Release update 2026-11-05: new sessions, instructions, annotations (part 292)
Browse files- actions/locomanipulation/LM32/session_005/annotations.json +28 -0
- actions/locomanipulation/LM32/session_005/cameras/slam.npz +3 -0
- actions/locomanipulation/LM32/session_005/meta.json +116 -2
- actions/locomanipulation/LM32/session_005/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM32/session_005/motions/smplx.npz +2 -2
- actions/locomanipulation/LM32/session_006/annotations.json +28 -0
- actions/locomanipulation/LM32/session_006/cameras/slam.npz +3 -0
- actions/locomanipulation/LM32/session_006/meta.json +116 -2
- actions/locomanipulation/LM32/session_006/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM32/session_006/motions/smplx.npz +2 -2
- actions/locomanipulation/LM32/session_007/annotations.json +28 -0
- actions/locomanipulation/LM32/session_007/cameras/slam.npz +3 -0
- actions/locomanipulation/LM32/session_007/meta.json +116 -2
- actions/locomanipulation/LM32/session_007/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM32/session_007/motions/smplx.npz +2 -2
- actions/locomanipulation/LM32/session_008/annotations.json +28 -0
- actions/locomanipulation/LM32/session_008/cameras/gsi_online_calibration.json +255 -0
- actions/locomanipulation/LM32/session_008/cameras/slam.npz +3 -0
- actions/locomanipulation/LM32/session_008/meta.json +4 -0
- actions/locomanipulation/LM32/session_008/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM32/session_009/annotations.json +28 -0
- actions/locomanipulation/LM32/session_009/cameras/gsi_online_calibration.json +257 -0
- actions/locomanipulation/LM32/session_009/cameras/slam.npz +3 -0
- actions/locomanipulation/LM32/session_009/meta.json +4 -0
- actions/locomanipulation/LM32/session_009/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM32/session_010/annotations.json +28 -0
- actions/locomanipulation/LM32/session_010/cameras/gsi_online_calibration.json +258 -0
actions/locomanipulation/LM32/session_005/annotations.json
ADDED
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{
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| 2 |
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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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| 5 |
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"primitive": "LM32",
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"instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it.",
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"segments": [
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{
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"id": "segment1",
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"duration_s": 128.9667,
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| 11 |
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"video": "left_eye",
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| 12 |
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"video_t_start": 0.039072635475007056
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}
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| 14 |
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],
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| 15 |
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"episodes": [
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{
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| 17 |
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"id": "2e6e07d9-07cd-4595-a2ff-5aac282606ad",
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| 18 |
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"segment": "segment1",
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| 19 |
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"action": "LM32",
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| 20 |
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"quality": "valid",
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| 21 |
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"start_s": 0,
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| 22 |
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"end_s": 119.701,
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| 23 |
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"t_start": 0.0391,
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| 24 |
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"t_end": 119.7401,
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| 25 |
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"instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it."
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| 26 |
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}
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]
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| 28 |
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}
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actions/locomanipulation/LM32/session_005/cameras/slam.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:c3581ac039eef21ef8998a1ecc0cc6d2e56c4af178bb0c7dae0397ef9560e779
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size 741599
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actions/locomanipulation/LM32/session_005/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)",
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| 327 |
"hands": {
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| 328 |
-
"observed":
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| 329 |
-
"hand_pose": "
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| 330 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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| 331 |
"hand_marker_offsets_m": {
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| 332 |
"left": {
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@@ -536,10 +536,124 @@
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},
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"applied": 1
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},
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| 539 |
"release": {
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| 540 |
"release_path": "actions/locomanipulation/LM32/session_005",
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| 541 |
"family": "locomanipulation",
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| 542 |
"primitive": "LM32",
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| 543 |
"source_session": "20260916/LM32/20260916_074504_session121"
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}
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| 545 |
}
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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)",
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| 327 |
"hands": {
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| 328 |
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"observed": true,
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| 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",
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| 330 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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| 331 |
"hand_marker_offsets_m": {
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| 332 |
"left": {
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| 536 |
},
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"applied": 1
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| 538 |
},
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"hands_registration": {
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| 540 |
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"cameras": {},
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| 541 |
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"hands": {
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| 542 |
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"left": {
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| 543 |
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"offset_deg": 14.51,
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| 544 |
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"offset_rotvec": [
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-0.0931,
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-0.1451,
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-0.1854
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],
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"dev_deg": {
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| 550 |
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"median": 7.64,
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| 551 |
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"p90": 40.37
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| 552 |
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},
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| 553 |
+
"samples": 3306,
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| 554 |
+
"accepted": 2792,
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| 555 |
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"wrist_pos_err_mm_median": 68.0,
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| 556 |
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"per_camera": {
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| 557 |
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"head": {
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| 558 |
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"samples": 3306,
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| 559 |
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"accepted": 2792,
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| 560 |
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"gate_deg": 30.0,
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| 561 |
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"offset_deg": 14.51,
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| 562 |
+
"tier": "primary",
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| 563 |
+
"dev_deg_median": 7.64,
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| 564 |
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"wrist_pos_err_mm_median": 68.0
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| 565 |
+
}
|
| 566 |
+
},
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| 567 |
+
"frames_by_state": {
|
| 568 |
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"ace_sample": 11197,
|
| 569 |
+
"interpolated": 1018,
|
| 570 |
+
"mean_hand": 3261,
|
| 571 |
+
"no_body_fit": 8
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| 572 |
+
},
|
| 573 |
+
"observed_fraction": 0.7889,
|
| 574 |
+
"observed_fraction_of_valid": 0.7893,
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| 575 |
+
"palm_axis_vs_markers_deg": {
|
| 576 |
+
"gsi": 10.51,
|
| 577 |
+
"smplx": 1.8
|
| 578 |
+
},
|
| 579 |
+
"hand_marker_to_mesh_mm": {
|
| 580 |
+
"flat": {
|
| 581 |
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"median": 10.6,
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| 582 |
+
"p90": 15.0
|
| 583 |
+
},
|
| 584 |
+
"registered": {
|
| 585 |
+
"median": 9.3,
|
| 586 |
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"p90": 11.8
|
| 587 |
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}
|
| 588 |
+
}
|
| 589 |
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},
|
| 590 |
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"right": {
|
| 591 |
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"offset_deg": 16.41,
|
| 592 |
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"offset_rotvec": [
|
| 593 |
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0.1166,
|
| 594 |
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-0.2199,
|
| 595 |
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-0.1416
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| 596 |
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],
|
| 597 |
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"dev_deg": {
|
| 598 |
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"median": 19.85,
|
| 599 |
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"p90": 36.02
|
| 600 |
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},
|
| 601 |
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"samples": 3724,
|
| 602 |
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"accepted": 2933,
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| 603 |
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"wrist_pos_err_mm_median": 83.9,
|
| 604 |
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"per_camera": {
|
| 605 |
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"head": {
|
| 606 |
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"samples": 3724,
|
| 607 |
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"accepted": 2933,
|
| 608 |
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"gate_deg": 30.0,
|
| 609 |
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"offset_deg": 16.41,
|
| 610 |
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"tier": "primary",
|
| 611 |
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"dev_deg_median": 19.85,
|
| 612 |
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"wrist_pos_err_mm_median": 83.9
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| 613 |
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}
|
| 614 |
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},
|
| 615 |
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"frames_by_state": {
|
| 616 |
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"ace_sample": 11929,
|
| 617 |
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"interpolated": 2422,
|
| 618 |
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"mean_hand": 1125,
|
| 619 |
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"no_body_fit": 8
|
| 620 |
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},
|
| 621 |
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"observed_fraction": 0.9268,
|
| 622 |
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"observed_fraction_of_valid": 0.9273,
|
| 623 |
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"palm_axis_vs_markers_deg": {
|
| 624 |
+
"gsi": 17.48,
|
| 625 |
+
"smplx": 2.14
|
| 626 |
+
},
|
| 627 |
+
"hand_marker_to_mesh_mm": {
|
| 628 |
+
"flat": {
|
| 629 |
+
"median": 10.2,
|
| 630 |
+
"p90": 23.7
|
| 631 |
+
},
|
| 632 |
+
"registered": {
|
| 633 |
+
"median": 9.9,
|
| 634 |
+
"p90": 23.1
|
| 635 |
+
}
|
| 636 |
+
}
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"max_dev_deg": 30.0,
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| 640 |
+
"max_gap_s": 1.0,
|
| 641 |
+
"cameras_used": [
|
| 642 |
+
"head"
|
| 643 |
+
],
|
| 644 |
+
"generated_at_utc": "2026-11-03T23:06:34.929622+00:00",
|
| 645 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 646 |
+
"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",
|
| 647 |
+
"wrist_flip_suspect": []
|
| 648 |
+
},
|
| 649 |
"release": {
|
| 650 |
"release_path": "actions/locomanipulation/LM32/session_005",
|
| 651 |
"family": "locomanipulation",
|
| 652 |
"primitive": "LM32",
|
| 653 |
"source_session": "20260916/LM32/20260916_074504_session121"
|
| 654 |
+
},
|
| 655 |
+
"task": {
|
| 656 |
+
"primitive": "LM32",
|
| 657 |
+
"instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it."
|
| 658 |
}
|
| 659 |
}
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actions/locomanipulation/LM32/session_005/motions/hands_mano.npz
ADDED
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version https://git-lfs.github.com/spec/v1
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oid sha256:c7ef2e8faebbcfe1de8cf6864671bab0d3f1031383295e8cf0f92b0bd23a5d33
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| 3 |
+
size 4738085
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actions/locomanipulation/LM32/session_005/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 sha256:6cf0a705a1d9a1bce89168799aa922f8d0cfa1890f23ed73e5d9863475b37494
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+
size 10489989
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actions/locomanipulation/LM32/session_006/annotations.json
ADDED
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{
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| 2 |
+
"schema_version": 1,
|
| 3 |
+
"source": "vendor annotation.json (schema 2, revision 1)",
|
| 4 |
+
"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
|
| 5 |
+
"primitive": "LM32",
|
| 6 |
+
"instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 128.966656,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.039091733347252466
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "80e63bcd-b5c0-4855-9b01-830c7117aa8c",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM32",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0.825,
|
| 22 |
+
"end_s": 120.814,
|
| 23 |
+
"t_start": 0.8641,
|
| 24 |
+
"t_end": 120.8531,
|
| 25 |
+
"instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
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actions/locomanipulation/LM32/session_006/cameras/slam.npz
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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+
oid sha256:45191563a4938043c09f19f05941666475dc6e1d99504ea78bd72a27035de07e
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| 3 |
+
size 741528
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actions/locomanipulation/LM32/session_006/meta.json
CHANGED
|
@@ -326,8 +326,8 @@
|
|
| 326 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 327 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 328 |
"hands": {
|
| 329 |
-
"observed":
|
| 330 |
-
"hand_pose": "
|
| 331 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 332 |
"hand_marker_offsets_m": {
|
| 333 |
"left": {
|
|
@@ -506,10 +506,124 @@
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|
| 506 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 507 |
"remaining_gyro_frame_deg": 1.148977131446557
|
| 508 |
},
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| 509 |
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|
| 510 |
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|
| 511 |
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|
| 512 |
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|
| 513 |
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| 514 |
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|
| 515 |
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|
|
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|
| 326 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 327 |
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|
| 328 |
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|
| 329 |
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|
| 330 |
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|
| 331 |
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|
| 332 |
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|
| 333 |
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"task": {
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"primitive": "LM32",
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| 627 |
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"instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it."
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| 628 |
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|
| 629 |
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actions/locomanipulation/LM32/session_006/motions/hands_mano.npz
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actions/locomanipulation/LM32/session_007/annotations.json
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|
| 5 |
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"primitive": "LM32",
|
| 6 |
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"instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it.",
|
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"instruction": "Carry the lidded box and, while you are still walking, open the lid, then close it again. Repeat as you walk back and forth. Do not stop to do it."
|
| 26 |
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}
|
| 27 |
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]
|
| 28 |
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actions/locomanipulation/LM32/session_007/cameras/slam.npz
ADDED
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@@ -0,0 +1,3 @@
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actions/locomanipulation/LM32/session_007/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",
|
| 327 |
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|
| 328 |
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| 329 |
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"observed":
|
| 330 |
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|
| 331 |
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|
| 332 |
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| 333 |
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|
@@ -506,10 +506,124 @@
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|
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|
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|
| 509 |
"release": {
|
| 510 |
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|
| 511 |
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|
| 512 |
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|
| 513 |
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 514 |
}
|
| 515 |
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|
|
|
|
| 326 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 327 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 328 |
"hands": {
|
| 329 |
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"observed": true,
|
| 330 |
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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",
|
| 331 |
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|
| 332 |
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|
| 333 |
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|
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|
| 506 |
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|
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|
| 508 |
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| 510 |
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|
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| 512 |
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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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|
| 522 |
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},
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|
| 524 |
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|
| 525 |
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|
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|
| 527 |
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|
| 528 |
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|
| 529 |
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|
| 530 |
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|
| 531 |
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|
| 532 |
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|
| 533 |
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|
| 534 |
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|
| 535 |
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}
|
| 536 |
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},
|
| 537 |
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|
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|
| 539 |
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|
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|
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|
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|
| 543 |
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|
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|
| 545 |
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|
| 546 |
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"gsi": 29.48,
|
| 547 |
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"smplx": 2.56
|
| 548 |
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},
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actions/locomanipulation/LM32/session_008/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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actions/locomanipulation/LM32/session_008/cameras/slam.npz
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actions/locomanipulation/LM32/session_009/cameras/gsi_online_calibration.json
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| 1 |
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|
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|
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|
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|
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|
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actions/locomanipulation/LM32/session_010/cameras/gsi_online_calibration.json
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