Release update 2026-11-05: new sessions, instructions, annotations (part 27)
Browse files- actions/locomanipulation/LM15/session_022/motions/smplx.npz +2 -2
- actions/locomanipulation/LM15/session_023/annotations.json +28 -0
- actions/locomanipulation/LM15/session_023/cameras/slam.npz +3 -0
- actions/locomanipulation/LM15/session_023/meta.json +116 -2
- actions/locomanipulation/LM15/session_023/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM15/session_023/motions/smplx.npz +2 -2
- actions/locomanipulation/LM15/session_024/annotations.json +28 -0
- actions/locomanipulation/LM15/session_024/cameras/slam.npz +3 -0
- actions/locomanipulation/LM15/session_024/meta.json +116 -2
- actions/locomanipulation/LM15/session_024/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM15/session_024/motions/smplx.npz +2 -2
- actions/locomanipulation/LM15/session_025/annotations.json +28 -0
actions/locomanipulation/LM15/session_022/motions/smplx.npz
CHANGED
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actions/locomanipulation/LM15/session_023/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": "LM15",
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| 6 |
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"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room.",
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"segments": [
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{
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| 9 |
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"id": "segment1",
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| 10 |
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"duration_s": 98.966733,
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| 11 |
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"video": "left_eye",
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| 12 |
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"video_t_start": 0.03884914863755995
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}
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| 14 |
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],
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"episodes": [
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{
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"id": "7df6a270-ed8a-4e79-876e-bd854add379d",
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| 18 |
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"segment": "segment1",
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| 19 |
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"action": "LM15",
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| 20 |
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"quality": "valid",
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| 21 |
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"start_s": 1.369,
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| 22 |
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"end_s": 96.126,
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| 23 |
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"t_start": 1.4078,
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| 24 |
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"t_end": 96.1648,
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| 25 |
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"instruction": "Carry the object in the hand the operator calls, down at your side, walking 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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actions/locomanipulation/LM15/session_023/cameras/slam.npz
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version https://git-lfs.github.com/spec/v1
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+
oid sha256:2469e3ac8aee98f19e9299518b6dfad8ac4e5e6503ec0bc63c1b283a20c73ba6
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| 3 |
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size 570815
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actions/locomanipulation/LM15/session_023/meta.json
CHANGED
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@@ -326,8 +326,8 @@
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| 326 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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| 327 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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| 328 |
"hands": {
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| 329 |
-
"observed":
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| 330 |
-
"hand_pose": "
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| 331 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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| 332 |
"hand_marker_offsets_m": {
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| 333 |
"left": {
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@@ -509,10 +509,124 @@
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| 509 |
"generated_by": "scripts/correct_processed_rig.py",
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| 510 |
"remaining_gyro_frame_deg": 0.6050356373655149
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| 511 |
},
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| 512 |
"release": {
|
| 513 |
"release_path": "actions/locomanipulation/LM15/session_023",
|
| 514 |
"family": "locomanipulation",
|
| 515 |
"primitive": "LM15",
|
| 516 |
"source_session": "20260921/LM15/20260921_084303_session156"
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| 517 |
}
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| 518 |
}
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| 326 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 327 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 328 |
"hands": {
|
| 329 |
+
"observed": true,
|
| 330 |
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"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 331 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 332 |
"hand_marker_offsets_m": {
|
| 333 |
"left": {
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|
| 509 |
"generated_by": "scripts/correct_processed_rig.py",
|
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"remaining_gyro_frame_deg": 0.6050356373655149
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| 511 |
},
|
| 512 |
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"hands_registration": {
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| 513 |
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"cameras": {},
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| 514 |
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"hands": {
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| 515 |
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"left": {
|
| 516 |
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"offset_deg": 26.75,
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| 517 |
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"offset_rotvec": [
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0.4058,
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-0.2228
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],
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| 522 |
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"dev_deg": {
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| 523 |
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"median": 10.57,
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| 524 |
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"p90": 19.23
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| 525 |
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},
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| 526 |
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"samples": 2712,
|
| 527 |
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"accepted": 2667,
|
| 528 |
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"wrist_pos_err_mm_median": 93.4,
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| 529 |
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"per_camera": {
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| 530 |
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"head": {
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| 531 |
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"samples": 2712,
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| 532 |
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"accepted": 2667,
|
| 533 |
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"gate_deg": 30.0,
|
| 534 |
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"offset_deg": 26.75,
|
| 535 |
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"tier": "primary",
|
| 536 |
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"dev_deg_median": 10.57,
|
| 537 |
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"wrist_pos_err_mm_median": 93.4
|
| 538 |
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}
|
| 539 |
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},
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| 540 |
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"frames_by_state": {
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"ace_sample": 10764,
|
| 542 |
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"interpolated": 1104,
|
| 543 |
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"mean_hand": 10,
|
| 544 |
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"no_body_fit": 6
|
| 545 |
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},
|
| 546 |
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"observed_fraction": 0.9987,
|
| 547 |
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"observed_fraction_of_valid": 0.9992,
|
| 548 |
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"palm_axis_vs_markers_deg": {
|
| 549 |
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"gsi": 24.89,
|
| 550 |
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"smplx": 1.14
|
| 551 |
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},
|
| 552 |
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"hand_marker_to_mesh_mm": {
|
| 553 |
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"flat": {
|
| 554 |
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"median": 9.9,
|
| 555 |
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"p90": 17.2
|
| 556 |
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},
|
| 557 |
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"registered": {
|
| 558 |
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"median": 9.5,
|
| 559 |
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"p90": 15.7
|
| 560 |
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}
|
| 561 |
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}
|
| 562 |
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},
|
| 563 |
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"right": {
|
| 564 |
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"offset_deg": 17.16,
|
| 565 |
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"offset_rotvec": [
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],
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| 570 |
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"dev_deg": {
|
| 571 |
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"median": 14.92,
|
| 572 |
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"p90": 25.26
|
| 573 |
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},
|
| 574 |
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"samples": 2689,
|
| 575 |
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"accepted": 2509,
|
| 576 |
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"wrist_pos_err_mm_median": 112.9,
|
| 577 |
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"per_camera": {
|
| 578 |
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"head": {
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| 579 |
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"samples": 2689,
|
| 580 |
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"accepted": 2509,
|
| 581 |
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"gate_deg": 30.0,
|
| 582 |
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"offset_deg": 17.16,
|
| 583 |
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"tier": "primary",
|
| 584 |
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"dev_deg_median": 14.92,
|
| 585 |
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"wrist_pos_err_mm_median": 112.9
|
| 586 |
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}
|
| 587 |
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},
|
| 588 |
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"frames_by_state": {
|
| 589 |
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"ace_sample": 10148,
|
| 590 |
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"interpolated": 1600,
|
| 591 |
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"mean_hand": 130,
|
| 592 |
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"no_body_fit": 6
|
| 593 |
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},
|
| 594 |
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"observed_fraction": 0.9886,
|
| 595 |
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"observed_fraction_of_valid": 0.9891,
|
| 596 |
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"palm_axis_vs_markers_deg": {
|
| 597 |
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"gsi": 18.67,
|
| 598 |
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"smplx": 1.28
|
| 599 |
+
},
|
| 600 |
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"hand_marker_to_mesh_mm": {
|
| 601 |
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"flat": {
|
| 602 |
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"median": 5.0,
|
| 603 |
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"p90": 6.0
|
| 604 |
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},
|
| 605 |
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"registered": {
|
| 606 |
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"median": 4.7,
|
| 607 |
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"p90": 5.7
|
| 608 |
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}
|
| 609 |
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}
|
| 610 |
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}
|
| 611 |
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},
|
| 612 |
+
"max_dev_deg": 30.0,
|
| 613 |
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"max_gap_s": 1.0,
|
| 614 |
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"cameras_used": [
|
| 615 |
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"head"
|
| 616 |
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],
|
| 617 |
+
"generated_at_utc": "2026-11-03T22:48:04.537770+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/LM15/session_023",
|
| 624 |
"family": "locomanipulation",
|
| 625 |
"primitive": "LM15",
|
| 626 |
"source_session": "20260921/LM15/20260921_084303_session156"
|
| 627 |
+
},
|
| 628 |
+
"task": {
|
| 629 |
+
"primitive": "LM15",
|
| 630 |
+
"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
|
| 631 |
}
|
| 632 |
}
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actions/locomanipulation/LM15/session_023/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 sha256:2c2202fb83b32736b3e089c699a36540f4818ba3539834e9e59adee17379c419
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| 3 |
+
size 3672892
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actions/locomanipulation/LM15/session_023/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 sha256:48a48d6bc646fcf3b8f588203024f4133f99ed40688324bc0d868dc0dd8e63c6
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+
size 8568108
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actions/locomanipulation/LM15/session_024/annotations.json
ADDED
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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": "LM15",
|
| 6 |
+
"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 98.966656,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03895452279221878
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "0fb49b82-7c00-4b6e-aef5-d3e793c89170",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM15",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0.503,
|
| 22 |
+
"end_s": 96.336,
|
| 23 |
+
"t_start": 0.542,
|
| 24 |
+
"t_end": 96.375,
|
| 25 |
+
"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
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actions/locomanipulation/LM15/session_024/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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| 2 |
+
oid sha256:f6c30a86b3fc192c413378d43bdc7839cd57a56ef5dca4b2ef548b8a9ffab395
|
| 3 |
+
size 570841
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actions/locomanipulation/LM15/session_024/meta.json
CHANGED
|
@@ -325,8 +325,8 @@
|
|
| 325 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 326 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 327 |
"hands": {
|
| 328 |
-
"observed":
|
| 329 |
-
"hand_pose": "
|
| 330 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 331 |
"hand_marker_offsets_m": {
|
| 332 |
"left": {
|
|
@@ -517,10 +517,124 @@
|
|
| 517 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 518 |
"remaining_gyro_frame_deg": 0.34331237498844897
|
| 519 |
},
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|
| 520 |
"release": {
|
| 521 |
"release_path": "actions/locomanipulation/LM15/session_024",
|
| 522 |
"family": "locomanipulation",
|
| 523 |
"primitive": "LM15",
|
| 524 |
"source_session": "20260924/LM15/20260924_005835_session3"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 525 |
}
|
| 526 |
}
|
|
|
|
| 325 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 326 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 327 |
"hands": {
|
| 328 |
+
"observed": true,
|
| 329 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 330 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 331 |
"hand_marker_offsets_m": {
|
| 332 |
"left": {
|
|
|
|
| 517 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 518 |
"remaining_gyro_frame_deg": 0.34331237498844897
|
| 519 |
},
|
| 520 |
+
"hands_registration": {
|
| 521 |
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"cameras": {},
|
| 522 |
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"hands": {
|
| 523 |
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"left": {
|
| 524 |
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"offset_deg": 17.08,
|
| 525 |
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"offset_rotvec": [
|
| 526 |
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0.272,
|
| 527 |
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-0.0185,
|
| 528 |
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-0.1207
|
| 529 |
+
],
|
| 530 |
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"dev_deg": {
|
| 531 |
+
"median": 28.68,
|
| 532 |
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"p90": 48.4
|
| 533 |
+
},
|
| 534 |
+
"samples": 1477,
|
| 535 |
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"accepted": 787,
|
| 536 |
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|
| 537 |
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"per_camera": {
|
| 538 |
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"head": {
|
| 539 |
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"samples": 1477,
|
| 540 |
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"accepted": 787,
|
| 541 |
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"gate_deg": 30.0,
|
| 542 |
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"offset_deg": 17.08,
|
| 543 |
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"tier": "primary",
|
| 544 |
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"dev_deg_median": 28.68,
|
| 545 |
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"wrist_pos_err_mm_median": 345.7
|
| 546 |
+
}
|
| 547 |
+
},
|
| 548 |
+
"frames_by_state": {
|
| 549 |
+
"ace_sample": 3240,
|
| 550 |
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"interpolated": 3120,
|
| 551 |
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"mean_hand": 5524,
|
| 552 |
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|
| 553 |
+
},
|
| 554 |
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"observed_fraction": 0.5352,
|
| 555 |
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|
| 556 |
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|
| 557 |
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"gsi": 42.42,
|
| 558 |
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"smplx": 0.65
|
| 559 |
+
},
|
| 560 |
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"hand_marker_to_mesh_mm": {
|
| 561 |
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"flat": {
|
| 562 |
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"median": 10.0,
|
| 563 |
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"p90": 16.2
|
| 564 |
+
},
|
| 565 |
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"registered": {
|
| 566 |
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"median": 10.1,
|
| 567 |
+
"p90": 15.8
|
| 568 |
+
}
|
| 569 |
+
}
|
| 570 |
+
},
|
| 571 |
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"right": {
|
| 572 |
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"offset_deg": 16.28,
|
| 573 |
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"offset_rotvec": [
|
| 574 |
+
-0.1136,
|
| 575 |
+
-0.2603,
|
| 576 |
+
0.0071
|
| 577 |
+
],
|
| 578 |
+
"dev_deg": {
|
| 579 |
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"median": 17.02,
|
| 580 |
+
"p90": 69.79
|
| 581 |
+
},
|
| 582 |
+
"samples": 2089,
|
| 583 |
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"accepted": 1488,
|
| 584 |
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"wrist_pos_err_mm_median": 83.0,
|
| 585 |
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"per_camera": {
|
| 586 |
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"head": {
|
| 587 |
+
"samples": 2089,
|
| 588 |
+
"accepted": 1488,
|
| 589 |
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"gate_deg": 30.0,
|
| 590 |
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"offset_deg": 16.28,
|
| 591 |
+
"tier": "primary",
|
| 592 |
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"dev_deg_median": 17.02,
|
| 593 |
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"wrist_pos_err_mm_median": 83.0
|
| 594 |
+
}
|
| 595 |
+
},
|
| 596 |
+
"frames_by_state": {
|
| 597 |
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"ace_sample": 5892,
|
| 598 |
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"interpolated": 260,
|
| 599 |
+
"mean_hand": 5732,
|
| 600 |
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"no_body_fit": 0
|
| 601 |
+
},
|
| 602 |
+
"observed_fraction": 0.5177,
|
| 603 |
+
"observed_fraction_of_valid": 0.5177,
|
| 604 |
+
"palm_axis_vs_markers_deg": {
|
| 605 |
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"gsi": 19.02,
|
| 606 |
+
"smplx": 1.46
|
| 607 |
+
},
|
| 608 |
+
"hand_marker_to_mesh_mm": {
|
| 609 |
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"flat": {
|
| 610 |
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"median": 11.6,
|
| 611 |
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"p90": 20.0
|
| 612 |
+
},
|
| 613 |
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"registered": {
|
| 614 |
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"median": 11.5,
|
| 615 |
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"p90": 19.5
|
| 616 |
+
}
|
| 617 |
+
}
|
| 618 |
+
}
|
| 619 |
+
},
|
| 620 |
+
"max_dev_deg": 30.0,
|
| 621 |
+
"max_gap_s": 1.0,
|
| 622 |
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"cameras_used": [
|
| 623 |
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"head"
|
| 624 |
+
],
|
| 625 |
+
"generated_at_utc": "2026-11-03T22:36:50.229754+00:00",
|
| 626 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 627 |
+
"conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
|
| 628 |
+
"wrist_flip_suspect": []
|
| 629 |
+
},
|
| 630 |
"release": {
|
| 631 |
"release_path": "actions/locomanipulation/LM15/session_024",
|
| 632 |
"family": "locomanipulation",
|
| 633 |
"primitive": "LM15",
|
| 634 |
"source_session": "20260924/LM15/20260924_005835_session3"
|
| 635 |
+
},
|
| 636 |
+
"task": {
|
| 637 |
+
"primitive": "LM15",
|
| 638 |
+
"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
|
| 639 |
}
|
| 640 |
}
|
actions/locomanipulation/LM15/session_024/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0f15ed0df716a50a1f5ffe2e91f14a80fcf520c658c812fea9cc84488ad373f0
|
| 3 |
+
size 2507224
|
actions/locomanipulation/LM15/session_024/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:f05f0af10c29eb2a850e7ae295e60e940ea6410254be9e0c079d39a9089a2370
|
| 3 |
+
size 7115976
|
actions/locomanipulation/LM15/session_025/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": "LM15",
|
| 6 |
+
"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 103.966633,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.038757343082253426
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "dd7ae70b-ee23-4faf-a24c-3fac4e56f404",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM15",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 98.585,
|
| 23 |
+
"t_start": 0.0388,
|
| 24 |
+
"t_end": 98.6238,
|
| 25 |
+
"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|