Release update 2026-11-05: new sessions, instructions, annotations (part 307)
Browse files- actions/locomanipulation/LM33/session_002/cameras/slam.npz +3 -0
- actions/locomanipulation/LM33/session_002/meta.json +116 -2
- actions/locomanipulation/LM33/session_002/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM33/session_002/motions/smplx.npz +2 -2
- actions/locomanipulation/LM33/session_003/annotations.json +28 -0
- actions/locomanipulation/LM33/session_003/cameras/slam.npz +3 -0
- actions/locomanipulation/LM33/session_003/meta.json +116 -2
- actions/locomanipulation/LM33/session_003/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM33/session_003/motions/smplx.npz +2 -2
- actions/locomanipulation/LM33/session_004/annotations.json +28 -0
- actions/locomanipulation/LM33/session_004/cameras/slam.npz +3 -0
- actions/locomanipulation/LM33/session_004/meta.json +116 -2
actions/locomanipulation/LM33/session_002/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 sha256:6166a01bab8a26cbbf76d23ce2d4cb13a5abfcead1a4a471cf0ede6079f85e16
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size 742847
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actions/locomanipulation/LM33/session_002/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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@@ -553,10 +553,124 @@
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},
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"applied": 2
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},
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| 556 |
"release": {
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| 557 |
"release_path": "actions/locomanipulation/LM33/session_002",
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| 558 |
"family": "locomanipulation",
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| 559 |
"primitive": "LM33",
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| 560 |
"source_session": "20260916/LM33/20260916_081116_session129"
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| 561 |
}
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| 562 |
}
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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": 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",
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| 332 |
"hand_marker_offsets_m": {
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| 333 |
"left": {
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| 553 |
},
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| 554 |
"applied": 2
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| 555 |
},
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| 556 |
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"hands_registration": {
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| 557 |
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"cameras": {},
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"hands": {
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| 559 |
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"left": {
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| 560 |
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"offset_deg": 17.47,
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| 561 |
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"offset_rotvec": [
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-0.1557,
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0.1688,
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-0.2006
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],
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| 566 |
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"dev_deg": {
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| 567 |
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"median": 13.97,
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| 568 |
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"p90": 25.67
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| 569 |
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},
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| 570 |
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"samples": 3868,
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| 571 |
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"accepted": 3568,
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| 572 |
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"wrist_pos_err_mm_median": 98.0,
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| 573 |
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"per_camera": {
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| 574 |
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"head": {
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| 575 |
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"samples": 3868,
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| 576 |
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"accepted": 3568,
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| 577 |
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"gate_deg": 30.0,
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| 578 |
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"offset_deg": 17.47,
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| 579 |
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"tier": "primary",
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| 580 |
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"dev_deg_median": 13.97,
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| 581 |
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"wrist_pos_err_mm_median": 98.0
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| 582 |
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}
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},
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| 584 |
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"frames_by_state": {
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| 585 |
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"ace_sample": 14311,
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| 586 |
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"interpolated": 252,
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| 587 |
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"mean_hand": 913,
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| 588 |
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"no_body_fit": 8
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},
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| 590 |
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"observed_fraction": 0.9405,
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| 591 |
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"observed_fraction_of_valid": 0.941,
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| 592 |
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"palm_axis_vs_markers_deg": {
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| 593 |
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"gsi": 11.89,
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| 594 |
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"smplx": 4.49
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| 595 |
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},
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| 596 |
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"hand_marker_to_mesh_mm": {
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| 597 |
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"flat": {
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| 598 |
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"median": 10.9,
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| 599 |
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"p90": 14.9
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| 600 |
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},
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| 601 |
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"registered": {
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| 602 |
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"median": 10.8,
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| 603 |
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"p90": 12.4
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}
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}
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},
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"right": {
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| 608 |
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"offset_deg": 13.33,
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| 609 |
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"offset_rotvec": [
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-0.0959,
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0.2001,
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-0.07
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],
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"dev_deg": {
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"median": 13.02,
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"p90": 27.36
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},
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"samples": 3834,
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| 619 |
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"accepted": 3612,
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| 620 |
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"wrist_pos_err_mm_median": 79.1,
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| 621 |
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"per_camera": {
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| 622 |
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"head": {
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| 623 |
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"samples": 3834,
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| 624 |
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"accepted": 3612,
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| 625 |
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"gate_deg": 30.0,
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| 626 |
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"offset_deg": 13.33,
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| 627 |
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"tier": "primary",
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| 628 |
+
"dev_deg_median": 13.02,
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| 629 |
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"wrist_pos_err_mm_median": 79.1
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}
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},
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| 632 |
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"frames_by_state": {
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| 633 |
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"ace_sample": 14520,
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| 634 |
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"interpolated": 924,
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| 635 |
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"mean_hand": 32,
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| 636 |
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"no_body_fit": 8
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| 637 |
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},
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| 638 |
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"observed_fraction": 0.9974,
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| 639 |
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"observed_fraction_of_valid": 0.9979,
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| 640 |
+
"palm_axis_vs_markers_deg": {
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| 641 |
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"gsi": 15.24,
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| 642 |
+
"smplx": 1.83
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| 643 |
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},
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| 644 |
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"hand_marker_to_mesh_mm": {
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| 645 |
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"flat": {
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| 646 |
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"median": 11.7,
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| 647 |
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"p90": 18.3
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| 648 |
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},
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| 649 |
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"registered": {
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| 650 |
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"median": 11.2,
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| 651 |
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"p90": 17.3
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| 652 |
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}
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| 653 |
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}
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| 654 |
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}
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| 655 |
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},
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| 656 |
+
"max_dev_deg": 30.0,
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| 657 |
+
"max_gap_s": 1.0,
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| 658 |
+
"cameras_used": [
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| 659 |
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"head"
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| 660 |
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],
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| 661 |
+
"generated_at_utc": "2026-11-03T23:06:36.814548+00:00",
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| 662 |
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"generated_by": "scripts/register_hands_smplx.py",
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| 663 |
+
"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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| 664 |
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"wrist_flip_suspect": []
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| 665 |
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},
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| 666 |
"release": {
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| 667 |
"release_path": "actions/locomanipulation/LM33/session_002",
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| 668 |
"family": "locomanipulation",
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| 669 |
"primitive": "LM33",
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| 670 |
"source_session": "20260916/LM33/20260916_081116_session129"
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| 671 |
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},
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| 672 |
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"task": {
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| 673 |
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"primitive": "LM33",
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| 674 |
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"instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop."
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| 675 |
}
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| 676 |
}
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actions/locomanipulation/LM33/session_002/motions/hands_mano.npz
ADDED
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version https://git-lfs.github.com/spec/v1
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oid sha256:b42b361e0f7a719ede91756b9e1bee5a798da54fa841d38fa20e01dc4b64b29f
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| 3 |
+
size 5196050
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actions/locomanipulation/LM33/session_002/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:c7ba00a346aac8ce3d50aff330f8d10246c90453ad1141da24f137b2aff82d74
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size 11023186
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actions/locomanipulation/LM33/session_003/annotations.json
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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 |
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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",
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| 5 |
+
"primitive": "LM33",
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| 6 |
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"instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop.",
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| 7 |
+
"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": 128.966756,
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| 11 |
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"video": "left_eye",
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| 12 |
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"video_t_start": 0.03896743370983802
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| 13 |
+
}
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| 14 |
+
],
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| 15 |
+
"episodes": [
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| 16 |
+
{
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| 17 |
+
"id": "cc0f0ec9-2abe-4aad-b369-a4852e523884",
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| 18 |
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"segment": "segment1",
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| 19 |
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"action": "LM33",
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| 20 |
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"quality": "valid",
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| 21 |
+
"start_s": 1.191,
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| 22 |
+
"end_s": 121.583,
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| 23 |
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"t_start": 1.23,
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| 24 |
+
"t_end": 121.622,
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| 25 |
+
"instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop."
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| 26 |
+
}
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| 27 |
+
]
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| 28 |
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}
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actions/locomanipulation/LM33/session_003/cameras/slam.npz
ADDED
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version https://git-lfs.github.com/spec/v1
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oid sha256:8cc8088044fd7882f382da5aeb397e890bc7179576ca8c0f0710985fb09461ee
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| 3 |
+
size 743167
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actions/locomanipulation/LM33/session_003/meta.json
CHANGED
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@@ -325,8 +325,8 @@
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| 325 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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| 326 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 327 |
"hands": {
|
| 328 |
-
"observed":
|
| 329 |
-
"hand_pose": "
|
| 330 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 331 |
"hand_marker_offsets_m": {
|
| 332 |
"left": {
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@@ -580,10 +580,124 @@
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| 580 |
},
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| 581 |
"applied": 4
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| 582 |
},
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| 583 |
"release": {
|
| 584 |
"release_path": "actions/locomanipulation/LM33/session_003",
|
| 585 |
"family": "locomanipulation",
|
| 586 |
"primitive": "LM33",
|
| 587 |
"source_session": "20260916/LM33/20260916_081346_session130"
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|
| 588 |
}
|
| 589 |
}
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|
| 325 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 326 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 327 |
"hands": {
|
| 328 |
+
"observed": true,
|
| 329 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 330 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 331 |
"hand_marker_offsets_m": {
|
| 332 |
"left": {
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|
| 580 |
},
|
| 581 |
"applied": 4
|
| 582 |
},
|
| 583 |
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"hands_registration": {
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|
| 651 |
"family": "locomanipulation",
|
| 652 |
"primitive": "LM33",
|
| 653 |
"source_session": "20260916/LM33/20260916_095749_session158"
|
| 654 |
+
},
|
| 655 |
+
"task": {
|
| 656 |
+
"primitive": "LM33",
|
| 657 |
+
"instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop."
|
| 658 |
}
|
| 659 |
}
|