Release update 2026-11-05: new sessions, instructions, annotations (part 83)
Browse files- actions/locomanipulation/LM18/session_002/motions/smplx.npz +2 -2
- actions/locomanipulation/LM18/session_003/annotations.json +28 -0
- actions/locomanipulation/LM18/session_003/cameras/slam.npz +3 -0
- actions/locomanipulation/LM18/session_003/meta.json +116 -2
- actions/locomanipulation/LM18/session_003/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM18/session_003/motions/smplx.npz +2 -2
- actions/locomanipulation/LM18/session_004/annotations.json +28 -0
- actions/locomanipulation/LM18/session_004/cameras/slam.npz +3 -0
- actions/locomanipulation/LM18/session_004/meta.json +116 -2
- actions/locomanipulation/LM18/session_004/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM18/session_004/motions/smplx.npz +2 -2
- actions/locomanipulation/LM18/session_005/annotations.json +28 -0
actions/locomanipulation/LM18/session_002/motions/smplx.npz
CHANGED
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actions/locomanipulation/LM18/session_003/annotations.json
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{
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"schema_version": 1,
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"source": "vendor annotation.json (schema 2, revision 1)",
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| 4 |
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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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| 5 |
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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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"duration_s": 98.966556,
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"video": "left_eye",
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| 12 |
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"video_t_start": 0.03931910996258159
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}
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],
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| 15 |
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"episodes": [
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{
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"id": "4bebc3ad-3439-4c9a-936d-d25b6fb5d644",
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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 |
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"start_s": 0,
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| 22 |
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"end_s": 92.983,
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| 23 |
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"t_start": 0.0393,
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| 24 |
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"t_end": 93.0223,
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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_003/cameras/slam.npz
ADDED
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version https://git-lfs.github.com/spec/v1
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+
oid sha256:119d8e092252214c7cccb5aa98e9d4a6b77e4a2add9195b0f7894df5243d3c47
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| 3 |
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size 569524
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actions/locomanipulation/LM18/session_003/meta.json
CHANGED
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@@ -328,8 +328,8 @@
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| 328 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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| 329 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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| 330 |
"hands": {
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| 331 |
-
"observed":
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| 332 |
-
"hand_pose": "
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| 333 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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| 334 |
"hand_marker_offsets_m": {
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| 335 |
"left": {
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@@ -510,10 +510,124 @@
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| 510 |
"generated_by": "scripts/correct_processed_rig.py",
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| 511 |
"remaining_gyro_frame_deg": 0.7954670177153144
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| 512 |
},
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| 513 |
"release": {
|
| 514 |
"release_path": "actions/locomanipulation/LM18/session_003",
|
| 515 |
"family": "locomanipulation",
|
| 516 |
"primitive": "LM18",
|
| 517 |
"source_session": "20260910/LM18/20260910_060358_session111"
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|
| 518 |
}
|
| 519 |
}
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|
| 328 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 329 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 330 |
"hands": {
|
| 331 |
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"observed": true,
|
| 332 |
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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",
|
| 333 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 334 |
"hand_marker_offsets_m": {
|
| 335 |
"left": {
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|
| 510 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 511 |
"remaining_gyro_frame_deg": 0.7954670177153144
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| 512 |
},
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| 513 |
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"hands_registration": {
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| 514 |
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"cameras": {},
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| 515 |
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"hands": {
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| 516 |
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"left": {
|
| 517 |
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"offset_deg": 12.8,
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| 518 |
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"offset_rotvec": [
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0.065,
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0.0739
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],
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"dev_deg": {
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| 524 |
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"median": 17.98,
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| 525 |
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"p90": 41.58
|
| 526 |
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},
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| 527 |
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"samples": 2790,
|
| 528 |
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"accepted": 2219,
|
| 529 |
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"wrist_pos_err_mm_median": 118.8,
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| 530 |
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"per_camera": {
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| 531 |
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"head": {
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| 532 |
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"samples": 2790,
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| 533 |
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"accepted": 2219,
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| 534 |
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"gate_deg": 30.0,
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| 535 |
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"offset_deg": 12.8,
|
| 536 |
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"tier": "primary",
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| 537 |
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"dev_deg_median": 17.98,
|
| 538 |
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"wrist_pos_err_mm_median": 118.8
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| 539 |
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}
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| 540 |
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},
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| 541 |
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"frames_by_state": {
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"ace_sample": 8940,
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| 543 |
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"interpolated": 908,
|
| 544 |
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"mean_hand": 1762,
|
| 545 |
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"no_body_fit": 274
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| 546 |
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},
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| 547 |
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"observed_fraction": 0.8287,
|
| 548 |
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"observed_fraction_of_valid": 0.8482,
|
| 549 |
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"palm_axis_vs_markers_deg": {
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| 550 |
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"gsi": 15.68,
|
| 551 |
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"smplx": 0.9
|
| 552 |
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},
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| 553 |
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"hand_marker_to_mesh_mm": {
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| 554 |
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"flat": {
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| 555 |
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"median": 8.1,
|
| 556 |
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"p90": 11.7
|
| 557 |
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},
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| 558 |
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"registered": {
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"p90": 13.2
|
| 561 |
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}
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| 562 |
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}
|
| 563 |
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},
|
| 564 |
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"right": {
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|
| 566 |
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| 571 |
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"dev_deg": {
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| 572 |
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"median": 8.96,
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"p90": 16.07
|
| 574 |
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},
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| 575 |
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"samples": 2695,
|
| 576 |
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"accepted": 2654,
|
| 577 |
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"wrist_pos_err_mm_median": 121.3,
|
| 578 |
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| 579 |
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"head": {
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| 581 |
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"gate_deg": 30.0,
|
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"offset_deg": 15.37,
|
| 584 |
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"tier": "primary",
|
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"dev_deg_median": 8.96,
|
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"wrist_pos_err_mm_median": 121.3
|
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}
|
| 588 |
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},
|
| 589 |
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"frames_by_state": {
|
| 590 |
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"ace_sample": 10702,
|
| 591 |
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"interpolated": 634,
|
| 592 |
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"mean_hand": 274,
|
| 593 |
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"no_body_fit": 274
|
| 594 |
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},
|
| 595 |
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"observed_fraction": 0.9539,
|
| 596 |
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"observed_fraction_of_valid": 0.9764,
|
| 597 |
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"palm_axis_vs_markers_deg": {
|
| 598 |
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"gsi": 7.16,
|
| 599 |
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"smplx": 0.59
|
| 600 |
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},
|
| 601 |
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"hand_marker_to_mesh_mm": {
|
| 602 |
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"flat": {
|
| 603 |
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"median": 8.4,
|
| 604 |
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"p90": 10.2
|
| 605 |
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},
|
| 606 |
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"registered": {
|
| 607 |
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"median": 8.3,
|
| 608 |
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"p90": 10.0
|
| 609 |
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}
|
| 610 |
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}
|
| 611 |
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}
|
| 612 |
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},
|
| 613 |
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"max_dev_deg": 30.0,
|
| 614 |
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"max_gap_s": 1.0,
|
| 615 |
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"cameras_used": [
|
| 616 |
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"head"
|
| 617 |
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],
|
| 618 |
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"generated_at_utc": "2026-11-03T16:11:39.121235+00:00",
|
| 619 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 620 |
+
"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",
|
| 621 |
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"wrist_flip_suspect": []
|
| 622 |
+
},
|
| 623 |
"release": {
|
| 624 |
"release_path": "actions/locomanipulation/LM18/session_003",
|
| 625 |
"family": "locomanipulation",
|
| 626 |
"primitive": "LM18",
|
| 627 |
"source_session": "20260910/LM18/20260910_060358_session111"
|
| 628 |
+
},
|
| 629 |
+
"task": {
|
| 630 |
+
"primitive": "LM18",
|
| 631 |
+
"instruction": "Hold the object against your hip on the side the operator calls, and carry it back and forth across the room."
|
| 632 |
}
|
| 633 |
}
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actions/locomanipulation/LM18/session_003/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 sha256:68847078efc5e42efef6e301f7b962dab6f477869379c2cdf4880b40832913a5
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| 3 |
+
size 3787343
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actions/locomanipulation/LM18/session_003/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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| 1 |
version https://git-lfs.github.com/spec/v1
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+
oid sha256:01828dedc06d2ea46098240023712be6eb399200442526b73993ee7c0dddbc14
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+
size 8089282
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actions/locomanipulation/LM18/session_004/annotations.json
ADDED
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@@ -0,0 +1,28 @@
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+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"source": "vendor annotation.json (schema 2, revision 1)",
|
| 4 |
+
"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
|
| 5 |
+
"primitive": "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": 103.966578,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03931918168983772
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "f192ec5e-65e6-4539-84c8-892b8cb5e9d0",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM18",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 95.503,
|
| 23 |
+
"t_start": 0.0393,
|
| 24 |
+
"t_end": 95.5423,
|
| 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_004/cameras/slam.npz
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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+
oid sha256:fada625175744a7c16fad9736574ae77cac956cc34a8264c3471cbb92d8b2e9b
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| 3 |
+
size 597537
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actions/locomanipulation/LM18/session_004/meta.json
CHANGED
|
@@ -328,8 +328,8 @@
|
|
| 328 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 329 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 330 |
"hands": {
|
| 331 |
-
"observed":
|
| 332 |
-
"hand_pose": "
|
| 333 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 334 |
"hand_marker_offsets_m": {
|
| 335 |
"left": {
|
|
@@ -509,10 +509,124 @@
|
|
| 509 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 510 |
"remaining_gyro_frame_deg": 0.8708653690966662
|
| 511 |
},
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|
| 512 |
"release": {
|
| 513 |
"release_path": "actions/locomanipulation/LM18/session_004",
|
| 514 |
"family": "locomanipulation",
|
| 515 |
"primitive": "LM18",
|
| 516 |
"source_session": "20260910/LM18/20260910_060548_session112"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 517 |
}
|
| 518 |
}
|
|
|
|
| 328 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 329 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 330 |
"hands": {
|
| 331 |
+
"observed": true,
|
| 332 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 333 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 334 |
"hand_marker_offsets_m": {
|
| 335 |
"left": {
|
|
|
|
| 509 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 510 |
"remaining_gyro_frame_deg": 0.8708653690966662
|
| 511 |
},
|
| 512 |
+
"hands_registration": {
|
| 513 |
+
"cameras": {},
|
| 514 |
+
"hands": {
|
| 515 |
+
"left": {
|
| 516 |
+
"offset_deg": 5.74,
|
| 517 |
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"offset_rotvec": [
|
| 518 |
+
0.0405,
|
| 519 |
+
-0.046,
|
| 520 |
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0.0792
|
| 521 |
+
],
|
| 522 |
+
"dev_deg": {
|
| 523 |
+
"median": 14.59,
|
| 524 |
+
"p90": 34.15
|
| 525 |
+
},
|
| 526 |
+
"samples": 2981,
|
| 527 |
+
"accepted": 2613,
|
| 528 |
+
"wrist_pos_err_mm_median": 120.1,
|
| 529 |
+
"per_camera": {
|
| 530 |
+
"head": {
|
| 531 |
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"samples": 2981,
|
| 532 |
+
"accepted": 2613,
|
| 533 |
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"gate_deg": 30.0,
|
| 534 |
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"offset_deg": 5.74,
|
| 535 |
+
"tier": "primary",
|
| 536 |
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"dev_deg_median": 14.59,
|
| 537 |
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"wrist_pos_err_mm_median": 120.1
|
| 538 |
+
}
|
| 539 |
+
},
|
| 540 |
+
"frames_by_state": {
|
| 541 |
+
"ace_sample": 10494,
|
| 542 |
+
"interpolated": 350,
|
| 543 |
+
"mean_hand": 1449,
|
| 544 |
+
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|
| 545 |
+
},
|
| 546 |
+
"observed_fraction": 0.8686,
|
| 547 |
+
"observed_fraction_of_valid": 0.8821,
|
| 548 |
+
"palm_axis_vs_markers_deg": {
|
| 549 |
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"gsi": 11.32,
|
| 550 |
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"smplx": 1.88
|
| 551 |
+
},
|
| 552 |
+
"hand_marker_to_mesh_mm": {
|
| 553 |
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"flat": {
|
| 554 |
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"median": 11.0,
|
| 555 |
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"p90": 13.6
|
| 556 |
+
},
|
| 557 |
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"registered": {
|
| 558 |
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"median": 12.8,
|
| 559 |
+
"p90": 14.1
|
| 560 |
+
}
|
| 561 |
+
}
|
| 562 |
+
},
|
| 563 |
+
"right": {
|
| 564 |
+
"offset_deg": 14.64,
|
| 565 |
+
"offset_rotvec": [
|
| 566 |
+
-0.0419,
|
| 567 |
+
0.1723,
|
| 568 |
+
0.1839
|
| 569 |
+
],
|
| 570 |
+
"dev_deg": {
|
| 571 |
+
"median": 6.55,
|
| 572 |
+
"p90": 15.87
|
| 573 |
+
},
|
| 574 |
+
"samples": 2878,
|
| 575 |
+
"accepted": 2814,
|
| 576 |
+
"wrist_pos_err_mm_median": 117.1,
|
| 577 |
+
"per_camera": {
|
| 578 |
+
"head": {
|
| 579 |
+
"samples": 2878,
|
| 580 |
+
"accepted": 2814,
|
| 581 |
+
"gate_deg": 30.0,
|
| 582 |
+
"offset_deg": 14.64,
|
| 583 |
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"tier": "primary",
|
| 584 |
+
"dev_deg_median": 6.55,
|
| 585 |
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"wrist_pos_err_mm_median": 117.1
|
| 586 |
+
}
|
| 587 |
+
},
|
| 588 |
+
"frames_by_state": {
|
| 589 |
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"ace_sample": 11314,
|
| 590 |
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"interpolated": 462,
|
| 591 |
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"mean_hand": 517,
|
| 592 |
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"no_body_fit": 191
|
| 593 |
+
},
|
| 594 |
+
"observed_fraction": 0.9433,
|
| 595 |
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"observed_fraction_of_valid": 0.9579,
|
| 596 |
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"palm_axis_vs_markers_deg": {
|
| 597 |
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"gsi": 6.4,
|
| 598 |
+
"smplx": 0.74
|
| 599 |
+
},
|
| 600 |
+
"hand_marker_to_mesh_mm": {
|
| 601 |
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"flat": {
|
| 602 |
+
"median": 6.1,
|
| 603 |
+
"p90": 9.9
|
| 604 |
+
},
|
| 605 |
+
"registered": {
|
| 606 |
+
"median": 6.2,
|
| 607 |
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"p90": 9.8
|
| 608 |
+
}
|
| 609 |
+
}
|
| 610 |
+
}
|
| 611 |
+
},
|
| 612 |
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"max_dev_deg": 30.0,
|
| 613 |
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"max_gap_s": 1.0,
|
| 614 |
+
"cameras_used": [
|
| 615 |
+
"head"
|
| 616 |
+
],
|
| 617 |
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"generated_at_utc": "2026-11-03T16:11:59.326915+00:00",
|
| 618 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 619 |
+
"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",
|
| 620 |
+
"wrist_flip_suspect": []
|
| 621 |
+
},
|
| 622 |
"release": {
|
| 623 |
"release_path": "actions/locomanipulation/LM18/session_004",
|
| 624 |
"family": "locomanipulation",
|
| 625 |
"primitive": "LM18",
|
| 626 |
"source_session": "20260910/LM18/20260910_060548_session112"
|
| 627 |
+
},
|
| 628 |
+
"task": {
|
| 629 |
+
"primitive": "LM18",
|
| 630 |
+
"instruction": "Hold the object against your hip on the side the operator calls, and carry it back and forth across the room."
|
| 631 |
}
|
| 632 |
}
|
actions/locomanipulation/LM18/session_004/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:479a8a7eac1ad7586a963c29524c6b005fd33f8871a30b570b7ba0c0a5ee4664
|
| 3 |
+
size 4017134
|
actions/locomanipulation/LM18/session_004/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c5be86791ab9da8315ddf2778deb618429e3d7321f790af9fad5262da39dfc52
|
| 3 |
+
size 8569318
|
actions/locomanipulation/LM18/session_005/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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": "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": 98.966633,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.039187954400205616
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
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"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "8c589fa6-5ad7-4f4d-92cd-87f3009d016f",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM18",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1.975,
|
| 22 |
+
"end_s": 92.889,
|
| 23 |
+
"t_start": 2.0142,
|
| 24 |
+
"t_end": 92.9282,
|
| 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 |
+
}
|