Release update 2026-11-05: new sessions, instructions, annotations (part 313)
Browse files- actions/locomanipulation/LM33/session_014/motions/smplx.npz +2 -2
- actions/locomanipulation/LM33/session_015/annotations.json +28 -0
- actions/locomanipulation/LM33/session_015/cameras/gsi_online_calibration.json +258 -0
- actions/locomanipulation/LM33/session_015/cameras/slam.npz +3 -0
- actions/locomanipulation/LM33/session_015/meta.json +116 -2
- actions/locomanipulation/LM33/session_015/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM33/session_015/motions/smplx.npz +2 -2
- actions/locomanipulation/LM33/session_016/annotations.json +28 -0
- actions/locomanipulation/LM33/session_016/cameras/slam.npz +3 -0
- actions/locomanipulation/LM33/session_016/meta.json +116 -2
- actions/locomanipulation/LM33/session_016/motions/hands_mano.npz +3 -0
actions/locomanipulation/LM33/session_014/motions/smplx.npz
CHANGED
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version https://git-lfs.github.com/spec/v1
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oid sha256:
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size
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version https://git-lfs.github.com/spec/v1
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oid sha256:555d2c85cec1c80c7534a698a0fd00faccc592cf18ad7cd7c7127db022f2ec2f
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size 11464857
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actions/locomanipulation/LM33/session_015/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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| 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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"primitive": "LM33",
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"instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop.",
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"segments": [
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{
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"id": "segment1",
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| 10 |
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"duration_s": 133.966656,
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"video": "left_eye",
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| 12 |
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"video_t_start": 0.03910197539850291
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| 13 |
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}
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],
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| 15 |
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"episodes": [
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| 16 |
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{
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"id": "7e9a31f4-c389-491d-aca8-d4c06af7904f",
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| 18 |
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"segment": "segment1",
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| 19 |
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"action": "LM33",
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| 20 |
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"quality": "valid",
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| 21 |
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"start_s": 1.855,
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| 22 |
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"end_s": 125.261,
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| 23 |
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"t_start": 1.8941,
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| 24 |
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"t_end": 125.3001,
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| 25 |
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"instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop."
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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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actions/locomanipulation/LM33/session_015/cameras/gsi_online_calibration.json
ADDED
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@@ -0,0 +1,258 @@
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|
| 1 |
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{
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| 2 |
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"camera_fit": {
|
| 3 |
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"groups_dropped": [],
|
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"groups_used": 15,
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},
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"cameras": {
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|
| 15 |
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],
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|
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"split_deg": 0.0259,
|
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"usable": true
|
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"left_eye": {
|
| 32 |
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|
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|
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|
| 35 |
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|
| 36 |
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|
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|
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"role": "rig origin"
|
| 63 |
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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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| 326 |
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| 328 |
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|
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| 621 |
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| 622 |
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| 631 |
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"primitive": "LM33",
|
| 632 |
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"instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop."
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| 633 |
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|
| 634 |
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actions/locomanipulation/LM33/session_016/annotations.json
ADDED
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@@ -0,0 +1,28 @@
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| 1 |
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{
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| 2 |
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"schema_version": 1,
|
| 3 |
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"source": "vendor annotation.json (schema 2, revision 1)",
|
| 4 |
+
"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
|
| 5 |
+
"primitive": "LM33",
|
| 6 |
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"instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop.",
|
| 7 |
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| 8 |
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{
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|
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|
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{
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"instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM33/session_016/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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actions/locomanipulation/LM33/session_016/meta.json
CHANGED
|
@@ -363,8 +363,8 @@
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|
| 363 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 364 |
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|
| 365 |
"hands": {
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| 366 |
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|
| 367 |
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|
| 368 |
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| 369 |
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| 370 |
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|
@@ -583,10 +583,124 @@
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| 584 |
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| 585 |
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|
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|
|
| 586 |
"release": {
|
| 587 |
"release_path": "actions/locomanipulation/LM33/session_016",
|
| 588 |
"family": "locomanipulation",
|
| 589 |
"primitive": "LM33",
|
| 590 |
"source_session": "20261013/LM33/20261013_055824_session92"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 591 |
}
|
| 592 |
}
|
|
|
|
| 363 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 364 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 365 |
"hands": {
|
| 366 |
+
"observed": true,
|
| 367 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 368 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 369 |
"hand_marker_offsets_m": {
|
| 370 |
"left": {
|
|
|
|
| 583 |
},
|
| 584 |
"applied": 3
|
| 585 |
},
|
| 586 |
+
"hands_registration": {
|
| 587 |
+
"cameras": {},
|
| 588 |
+
"hands": {
|
| 589 |
+
"left": {
|
| 590 |
+
"offset_deg": 25.9,
|
| 591 |
+
"offset_rotvec": [
|
| 592 |
+
-0.1463,
|
| 593 |
+
0.3699,
|
| 594 |
+
-0.215
|
| 595 |
+
],
|
| 596 |
+
"dev_deg": {
|
| 597 |
+
"median": 20.84,
|
| 598 |
+
"p90": 81.83
|
| 599 |
+
},
|
| 600 |
+
"samples": 3953,
|
| 601 |
+
"accepted": 2717,
|
| 602 |
+
"wrist_pos_err_mm_median": 23.3,
|
| 603 |
+
"per_camera": {
|
| 604 |
+
"head": {
|
| 605 |
+
"samples": 3953,
|
| 606 |
+
"accepted": 2717,
|
| 607 |
+
"gate_deg": 30.0,
|
| 608 |
+
"offset_deg": 25.9,
|
| 609 |
+
"tier": "primary",
|
| 610 |
+
"dev_deg_median": 20.84,
|
| 611 |
+
"wrist_pos_err_mm_median": 23.3
|
| 612 |
+
}
|
| 613 |
+
},
|
| 614 |
+
"frames_by_state": {
|
| 615 |
+
"ace_sample": 10898,
|
| 616 |
+
"interpolated": 1282,
|
| 617 |
+
"mean_hand": 3749,
|
| 618 |
+
"no_body_fit": 0
|
| 619 |
+
},
|
| 620 |
+
"observed_fraction": 0.7646,
|
| 621 |
+
"observed_fraction_of_valid": 0.7646,
|
| 622 |
+
"palm_axis_vs_markers_deg": {
|
| 623 |
+
"gsi": 29.53,
|
| 624 |
+
"smplx": NaN
|
| 625 |
+
},
|
| 626 |
+
"hand_marker_to_mesh_mm": {
|
| 627 |
+
"flat": {
|
| 628 |
+
"median": NaN,
|
| 629 |
+
"p90": NaN
|
| 630 |
+
},
|
| 631 |
+
"registered": {
|
| 632 |
+
"median": NaN,
|
| 633 |
+
"p90": NaN
|
| 634 |
+
}
|
| 635 |
+
}
|
| 636 |
+
},
|
| 637 |
+
"right": {
|
| 638 |
+
"offset_deg": 37.05,
|
| 639 |
+
"offset_rotvec": [
|
| 640 |
+
0.5676,
|
| 641 |
+
-0.2579,
|
| 642 |
+
-0.1716
|
| 643 |
+
],
|
| 644 |
+
"dev_deg": {
|
| 645 |
+
"median": 7.61,
|
| 646 |
+
"p90": 26.97
|
| 647 |
+
},
|
| 648 |
+
"samples": 3931,
|
| 649 |
+
"accepted": 3575,
|
| 650 |
+
"wrist_pos_err_mm_median": 32.0,
|
| 651 |
+
"per_camera": {
|
| 652 |
+
"head": {
|
| 653 |
+
"samples": 3931,
|
| 654 |
+
"accepted": 3575,
|
| 655 |
+
"gate_deg": 30.0,
|
| 656 |
+
"offset_deg": 37.05,
|
| 657 |
+
"tier": "primary",
|
| 658 |
+
"dev_deg_median": 7.61,
|
| 659 |
+
"wrist_pos_err_mm_median": 32.0
|
| 660 |
+
}
|
| 661 |
+
},
|
| 662 |
+
"frames_by_state": {
|
| 663 |
+
"ace_sample": 14320,
|
| 664 |
+
"interpolated": 528,
|
| 665 |
+
"mean_hand": 1081,
|
| 666 |
+
"no_body_fit": 0
|
| 667 |
+
},
|
| 668 |
+
"observed_fraction": 0.9321,
|
| 669 |
+
"observed_fraction_of_valid": 0.9321,
|
| 670 |
+
"palm_axis_vs_markers_deg": {
|
| 671 |
+
"gsi": 32.82,
|
| 672 |
+
"smplx": 0.94
|
| 673 |
+
},
|
| 674 |
+
"hand_marker_to_mesh_mm": {
|
| 675 |
+
"flat": {
|
| 676 |
+
"median": 7.2,
|
| 677 |
+
"p90": 9.9
|
| 678 |
+
},
|
| 679 |
+
"registered": {
|
| 680 |
+
"median": 7.0,
|
| 681 |
+
"p90": 8.5
|
| 682 |
+
}
|
| 683 |
+
}
|
| 684 |
+
}
|
| 685 |
+
},
|
| 686 |
+
"max_dev_deg": 30.0,
|
| 687 |
+
"max_gap_s": 1.0,
|
| 688 |
+
"cameras_used": [
|
| 689 |
+
"head"
|
| 690 |
+
],
|
| 691 |
+
"generated_at_utc": "2026-11-03T22:08:46.951538+00:00",
|
| 692 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 693 |
+
"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",
|
| 694 |
+
"wrist_flip_suspect": []
|
| 695 |
+
},
|
| 696 |
"release": {
|
| 697 |
"release_path": "actions/locomanipulation/LM33/session_016",
|
| 698 |
"family": "locomanipulation",
|
| 699 |
"primitive": "LM33",
|
| 700 |
"source_session": "20261013/LM33/20261013_055824_session92"
|
| 701 |
+
},
|
| 702 |
+
"task": {
|
| 703 |
+
"primitive": "LM33",
|
| 704 |
+
"instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop."
|
| 705 |
}
|
| 706 |
}
|
actions/locomanipulation/LM33/session_016/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d6257567aa93aa400b8a4aef546376379874d7d322e0af9d619f427b8caa082d
|
| 3 |
+
size 5376479
|