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
- actions/locomanipulation/LM13/session_006/motions/smplx.npz +2 -2
- actions/locomanipulation/LM13/session_007/annotations.json +28 -0
- actions/locomanipulation/LM13/session_007/cameras/slam.npz +3 -0
- actions/locomanipulation/LM13/session_007/meta.json +116 -2
- actions/locomanipulation/LM13/session_007/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM13/session_007/motions/smplx.npz +2 -2
- actions/locomanipulation/LM13/session_008/annotations.json +28 -0
- actions/locomanipulation/LM13/session_008/cameras/slam.npz +3 -0
- actions/locomanipulation/LM13/session_008/meta.json +116 -2
- actions/locomanipulation/LM13/session_008/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM13/session_008/motions/smplx.npz +2 -2
- actions/locomanipulation/LM13/session_009/annotations.json +28 -0
- actions/locomanipulation/LM13/session_009/cameras/slam.npz +3 -0
- actions/locomanipulation/LM13/session_009/meta.json +116 -2
- actions/locomanipulation/LM13/session_009/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM13/session_009/motions/smplx.npz +2 -2
- actions/locomanipulation/LM13/session_010/annotations.json +28 -0
- actions/locomanipulation/LM13/session_010/cameras/slam.npz +3 -0
- actions/locomanipulation/LM13/session_010/meta.json +116 -2
- actions/locomanipulation/LM13/session_010/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM13/session_010/motions/smplx.npz +2 -2
- actions/locomanipulation/LM13/session_011/annotations.json +28 -0
- actions/locomanipulation/LM13/session_011/cameras/slam.npz +3 -0
- actions/locomanipulation/LM13/session_011/meta.json +116 -2
- actions/locomanipulation/LM13/session_011/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM13/session_011/motions/smplx.npz +2 -2
- actions/locomanipulation/LM13/session_012/annotations.json +28 -0
- actions/locomanipulation/LM13/session_012/cameras/slam.npz +3 -0
- actions/locomanipulation/LM13/session_012/meta.json +116 -2
- actions/locomanipulation/LM13/session_012/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM13/session_012/motions/smplx.npz +2 -2
- actions/locomanipulation/LM13/session_013/annotations.json +28 -0
- actions/locomanipulation/LM13/session_013/cameras/slam.npz +3 -0
- actions/locomanipulation/LM13/session_013/meta.json +4 -0
- actions/locomanipulation/LM13/session_013/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM13/session_014/annotations.json +28 -0
- actions/locomanipulation/LM13/session_014/cameras/slam.npz +3 -0
- actions/locomanipulation/LM13/session_014/meta.json +4 -0
- actions/locomanipulation/LM13/session_014/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM13/session_015/annotations.json +28 -0
- actions/locomanipulation/LM13/session_015/cameras/slam.npz +3 -0
- actions/locomanipulation/LM13/session_015/meta.json +4 -0
- actions/locomanipulation/LM13/session_015/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM13/session_016/annotations.json +28 -0
- actions/locomanipulation/LM13/session_016/cameras/slam.npz +3 -0
- actions/locomanipulation/LM13/session_016/meta.json +116 -2
- actions/locomanipulation/LM13/session_016/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM13/session_016/motions/smplx.npz +2 -2
- actions/locomanipulation/LM13/session_017/annotations.json +28 -0
- actions/locomanipulation/LM13/session_017/cameras/slam.npz +3 -0
actions/locomanipulation/LM13/session_006/motions/smplx.npz
CHANGED
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actions/locomanipulation/LM13/session_007/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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"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": "LM13",
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"instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest.",
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"segments": [
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{
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"id": "segment1",
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"duration_s": 133.966767,
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"video": "left_eye",
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"video_t_start": 0.0389907833531844
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"episodes": [
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{
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"id": "e0c12fc8-053d-4c57-8911-54a66373d731",
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"segment": "segment1",
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"action": "LM13",
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"quality": "valid",
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"start_s": 1.527,
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"end_s": 127.389,
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| 23 |
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"t_start": 1.566,
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"t_end": 127.428,
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| 25 |
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"instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
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}
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]
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}
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actions/locomanipulation/LM13/session_007/cameras/slam.npz
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version https://git-lfs.github.com/spec/v1
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size 773763
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actions/locomanipulation/LM13/session_007/meta.json
CHANGED
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@@ -326,8 +326,8 @@
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"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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"hands": {
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-
"observed":
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"hand_pose": "
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| 331 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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"hand_marker_offsets_m": {
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"left": {
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"generated_by": "scripts/correct_processed_rig.py",
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"remaining_gyro_frame_deg": 0.866192493215326
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"release": {
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"release_path": "actions/locomanipulation/LM13/session_007",
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"family": "locomanipulation",
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"primitive": "LM13",
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"source_session": "20260919/LM13/20260919_055055_session86"
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}
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}
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| 326 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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| 327 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 328 |
"hands": {
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| 329 |
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"observed": true,
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| 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",
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"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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"hand_marker_offsets_m": {
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"left": {
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"generated_by": "scripts/correct_processed_rig.py",
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"smplx": 0.84
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},
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"max_dev_deg": 30.0,
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"cameras_used": [
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"head"
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],
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"generated_at_utc": "2026-11-03T22:57:44.562444+00:00",
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"generated_by": "scripts/register_hands_smplx.py",
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| 621 |
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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",
|
| 622 |
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"wrist_flip_suspect": []
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},
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"release": {
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"release_path": "actions/locomanipulation/LM13/session_007",
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"primitive": "LM13",
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| 628 |
"source_session": "20260919/LM13/20260919_055055_session86"
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},
|
| 630 |
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"task": {
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| 631 |
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"primitive": "LM13",
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| 632 |
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"instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
|
| 633 |
}
|
| 634 |
}
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actions/locomanipulation/LM13/session_007/motions/hands_mano.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:85427663f3705f25fda94cb4a235579091a081971f5846b59bc1159215421ba6
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size 5215735
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actions/locomanipulation/LM13/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 sha256:29ca8ec7020b42f3cafd7f397d0a55a9d5d972c0dff6d828d88d0c79c5fd6c46
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+
size 11580101
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actions/locomanipulation/LM13/session_008/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)",
|
| 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": "LM13",
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| 6 |
+
"instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 128.966667,
|
| 11 |
+
"video": "left_eye",
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| 12 |
+
"video_t_start": 0.03904045823508051
|
| 13 |
+
}
|
| 14 |
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],
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| 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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|
| 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 heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM13/session_008/cameras/slam.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 743601
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actions/locomanipulation/LM13/session_008/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 |
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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": {
|
|
@@ -507,10 +507,124 @@
|
|
| 507 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 508 |
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|
| 509 |
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| 512 |
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|
| 513 |
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|
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|
| 515 |
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| 516 |
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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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|
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|
| 332 |
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|
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|
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"tier": "primary",
|
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|
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|
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|
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|
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},
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"median": 15.0,
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},
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"median": 14.6,
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}
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],
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"p90": 28.2
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},
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}
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},
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|
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|
| 597 |
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},
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"flat": {
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|
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"p90": 19.1
|
| 602 |
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},
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| 604 |
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|
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}
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}
|
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},
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|
| 611 |
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|
| 612 |
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"cameras_used": [
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"head"
|
| 614 |
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],
|
| 615 |
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"generated_at_utc": "2026-11-03T22:57:41.790544+00:00",
|
| 616 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 617 |
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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",
|
| 618 |
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"wrist_flip_suspect": []
|
| 619 |
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},
|
| 620 |
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|
| 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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"task": {
|
| 627 |
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"primitive": "LM13",
|
| 628 |
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"instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
|
| 629 |
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|
| 630 |
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|
actions/locomanipulation/LM13/session_008/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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actions/locomanipulation/LM13/session_008/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
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|
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version https://git-lfs.github.com/spec/v1
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version https://git-lfs.github.com/spec/v1
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actions/locomanipulation/LM13/session_009/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
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|
| 1 |
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{
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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": "LM13",
|
| 6 |
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"instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest.",
|
| 7 |
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"segments": [
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| 8 |
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{
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"id": "segment1",
|
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|
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"video": "left_eye",
|
| 12 |
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|
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}
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],
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"episodes": [
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| 16 |
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{
|
| 17 |
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"id": "feb38ce7-9459-4e57-991d-36bb075f143e",
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| 18 |
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| 19 |
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"action": "LM13",
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| 20 |
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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 heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM13/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 773525
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actions/locomanipulation/LM13/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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|
@@ -511,10 +511,124 @@
|
|
| 511 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 512 |
"remaining_gyro_frame_deg": 0.8869968582204171
|
| 513 |
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|
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|
|
|
|
|
|
| 514 |
"release": {
|
| 515 |
"release_path": "actions/locomanipulation/LM13/session_009",
|
| 516 |
"family": "locomanipulation",
|
| 517 |
"primitive": "LM13",
|
| 518 |
"source_session": "20260919/LM13/20260919_055544_session88"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 519 |
}
|
| 520 |
}
|
|
|
|
| 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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| 629 |
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actions/locomanipulation/LM13/session_010/motions/hands_mano.npz
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{
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| 3 |
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|
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"instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM13/session_011/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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actions/locomanipulation/LM13/session_011/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 |
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|
| 333 |
"left": {
|
|
@@ -506,10 +506,124 @@
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|
| 506 |
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|
| 507 |
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|
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| 509 |
"release": {
|
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|
| 511 |
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|
| 512 |
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|
| 513 |
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|
|
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|
| 514 |
}
|
| 515 |
}
|
|
|
|
| 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 |
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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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|
| 333 |
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|
| 506 |
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|
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|
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|
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|
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|
| 522 |
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},
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|
| 524 |
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|
| 525 |
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|
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| 528 |
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"samples": 938,
|
| 529 |
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|
| 530 |
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|
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|
| 532 |
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"tier": "primary",
|
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"dev_deg_median": 28.64,
|
| 534 |
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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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"gsi": 37.7,
|
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|
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},
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|
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},
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}
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| 558 |
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},
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|
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},
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| 571 |
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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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|
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|
| 596 |
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},
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| 597 |
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| 598 |
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|
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|
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},
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| 602 |
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| 603 |
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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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| 609 |
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"max_dev_deg": 30.0,
|
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|
| 611 |
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"cameras_used": [
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"head"
|
| 613 |
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],
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| 614 |
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"generated_at_utc": "2026-11-03T22:53:35.428671+00:00",
|
| 615 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 616 |
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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",
|
| 617 |
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"wrist_flip_suspect": []
|
| 618 |
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},
|
| 619 |
"release": {
|
| 620 |
"release_path": "actions/locomanipulation/LM13/session_011",
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| 621 |
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| 622 |
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|
| 623 |
"source_session": "20260920/LM13/20260920_005348_session4"
|
| 624 |
+
},
|
| 625 |
+
"task": {
|
| 626 |
+
"primitive": "LM13",
|
| 627 |
+
"instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
|
| 628 |
}
|
| 629 |
}
|
actions/locomanipulation/LM13/session_011/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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actions/locomanipulation/LM13/session_011/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
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actions/locomanipulation/LM13/session_012/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 2)",
|
| 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": "LM13",
|
| 6 |
+
"instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
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}
|
| 14 |
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],
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"episodes": [
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| 16 |
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{
|
| 17 |
+
"id": "8f9ad418-a031-4bff-83c8-290051f0bf0c",
|
| 18 |
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"segment": "segment1",
|
| 19 |
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"action": "LM13",
|
| 20 |
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"quality": "valid",
|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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"instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM13/session_012/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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|
| 3 |
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size 745742
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actions/locomanipulation/LM13/session_012/meta.json
CHANGED
|
@@ -330,8 +330,8 @@
|
|
| 330 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 331 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 332 |
"hands": {
|
| 333 |
-
"observed":
|
| 334 |
-
"hand_pose": "
|
| 335 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 336 |
"hand_marker_offsets_m": {
|
| 337 |
"left": {
|
|
@@ -511,10 +511,124 @@
|
|
| 511 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 512 |
"remaining_gyro_frame_deg": 0.7814393673853598
|
| 513 |
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|
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| 330 |
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"instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
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"instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
|
| 26 |
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|
| 27 |
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| 28 |
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actions/locomanipulation/LM13/session_013/cameras/slam.npz
ADDED
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actions/locomanipulation/LM13/session_013/meta.json
CHANGED
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@@ -524,5 +524,9 @@
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actions/locomanipulation/LM13/session_013/motions/hands_mano.npz
ADDED
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actions/locomanipulation/LM13/session_014/annotations.json
ADDED
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"primitive": "LM13",
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| 6 |
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"instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest.",
|
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|
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|
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"instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM13/session_014/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
|
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version https://git-lfs.github.com/spec/v1
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actions/locomanipulation/LM13/session_014/meta.json
CHANGED
|
@@ -522,5 +522,9 @@
|
|
| 522 |
"family": "locomanipulation",
|
| 523 |
"primitive": "LM13",
|
| 524 |
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|
|
|
|
|
|
|
|
|
|
|
|
| 525 |
}
|
| 526 |
}
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|
|
|
| 522 |
"family": "locomanipulation",
|
| 523 |
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|
| 524 |
"source_session": "20260920/LM13/20260920_090403_session96"
|
| 525 |
+
},
|
| 526 |
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"task": {
|
| 527 |
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"primitive": "LM13",
|
| 528 |
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"instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
|
| 529 |
}
|
| 530 |
}
|
actions/locomanipulation/LM13/session_014/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
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size 2754327
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actions/locomanipulation/LM13/session_015/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
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|
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"source": "vendor annotation.json (schema 2, revision 1)",
|
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"primitive": "LM13",
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"instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
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| 26 |
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}
|
| 27 |
+
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|
| 28 |
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actions/locomanipulation/LM13/session_015/cameras/slam.npz
ADDED
|
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version https://git-lfs.github.com/spec/v1
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size 798243
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actions/locomanipulation/LM13/session_015/meta.json
CHANGED
|
@@ -522,5 +522,9 @@
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|
| 522 |
"family": "locomanipulation",
|
| 523 |
"primitive": "LM13",
|
| 524 |
"source_session": "20260920/LM13/20260920_090720_session97"
|
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|
| 525 |
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|
| 526 |
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| 522 |
"family": "locomanipulation",
|
| 523 |
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|
| 524 |
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|
| 525 |
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|
| 526 |
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|
| 527 |
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"primitive": "LM13",
|
| 528 |
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"instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
|
| 529 |
}
|
| 530 |
}
|
actions/locomanipulation/LM13/session_015/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 1796060
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actions/locomanipulation/LM13/session_016/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
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| 1 |
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{
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| 2 |
+
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|
| 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 |
+
"primitive": "LM13",
|
| 6 |
+
"instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest.",
|
| 7 |
+
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|
| 8 |
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{
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| 9 |
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"id": "segment1",
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|
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|
| 12 |
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|
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"episodes": [
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{
|
| 17 |
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"id": "67c80ed6-a7c9-4b5f-8434-498075b3a178",
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| 18 |
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"segment": "segment1",
|
| 19 |
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"action": "LM13",
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| 20 |
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|
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|
| 23 |
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|
| 24 |
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|
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"instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM13/session_016/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
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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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size 771713
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actions/locomanipulation/LM13/session_016/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": {
|
|
@@ -513,10 +513,124 @@
|
|
| 513 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 514 |
"remaining_gyro_frame_deg": 0.6029027633103069
|
| 515 |
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|
| 516 |
"release": {
|
| 517 |
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|
| 518 |
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|
| 519 |
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|
| 520 |
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|
|
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|
| 521 |
}
|
| 522 |
}
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|
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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 |
+
"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 |
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|
| 333 |
"left": {
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|
| 513 |
"generated_by": "scripts/correct_processed_rig.py",
|
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|
| 515 |
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|
| 516 |
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|
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|
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|
| 519 |
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|
| 520 |
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|
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|
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|
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|
| 529 |
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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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|
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"gsi": 16.19,
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},
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|
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|
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|
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|
| 603 |
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|
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|
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|
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|
| 612 |
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|
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|
| 618 |
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|
| 619 |
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|
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|
| 621 |
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|
| 622 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 623 |
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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",
|
| 624 |
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"wrist_flip_suspect": []
|
| 625 |
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},
|
| 626 |
"release": {
|
| 627 |
"release_path": "actions/locomanipulation/LM13/session_016",
|
| 628 |
"family": "locomanipulation",
|
| 629 |
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|
| 630 |
"source_session": "20260921/LM13/20260921_091022_session164"
|
| 631 |
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},
|
| 632 |
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"task": {
|
| 633 |
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"primitive": "LM13",
|
| 634 |
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"instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
|
| 635 |
}
|
| 636 |
}
|
actions/locomanipulation/LM13/session_016/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
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|
| 3 |
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size 5321996
|
actions/locomanipulation/LM13/session_016/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
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size
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|
| 1 |
version https://git-lfs.github.com/spec/v1
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size 11567222
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actions/locomanipulation/LM13/session_017/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": "LM13",
|
| 6 |
+
"instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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}
|
| 14 |
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],
|
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|
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{
|
| 17 |
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"id": "9aa26ce1-d741-4dc8-92e1-6bbd5bb22c69",
|
| 18 |
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"segment": "segment1",
|
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"action": "LM13",
|
| 20 |
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|
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|
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|
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|
| 24 |
+
"t_end": 142.0759,
|
| 25 |
+
"instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM13/session_017/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:329f7ff5dc60e84515e630ee5fda1cc99ea41672a3be018f8c28988c6dbd469f
|
| 3 |
+
size 856238
|