Release update 2026-11-05: new sessions, instructions, annotations (part 347)
Browse files- actions/locomanipulation/LM35/session_020/motions/smplx.npz +2 -2
- actions/locomanipulation/LM35/session_021/annotations.json +28 -0
- actions/locomanipulation/LM35/session_021/cameras/gsi_online_calibration.json +255 -0
- actions/locomanipulation/LM35/session_021/cameras/slam.npz +3 -0
- actions/locomanipulation/LM35/session_021/meta.json +116 -2
- actions/locomanipulation/LM35/session_021/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM35/session_021/motions/smplx.npz +2 -2
- actions/locomanipulation/LM35/session_022/annotations.json +28 -0
- actions/locomanipulation/LM35/session_022/cameras/slam.npz +3 -0
- actions/locomanipulation/LM35/session_022/meta.json +116 -2
actions/locomanipulation/LM35/session_020/motions/smplx.npz
CHANGED
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version https://git-lfs.github.com/spec/v1
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oid sha256:
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size
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version https://git-lfs.github.com/spec/v1
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oid sha256:735a1b5199e0a60117606451c864085cc8f5b7cc2533beb19127cd6a68035bcf
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size 9740984
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actions/locomanipulation/LM35/session_021/annotations.json
ADDED
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{
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"schema_version": 1,
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"source": "vendor annotation.json (schema 2, revision 1)",
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| 4 |
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"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
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"primitive": "LM35",
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"instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking.",
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| 7 |
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"segments": [
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| 8 |
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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": 128.966533,
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| 11 |
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"video": "left_eye",
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| 12 |
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"video_t_start": 0.03959355331111136
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| 13 |
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}
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| 14 |
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],
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"episodes": [
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| 16 |
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{
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"id": "a94d7844-bc4e-4774-9691-1a71871fded4",
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| 18 |
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"segment": "segment1",
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| 19 |
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"action": "LM35",
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| 20 |
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"quality": "valid",
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| 21 |
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"start_s": 1.344,
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| 22 |
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"end_s": 121.844,
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| 23 |
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"t_start": 1.3836,
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| 24 |
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"t_end": 121.8836,
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| 25 |
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"instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking."
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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/LM35/session_021/cameras/gsi_online_calibration.json
ADDED
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@@ -0,0 +1,255 @@
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| 1 |
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{
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| 2 |
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"camera_fit": {
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| 3 |
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"groups_dropped": [],
|
| 4 |
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"groups_used": 14,
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"median_px": 0.414
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},
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"cameras": {
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"left": {
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| 9 |
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"accepted": true,
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"against": [
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|
| 15 |
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],
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"delta_deg": 1.1151,
|
| 17 |
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"gate_fail": [],
|
| 18 |
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"held_out_px_after": 0.562,
|
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|
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"split_deg": 0.0606,
|
| 28 |
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"usable": true
|
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},
|
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"left_eye": {
|
| 31 |
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"accepted": true,
|
| 32 |
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"against": [
|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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],
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|
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|
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"role": "rig origin"
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},
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| 64 |
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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": "LM35",
|
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"instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking.",
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"instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking."
|
| 26 |
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}
|
| 27 |
+
]
|
| 28 |
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}
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actions/locomanipulation/LM35/session_022/cameras/slam.npz
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actions/locomanipulation/LM35/session_022/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",
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| 345 |
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|
@@ -484,12 +484,126 @@
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|
| 484 |
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|
| 487 |
"release": {
|
| 488 |
"release_path": "actions/locomanipulation/LM35/session_022",
|
| 489 |
"family": "locomanipulation",
|
| 490 |
"primitive": "LM35",
|
| 491 |
"source_session": "20261014/LM35/20261014_015847_session22"
|
| 492 |
},
|
|
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|
| 493 |
"objects": [
|
| 494 |
{
|
| 495 |
"name": "BigBox1",
|
|
|
|
| 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": {
|
|
|
|
| 484 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 485 |
}
|
| 486 |
},
|
| 487 |
+
"hands_registration": {
|
| 488 |
+
"cameras": {},
|
| 489 |
+
"hands": {
|
| 490 |
+
"left": {
|
| 491 |
+
"offset_deg": 14.14,
|
| 492 |
+
"offset_rotvec": [
|
| 493 |
+
0.2305,
|
| 494 |
+
-0.0641,
|
| 495 |
+
0.0608
|
| 496 |
+
],
|
| 497 |
+
"dev_deg": {
|
| 498 |
+
"median": 16.5,
|
| 499 |
+
"p90": 38.79
|
| 500 |
+
},
|
| 501 |
+
"samples": 2923,
|
| 502 |
+
"accepted": 2384,
|
| 503 |
+
"wrist_pos_err_mm_median": 118.9,
|
| 504 |
+
"per_camera": {
|
| 505 |
+
"head": {
|
| 506 |
+
"samples": 2923,
|
| 507 |
+
"accepted": 2384,
|
| 508 |
+
"gate_deg": 30.0,
|
| 509 |
+
"offset_deg": 14.14,
|
| 510 |
+
"tier": "primary",
|
| 511 |
+
"dev_deg_median": 16.5,
|
| 512 |
+
"wrist_pos_err_mm_median": 118.9
|
| 513 |
+
}
|
| 514 |
+
},
|
| 515 |
+
"frames_by_state": {
|
| 516 |
+
"ace_sample": 9737,
|
| 517 |
+
"interpolated": 3470,
|
| 518 |
+
"mean_hand": 3469,
|
| 519 |
+
"no_body_fit": 8
|
| 520 |
+
},
|
| 521 |
+
"observed_fraction": 0.7916,
|
| 522 |
+
"observed_fraction_of_valid": 0.792,
|
| 523 |
+
"palm_axis_vs_markers_deg": {
|
| 524 |
+
"gsi": 22.71,
|
| 525 |
+
"smplx": 1.21
|
| 526 |
+
},
|
| 527 |
+
"hand_marker_to_mesh_mm": {
|
| 528 |
+
"flat": {
|
| 529 |
+
"median": 5.8,
|
| 530 |
+
"p90": 8.4
|
| 531 |
+
},
|
| 532 |
+
"registered": {
|
| 533 |
+
"median": 6.1,
|
| 534 |
+
"p90": 8.9
|
| 535 |
+
}
|
| 536 |
+
}
|
| 537 |
+
},
|
| 538 |
+
"right": {
|
| 539 |
+
"offset_deg": 22.6,
|
| 540 |
+
"offset_rotvec": [
|
| 541 |
+
0.294,
|
| 542 |
+
0.0926,
|
| 543 |
+
-0.2462
|
| 544 |
+
],
|
| 545 |
+
"dev_deg": {
|
| 546 |
+
"median": 21.79,
|
| 547 |
+
"p90": 161.16
|
| 548 |
+
},
|
| 549 |
+
"samples": 3075,
|
| 550 |
+
"accepted": 1827,
|
| 551 |
+
"wrist_pos_err_mm_median": 87.1,
|
| 552 |
+
"per_camera": {
|
| 553 |
+
"head": {
|
| 554 |
+
"samples": 3075,
|
| 555 |
+
"accepted": 1827,
|
| 556 |
+
"gate_deg": 30.0,
|
| 557 |
+
"offset_deg": 22.6,
|
| 558 |
+
"tier": "primary",
|
| 559 |
+
"dev_deg_median": 21.79,
|
| 560 |
+
"wrist_pos_err_mm_median": 87.1
|
| 561 |
+
}
|
| 562 |
+
},
|
| 563 |
+
"frames_by_state": {
|
| 564 |
+
"ace_sample": 7299,
|
| 565 |
+
"interpolated": 676,
|
| 566 |
+
"mean_hand": 8701,
|
| 567 |
+
"no_body_fit": 8
|
| 568 |
+
},
|
| 569 |
+
"observed_fraction": 0.478,
|
| 570 |
+
"observed_fraction_of_valid": 0.4782,
|
| 571 |
+
"palm_axis_vs_markers_deg": {
|
| 572 |
+
"gsi": 26.49,
|
| 573 |
+
"smplx": 2.42
|
| 574 |
+
},
|
| 575 |
+
"hand_marker_to_mesh_mm": {
|
| 576 |
+
"flat": {
|
| 577 |
+
"median": 6.8,
|
| 578 |
+
"p90": 10.3
|
| 579 |
+
},
|
| 580 |
+
"registered": {
|
| 581 |
+
"median": 6.0,
|
| 582 |
+
"p90": 9.4
|
| 583 |
+
}
|
| 584 |
+
}
|
| 585 |
+
}
|
| 586 |
+
},
|
| 587 |
+
"max_dev_deg": 30.0,
|
| 588 |
+
"max_gap_s": 1.0,
|
| 589 |
+
"cameras_used": [
|
| 590 |
+
"head"
|
| 591 |
+
],
|
| 592 |
+
"generated_at_utc": "2026-11-03T21:55:27.344125+00:00",
|
| 593 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 594 |
+
"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",
|
| 595 |
+
"wrist_flip_suspect": []
|
| 596 |
+
},
|
| 597 |
"release": {
|
| 598 |
"release_path": "actions/locomanipulation/LM35/session_022",
|
| 599 |
"family": "locomanipulation",
|
| 600 |
"primitive": "LM35",
|
| 601 |
"source_session": "20261014/LM35/20261014_015847_session22"
|
| 602 |
},
|
| 603 |
+
"task": {
|
| 604 |
+
"primitive": "LM35",
|
| 605 |
+
"instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking."
|
| 606 |
+
},
|
| 607 |
"objects": [
|
| 608 |
{
|
| 609 |
"name": "BigBox1",
|