Release update 2026-11-05: new sessions, instructions, annotations (part 12)
Browse files- actions/locomanipulation/LM14/session_020/motions/smplx.npz +2 -2
- actions/locomanipulation/LM14/session_021/annotations.json +28 -0
- actions/locomanipulation/LM14/session_021/cameras/slam.npz +3 -0
- actions/locomanipulation/LM14/session_021/meta.json +4 -0
- actions/locomanipulation/LM14/session_021/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM14/session_022/annotations.json +28 -0
- actions/locomanipulation/LM14/session_022/cameras/slam.npz +3 -0
- actions/locomanipulation/LM14/session_022/meta.json +116 -2
- actions/locomanipulation/LM14/session_022/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM14/session_022/motions/smplx.npz +2 -2
- actions/locomanipulation/LM14/session_023/annotations.json +28 -0
- actions/locomanipulation/LM14/session_023/cameras/slam.npz +3 -0
- actions/locomanipulation/LM14/session_023/meta.json +116 -2
- actions/locomanipulation/LM14/session_023/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM14/session_023/motions/smplx.npz +2 -2
- actions/locomanipulation/LM14/session_024/annotations.json +28 -0
- actions/locomanipulation/LM14/session_024/cameras/gsi_online_calibration.json +256 -0
- actions/locomanipulation/LM14/session_024/cameras/slam.npz +3 -0
- actions/locomanipulation/LM14/session_024/meta.json +116 -2
- actions/locomanipulation/LM14/session_024/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM14/session_024/motions/smplx.npz +2 -2
- actions/locomanipulation/LM14/session_025/annotations.json +28 -0
- actions/locomanipulation/LM14/session_025/cameras/slam.npz +3 -0
- actions/locomanipulation/LM14/session_025/meta.json +116 -2
- actions/locomanipulation/LM14/session_025/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM14/session_025/motions/smplx.npz +2 -2
- actions/locomanipulation/LM14/session_026/annotations.json +28 -0
- actions/locomanipulation/LM14/session_026/cameras/slam.npz +3 -0
- actions/locomanipulation/LM14/session_026/meta.json +116 -2
- actions/locomanipulation/LM14/session_026/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM14/session_026/motions/smplx.npz +2 -2
- actions/locomanipulation/LM14/session_027/annotations.json +28 -0
- actions/locomanipulation/LM14/session_027/cameras/slam.npz +3 -0
- actions/locomanipulation/LM14/session_027/meta.json +116 -2
- actions/locomanipulation/LM14/session_027/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM14/session_027/motions/smplx.npz +2 -2
- actions/locomanipulation/LM14/session_028/annotations.json +28 -0
- actions/locomanipulation/LM14/session_028/cameras/slam.npz +3 -0
- actions/locomanipulation/LM14/session_028/meta.json +116 -2
actions/locomanipulation/LM14/session_020/motions/smplx.npz
CHANGED
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actions/locomanipulation/LM14/session_021/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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"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": "LM14",
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"instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to.",
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"segments": [
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{
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"id": "segment1",
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"duration_s": 138.966533,
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"video": "left_eye",
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"episodes": [
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{
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"id": "f5a272e9-12d9-4e6d-a52e-5b2b57a9a4d1",
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"segment": "segment1",
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"action": "LM14",
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"quality": "valid",
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"start_s": 0,
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"end_s": 132.544,
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"t_start": 0.0391,
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"t_end": 132.5831,
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"instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
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}
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]
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}
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actions/locomanipulation/LM14/session_021/cameras/slam.npz
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version https://git-lfs.github.com/spec/v1
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size 800682
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actions/locomanipulation/LM14/session_021/meta.json
CHANGED
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@@ -519,5 +519,9 @@
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"family": "locomanipulation",
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"primitive": "LM14",
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"source_session": "20261008/LM14/20261008_081746_session116"
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}
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}
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"family": "locomanipulation",
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"primitive": "LM14",
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| 521 |
"source_session": "20261008/LM14/20261008_081746_session116"
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},
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| 523 |
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"task": {
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"primitive": "LM14",
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"instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
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}
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}
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actions/locomanipulation/LM14/session_021/motions/hands_mano.npz
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version https://git-lfs.github.com/spec/v1
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size 3728661
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actions/locomanipulation/LM14/session_022/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 |
+
"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": "LM14",
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| 6 |
+
"instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to.",
|
| 7 |
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"segments": [
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{
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| 9 |
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"id": "segment1",
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"duration_s": 133.966667,
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"video": "left_eye",
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"video_t_start": 0.03855574087221725
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}
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],
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"episodes": [
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{
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"id": "4c295a79-12a2-4989-9643-0e5fb94cce12",
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| 18 |
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"segment": "segment1",
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| 19 |
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"action": "LM14",
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| 20 |
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"quality": "valid",
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| 21 |
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"start_s": 1,
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"end_s": 125.224,
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"t_start": 1.0386,
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"t_end": 125.2626,
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| 25 |
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"instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
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actions/locomanipulation/LM14/session_022/cameras/slam.npz
ADDED
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+
version https://git-lfs.github.com/spec/v1
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+
oid sha256:432fd4177eccb8f437d777a58651ac8db2867a884d05e1db8c4a3149723fe523
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size 767872
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actions/locomanipulation/LM14/session_022/meta.json
CHANGED
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@@ -324,8 +324,8 @@
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| 324 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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| 325 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 326 |
"hands": {
|
| 327 |
-
"observed":
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| 328 |
-
"hand_pose": "
|
| 329 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 330 |
"hand_marker_offsets_m": {
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| 331 |
"left": {
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@@ -519,10 +519,124 @@
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| 519 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 520 |
"remaining_gyro_frame_deg": 1.2447320605350616
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| 521 |
},
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"release": {
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| 523 |
"release_path": "actions/locomanipulation/LM14/session_022",
|
| 524 |
"family": "locomanipulation",
|
| 525 |
"primitive": "LM14",
|
| 526 |
"source_session": "20261009/LM14/20261009_073407_session54"
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}
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}
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| 324 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 325 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 326 |
"hands": {
|
| 327 |
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"observed": true,
|
| 328 |
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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",
|
| 329 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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| 330 |
"hand_marker_offsets_m": {
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"left": {
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"generated_by": "scripts/correct_processed_rig.py",
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"remaining_gyro_frame_deg": 1.2447320605350616
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},
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"median": 4.22,
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},
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"samples": 4011,
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"accepted": 3760,
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"wrist_pos_err_mm_median": 63.7,
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"per_camera": {
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"head": {
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"tier": "primary",
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"dev_deg_median": 4.22,
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"wrist_pos_err_mm_median": 63.7
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}
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},
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"frames_by_state": {
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"ace_sample": 15053,
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},
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"palm_axis_vs_markers_deg": {
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"gsi": 54.32,
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"smplx": 0.69
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},
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"hand_marker_to_mesh_mm": {
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"flat": {
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"median": 11.6,
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"p90": 21.0
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},
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"registered": {
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"median": 10.9,
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"p90": 20.2
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}
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}
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},
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"right": {
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],
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"dev_deg": {
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"p90": 27.03
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},
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"samples": 3826,
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"accepted": 3472,
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"wrist_pos_err_mm_median": 79.4,
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"per_camera": {
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"head": {
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"accepted": 3472,
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"gate_deg": 30.0,
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"offset_deg": 55.35,
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"tier": "primary",
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"dev_deg_median": 6.99,
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"wrist_pos_err_mm_median": 79.4
|
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}
|
| 597 |
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},
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"frames_by_state": {
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"ace_sample": 13961,
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"interpolated": 894,
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"no_body_fit": 8
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},
|
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"observed_fraction": 0.9236,
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"observed_fraction_of_valid": 0.924,
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"palm_axis_vs_markers_deg": {
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"gsi": 55.52,
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"smplx": 0.33
|
| 609 |
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},
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"hand_marker_to_mesh_mm": {
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"flat": {
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"median": 15.8,
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"p90": 20.3
|
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},
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"registered": {
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"median": 15.7,
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"p90": 19.3
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}
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| 619 |
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}
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}
|
| 621 |
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},
|
| 622 |
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"max_dev_deg": 30.0,
|
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"max_gap_s": 1.0,
|
| 624 |
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"cameras_used": [
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"head"
|
| 626 |
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],
|
| 627 |
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"generated_at_utc": "2026-11-03T22:17:40.461941+00:00",
|
| 628 |
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| 641 |
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| 642 |
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actions/locomanipulation/LM14/session_022/motions/hands_mano.npz
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actions/locomanipulation/LM14/session_023/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
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{
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|
| 3 |
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|
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|
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"instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
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| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
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}
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actions/locomanipulation/LM14/session_023/cameras/slam.npz
ADDED
|
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actions/locomanipulation/LM14/session_023/meta.json
CHANGED
|
@@ -324,8 +324,8 @@
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|
| 324 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 325 |
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|
| 326 |
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|
| 327 |
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|
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|
| 329 |
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|
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|
@@ -519,10 +519,124 @@
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|
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|
| 524 |
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|
| 525 |
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|
| 526 |
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|
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|
| 527 |
}
|
| 528 |
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|
| 324 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 325 |
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|
| 326 |
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|
| 327 |
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"observed": true,
|
| 328 |
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|
| 329 |
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|
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|
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| 621 |
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|
| 623 |
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|
| 624 |
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"generated_by": "scripts/register_hands_smplx.py",
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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",
|
| 630 |
+
"wrist_flip_suspect": []
|
| 631 |
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},
|
| 632 |
"release": {
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| 633 |
"release_path": "actions/locomanipulation/LM14/session_023",
|
| 634 |
"family": "locomanipulation",
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| 635 |
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|
| 636 |
"source_session": "20261009/LM14/20261009_073633_session55"
|
| 637 |
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},
|
| 638 |
+
"task": {
|
| 639 |
+
"primitive": "LM14",
|
| 640 |
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"instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
|
| 641 |
}
|
| 642 |
}
|
actions/locomanipulation/LM14/session_023/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
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|
| 1 |
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actions/locomanipulation/LM14/session_023/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
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|
| 3 |
-
size
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version https://git-lfs.github.com/spec/v1
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actions/locomanipulation/LM14/session_024/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
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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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|
| 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": "LM14",
|
| 6 |
+
"instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
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|
| 11 |
+
"video": "left_eye",
|
| 12 |
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|
| 13 |
+
}
|
| 14 |
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],
|
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"episodes": [
|
| 16 |
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{
|
| 17 |
+
"id": "56d5ec5b-0b34-441a-93d3-dda712a47c5d",
|
| 18 |
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"segment": "segment1",
|
| 19 |
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"action": "LM14",
|
| 20 |
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"quality": "valid",
|
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|
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|
| 23 |
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|
| 24 |
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"t_end": 125.1266,
|
| 25 |
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"instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM14/session_024/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,256 @@
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| 1 |
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| 11 |
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|
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|
| 32 |
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| 34 |
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|
| 35 |
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| 63 |
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| 64 |
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| 65 |
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| 66 |
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| 67 |
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| 68 |
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| 70 |
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| 89 |
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| 117 |
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|
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| 142 |
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|
actions/locomanipulation/LM14/session_024/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:dbfce63d9d2bb7a0fdc2fe68d43fcf7e0417538758e9436e652dd55c81fc1438
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| 3 |
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size 763665
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actions/locomanipulation/LM14/session_024/meta.json
CHANGED
|
@@ -327,8 +327,8 @@
|
|
| 327 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 328 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 329 |
"hands": {
|
| 330 |
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"observed":
|
| 331 |
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|
| 332 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 333 |
"hand_marker_offsets_m": {
|
| 334 |
"left": {
|
|
@@ -513,10 +513,124 @@
|
|
| 513 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 514 |
"remaining_gyro_frame_deg": 1.3894325460811308
|
| 515 |
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|
|
|
|
|
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| 518 |
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| 521 |
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|
| 522 |
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|
| 327 |
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|
| 328 |
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|
| 329 |
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|
| 330 |
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|
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| 334 |
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},
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"task": {
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| 633 |
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"primitive": "LM14",
|
| 634 |
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"instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
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| 635 |
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actions/locomanipulation/LM14/session_024/motions/hands_mano.npz
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|
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|
| 28 |
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actions/locomanipulation/LM14/session_025/cameras/slam.npz
ADDED
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actions/locomanipulation/LM14/session_025/meta.json
CHANGED
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@@ -344,8 +344,8 @@
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|
| 344 |
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| 345 |
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|
| 346 |
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|
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|
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|
| 350 |
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|
| 351 |
"left": {
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|
@@ -496,10 +496,124 @@
|
|
| 496 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 497 |
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|
| 498 |
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|
| 499 |
"release": {
|
| 500 |
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|
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|
| 502 |
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|
| 503 |
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|
|
|
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|
|
|
|
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|
|
|
| 504 |
}
|
| 505 |
}
|
|
|
|
| 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 |
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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 |
"hand_marker_offsets_m": {
|
| 351 |
"left": {
|
|
|
|
| 496 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 497 |
}
|
| 498 |
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|
| 499 |
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"hands_registration": {
|
| 500 |
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"cameras": {},
|
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|
| 502 |
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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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|
| 519 |
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|
| 520 |
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|
| 521 |
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|
| 522 |
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"tier": "primary",
|
| 523 |
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|
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|
| 525 |
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}
|
| 526 |
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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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|
| 536 |
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"gsi": 22.28,
|
| 537 |
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"smplx": 1.13
|
| 538 |
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},
|
| 539 |
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"hand_marker_to_mesh_mm": {
|
| 540 |
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|
| 541 |
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|
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|
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|
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|
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|
| 547 |
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}
|
| 548 |
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|
| 549 |
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|
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|
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|
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|
| 616 |
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|
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|
| 619 |
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actions/locomanipulation/LM14/session_025/motions/hands_mano.npz
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|
| 5 |
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"primitive": "LM14",
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|
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|
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"instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
|
| 26 |
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}
|
| 27 |
+
]
|
| 28 |
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actions/locomanipulation/LM14/session_026/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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actions/locomanipulation/LM14/session_026/meta.json
CHANGED
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@@ -344,8 +344,8 @@
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|
| 344 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 345 |
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|
| 346 |
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|
| 348 |
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|
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| 350 |
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|
| 351 |
"left": {
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|
@@ -491,10 +491,124 @@
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|
| 491 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 492 |
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|
| 493 |
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|
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|
| 496 |
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| 497 |
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|
| 499 |
}
|
| 500 |
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|
| 344 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 345 |
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|
| 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 |
"hand_marker_offsets_m": {
|
| 351 |
"left": {
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|
|
|
| 491 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 492 |
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|
| 493 |
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| 495 |
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|
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},
|
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|
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|
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|
| 515 |
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|
| 520 |
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|
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"generated_at_utc": "2026-11-03T22:13:15.819620+00:00",
|
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"generated_by": "scripts/register_hands_smplx.py",
|
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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",
|
| 602 |
+
"wrist_flip_suspect": []
|
| 603 |
+
},
|
| 604 |
"release": {
|
| 605 |
"release_path": "actions/locomanipulation/LM14/session_026",
|
| 606 |
"family": "locomanipulation",
|
| 607 |
"primitive": "LM14",
|
| 608 |
"source_session": "20261010/LM14/20261010_081710_session105"
|
| 609 |
+
},
|
| 610 |
+
"task": {
|
| 611 |
+
"primitive": "LM14",
|
| 612 |
+
"instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
|
| 613 |
}
|
| 614 |
}
|
actions/locomanipulation/LM14/session_026/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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|
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size 6256466
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actions/locomanipulation/LM14/session_026/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
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|
| 3 |
-
size
|
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| 1 |
version https://git-lfs.github.com/spec/v1
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actions/locomanipulation/LM14/session_027/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
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|
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|
| 1 |
+
{
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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": "LM14",
|
| 6 |
+
"instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 138.966522,
|
| 11 |
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"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.039122864714437044
|
| 13 |
+
}
|
| 14 |
+
],
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| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "7e980b36-811c-4e2f-b371-663f10d0aa28",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM14",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1,
|
| 22 |
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"end_s": 131.393,
|
| 23 |
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"t_start": 1.0391,
|
| 24 |
+
"t_end": 131.4321,
|
| 25 |
+
"instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM14/session_027/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 798991
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actions/locomanipulation/LM14/session_027/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": {
|
|
@@ -494,12 +494,126 @@
|
|
| 494 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 495 |
}
|
| 496 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 497 |
"release": {
|
| 498 |
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|
| 499 |
"family": "locomanipulation",
|
| 500 |
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|
| 501 |
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|
| 502 |
},
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|
| 503 |
"objects": [
|
| 504 |
{
|
| 505 |
"name": "BigBox",
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|
|
|
| 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 |
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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": {
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|
|
|
| 494 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 495 |
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|
| 496 |
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|
| 497 |
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"hands_registration": {
|
| 498 |
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"cameras": {},
|
| 499 |
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| 500 |
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| 501 |
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],
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|
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},
|
| 511 |
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|
| 512 |
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|
| 513 |
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|
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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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|
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}
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|
| 527 |
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|
| 528 |
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|
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},
|
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|
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|
| 536 |
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},
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| 537 |
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"median": 13.2,
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},
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| 542 |
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| 543 |
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"median": 11.9,
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"p90": 18.7
|
| 545 |
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}
|
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}
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},
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| 548 |
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"right": {
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"offset_deg": 42.56,
|
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],
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"dev_deg": {
|
| 556 |
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"median": 3.68,
|
| 557 |
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"p90": 8.63
|
| 558 |
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},
|
| 559 |
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"samples": 4161,
|
| 560 |
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"accepted": 4159,
|
| 561 |
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"wrist_pos_err_mm_median": 76.6,
|
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"per_camera": {
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| 563 |
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"head": {
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"samples": 4161,
|
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"accepted": 4159,
|
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"gate_deg": 30.0,
|
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"offset_deg": 42.56,
|
| 568 |
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"tier": "primary",
|
| 569 |
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"dev_deg_median": 3.68,
|
| 570 |
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"wrist_pos_err_mm_median": 76.6
|
| 571 |
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}
|
| 572 |
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},
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| 573 |
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"frames_by_state": {
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|
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"interpolated": 30,
|
| 576 |
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|
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| 578 |
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},
|
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|
| 582 |
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"gsi": 38.24,
|
| 583 |
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| 584 |
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"median": 10.2,
|
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"p90": 13.0
|
| 589 |
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},
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"registered": {
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| 591 |
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"median": 9.9,
|
| 592 |
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"p90": 11.6
|
| 593 |
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}
|
| 594 |
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}
|
| 595 |
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}
|
| 596 |
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},
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|
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|
| 599 |
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"cameras_used": [
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| 600 |
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"head"
|
| 601 |
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],
|
| 602 |
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"generated_at_utc": "2026-11-03T22:06:24.944422+00:00",
|
| 603 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 604 |
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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",
|
| 605 |
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"wrist_flip_suspect": []
|
| 606 |
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},
|
| 607 |
"release": {
|
| 608 |
"release_path": "actions/locomanipulation/LM14/session_027",
|
| 609 |
"family": "locomanipulation",
|
| 610 |
"primitive": "LM14",
|
| 611 |
"source_session": "20261014/LM14/20261014_073518_session106"
|
| 612 |
},
|
| 613 |
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"task": {
|
| 614 |
+
"primitive": "LM14",
|
| 615 |
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"instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
|
| 616 |
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},
|
| 617 |
"objects": [
|
| 618 |
{
|
| 619 |
"name": "BigBox",
|
actions/locomanipulation/LM14/session_027/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
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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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size 5581943
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actions/locomanipulation/LM14/session_027/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
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|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:
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| 3 |
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size
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| 1 |
version https://git-lfs.github.com/spec/v1
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size 11942699
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actions/locomanipulation/LM14/session_028/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": "LM14",
|
| 6 |
+
"instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
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"duration_s": 138.966656,
|
| 11 |
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"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03869565553161247
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
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| 16 |
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{
|
| 17 |
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"id": "68787599-303f-49c3-99ee-acb2ba7accd3",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM14",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 132.96,
|
| 23 |
+
"t_start": 0.0387,
|
| 24 |
+
"t_end": 132.9987,
|
| 25 |
+
"instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM14/session_028/cameras/slam.npz
ADDED
|
@@ -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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|
| 3 |
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size 797589
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actions/locomanipulation/LM14/session_028/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": {
|
|
@@ -494,12 +494,126 @@
|
|
| 494 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 495 |
}
|
| 496 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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|
|
|
|
|
|
|
|
|
|
|
|
|
| 497 |
"release": {
|
| 498 |
"release_path": "actions/locomanipulation/LM14/session_028",
|
| 499 |
"family": "locomanipulation",
|
| 500 |
"primitive": "LM14",
|
| 501 |
"source_session": "20261014/LM14/20261014_073754_session107"
|
| 502 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
| 503 |
"objects": [
|
| 504 |
{
|
| 505 |
"name": "BigBox",
|
|
|
|
| 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": {
|
|
|
|
| 494 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 495 |
}
|
| 496 |
},
|
| 497 |
+
"hands_registration": {
|
| 498 |
+
"cameras": {},
|
| 499 |
+
"hands": {
|
| 500 |
+
"left": {
|
| 501 |
+
"offset_deg": 42.13,
|
| 502 |
+
"offset_rotvec": [
|
| 503 |
+
0.6825,
|
| 504 |
+
0.2611,
|
| 505 |
+
0.0811
|
| 506 |
+
],
|
| 507 |
+
"dev_deg": {
|
| 508 |
+
"median": 6.12,
|
| 509 |
+
"p90": 10.96
|
| 510 |
+
},
|
| 511 |
+
"samples": 4143,
|
| 512 |
+
"accepted": 4049,
|
| 513 |
+
"wrist_pos_err_mm_median": 65.8,
|
| 514 |
+
"per_camera": {
|
| 515 |
+
"head": {
|
| 516 |
+
"samples": 4143,
|
| 517 |
+
"accepted": 4049,
|
| 518 |
+
"gate_deg": 30.0,
|
| 519 |
+
"offset_deg": 42.13,
|
| 520 |
+
"tier": "primary",
|
| 521 |
+
"dev_deg_median": 6.12,
|
| 522 |
+
"wrist_pos_err_mm_median": 65.8
|
| 523 |
+
}
|
| 524 |
+
},
|
| 525 |
+
"frames_by_state": {
|
| 526 |
+
"ace_sample": 16208,
|
| 527 |
+
"interpolated": 208,
|
| 528 |
+
"mean_hand": 268,
|
| 529 |
+
"no_body_fit": 0
|
| 530 |
+
},
|
| 531 |
+
"observed_fraction": 0.9839,
|
| 532 |
+
"observed_fraction_of_valid": 0.9839,
|
| 533 |
+
"palm_axis_vs_markers_deg": {
|
| 534 |
+
"gsi": 38.58,
|
| 535 |
+
"smplx": 1.48
|
| 536 |
+
},
|
| 537 |
+
"hand_marker_to_mesh_mm": {
|
| 538 |
+
"flat": {
|
| 539 |
+
"median": 17.3,
|
| 540 |
+
"p90": 25.7
|
| 541 |
+
},
|
| 542 |
+
"registered": {
|
| 543 |
+
"median": 16.1,
|
| 544 |
+
"p90": 23.9
|
| 545 |
+
}
|
| 546 |
+
}
|
| 547 |
+
},
|
| 548 |
+
"right": {
|
| 549 |
+
"offset_deg": 50.58,
|
| 550 |
+
"offset_rotvec": [
|
| 551 |
+
0.851,
|
| 552 |
+
-0.2238,
|
| 553 |
+
-0.0697
|
| 554 |
+
],
|
| 555 |
+
"dev_deg": {
|
| 556 |
+
"median": 3.34,
|
| 557 |
+
"p90": 8.77
|
| 558 |
+
},
|
| 559 |
+
"samples": 4140,
|
| 560 |
+
"accepted": 4121,
|
| 561 |
+
"wrist_pos_err_mm_median": 80.2,
|
| 562 |
+
"per_camera": {
|
| 563 |
+
"head": {
|
| 564 |
+
"samples": 4140,
|
| 565 |
+
"accepted": 4121,
|
| 566 |
+
"gate_deg": 30.0,
|
| 567 |
+
"offset_deg": 50.58,
|
| 568 |
+
"tier": "primary",
|
| 569 |
+
"dev_deg_median": 3.34,
|
| 570 |
+
"wrist_pos_err_mm_median": 80.2
|
| 571 |
+
}
|
| 572 |
+
},
|
| 573 |
+
"frames_by_state": {
|
| 574 |
+
"ace_sample": 16506,
|
| 575 |
+
"interpolated": 166,
|
| 576 |
+
"mean_hand": 12,
|
| 577 |
+
"no_body_fit": 0
|
| 578 |
+
},
|
| 579 |
+
"observed_fraction": 0.9993,
|
| 580 |
+
"observed_fraction_of_valid": 0.9993,
|
| 581 |
+
"palm_axis_vs_markers_deg": {
|
| 582 |
+
"gsi": 47.64,
|
| 583 |
+
"smplx": 0.56
|
| 584 |
+
},
|
| 585 |
+
"hand_marker_to_mesh_mm": {
|
| 586 |
+
"flat": {
|
| 587 |
+
"median": 10.6,
|
| 588 |
+
"p90": 11.0
|
| 589 |
+
},
|
| 590 |
+
"registered": {
|
| 591 |
+
"median": 9.7,
|
| 592 |
+
"p90": 10.8
|
| 593 |
+
}
|
| 594 |
+
}
|
| 595 |
+
}
|
| 596 |
+
},
|
| 597 |
+
"max_dev_deg": 30.0,
|
| 598 |
+
"max_gap_s": 1.0,
|
| 599 |
+
"cameras_used": [
|
| 600 |
+
"head"
|
| 601 |
+
],
|
| 602 |
+
"generated_at_utc": "2026-11-03T22:06:24.805275+00:00",
|
| 603 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 604 |
+
"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",
|
| 605 |
+
"wrist_flip_suspect": []
|
| 606 |
+
},
|
| 607 |
"release": {
|
| 608 |
"release_path": "actions/locomanipulation/LM14/session_028",
|
| 609 |
"family": "locomanipulation",
|
| 610 |
"primitive": "LM14",
|
| 611 |
"source_session": "20261014/LM14/20261014_073754_session107"
|
| 612 |
},
|
| 613 |
+
"task": {
|
| 614 |
+
"primitive": "LM14",
|
| 615 |
+
"instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to."
|
| 616 |
+
},
|
| 617 |
"objects": [
|
| 618 |
{
|
| 619 |
"name": "BigBox",
|