Release update 2026-11-05: new sessions, instructions, annotations (part 201)
Browse files- actions/locomanipulation/LM25/session_006/cameras/slam.npz +3 -0
- actions/locomanipulation/LM25/session_006/meta.json +116 -2
- actions/locomanipulation/LM25/session_006/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM25/session_006/motions/smplx.npz +2 -2
- actions/locomanipulation/LM25/session_007/annotations.json +28 -0
- actions/locomanipulation/LM25/session_007/cameras/slam.npz +3 -0
- actions/locomanipulation/LM25/session_007/meta.json +116 -2
- actions/locomanipulation/LM25/session_007/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM25/session_007/motions/smplx.npz +2 -2
- actions/locomanipulation/LM25/session_008/annotations.json +28 -0
- actions/locomanipulation/LM25/session_008/cameras/slam.npz +3 -0
- actions/locomanipulation/LM25/session_008/meta.json +116 -2
actions/locomanipulation/LM25/session_006/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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oid sha256:8a4ceaa66516af6053658a90fa6198d3d3aab9595c8456bb616215ec8ba449ac
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+
size 630299
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actions/locomanipulation/LM25/session_006/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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@@ -513,10 +513,124 @@
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| 513 |
"generated_by": "scripts/correct_processed_rig.py",
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| 514 |
"remaining_gyro_frame_deg": 1.3179699122400879
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| 515 |
},
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"release": {
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| 517 |
"release_path": "actions/locomanipulation/LM25/session_006",
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| 518 |
"family": "locomanipulation",
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| 519 |
"primitive": "LM25",
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| 520 |
"source_session": "20260910/LM25/20260910_111250_session189"
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| 521 |
}
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| 522 |
}
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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": {
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| 329 |
+
"observed": true,
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| 330 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
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| 331 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 332 |
"hand_marker_offsets_m": {
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| 333 |
"left": {
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| 513 |
"generated_by": "scripts/correct_processed_rig.py",
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| 514 |
"remaining_gyro_frame_deg": 1.3179699122400879
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| 515 |
},
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| 516 |
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"hands_registration": {
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| 517 |
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"cameras": {},
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| 518 |
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"hands": {
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| 519 |
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"left": {
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| 520 |
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"offset_deg": 12.34,
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| 521 |
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"offset_rotvec": [
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| 522 |
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0.0493,
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| 523 |
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-0.1777,
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0.1112
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],
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| 526 |
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"dev_deg": {
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| 527 |
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"median": 18.43,
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| 528 |
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"p90": 39.92
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| 529 |
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},
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| 530 |
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"samples": 2457,
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| 531 |
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"accepted": 1911,
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| 532 |
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"wrist_pos_err_mm_median": 47.8,
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| 533 |
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"per_camera": {
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| 534 |
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"head": {
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| 535 |
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"samples": 2457,
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| 536 |
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"accepted": 1911,
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| 537 |
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"gate_deg": 30.0,
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| 538 |
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"offset_deg": 12.34,
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| 539 |
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"tier": "primary",
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| 540 |
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"dev_deg_median": 18.43,
|
| 541 |
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"wrist_pos_err_mm_median": 47.8
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| 542 |
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}
|
| 543 |
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},
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| 544 |
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"frames_by_state": {
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| 545 |
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"ace_sample": 7886,
|
| 546 |
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"interpolated": 4386,
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| 547 |
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"mean_hand": 812,
|
| 548 |
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"no_body_fit": 0
|
| 549 |
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},
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| 550 |
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"observed_fraction": 0.9379,
|
| 551 |
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"observed_fraction_of_valid": 0.9379,
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| 552 |
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"palm_axis_vs_markers_deg": {
|
| 553 |
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"gsi": 20.31,
|
| 554 |
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"smplx": 0.63
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| 555 |
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},
|
| 556 |
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"hand_marker_to_mesh_mm": {
|
| 557 |
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"flat": {
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| 558 |
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"median": 12.2,
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| 559 |
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"p90": 14.8
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| 560 |
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},
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| 561 |
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"registered": {
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| 562 |
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"median": 12.0,
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| 563 |
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"p90": 14.3
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}
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}
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| 566 |
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},
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"right": {
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| 568 |
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"offset_deg": 13.24,
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"offset_rotvec": [
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0.0613,
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0.2183,
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-0.0446
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],
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"dev_deg": {
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"median": 14.01,
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| 576 |
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"p90": 34.78
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},
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| 578 |
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"samples": 2641,
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| 579 |
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"accepted": 2223,
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| 580 |
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"wrist_pos_err_mm_median": 71.6,
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| 581 |
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"per_camera": {
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| 582 |
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"head": {
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| 583 |
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"samples": 2641,
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| 584 |
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"accepted": 2223,
|
| 585 |
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"gate_deg": 30.0,
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| 586 |
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"offset_deg": 13.24,
|
| 587 |
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"tier": "primary",
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| 588 |
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"dev_deg_median": 14.01,
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| 589 |
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"wrist_pos_err_mm_median": 71.6
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| 590 |
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}
|
| 591 |
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},
|
| 592 |
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"frames_by_state": {
|
| 593 |
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"ace_sample": 9198,
|
| 594 |
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"interpolated": 3570,
|
| 595 |
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"mean_hand": 316,
|
| 596 |
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"no_body_fit": 0
|
| 597 |
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},
|
| 598 |
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"observed_fraction": 0.9758,
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| 599 |
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"observed_fraction_of_valid": 0.9758,
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| 600 |
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"palm_axis_vs_markers_deg": {
|
| 601 |
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"gsi": 19.61,
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| 602 |
+
"smplx": 0.83
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| 603 |
+
},
|
| 604 |
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"hand_marker_to_mesh_mm": {
|
| 605 |
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"flat": {
|
| 606 |
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"median": 6.2,
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| 607 |
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"p90": 7.8
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| 608 |
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},
|
| 609 |
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"registered": {
|
| 610 |
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"median": 6.0,
|
| 611 |
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"p90": 7.7
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| 612 |
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}
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| 613 |
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}
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| 614 |
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}
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| 615 |
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},
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| 616 |
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"max_dev_deg": 30.0,
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| 617 |
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"max_gap_s": 1.0,
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| 618 |
+
"cameras_used": [
|
| 619 |
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"head"
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| 620 |
+
],
|
| 621 |
+
"generated_at_utc": "2026-11-03T16:19:24.820286+00:00",
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| 622 |
+
"generated_by": "scripts/register_hands_smplx.py",
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| 623 |
+
"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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| 624 |
+
"wrist_flip_suspect": []
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| 625 |
+
},
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| 626 |
"release": {
|
| 627 |
"release_path": "actions/locomanipulation/LM25/session_006",
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| 628 |
"family": "locomanipulation",
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| 629 |
"primitive": "LM25",
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| 630 |
"source_session": "20260910/LM25/20260910_111250_session189"
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| 631 |
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},
|
| 632 |
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"task": {
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| 633 |
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"primitive": "LM25",
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| 634 |
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"instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down."
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| 635 |
}
|
| 636 |
}
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actions/locomanipulation/LM25/session_006/motions/hands_mano.npz
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:51d0406a6bc715d2eb9114b258d2ab9a2fc96cd67a50a816725a9d35b5594c70
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| 3 |
+
size 3504194
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actions/locomanipulation/LM25/session_006/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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version https://git-lfs.github.com/spec/v1
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oid sha256:878198038635d7e5545b4d1929e6ee30b8f16cb4c9996257802ca60c7e258cc7
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size 9327270
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actions/locomanipulation/LM25/session_007/annotations.json
ADDED
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@@ -0,0 +1,28 @@
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{
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| 2 |
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"schema_version": 1,
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| 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",
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| 5 |
+
"primitive": "LM25",
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| 6 |
+
"instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down.",
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| 7 |
+
"segments": [
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| 8 |
+
{
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| 9 |
+
"id": "segment1",
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| 10 |
+
"duration_s": 108.966667,
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| 11 |
+
"video": "left_eye",
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| 12 |
+
"video_t_start": 0.039463238405806456
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| 13 |
+
}
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| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "8e338f48-9c04-4a12-b2f5-0b43ef623dfd",
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| 18 |
+
"segment": "segment1",
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| 19 |
+
"action": "LM25",
|
| 20 |
+
"quality": "valid",
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| 21 |
+
"start_s": 0,
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| 22 |
+
"end_s": 100.92,
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| 23 |
+
"t_start": 0.0395,
|
| 24 |
+
"t_end": 100.9595,
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| 25 |
+
"instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
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}
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actions/locomanipulation/LM25/session_007/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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+
oid sha256:9b82a81dc271d2bde91d7216a25eb8d09b6c011abf99f0cac26b075f06815938
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| 3 |
+
size 629979
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actions/locomanipulation/LM25/session_007/meta.json
CHANGED
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@@ -340,8 +340,8 @@
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|
| 340 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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| 341 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 342 |
"hands": {
|
| 343 |
-
"observed":
|
| 344 |
-
"hand_pose": "
|
| 345 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 346 |
"hand_marker_offsets_m": {
|
| 347 |
"left": {
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@@ -527,10 +527,124 @@
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|
| 527 |
"generated_by": "scripts/correct_processed_rig.py",
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| 528 |
"remaining_gyro_frame_deg": 0.7272761485445135
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| 529 |
},
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| 530 |
"release": {
|
| 531 |
"release_path": "actions/locomanipulation/LM25/session_007",
|
| 532 |
"family": "locomanipulation",
|
| 533 |
"primitive": "LM25",
|
| 534 |
"source_session": "20260920/LM25/20260920_023837_session41"
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| 535 |
}
|
| 536 |
}
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|
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|
| 340 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 341 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 342 |
"hands": {
|
| 343 |
+
"observed": true,
|
| 344 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 345 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 346 |
"hand_marker_offsets_m": {
|
| 347 |
"left": {
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|
| 527 |
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| 644 |
+
},
|
| 645 |
"release": {
|
| 646 |
"release_path": "actions/locomanipulation/LM25/session_008",
|
| 647 |
"family": "locomanipulation",
|
| 648 |
"primitive": "LM25",
|
| 649 |
"source_session": "20260920/LM25/20260920_024233_session43"
|
| 650 |
+
},
|
| 651 |
+
"task": {
|
| 652 |
+
"primitive": "LM25",
|
| 653 |
+
"instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down."
|
| 654 |
}
|
| 655 |
}
|