Release update 2026-11-05: new sessions, instructions, annotations (part 228)
Browse files- actions/locomanipulation/LM27/session_006/cameras/gsi_online_calibration.json +258 -0
- actions/locomanipulation/LM27/session_006/cameras/slam.npz +3 -0
- actions/locomanipulation/LM27/session_006/meta.json +116 -2
- actions/locomanipulation/LM27/session_006/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM27/session_006/motions/smplx.npz +2 -2
- actions/locomanipulation/LM27/session_007/annotations.json +28 -0
- actions/locomanipulation/LM27/session_007/cameras/slam.npz +3 -0
- actions/locomanipulation/LM27/session_007/meta.json +116 -2
- actions/locomanipulation/LM27/session_007/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM27/session_007/motions/smplx.npz +2 -2
- actions/locomanipulation/LM27/session_008/annotations.json +28 -0
actions/locomanipulation/LM27/session_006/cameras/gsi_online_calibration.json
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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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| 4 |
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"groups_used": 15,
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| 5 |
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| 11 |
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| 13 |
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| 16 |
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| 19 |
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| 143 |
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| 144 |
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| 148 |
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},
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| 150 |
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| 152 |
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| 153 |
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"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
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| 154 |
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| 158 |
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}
|
actions/locomanipulation/LM27/session_006/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
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|
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|
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|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:8c128fbde191b654b0334553d18de6668390ca16bce5547a1c66d7c065fb6891
|
| 3 |
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size 599784
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actions/locomanipulation/LM27/session_006/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": {
|
|
@@ -517,10 +517,124 @@
|
|
| 517 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 518 |
"remaining_gyro_frame_deg": 1.2912329722520797
|
| 519 |
},
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| 520 |
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|
| 521 |
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|
| 522 |
"family": "locomanipulation",
|
| 523 |
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|
| 524 |
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|
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|
| 525 |
}
|
| 526 |
}
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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 |
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"observed": true,
|
| 330 |
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"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 331 |
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|
| 332 |
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|
| 333 |
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|
| 517 |
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|
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|
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|
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|
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|
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| 539 |
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"samples": 3077,
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"accepted": 3061,
|
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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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| 566 |
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"median": 7.1,
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| 582 |
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"samples": 3073,
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| 585 |
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|
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|
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|
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| 609 |
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|
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| 613 |
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|
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|
| 616 |
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}
|
| 619 |
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},
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| 620 |
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"max_dev_deg": 30.0,
|
| 621 |
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|
| 622 |
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"cameras_used": [
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| 623 |
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"head"
|
| 624 |
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],
|
| 625 |
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"generated_at_utc": "2026-11-03T16:24:08.321894+00:00",
|
| 626 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 627 |
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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",
|
| 628 |
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"wrist_flip_suspect": []
|
| 629 |
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},
|
| 630 |
"release": {
|
| 631 |
"release_path": "actions/locomanipulation/LM27/session_006",
|
| 632 |
"family": "locomanipulation",
|
| 633 |
"primitive": "LM27",
|
| 634 |
"source_session": "20260910/LM27/20260910_112613_session195"
|
| 635 |
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},
|
| 636 |
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"task": {
|
| 637 |
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"primitive": "LM27",
|
| 638 |
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"instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take."
|
| 639 |
}
|
| 640 |
}
|
actions/locomanipulation/LM27/session_006/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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size 4148824
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actions/locomanipulation/LM27/session_006/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
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|
| 1 |
version https://git-lfs.github.com/spec/v1
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| 2 |
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size
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version https://git-lfs.github.com/spec/v1
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actions/locomanipulation/LM27/session_007/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": "LM27",
|
| 6 |
+
"instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
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"duration_s": 118.966667,
|
| 11 |
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"video": "left_eye",
|
| 12 |
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|
| 13 |
+
}
|
| 14 |
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],
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| 15 |
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"episodes": [
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| 16 |
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{
|
| 17 |
+
"id": "adc61557-d151-4ed0-a909-3dc84dede149",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM27",
|
| 20 |
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"quality": "valid",
|
| 21 |
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"start_s": 0,
|
| 22 |
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"end_s": 113.368,
|
| 23 |
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"t_start": 0.0305,
|
| 24 |
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"t_end": 113.3985,
|
| 25 |
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"instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM27/session_007/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
|
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|
|
|
|
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|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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size 686397
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actions/locomanipulation/LM27/session_007/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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|
@@ -508,10 +508,124 @@
|
|
| 508 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 509 |
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|
| 510 |
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|
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|
|
|
|
|
|
| 511 |
"release": {
|
| 512 |
"release_path": "actions/locomanipulation/LM27/session_007",
|
| 513 |
"family": "locomanipulation",
|
| 514 |
"primitive": "LM27",
|
| 515 |
"source_session": "20260920/LM27/20260920_030508_session2"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 516 |
}
|
| 517 |
}
|
|
|
|
| 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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|
|
|
| 508 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 509 |
"remaining_gyro_frame_deg": 0.7106687864155303
|
| 510 |
},
|
| 511 |
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"hands_registration": {
|
| 512 |
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"cameras": {},
|
| 513 |
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"hands": {
|
| 514 |
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"left": {
|
| 515 |
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"offset_deg": 15.34,
|
| 516 |
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"offset_rotvec": [
|
| 517 |
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0.2558,
|
| 518 |
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-0.0729,
|
| 519 |
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-0.0308
|
| 520 |
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],
|
| 521 |
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"dev_deg": {
|
| 522 |
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"median": 3.07,
|
| 523 |
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"p90": 5.73
|
| 524 |
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},
|
| 525 |
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"samples": 3506,
|
| 526 |
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"accepted": 3467,
|
| 527 |
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|
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| 630 |
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| 631 |
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actions/locomanipulation/LM27/session_008/annotations.json
ADDED
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@@ -0,0 +1,28 @@
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| 1 |
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{
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|
| 3 |
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|
| 4 |
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"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
|
| 5 |
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"primitive": "LM27",
|
| 6 |
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"instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take.",
|
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"instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take."
|
| 26 |
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|
| 27 |
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]
|
| 28 |
+
}
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