": 391,
|
| 550 |
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"no_body_fit": 3
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| 551 |
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},
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"observed_fraction": 0.9735,
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| 553 |
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"observed_fraction_of_valid": 0.9737,
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| 554 |
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"palm_axis_vs_markers_deg": {
|
| 555 |
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"gsi": 9.73,
|
| 556 |
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"smplx": 1.88
|
| 557 |
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},
|
| 558 |
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"hand_marker_to_mesh_mm": {
|
| 559 |
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"flat": {
|
| 560 |
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"median": 9.8,
|
| 561 |
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"p90": 15.7
|
| 562 |
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},
|
| 563 |
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"registered": {
|
| 564 |
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"median": 9.3,
|
| 565 |
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"p90": 13.7
|
| 566 |
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}
|
| 567 |
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}
|
| 568 |
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},
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| 569 |
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"right": {
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| 570 |
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"offset_deg": 6.73,
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| 571 |
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"offset_rotvec": [
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-0.0435,
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0.0726,
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0.0813
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| 575 |
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],
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| 576 |
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"dev_deg": {
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| 577 |
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"median": 7.31,
|
| 578 |
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"p90": 15.5
|
| 579 |
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},
|
| 580 |
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"samples": 3633,
|
| 581 |
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"accepted": 3563,
|
| 582 |
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"wrist_pos_err_mm_median": 119.2,
|
| 583 |
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"per_camera": {
|
| 584 |
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"head": {
|
| 585 |
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"samples": 3633,
|
| 586 |
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"accepted": 3563,
|
| 587 |
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"gate_deg": 30.0,
|
| 588 |
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"offset_deg": 6.73,
|
| 589 |
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"tier": "primary",
|
| 590 |
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"dev_deg_median": 7.31,
|
| 591 |
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"wrist_pos_err_mm_median": 119.2
|
| 592 |
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}
|
| 593 |
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},
|
| 594 |
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"frames_by_state": {
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| 595 |
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"ace_sample": 14286,
|
| 596 |
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"interpolated": 582,
|
| 597 |
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"mean_hand": 13,
|
| 598 |
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"no_body_fit": 3
|
| 599 |
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},
|
| 600 |
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"observed_fraction": 0.9989,
|
| 601 |
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"observed_fraction_of_valid": 0.9991,
|
| 602 |
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"palm_axis_vs_markers_deg": {
|
| 603 |
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"gsi": 7.05,
|
| 604 |
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"smplx": 2.45
|
| 605 |
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},
|
| 606 |
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"hand_marker_to_mesh_mm": {
|
| 607 |
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"flat": {
|
| 608 |
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"median": 8.7,
|
| 609 |
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"p90": 10.5
|
| 610 |
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},
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| 611 |
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"registered": {
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| 612 |
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"median": 5.9,
|
| 613 |
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"p90": 7.0
|
| 614 |
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}
|
| 615 |
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}
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| 616 |
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}
|
| 617 |
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},
|
| 618 |
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"max_dev_deg": 30.0,
|
| 619 |
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"max_gap_s": 1.0,
|
| 620 |
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"cameras_used": [
|
| 621 |
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"head"
|
| 622 |
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],
|
| 623 |
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"generated_at_utc": "2026-11-03T19:50:23.620398+00:00",
|
| 624 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 625 |
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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",
|
| 626 |
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"wrist_flip_suspect": []
|
| 627 |
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},
|
| 628 |
"release": {
|
| 629 |
"release_path": "actions/locomanipulation/LM36/session_001",
|
| 630 |
"family": "locomanipulation",
|
| 631 |
"primitive": "LM36",
|
| 632 |
"source_session": "20260915/LM36/20260915_105436_session135"
|
| 633 |
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},
|
| 634 |
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"task": {
|
| 635 |
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"primitive": "LM36",
|
| 636 |
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"instruction": "Carry the open tray of loose items across the room, back and forth, trying not to let anything fall out."
|
| 637 |
}
|
| 638 |
}
|
actions/locomanipulation/LM36/session_001/motions/hands_mano.npz
ADDED
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version https://git-lfs.github.com/spec/v1
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+
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| 3 |
+
size 4901330
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actions/locomanipulation/LM36/session_001/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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| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d674ea73ea53e250947358781f648b90ab45f2a85a1d5de1710991b219af2bbe
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size 10670428
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actions/locomanipulation/LM36/session_002/annotations.json
ADDED
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@@ -0,0 +1,28 @@
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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": "LM36",
|
| 6 |
+
"instruction": "Carry the open tray of loose items across the room, back and forth, trying not to let anything fall out.",
|
| 7 |
+
"segments": [
|
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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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|
| 22 |
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|
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| 26 |
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|
| 27 |
+
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|
| 28 |
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}
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actions/locomanipulation/LM36/session_002/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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size 742507
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actions/locomanipulation/LM36/session_002/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 |
"hands": {
|
| 328 |
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"observed":
|
| 329 |
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|
| 330 |
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|
| 331 |
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|
| 332 |
"left": {
|
|
@@ -517,10 +517,124 @@
|
|
| 517 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 518 |
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| 519 |
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| 522 |
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|
| 523 |
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|
| 524 |
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|
| 525 |
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|
| 526 |
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|
| 325 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 326 |
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|
| 327 |
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|
| 328 |
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|
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|
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],
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"generated_at_utc": "2026-11-03T23:06:32.548848+00:00",
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"wrist_flip_suspect": []
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|
| 634 |
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| 638 |
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| 639 |
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| 640 |
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ADDED
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actions/locomanipulation/LM36/session_002/motions/smplx.npz
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version https://git-lfs.github.com/spec/v1
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actions/locomanipulation/LM36/session_003/annotations.json
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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)",
|
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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": "LM36",
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| 6 |
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| 7 |
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| 9 |
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|
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|
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"instruction": "Carry the open tray of loose items across the room, back and forth, trying not to let anything fall out."
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| 26 |
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}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM36/session_003/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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actions/locomanipulation/LM36/session_003/meta.json
CHANGED
|
@@ -325,8 +325,8 @@
|
|
| 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":
|
| 329 |
-
"hand_pose": "
|
| 330 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 331 |
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|
| 332 |
"left": {
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|
@@ -516,10 +516,124 @@
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|
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| 517 |
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|
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|
|
|
|
|
|
| 519 |
"release": {
|
| 520 |
"release_path": "actions/locomanipulation/LM36/session_003",
|
| 521 |
"family": "locomanipulation",
|
| 522 |
"primitive": "LM36",
|
| 523 |
"source_session": "20260916/LM36/20260916_100315_session160"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 524 |
}
|
| 525 |
}
|
|
|
|
| 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",
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|
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|
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|
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| 659 |
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actions/locomanipulation/LM36/session_005/annotations.json
ADDED
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|
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|
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|
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| 28 |
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actions/locomanipulation/LM36/session_005/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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|
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|
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|
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|
| 29 |
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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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|
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actions/locomanipulation/LM36/session_005/cameras/slam.npz
ADDED
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@@ -0,0 +1,3 @@
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CHANGED
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@@ -327,8 +327,8 @@
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 328 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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@@ -518,10 +518,124 @@
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| 327 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 328 |
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|
| 329 |
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| 637 |
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| 638 |
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"primitive": "LM36",
|
| 639 |
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"instruction": "Carry the open tray of loose items across the room, back and forth, trying not to let anything fall out."
|
| 640 |
}
|
| 641 |
}
|
actions/locomanipulation/LM36/session_005/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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