Release update 2026-11-05: new sessions, instructions, annotations (part 10)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +2 -0
- actions/locomanipulation/LM13/session_037/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM13/session_037/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM13/session_037/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM13/session_037/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM13/session_037/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM13/session_037/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM13/session_037/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM13/session_037/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM13/session_037/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM13/session_037/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM13/session_037/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM13/session_037/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM13/session_037/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM13/session_037/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM13/session_037/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM13/session_037/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM14/session_001/annotations.json +28 -0
- actions/locomanipulation/LM14/session_001/cameras/slam.npz +3 -0
- actions/locomanipulation/LM14/session_001/meta.json +125 -3
- actions/locomanipulation/LM14/session_001/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM14/session_001/motions/objects.json +39 -0
- actions/locomanipulation/LM14/session_001/motions/objects.npz +3 -0
- actions/locomanipulation/LM14/session_001/motions/smplx.npz +2 -2
- actions/locomanipulation/LM14/session_002/annotations.json +28 -0
- actions/locomanipulation/LM14/session_002/cameras/slam.npz +3 -0
- actions/locomanipulation/LM14/session_002/meta.json +125 -3
- actions/locomanipulation/LM14/session_002/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM14/session_002/motions/objects.json +39 -0
- actions/locomanipulation/LM14/session_002/motions/objects.npz +3 -0
- actions/locomanipulation/LM14/session_002/motions/smplx.npz +2 -2
- actions/locomanipulation/LM14/session_003/annotations.json +28 -0
- actions/locomanipulation/LM14/session_003/cameras/gsi_online_calibration.json +264 -0
- actions/locomanipulation/LM14/session_003/cameras/slam.npz +3 -0
- actions/locomanipulation/LM14/session_003/meta.json +116 -2
- actions/locomanipulation/LM14/session_003/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM14/session_003/motions/smplx.npz +2 -2
- actions/locomanipulation/LM14/session_004/annotations.json +28 -0
- actions/locomanipulation/LM14/session_004/cameras/slam.npz +3 -0
- actions/locomanipulation/LM14/session_004/meta.json +116 -2
- actions/locomanipulation/LM14/session_004/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM14/session_004/motions/smplx.npz +2 -2
- actions/locomanipulation/LM14/session_005/annotations.json +28 -0
- actions/locomanipulation/LM14/session_005/cameras/slam.npz +3 -0
- actions/locomanipulation/LM14/session_005/meta.json +116 -2
- actions/locomanipulation/LM14/session_005/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM14/session_005/motions/smplx.npz +2 -2
- actions/locomanipulation/LM14/session_006/annotations.json +28 -0
- actions/locomanipulation/LM14/session_006/cameras/slam.npz +3 -0
- actions/locomanipulation/LM14/session_006/meta.json +116 -2
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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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"segment": "segment1",
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"quality": "valid",
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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_001/cameras/slam.npz
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actions/locomanipulation/LM14/session_001/meta.json
CHANGED
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@@ -326,8 +326,8 @@
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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"hands": {
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-
"observed":
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"hand_pose": "
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"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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"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": 1.3745883973808122
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},
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"release": {
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"release_path": "actions/locomanipulation/LM14/session_001",
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"family": "locomanipulation",
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"primitive": "LM14",
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"source_session": "20260909/LM14/20260909_114822_session182"
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-
}
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}
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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"hands": {
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+
"observed": true,
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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",
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"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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"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": 1.3745883973808122
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},
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"hands_registration": {
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"cameras": {},
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"hands": {
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"left": {
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"offset_deg": 23.18,
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"offset_rotvec": [
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-0.1602,
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|
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|
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actions/locomanipulation/LM14/session_002/cameras/slam.npz
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actions/locomanipulation/LM14/session_002/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",
|
| 326 |
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|
| 327 |
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|
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"observed":
|
| 329 |
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"hand_pose": "
|
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|
| 331 |
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"left": {
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|
@@ -510,10 +510,132 @@
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|
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}
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
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|
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|
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"observed": true,
|
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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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ADDED
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@@ -0,0 +1,39 @@
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{
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|
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| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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],
|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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"name": "BigBox#1",
|
| 32 |
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|
| 33 |
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|
| 35 |
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| 36 |
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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 |
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}
|
| 27 |
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]
|
| 28 |
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actions/locomanipulation/LM14/session_003/cameras/gsi_online_calibration.json
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| 1 |
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{
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|
| 3 |
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|
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{
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| 5 |
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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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|
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|
| 19 |
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|
| 20 |
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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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|
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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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"left_eye": {
|
| 40 |
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"accepted": true,
|
| 41 |
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"against": [
|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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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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|
| 27 |
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actions/locomanipulation/LM14/session_004/cameras/slam.npz
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CHANGED
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|
@@ -516,10 +516,124 @@
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|
| 325 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 326 |
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|
| 327 |
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|
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|
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|
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|
| 638 |
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|
| 639 |
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|
actions/locomanipulation/LM14/session_004/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
@@ -1,3 +1,3 @@
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|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
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actions/locomanipulation/LM14/session_005/annotations.json
ADDED
|
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{
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|
| 3 |
+
"source": "vendor annotation.json (schema 2, revision 1)",
|
| 4 |
+
"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
|
| 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 |
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|
| 8 |
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| 9 |
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|
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| 17 |
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| 18 |
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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 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM14/session_005/cameras/slam.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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| 3 |
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size 713378
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actions/locomanipulation/LM14/session_005/meta.json
CHANGED
|
@@ -325,8 +325,8 @@
|
|
| 325 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 326 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 327 |
"hands": {
|
| 328 |
-
"observed":
|
| 329 |
-
"hand_pose": "
|
| 330 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 331 |
"hand_marker_offsets_m": {
|
| 332 |
"left": {
|
|
@@ -516,10 +516,124 @@
|
|
| 516 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 517 |
"remaining_gyro_frame_deg": 0.7857117854445717
|
| 518 |
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| 519 |
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| 520 |
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| 521 |
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|
| 523 |
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| 524 |
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|
| 525 |
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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 |
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"observed": true,
|
| 329 |
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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",
|
| 330 |
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|
| 331 |
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|
| 332 |
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|
| 516 |
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|
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},
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}
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},
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"max_dev_deg": 30.0,
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"cameras_used": [
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"head"
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| 623 |
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],
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| 624 |
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"generated_at_utc": "2026-11-03T16:04:39.329877+00:00",
|
| 625 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 626 |
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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",
|
| 627 |
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"wrist_flip_suspect": []
|
| 628 |
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},
|
| 629 |
"release": {
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|
| 631 |
"family": "locomanipulation",
|
| 632 |
"primitive": "LM14",
|
| 633 |
"source_session": "20260910/LM14/20260910_080200_session141"
|
| 634 |
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},
|
| 635 |
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"task": {
|
| 636 |
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"primitive": "LM14",
|
| 637 |
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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."
|
| 638 |
}
|
| 639 |
}
|
actions/locomanipulation/LM14/session_005/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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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 4966084
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actions/locomanipulation/LM14/session_005/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
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|
| 1 |
version https://git-lfs.github.com/spec/v1
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version https://git-lfs.github.com/spec/v1
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size 10724124
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actions/locomanipulation/LM14/session_006/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
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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 |
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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.",
|
| 7 |
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"segments": [
|
| 8 |
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{
|
| 9 |
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"id": "segment1",
|
| 10 |
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"duration_s": 133.966556,
|
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"video": "left_eye",
|
| 12 |
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|
| 13 |
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}
|
| 14 |
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],
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| 15 |
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"episodes": [
|
| 16 |
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{
|
| 17 |
+
"id": "4e016ba0-55e9-4789-832a-d815d7d4e988",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
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"action": "LM14",
|
| 20 |
+
"quality": "valid",
|
| 21 |
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"start_s": 0,
|
| 22 |
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"end_s": 129.127,
|
| 23 |
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"t_start": 0.0389,
|
| 24 |
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"t_end": 129.1659,
|
| 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_006/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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size 772256
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actions/locomanipulation/LM14/session_006/meta.json
CHANGED
|
@@ -325,8 +325,8 @@
|
|
| 325 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 326 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 327 |
"hands": {
|
| 328 |
-
"observed":
|
| 329 |
-
"hand_pose": "
|
| 330 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 331 |
"hand_marker_offsets_m": {
|
| 332 |
"left": {
|
|
@@ -516,10 +516,124 @@
|
|
| 516 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 517 |
"remaining_gyro_frame_deg": 0.8210294776152296
|
| 518 |
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
| 519 |
"release": {
|
| 520 |
"release_path": "actions/locomanipulation/LM14/session_006",
|
| 521 |
"family": "locomanipulation",
|
| 522 |
"primitive": "LM14",
|
| 523 |
"source_session": "20260910/LM14/20260910_080425_session142"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 524 |
}
|
| 525 |
}
|
|
|
|
| 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": {
|
|
|
|
| 516 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 517 |
"remaining_gyro_frame_deg": 0.8210294776152296
|
| 518 |
},
|
| 519 |
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"hands_registration": {
|
| 520 |
+
"cameras": {},
|
| 521 |
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"hands": {
|
| 522 |
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"left": {
|
| 523 |
+
"offset_deg": 11.61,
|
| 524 |
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"offset_rotvec": [
|
| 525 |
+
0.0466,
|
| 526 |
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0.0108,
|
| 527 |
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0.1969
|
| 528 |
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],
|
| 529 |
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"dev_deg": {
|
| 530 |
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"median": 4.0,
|
| 531 |
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"p90": 10.49
|
| 532 |
+
},
|
| 533 |
+
"samples": 3945,
|
| 534 |
+
"accepted": 3901,
|
| 535 |
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"wrist_pos_err_mm_median": 79.9,
|
| 536 |
+
"per_camera": {
|
| 537 |
+
"head": {
|
| 538 |
+
"samples": 3945,
|
| 539 |
+
"accepted": 3901,
|
| 540 |
+
"gate_deg": 30.0,
|
| 541 |
+
"offset_deg": 11.61,
|
| 542 |
+
"tier": "primary",
|
| 543 |
+
"dev_deg_median": 4.0,
|
| 544 |
+
"wrist_pos_err_mm_median": 79.9
|
| 545 |
+
}
|
| 546 |
+
},
|
| 547 |
+
"frames_by_state": {
|
| 548 |
+
"ace_sample": 15624,
|
| 549 |
+
"interpolated": 448,
|
| 550 |
+
"mean_hand": 12,
|
| 551 |
+
"no_body_fit": 0
|
| 552 |
+
},
|
| 553 |
+
"observed_fraction": 0.9993,
|
| 554 |
+
"observed_fraction_of_valid": 0.9993,
|
| 555 |
+
"palm_axis_vs_markers_deg": {
|
| 556 |
+
"gsi": 3.33,
|
| 557 |
+
"smplx": 0.98
|
| 558 |
+
},
|
| 559 |
+
"hand_marker_to_mesh_mm": {
|
| 560 |
+
"flat": {
|
| 561 |
+
"median": 5.6,
|
| 562 |
+
"p90": 7.1
|
| 563 |
+
},
|
| 564 |
+
"registered": {
|
| 565 |
+
"median": 5.1,
|
| 566 |
+
"p90": 6.2
|
| 567 |
+
}
|
| 568 |
+
}
|
| 569 |
+
},
|
| 570 |
+
"right": {
|
| 571 |
+
"offset_deg": 15.3,
|
| 572 |
+
"offset_rotvec": [
|
| 573 |
+
0.1829,
|
| 574 |
+
0.1367,
|
| 575 |
+
-0.1384
|
| 576 |
+
],
|
| 577 |
+
"dev_deg": {
|
| 578 |
+
"median": 5.41,
|
| 579 |
+
"p90": 9.82
|
| 580 |
+
},
|
| 581 |
+
"samples": 3951,
|
| 582 |
+
"accepted": 3926,
|
| 583 |
+
"wrist_pos_err_mm_median": 81.4,
|
| 584 |
+
"per_camera": {
|
| 585 |
+
"head": {
|
| 586 |
+
"samples": 3951,
|
| 587 |
+
"accepted": 3926,
|
| 588 |
+
"gate_deg": 30.0,
|
| 589 |
+
"offset_deg": 15.3,
|
| 590 |
+
"tier": "primary",
|
| 591 |
+
"dev_deg_median": 5.41,
|
| 592 |
+
"wrist_pos_err_mm_median": 81.4
|
| 593 |
+
}
|
| 594 |
+
},
|
| 595 |
+
"frames_by_state": {
|
| 596 |
+
"ace_sample": 15728,
|
| 597 |
+
"interpolated": 308,
|
| 598 |
+
"mean_hand": 48,
|
| 599 |
+
"no_body_fit": 0
|
| 600 |
+
},
|
| 601 |
+
"observed_fraction": 0.997,
|
| 602 |
+
"observed_fraction_of_valid": 0.997,
|
| 603 |
+
"palm_axis_vs_markers_deg": {
|
| 604 |
+
"gsi": 13.16,
|
| 605 |
+
"smplx": 1.09
|
| 606 |
+
},
|
| 607 |
+
"hand_marker_to_mesh_mm": {
|
| 608 |
+
"flat": {
|
| 609 |
+
"median": 6.0,
|
| 610 |
+
"p90": 7.2
|
| 611 |
+
},
|
| 612 |
+
"registered": {
|
| 613 |
+
"median": 5.7,
|
| 614 |
+
"p90": 6.9
|
| 615 |
+
}
|
| 616 |
+
}
|
| 617 |
+
}
|
| 618 |
+
},
|
| 619 |
+
"max_dev_deg": 30.0,
|
| 620 |
+
"max_gap_s": 1.0,
|
| 621 |
+
"cameras_used": [
|
| 622 |
+
"head"
|
| 623 |
+
],
|
| 624 |
+
"generated_at_utc": "2026-11-03T16:04:48.636809+00:00",
|
| 625 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 626 |
+
"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",
|
| 627 |
+
"wrist_flip_suspect": []
|
| 628 |
+
},
|
| 629 |
"release": {
|
| 630 |
"release_path": "actions/locomanipulation/LM14/session_006",
|
| 631 |
"family": "locomanipulation",
|
| 632 |
"primitive": "LM14",
|
| 633 |
"source_session": "20260910/LM14/20260910_080425_session142"
|
| 634 |
+
},
|
| 635 |
+
"task": {
|
| 636 |
+
"primitive": "LM14",
|
| 637 |
+
"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."
|
| 638 |
}
|
| 639 |
}
|