Release update 2026-11-05: new sessions, instructions, annotations (part 85)
Browse files- actions/locomanipulation/LM18/session_010/cameras/slam.npz +3 -0
- actions/locomanipulation/LM18/session_010/meta.json +116 -2
- actions/locomanipulation/LM18/session_010/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM18/session_010/motions/smplx.npz +2 -2
- actions/locomanipulation/LM18/session_011/annotations.json +28 -0
- actions/locomanipulation/LM18/session_011/cameras/gsi_online_calibration.json +253 -0
- actions/locomanipulation/LM18/session_011/cameras/slam.npz +3 -0
- actions/locomanipulation/LM18/session_011/meta.json +116 -2
- actions/locomanipulation/LM18/session_011/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM18/session_011/motions/smplx.npz +2 -2
- actions/locomanipulation/LM18/session_012/annotations.json +28 -0
- actions/locomanipulation/LM18/session_012/cameras/gsi_online_calibration.json +256 -0
- actions/locomanipulation/LM18/session_012/cameras/slam.npz +3 -0
- actions/locomanipulation/LM18/session_012/meta.json +116 -2
- actions/locomanipulation/LM18/session_012/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM18/session_012/motions/smplx.npz +2 -2
- actions/locomanipulation/LM18/session_013/annotations.json +28 -0
- actions/locomanipulation/LM18/session_013/cameras/gsi_online_calibration.json +255 -0
- actions/locomanipulation/LM18/session_013/cameras/slam.npz +3 -0
- actions/locomanipulation/LM18/session_013/meta.json +4 -0
- actions/locomanipulation/LM18/session_013/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM18/session_014/annotations.json +28 -0
- actions/locomanipulation/LM18/session_014/cameras/gsi_online_calibration.json +255 -0
- actions/locomanipulation/LM18/session_014/cameras/slam.npz +3 -0
- actions/locomanipulation/LM18/session_014/meta.json +4 -0
- actions/locomanipulation/LM18/session_014/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM18/session_015/annotations.json +28 -0
- actions/locomanipulation/LM18/session_015/cameras/gsi_online_calibration.json +258 -0
actions/locomanipulation/LM18/session_010/cameras/slam.npz
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:86fbdb817d4a5fd77a133f4959d1d82a2303dd0014f32922f5ad1701bc92be59
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| 3 |
+
size 571789
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actions/locomanipulation/LM18/session_010/meta.json
CHANGED
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@@ -329,8 +329,8 @@
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| 329 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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| 330 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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| 331 |
"hands": {
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| 332 |
-
"observed":
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| 333 |
-
"hand_pose": "
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| 334 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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| 335 |
"hand_marker_offsets_m": {
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| 336 |
"left": {
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|
@@ -511,10 +511,124 @@
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| 511 |
"generated_by": "scripts/correct_processed_rig.py",
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| 512 |
"remaining_gyro_frame_deg": 0.754145262846532
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| 513 |
},
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| 514 |
"release": {
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| 515 |
"release_path": "actions/locomanipulation/LM18/session_010",
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| 516 |
"family": "locomanipulation",
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| 517 |
"primitive": "LM18",
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| 518 |
"source_session": "20260920/LM18/20260920_054211_session41"
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| 519 |
}
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}
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| 329 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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| 330 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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| 331 |
"hands": {
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| 332 |
+
"observed": true,
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| 333 |
+
"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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| 334 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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| 335 |
"hand_marker_offsets_m": {
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| 336 |
"left": {
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| 511 |
"generated_by": "scripts/correct_processed_rig.py",
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| 512 |
"remaining_gyro_frame_deg": 0.754145262846532
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| 513 |
},
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| 514 |
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"hands_registration": {
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| 515 |
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"cameras": {},
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| 516 |
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"hands": {
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| 517 |
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"left": {
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| 518 |
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"offset_deg": 43.02,
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| 519 |
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"offset_rotvec": [
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0.6602,
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-0.3081,
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-0.1815
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],
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"dev_deg": {
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"median": 12.73,
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| 526 |
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"p90": 28.31
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},
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| 528 |
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"samples": 1583,
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| 529 |
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"accepted": 1458,
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| 530 |
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"wrist_pos_err_mm_median": 357.1,
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| 531 |
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"per_camera": {
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| 532 |
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"head": {
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"samples": 1583,
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| 534 |
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"accepted": 1458,
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| 535 |
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"gate_deg": 30.0,
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| 536 |
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"offset_deg": 43.02,
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| 537 |
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"tier": "primary",
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| 538 |
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"dev_deg_median": 12.73,
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| 539 |
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"wrist_pos_err_mm_median": 357.1
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}
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},
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| 542 |
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"frames_by_state": {
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"ace_sample": 6114,
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| 544 |
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"interpolated": 5598,
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| 545 |
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"mean_hand": 172,
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| 546 |
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"no_body_fit": 0
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},
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| 548 |
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"observed_fraction": 0.9855,
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| 549 |
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"observed_fraction_of_valid": 0.9855,
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| 550 |
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"palm_axis_vs_markers_deg": {
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"gsi": 50.91,
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| 552 |
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"smplx": 0.37
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},
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| 554 |
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"hand_marker_to_mesh_mm": {
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| 555 |
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"flat": {
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| 556 |
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"median": 11.9,
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| 557 |
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"p90": 20.6
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| 558 |
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},
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| 559 |
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"registered": {
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| 560 |
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"median": 11.6,
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| 561 |
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"p90": 20.4
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}
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}
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| 564 |
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},
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| 565 |
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"right": {
|
| 566 |
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"offset_deg": 35.38,
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| 567 |
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"offset_rotvec": [
|
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0.5843,
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-0.0861,
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0.1801
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],
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| 572 |
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"dev_deg": {
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| 573 |
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"median": 10.96,
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| 574 |
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"p90": 21.55
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| 575 |
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},
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| 576 |
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"samples": 2916,
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| 577 |
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"accepted": 2876,
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| 578 |
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"wrist_pos_err_mm_median": 30.3,
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| 579 |
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"per_camera": {
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| 580 |
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"head": {
|
| 581 |
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"samples": 2916,
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| 582 |
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"accepted": 2876,
|
| 583 |
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"gate_deg": 30.0,
|
| 584 |
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"offset_deg": 35.38,
|
| 585 |
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"tier": "primary",
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| 586 |
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"dev_deg_median": 10.96,
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| 587 |
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"wrist_pos_err_mm_median": 30.3
|
| 588 |
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}
|
| 589 |
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},
|
| 590 |
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"frames_by_state": {
|
| 591 |
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"ace_sample": 11544,
|
| 592 |
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"interpolated": 324,
|
| 593 |
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"mean_hand": 16,
|
| 594 |
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"no_body_fit": 0
|
| 595 |
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},
|
| 596 |
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"observed_fraction": 0.9987,
|
| 597 |
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"observed_fraction_of_valid": 0.9987,
|
| 598 |
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"palm_axis_vs_markers_deg": {
|
| 599 |
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"gsi": 36.9,
|
| 600 |
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"smplx": 0.37
|
| 601 |
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},
|
| 602 |
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"hand_marker_to_mesh_mm": {
|
| 603 |
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"flat": {
|
| 604 |
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"median": 12.9,
|
| 605 |
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"p90": 20.0
|
| 606 |
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},
|
| 607 |
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"registered": {
|
| 608 |
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"median": 12.2,
|
| 609 |
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"p90": 19.2
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| 610 |
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}
|
| 611 |
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}
|
| 612 |
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}
|
| 613 |
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},
|
| 614 |
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"max_dev_deg": 30.0,
|
| 615 |
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"max_gap_s": 1.0,
|
| 616 |
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"cameras_used": [
|
| 617 |
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"head"
|
| 618 |
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],
|
| 619 |
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"generated_at_utc": "2026-11-03T22:53:05.570473+00:00",
|
| 620 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 621 |
+
"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 |
+
"wrist_flip_suspect": []
|
| 623 |
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},
|
| 624 |
"release": {
|
| 625 |
"release_path": "actions/locomanipulation/LM18/session_010",
|
| 626 |
"family": "locomanipulation",
|
| 627 |
"primitive": "LM18",
|
| 628 |
"source_session": "20260920/LM18/20260920_054211_session41"
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| 629 |
+
},
|
| 630 |
+
"task": {
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| 631 |
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"primitive": "LM18",
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| 632 |
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"instruction": "Hold the object against your hip on the side the operator calls, and carry it back and forth across the room."
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| 633 |
}
|
| 634 |
}
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actions/locomanipulation/LM18/session_010/motions/hands_mano.npz
ADDED
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@@ -0,0 +1,3 @@
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+
version https://git-lfs.github.com/spec/v1
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oid sha256:0bba5dadd625eeea11f79ae057ed15dab64f552465bdafa62b5d7e19a029861c
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| 3 |
+
size 3081633
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actions/locomanipulation/LM18/session_010/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:ac68feadab1f4bdd2708b85b690217d1d5666661813e1ca625b51005b945cf56
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size 8554371
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actions/locomanipulation/LM18/session_011/annotations.json
ADDED
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@@ -0,0 +1,28 @@
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| 1 |
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{
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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)",
|
| 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": "LM18",
|
| 6 |
+
"instruction": "Hold the object against your hip on the side the operator calls, and carry it back and forth across the room.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 98.966589,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.039339516368276595
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "e97f7acc-ef75-419a-82e9-2c3d5e2a1cce",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM18",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 93.237,
|
| 23 |
+
"t_start": 0.0393,
|
| 24 |
+
"t_end": 93.2763,
|
| 25 |
+
"instruction": "Hold the object against your hip on the side the operator calls, and carry it back and forth across the room."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
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actions/locomanipulation/LM18/session_011/cameras/gsi_online_calibration.json
ADDED
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actions/locomanipulation/LM18/session_011/cameras/slam.npz
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 571119
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actions/locomanipulation/LM18/session_011/meta.json
CHANGED
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@@ -329,8 +329,8 @@
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|
| 329 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 330 |
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| 331 |
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| 335 |
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|
@@ -515,10 +515,124 @@
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|
| 515 |
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| 516 |
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| 518 |
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| 519 |
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| 522 |
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| 523 |
}
|
| 524 |
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|
| 329 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 330 |
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|
| 331 |
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| 332 |
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|
| 333 |
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| 335 |
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| 336 |
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|
|
| 515 |
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actions/locomanipulation/LM18/session_012/cameras/gsi_online_calibration.json
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|
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|
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|
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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 sha256:34e427595dd4878cef6697d306747e8af0ba05afe2e0f4a5a7f84a66b8a7e588
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size 8452322
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actions/locomanipulation/LM18/session_013/annotations.json
ADDED
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@@ -0,0 +1,28 @@
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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": "LM18",
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"instruction": "Hold the object against your hip on the side the operator calls, and carry it back and forth across the room.",
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"segments": [
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{
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| 9 |
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"id": "segment1",
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| 10 |
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"duration_s": 98.966711,
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| 11 |
+
"video": "left_eye",
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| 12 |
+
"video_t_start": 0.03878630772559788
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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": "686bb7d5-710b-45ce-b52b-45b496c69e68",
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| 18 |
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"segment": "segment1",
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| 19 |
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"action": "LM18",
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| 20 |
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"quality": "valid",
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| 21 |
+
"start_s": 0,
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| 22 |
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"end_s": 96.215,
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| 23 |
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"t_start": 0.0388,
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| 24 |
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"t_end": 96.2538,
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| 25 |
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"instruction": "Hold the object against your hip on the side the operator calls, and carry it back and forth across the room."
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| 26 |
+
}
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| 27 |
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]
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| 28 |
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}
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actions/locomanipulation/LM18/session_013/cameras/gsi_online_calibration.json
ADDED
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@@ -0,0 +1,255 @@
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|
| 1 |
+
{
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| 2 |
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"camera_fit": {
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| 3 |
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"groups_dropped": [],
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| 4 |
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"groups_used": 14,
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| 5 |
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"median_px": 0.368
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| 6 |
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},
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| 7 |
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"cameras": {
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| 8 |
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"left": {
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| 9 |
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"accepted": true,
|
| 10 |
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"against": [
|
| 11 |
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"left_front",
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| 12 |
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"right_front",
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| 13 |
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"left_eye",
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"right_eye"
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| 15 |
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],
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"delta_deg": 1.0492,
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| 17 |
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"gate_fail": [],
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],
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"split_deg": 0.0344,
|
| 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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|
| 38 |
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],
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"delta_deg": 2.2576,
|
| 40 |
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"position_mm": [
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"usable": true
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"left_front": {
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"role": "rig origin"
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},
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"right": {
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"accepted": true,
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"against": [
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],
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"files": {
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},
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actions/locomanipulation/LM18/session_013/cameras/slam.npz
ADDED
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actions/locomanipulation/LM18/session_013/meta.json
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| 522 |
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|
| 527 |
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|
| 528 |
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ADDED
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actions/locomanipulation/LM18/session_014/annotations.json
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| 5 |
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actions/locomanipulation/LM18/session_014/cameras/gsi_online_calibration.json
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{
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|
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|
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