Release update 2026-11-05: new sessions, instructions, annotations (part 71)
Browse files- actions/locomanipulation/LM17/session_038/cameras/slam.npz +3 -0
- actions/locomanipulation/LM17/session_038/meta.json +116 -2
- actions/locomanipulation/LM17/session_038/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM17/session_038/motions/smplx.npz +2 -2
- actions/locomanipulation/LM17/session_039/annotations.json +28 -0
- actions/locomanipulation/LM17/session_039/cameras/gsi_online_calibration.json +214 -0
- actions/locomanipulation/LM17/session_039/cameras/slam.npz +3 -0
- actions/locomanipulation/LM17/session_039/meta.json +116 -2
- actions/locomanipulation/LM17/session_039/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM17/session_039/motions/smplx.npz +2 -2
- actions/locomanipulation/LM17/session_040/annotations.json +28 -0
- actions/locomanipulation/LM17/session_040/cameras/gsi_online_calibration.json +258 -0
actions/locomanipulation/LM17/session_038/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:e53bc6a9b7834858439841e8ac337738e23dfd9aaee6d69e38025d50c4a1ff8e
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+
size 713434
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actions/locomanipulation/LM17/session_038/meta.json
CHANGED
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@@ -381,8 +381,8 @@
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| 381 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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| 382 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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| 383 |
"hands": {
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| 384 |
-
"observed":
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| 385 |
-
"hand_pose": "
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| 386 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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| 387 |
"hand_marker_offsets_m": {
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| 388 |
"left": {
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@@ -523,10 +523,124 @@
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| 523 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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| 524 |
}
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| 525 |
},
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| 526 |
"release": {
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| 527 |
"release_path": "actions/locomanipulation/LM17/session_038",
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| 528 |
"family": "locomanipulation",
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| 529 |
"primitive": "LM17",
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| 530 |
"source_session": "20261015/LM17/20261015_090703_session38"
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| 531 |
}
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| 532 |
}
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| 381 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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| 382 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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| 383 |
"hands": {
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| 384 |
+
"observed": true,
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| 385 |
+
"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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| 386 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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| 387 |
"hand_marker_offsets_m": {
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| 388 |
"left": {
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|
| 523 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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| 524 |
}
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| 525 |
},
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| 526 |
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"hands_registration": {
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| 527 |
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"cameras": {},
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| 528 |
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"hands": {
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| 529 |
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"left": {
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| 530 |
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"offset_deg": 33.06,
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| 531 |
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"offset_rotvec": [
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0.527,
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| 533 |
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-0.1765,
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| 534 |
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0.1554
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| 535 |
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],
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| 536 |
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"dev_deg": {
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| 537 |
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"median": 12.63,
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| 538 |
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"p90": 28.16
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| 539 |
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},
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| 540 |
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"samples": 2764,
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| 541 |
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"accepted": 2528,
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| 542 |
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"wrist_pos_err_mm_median": 44.6,
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| 543 |
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"per_camera": {
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| 544 |
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"head": {
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| 545 |
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"samples": 2764,
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| 546 |
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"accepted": 2528,
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| 547 |
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"gate_deg": 30.0,
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| 548 |
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"offset_deg": 33.06,
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| 549 |
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"tier": "primary",
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| 550 |
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"dev_deg_median": 12.63,
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| 551 |
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"wrist_pos_err_mm_median": 44.6
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| 552 |
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}
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| 553 |
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},
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| 554 |
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"frames_by_state": {
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| 555 |
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"ace_sample": 10426,
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| 556 |
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"interpolated": 3646,
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| 557 |
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"mean_hand": 812,
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| 558 |
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"no_body_fit": 0
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| 559 |
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},
|
| 560 |
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"observed_fraction": 0.9454,
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| 561 |
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"observed_fraction_of_valid": 0.9454,
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| 562 |
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"palm_axis_vs_markers_deg": {
|
| 563 |
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"gsi": 30.63,
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| 564 |
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"smplx": 0.66
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| 565 |
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},
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| 566 |
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"hand_marker_to_mesh_mm": {
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| 567 |
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"flat": {
|
| 568 |
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"median": 12.9,
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| 569 |
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"p90": 14.6
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| 570 |
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},
|
| 571 |
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"registered": {
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| 572 |
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"median": 11.3,
|
| 573 |
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"p90": 13.1
|
| 574 |
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}
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| 575 |
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}
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| 576 |
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},
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| 577 |
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"right": {
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| 578 |
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"offset_deg": 12.36,
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| 579 |
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"offset_rotvec": [
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| 580 |
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0.0089,
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-0.166,
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0.1376
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],
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"dev_deg": {
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"median": 9.09,
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| 586 |
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"p90": 16.83
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| 587 |
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},
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| 588 |
+
"samples": 3687,
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| 589 |
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"accepted": 3594,
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| 590 |
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"wrist_pos_err_mm_median": 48.1,
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| 591 |
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"per_camera": {
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| 592 |
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"head": {
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| 593 |
+
"samples": 3687,
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| 594 |
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"accepted": 3594,
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| 595 |
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"gate_deg": 30.0,
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| 596 |
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"offset_deg": 12.36,
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| 597 |
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"tier": "primary",
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| 598 |
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"dev_deg_median": 9.09,
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| 599 |
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"wrist_pos_err_mm_median": 48.1
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| 600 |
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}
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| 601 |
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},
|
| 602 |
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"frames_by_state": {
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| 603 |
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"ace_sample": 14390,
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| 604 |
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"interpolated": 206,
|
| 605 |
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"mean_hand": 288,
|
| 606 |
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"no_body_fit": 0
|
| 607 |
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},
|
| 608 |
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"observed_fraction": 0.9807,
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| 609 |
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"observed_fraction_of_valid": 0.9807,
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| 610 |
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"palm_axis_vs_markers_deg": {
|
| 611 |
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"gsi": 10.42,
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| 612 |
+
"smplx": 0.63
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| 613 |
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},
|
| 614 |
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"hand_marker_to_mesh_mm": {
|
| 615 |
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"flat": {
|
| 616 |
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"median": 9.5,
|
| 617 |
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"p90": 13.0
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| 618 |
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},
|
| 619 |
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"registered": {
|
| 620 |
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"median": 9.4,
|
| 621 |
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"p90": 12.3
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| 622 |
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}
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| 623 |
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}
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| 624 |
+
}
|
| 625 |
+
},
|
| 626 |
+
"max_dev_deg": 30.0,
|
| 627 |
+
"max_gap_s": 1.0,
|
| 628 |
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"cameras_used": [
|
| 629 |
+
"head"
|
| 630 |
+
],
|
| 631 |
+
"generated_at_utc": "2026-11-03T21:52:30.016537+00:00",
|
| 632 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 633 |
+
"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",
|
| 634 |
+
"wrist_flip_suspect": []
|
| 635 |
+
},
|
| 636 |
"release": {
|
| 637 |
"release_path": "actions/locomanipulation/LM17/session_038",
|
| 638 |
"family": "locomanipulation",
|
| 639 |
"primitive": "LM17",
|
| 640 |
"source_session": "20261015/LM17/20261015_090703_session38"
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| 641 |
+
},
|
| 642 |
+
"task": {
|
| 643 |
+
"primitive": "LM17",
|
| 644 |
+
"instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth."
|
| 645 |
}
|
| 646 |
}
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actions/locomanipulation/LM17/session_038/motions/hands_mano.npz
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a09fb1baa2a7ac23208aab8b7f7653a933201ba9cf76b8c32e4a26e2a4dac58a
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| 3 |
+
size 4392720
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actions/locomanipulation/LM17/session_038/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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| 1 |
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:5c19075df986f8e1f158d2d66c11a51391edaf8f794591c3f7c9d58eca7d1ebb
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+
size 10595233
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actions/locomanipulation/LM17/session_039/annotations.json
ADDED
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@@ -0,0 +1,28 @@
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| 1 |
+
{
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| 2 |
+
"schema_version": 1,
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| 3 |
+
"source": "vendor annotation.json (schema 2, revision 1)",
|
| 4 |
+
"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
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| 5 |
+
"primitive": "LM17",
|
| 6 |
+
"instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 127.6667,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03961325846832331
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| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "8c2df6ac-9f01-4d6c-bc8e-f594b71b7397",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM17",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 4.835,
|
| 22 |
+
"end_s": 125.213,
|
| 23 |
+
"t_start": 4.8746,
|
| 24 |
+
"t_end": 125.2526,
|
| 25 |
+
"instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
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actions/locomanipulation/LM17/session_039/cameras/gsi_online_calibration.json
ADDED
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actions/locomanipulation/LM17/session_039/cameras/slam.npz
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CHANGED
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@@ -381,8 +381,8 @@
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|
| 381 |
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|
| 382 |
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|
@@ -523,10 +523,124 @@
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| 523 |
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| 524 |
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| 525 |
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|
| 523 |
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actions/locomanipulation/LM17/session_040/annotations.json
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actions/locomanipulation/LM17/session_040/cameras/gsi_online_calibration.json
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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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