Release update 2026-11-05: new sessions, instructions, annotations (part 7)
Browse files- actions/locomanipulation/LM13/session_017/motions/smplx.npz +2 -2
- actions/locomanipulation/LM13/session_018/annotations.json +28 -0
- actions/locomanipulation/LM13/session_018/cameras/gsi_online_calibration.json +257 -0
- actions/locomanipulation/LM13/session_018/cameras/slam.npz +3 -0
- actions/locomanipulation/LM13/session_018/meta.json +116 -2
- actions/locomanipulation/LM13/session_018/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM13/session_018/motions/smplx.npz +2 -2
- actions/locomanipulation/LM13/session_019/annotations.json +28 -0
- actions/locomanipulation/LM13/session_019/cameras/slam.npz +3 -0
- actions/locomanipulation/LM13/session_019/meta.json +116 -2
- actions/locomanipulation/LM13/session_019/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM13/session_019/motions/smplx.npz +2 -2
- actions/locomanipulation/LM13/session_020/annotations.json +28 -0
- actions/locomanipulation/LM13/session_020/cameras/slam.npz +3 -0
- actions/locomanipulation/LM13/session_020/meta.json +116 -2
- actions/locomanipulation/LM13/session_020/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM13/session_020/motions/smplx.npz +2 -2
- actions/locomanipulation/LM13/session_021/annotations.json +28 -0
- actions/locomanipulation/LM13/session_021/cameras/slam.npz +3 -0
- actions/locomanipulation/LM13/session_021/meta.json +116 -2
- actions/locomanipulation/LM13/session_021/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM13/session_021/motions/smplx.npz +2 -2
- actions/locomanipulation/LM13/session_022/annotations.json +28 -0
- actions/locomanipulation/LM13/session_022/cameras/slam.npz +3 -0
- actions/locomanipulation/LM13/session_022/meta.json +116 -2
- actions/locomanipulation/LM13/session_022/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM13/session_022/motions/smplx.npz +2 -2
- actions/locomanipulation/LM13/session_023/annotations.json +28 -0
- actions/locomanipulation/LM13/session_023/cameras/slam.npz +3 -0
- actions/locomanipulation/LM13/session_023/meta.json +116 -2
- actions/locomanipulation/LM13/session_023/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM13/session_023/motions/smplx.npz +2 -2
- actions/locomanipulation/LM13/session_024/annotations.json +28 -0
- actions/locomanipulation/LM13/session_024/cameras/gsi_online_calibration.json +254 -0
- actions/locomanipulation/LM13/session_024/cameras/slam.npz +3 -0
- actions/locomanipulation/LM13/session_024/meta.json +116 -2
- actions/locomanipulation/LM13/session_024/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM13/session_024/motions/smplx.npz +2 -2
- actions/locomanipulation/LM13/session_025/annotations.json +28 -0
- actions/locomanipulation/LM13/session_025/cameras/gsi_online_calibration.json +256 -0
- actions/locomanipulation/LM13/session_025/cameras/slam.npz +3 -0
actions/locomanipulation/LM13/session_017/motions/smplx.npz
CHANGED
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size 12782374
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actions/locomanipulation/LM13/session_018/annotations.json
ADDED
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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": 143.966733,
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"video": "left_eye",
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"video_t_start": 0.0387304569631759
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}
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],
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"episodes": [
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{
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"id": "e3e421d2-98ad-476e-8c1a-932fdac3fdf8",
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"segment": "segment1",
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| 19 |
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"action": "LM13",
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"quality": "valid",
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"start_s": 0,
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"end_s": 137.385,
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"t_start": 0.0387,
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"t_end": 137.4237,
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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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}
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| 27 |
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]
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| 28 |
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}
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actions/locomanipulation/LM13/session_018/cameras/gsi_online_calibration.json
ADDED
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@@ -0,0 +1,257 @@
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| 1 |
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{
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"camera_fit": {
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"groups_dropped": [],
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"groups_used": 14,
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"cameras": {
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"left": {
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"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
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| 644 |
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| 645 |
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|
| 646 |
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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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| 647 |
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|
| 648 |
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ADDED
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@@ -0,0 +1,28 @@
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{
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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 |
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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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| 8 |
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|
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"segment": "segment1",
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| 23 |
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| 24 |
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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 |
+
}
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actions/locomanipulation/LM13/session_019/cameras/slam.npz
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actions/locomanipulation/LM13/session_019/meta.json
CHANGED
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@@ -338,8 +338,8 @@
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|
| 338 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 339 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 340 |
"hands": {
|
| 341 |
-
"observed":
|
| 342 |
-
"hand_pose": "
|
| 343 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 344 |
"hand_marker_offsets_m": {
|
| 345 |
"left": {
|
|
@@ -523,10 +523,124 @@
|
|
| 523 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 524 |
"remaining_gyro_frame_deg": 1.1853916746078703
|
| 525 |
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| 526 |
"release": {
|
| 527 |
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|
| 528 |
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|
| 529 |
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|
| 530 |
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|
|
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|
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|
| 531 |
}
|
| 532 |
}
|
|
|
|
| 338 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 339 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 340 |
"hands": {
|
| 341 |
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"observed": true,
|
| 342 |
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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",
|
| 343 |
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|
| 344 |
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|
| 345 |
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| 523 |
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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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| 574 |
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| 586 |
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|
| 587 |
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|
| 589 |
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|
| 590 |
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|
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| 592 |
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| 593 |
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|
| 594 |
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|
| 595 |
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|
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|
| 597 |
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|
| 598 |
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|
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|
| 600 |
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}
|
| 601 |
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},
|
| 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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|
| 613 |
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},
|
| 614 |
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|
| 615 |
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|
| 616 |
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|
| 617 |
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"p90": 23.1
|
| 618 |
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},
|
| 619 |
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|
| 620 |
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"median": 11.6,
|
| 621 |
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"p90": 22.4
|
| 622 |
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|
| 623 |
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| 624 |
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|
| 625 |
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|
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|
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|
| 628 |
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|
| 629 |
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"head"
|
| 630 |
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],
|
| 631 |
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"generated_at_utc": "2026-11-03T22:17:57.702078+00:00",
|
| 632 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 633 |
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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",
|
| 634 |
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"wrist_flip_suspect": []
|
| 635 |
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},
|
| 636 |
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|
| 637 |
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|
| 638 |
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| 639 |
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|
| 640 |
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|
| 641 |
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},
|
| 642 |
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"task": {
|
| 643 |
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"primitive": "LM13",
|
| 644 |
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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."
|
| 645 |
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|
| 646 |
}
|
actions/locomanipulation/LM13/session_019/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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CHANGED
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version https://git-lfs.github.com/spec/v1
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actions/locomanipulation/LM13/session_020/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
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{
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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 |
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"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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{
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{
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"segment": "segment1",
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"action": "LM13",
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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 |
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}
|
| 27 |
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]
|
| 28 |
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}
|
actions/locomanipulation/LM13/session_020/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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actions/locomanipulation/LM13/session_020/meta.json
CHANGED
|
@@ -338,8 +338,8 @@
|
|
| 338 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 339 |
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|
| 340 |
"hands": {
|
| 341 |
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"observed":
|
| 342 |
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"hand_pose": "
|
| 343 |
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|
| 344 |
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|
| 345 |
"left": {
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|
@@ -533,10 +533,124 @@
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|
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| 534 |
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|
| 536 |
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|
| 537 |
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|
| 538 |
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|
| 539 |
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|
| 540 |
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 541 |
}
|
| 542 |
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|
|
|
|
| 338 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 339 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 340 |
"hands": {
|
| 341 |
+
"observed": true,
|
| 342 |
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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",
|
| 343 |
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|
| 344 |
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|
| 345 |
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|
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|
| 533 |
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|
| 534 |
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|
| 535 |
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|
| 536 |
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|
| 537 |
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|
| 538 |
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|
| 539 |
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|
| 540 |
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|
| 541 |
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| 542 |
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|
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|
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|
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|
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|
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|
| 549 |
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},
|
| 550 |
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|
| 551 |
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|
| 552 |
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|
| 553 |
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|
| 554 |
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|
| 555 |
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|
| 556 |
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|
| 557 |
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|
| 558 |
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|
| 559 |
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"tier": "primary",
|
| 560 |
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"dev_deg_median": 3.2,
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"primitive": "LM13",
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actions/locomanipulation/LM13/session_021/cameras/slam.npz
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actions/locomanipulation/LM13/session_021/meta.json
CHANGED
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@@ -324,8 +324,8 @@
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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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|
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|
@@ -509,10 +509,124 @@
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|
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+
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|
| 628 |
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| 629 |
+
"primitive": "LM13",
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| 630 |
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|
| 631 |
}
|
| 632 |
}
|
actions/locomanipulation/LM13/session_021/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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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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actions/locomanipulation/LM13/session_021/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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| 2 |
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size 11388097
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actions/locomanipulation/LM13/session_022/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
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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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"video": "left_eye",
|
| 12 |
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|
| 13 |
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}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
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{
|
| 17 |
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"id": "74eea835-53d4-4bd0-ad18-e5f4c30e7690",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM13",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1.447,
|
| 22 |
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"end_s": 166.125,
|
| 23 |
+
"t_start": 1.4861,
|
| 24 |
+
"t_end": 166.1641,
|
| 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_022/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 1028072
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actions/locomanipulation/LM13/session_022/meta.json
CHANGED
|
@@ -344,8 +344,8 @@
|
|
| 344 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 345 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 346 |
"hands": {
|
| 347 |
-
"observed":
|
| 348 |
-
"hand_pose": "
|
| 349 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 350 |
"hand_marker_offsets_m": {
|
| 351 |
"left": {
|
|
@@ -486,10 +486,124 @@
|
|
| 486 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 487 |
}
|
| 488 |
},
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
| 489 |
"release": {
|
| 490 |
"release_path": "actions/locomanipulation/LM13/session_022",
|
| 491 |
"family": "locomanipulation",
|
| 492 |
"primitive": "LM13",
|
| 493 |
"source_session": "20261010/LM13/20261010_084038_session110"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 494 |
}
|
| 495 |
}
|
|
|
|
| 344 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 345 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 346 |
"hands": {
|
| 347 |
+
"observed": true,
|
| 348 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 349 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 350 |
"hand_marker_offsets_m": {
|
| 351 |
"left": {
|
|
|
|
| 486 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 487 |
}
|
| 488 |
},
|
| 489 |
+
"hands_registration": {
|
| 490 |
+
"cameras": {},
|
| 491 |
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|
| 492 |
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"left": {
|
| 493 |
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"offset_deg": 17.84,
|
| 494 |
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|
| 495 |
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|
| 496 |
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|
| 497 |
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| 498 |
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],
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| 499 |
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|
| 500 |
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|
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|
| 502 |
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},
|
| 503 |
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"samples": 5247,
|
| 504 |
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"accepted": 4980,
|
| 505 |
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|
| 506 |
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"per_camera": {
|
| 507 |
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"head": {
|
| 508 |
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"samples": 5247,
|
| 509 |
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"accepted": 4980,
|
| 510 |
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|
| 511 |
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"offset_deg": 17.84,
|
| 512 |
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"tier": "primary",
|
| 513 |
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"dev_deg_median": 5.06,
|
| 514 |
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"wrist_pos_err_mm_median": 74.1
|
| 515 |
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}
|
| 516 |
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},
|
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|
| 518 |
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|
| 519 |
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|
| 520 |
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|
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|
| 522 |
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},
|
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|
| 526 |
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"gsi": 12.1,
|
| 527 |
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"smplx": 0.96
|
| 528 |
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},
|
| 529 |
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"hand_marker_to_mesh_mm": {
|
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"flat": {
|
| 531 |
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"median": 6.1,
|
| 532 |
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"p90": 8.3
|
| 533 |
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},
|
| 534 |
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"registered": {
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| 535 |
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"median": 7.7,
|
| 536 |
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"p90": 9.5
|
| 537 |
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}
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| 538 |
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}
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| 539 |
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},
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"right": {
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],
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"dev_deg": {
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| 548 |
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"median": 5.51,
|
| 549 |
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"p90": 20.8
|
| 550 |
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},
|
| 551 |
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"samples": 5204,
|
| 552 |
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"accepted": 5079,
|
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|
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"samples": 5204,
|
| 557 |
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"accepted": 5079,
|
| 558 |
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|
| 559 |
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|
| 560 |
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"tier": "primary",
|
| 561 |
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|
| 562 |
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|
| 563 |
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}
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},
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|
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|
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},
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| 572 |
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|
| 574 |
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"gsi": 5.02,
|
| 575 |
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"smplx": 1.26
|
| 576 |
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},
|
| 577 |
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| 578 |
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"flat": {
|
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"median": 7.6,
|
| 580 |
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"p90": 11.2
|
| 581 |
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},
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"registered": {
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| 583 |
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"median": 8.0,
|
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"p90": 9.0
|
| 585 |
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}
|
| 586 |
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}
|
| 587 |
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}
|
| 588 |
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},
|
| 589 |
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"max_dev_deg": 30.0,
|
| 590 |
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"max_gap_s": 1.0,
|
| 591 |
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"cameras_used": [
|
| 592 |
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"head"
|
| 593 |
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],
|
| 594 |
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"generated_at_utc": "2026-11-03T22:13:43.492366+00:00",
|
| 595 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 596 |
+
"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",
|
| 597 |
+
"wrist_flip_suspect": []
|
| 598 |
+
},
|
| 599 |
"release": {
|
| 600 |
"release_path": "actions/locomanipulation/LM13/session_022",
|
| 601 |
"family": "locomanipulation",
|
| 602 |
"primitive": "LM13",
|
| 603 |
"source_session": "20261010/LM13/20261010_084038_session110"
|
| 604 |
+
},
|
| 605 |
+
"task": {
|
| 606 |
+
"primitive": "LM13",
|
| 607 |
+
"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."
|
| 608 |
}
|
| 609 |
}
|
actions/locomanipulation/LM13/session_022/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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|
| 3 |
+
size 7009500
|
actions/locomanipulation/LM13/session_022/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
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|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
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| 3 |
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size 15315988
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actions/locomanipulation/LM13/session_023/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
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|
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|
|
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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 |
+
"duration_s": 148.966544,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.039382288550876554
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "a59deb3f-58fc-45e1-9a25-d7b2192ff242",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM13",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0.646,
|
| 22 |
+
"end_s": 140.996,
|
| 23 |
+
"t_start": 0.6854,
|
| 24 |
+
"t_end": 141.0354,
|
| 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_023/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:64dd07efa723d6dec2b58b6cd8c084e747e5f1c831e8f49eb7d763c2eab67af2
|
| 3 |
+
size 857506
|
actions/locomanipulation/LM13/session_023/meta.json
CHANGED
|
@@ -344,8 +344,8 @@
|
|
| 344 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 345 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 346 |
"hands": {
|
| 347 |
-
"observed":
|
| 348 |
-
"hand_pose": "
|
| 349 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 350 |
"hand_marker_offsets_m": {
|
| 351 |
"left": {
|
|
@@ -486,10 +486,124 @@
|
|
| 486 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 487 |
}
|
| 488 |
},
|
|
|
|
|
|
|
|
|
|
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|
| 489 |
"release": {
|
| 490 |
"release_path": "actions/locomanipulation/LM13/session_023",
|
| 491 |
"family": "locomanipulation",
|
| 492 |
"primitive": "LM13",
|
| 493 |
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|
|
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|
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|
| 494 |
}
|
| 495 |
}
|
|
|
|
| 344 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 345 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 346 |
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|
| 347 |
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"observed": true,
|
| 348 |
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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",
|
| 349 |
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|
| 350 |
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|
| 351 |
"left": {
|
|
|
|
| 486 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 487 |
}
|
| 488 |
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|
| 489 |
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"hands_registration": {
|
| 490 |
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|
| 491 |
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|
| 492 |
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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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|
| 512 |
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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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|
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}
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},
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"right": {
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0.1763,
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],
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"dev_deg": {
|
| 548 |
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"median": 9.08,
|
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"p90": 18.06
|
| 550 |
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},
|
| 551 |
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"samples": 4323,
|
| 552 |
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"accepted": 4172,
|
| 553 |
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|
| 554 |
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"head": {
|
| 556 |
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"samples": 4323,
|
| 557 |
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"accepted": 4172,
|
| 558 |
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"gate_deg": 30.0,
|
| 559 |
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"offset_deg": 27.18,
|
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"tier": "primary",
|
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|
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|
| 563 |
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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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"smplx": 1.39
|
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},
|
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|
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|
| 581 |
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"head"
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],
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"generated_at_utc": "2026-11-03T22:13:42.758268+00:00",
|
| 595 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 596 |
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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",
|
| 597 |
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"wrist_flip_suspect": []
|
| 598 |
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},
|
| 599 |
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|
| 600 |
"release_path": "actions/locomanipulation/LM13/session_023",
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| 601 |
"family": "locomanipulation",
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| 602 |
"primitive": "LM13",
|
| 603 |
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|
| 604 |
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},
|
| 605 |
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"task": {
|
| 606 |
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"primitive": "LM13",
|
| 607 |
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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."
|
| 608 |
}
|
| 609 |
}
|
actions/locomanipulation/LM13/session_023/motions/hands_mano.npz
ADDED
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actions/locomanipulation/LM13/session_023/motions/smplx.npz
CHANGED
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actions/locomanipulation/LM13/session_024/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
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{
|
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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 |
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"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": [
|
| 8 |
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{
|
| 9 |
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"id": "segment1",
|
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|
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|
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|
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}
|
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],
|
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"episodes": [
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{
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"id": "99b663fc-caf0-4839-a7a2-893608fd9dfc",
|
| 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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"start_s": 1,
|
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"end_s": 131.822,
|
| 23 |
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|
| 24 |
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"t_end": 131.8612,
|
| 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_024/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,254 @@
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|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
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"groups_dropped": [],
|
| 4 |
+
"groups_used": 14,
|
| 5 |
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"median_px": 0.397
|
| 6 |
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},
|
| 7 |
+
"cameras": {
|
| 8 |
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"left": {
|
| 9 |
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"accepted": true,
|
| 10 |
+
"against": [
|
| 11 |
+
"left_front",
|
| 12 |
+
"right_front",
|
| 13 |
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"left_eye",
|
| 14 |
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"right_eye"
|
| 15 |
+
],
|
| 16 |
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"delta_deg": 0.9507,
|
| 17 |
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"gate_fail": [],
|
| 18 |
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|
| 19 |
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|
| 20 |
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"inliers": 1819,
|
| 21 |
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"position_fitted": false,
|
| 22 |
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"rotvec_deg": [
|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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],
|
| 27 |
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"split_deg": 0.0534,
|
| 28 |
+
"usable": true
|
| 29 |
+
},
|
| 30 |
+
"left_eye": {
|
| 31 |
+
"accepted": true,
|
| 32 |
+
"against": [
|
| 33 |
+
"left_front",
|
| 34 |
+
"right_front",
|
| 35 |
+
"right_eye",
|
| 36 |
+
"left",
|
| 37 |
+
"right"
|
| 38 |
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],
|
| 39 |
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"delta_deg": 2.5542,
|
| 40 |
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"gate_fail": [],
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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"position_mm": [
|
| 46 |
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7.42,
|
| 47 |
+
-19.17,
|
| 48 |
+
2.84
|
| 49 |
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],
|
| 50 |
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"position_sigma_mm": 0.131,
|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
+
0.8747,
|
| 55 |
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|
| 56 |
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],
|
| 57 |
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"split_deg": 0.0186,
|
| 58 |
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"usable": true
|
| 59 |
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},
|
| 60 |
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"left_front": {
|
| 61 |
+
"role": "rig origin"
|
| 62 |
+
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|
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|
| 663 |
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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",
|
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|
| 665 |
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| 666 |
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|
| 667 |
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|
| 668 |
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|
| 669 |
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|
| 670 |
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|
| 672 |
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"task": {
|
| 673 |
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|
| 674 |
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"objects": [
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| 677 |
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| 678 |
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actions/locomanipulation/LM13/session_024/motions/hands_mano.npz
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actions/locomanipulation/LM13/session_024/motions/smplx.npz
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actions/locomanipulation/LM13/session_025/annotations.json
ADDED
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@@ -0,0 +1,28 @@
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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 |
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"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.",
|
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{
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"segment": "segment1",
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"action": "LM13",
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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 |
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}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM13/session_025/cameras/gsi_online_calibration.json
ADDED
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@@ -0,0 +1,256 @@
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| 1 |
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{
|
| 2 |
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"camera_fit": {
|
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|
| 4 |
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|
| 5 |
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|
| 6 |
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},
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|
| 8 |
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|
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|
| 10 |
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|
| 11 |
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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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|
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|
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|
| 28 |
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"usable": true
|
| 29 |
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},
|
| 30 |
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|
| 31 |
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"accepted": true,
|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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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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actions/locomanipulation/LM13/session_025/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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