Release update 2026-11-05: new sessions, instructions, annotations (part 19)
Browse files- actions/locomanipulation/LM15/session_005/motions/smplx.npz +2 -2
- actions/locomanipulation/LM15/session_006/annotations.json +28 -0
- actions/locomanipulation/LM15/session_006/cameras/slam.npz +3 -0
- actions/locomanipulation/LM15/session_006/meta.json +116 -2
- actions/locomanipulation/LM15/session_006/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM15/session_006/motions/smplx.npz +2 -2
- actions/locomanipulation/LM15/session_007/annotations.json +28 -0
- actions/locomanipulation/LM15/session_007/cameras/slam.npz +3 -0
- actions/locomanipulation/LM15/session_007/meta.json +116 -2
- actions/locomanipulation/LM15/session_007/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM15/session_007/motions/smplx.npz +2 -2
- actions/locomanipulation/LM15/session_008/annotations.json +28 -0
actions/locomanipulation/LM15/session_005/motions/smplx.npz
CHANGED
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version https://git-lfs.github.com/spec/v1
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size
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version https://git-lfs.github.com/spec/v1
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size 9397067
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actions/locomanipulation/LM15/session_006/annotations.json
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{
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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 |
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"primitive": "LM15",
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| 6 |
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"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room.",
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| 7 |
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"segments": [
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| 8 |
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{
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| 9 |
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"id": "segment1",
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| 10 |
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"duration_s": 98.966567,
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| 11 |
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"video": "left_eye",
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| 12 |
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"video_t_start": 0.039284063939514
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| 13 |
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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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| 16 |
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{
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| 17 |
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"id": "46375f21-ae27-430b-8c40-49a972a29d30",
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| 18 |
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"segment": "segment1",
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| 19 |
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"action": "LM15",
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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": 94.841,
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| 23 |
+
"t_start": 0.0393,
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| 24 |
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"t_end": 94.8803,
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| 25 |
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"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
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| 26 |
+
}
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| 27 |
+
]
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| 28 |
+
}
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actions/locomanipulation/LM15/session_006/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 sha256:3fac68dc13b28fb616b74ee42fb118575ec7dc1dce4a1e499f5f081b27e564dd
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| 3 |
+
size 571219
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actions/locomanipulation/LM15/session_006/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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@@ -521,10 +521,124 @@
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| 521 |
"generated_by": "scripts/correct_processed_rig.py",
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| 522 |
"remaining_gyro_frame_deg": 0.8872143497081514
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| 523 |
},
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| 524 |
"release": {
|
| 525 |
"release_path": "actions/locomanipulation/LM15/session_006",
|
| 526 |
"family": "locomanipulation",
|
| 527 |
"primitive": "LM15",
|
| 528 |
"source_session": "20260910/LM15/20260910_075222_session137"
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|
| 529 |
}
|
| 530 |
}
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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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|
| 521 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 522 |
"remaining_gyro_frame_deg": 0.8872143497081514
|
| 523 |
},
|
| 524 |
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"hands_registration": {
|
| 525 |
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"cameras": {},
|
| 526 |
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"hands": {
|
| 527 |
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"left": {
|
| 528 |
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"offset_deg": 11.68,
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| 529 |
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"offset_rotvec": [
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| 530 |
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0.1455,
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| 531 |
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0.0563,
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| 532 |
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0.1313
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| 533 |
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],
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| 534 |
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"dev_deg": {
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| 535 |
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"median": 14.06,
|
| 536 |
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"p90": 44.21
|
| 537 |
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},
|
| 538 |
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"samples": 2428,
|
| 539 |
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"accepted": 1898,
|
| 540 |
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"wrist_pos_err_mm_median": 104.1,
|
| 541 |
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"per_camera": {
|
| 542 |
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"head": {
|
| 543 |
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"samples": 2428,
|
| 544 |
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"accepted": 1898,
|
| 545 |
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"gate_deg": 30.0,
|
| 546 |
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"offset_deg": 11.68,
|
| 547 |
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"tier": "primary",
|
| 548 |
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"dev_deg_median": 14.06,
|
| 549 |
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"wrist_pos_err_mm_median": 104.1
|
| 550 |
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}
|
| 551 |
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},
|
| 552 |
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"frames_by_state": {
|
| 553 |
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"ace_sample": 7683,
|
| 554 |
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"interpolated": 1868,
|
| 555 |
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"mean_hand": 2325,
|
| 556 |
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"no_body_fit": 8
|
| 557 |
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},
|
| 558 |
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"observed_fraction": 0.8037,
|
| 559 |
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"observed_fraction_of_valid": 0.8042,
|
| 560 |
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"palm_axis_vs_markers_deg": {
|
| 561 |
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"gsi": 14.58,
|
| 562 |
+
"smplx": 0.86
|
| 563 |
+
},
|
| 564 |
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"hand_marker_to_mesh_mm": {
|
| 565 |
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"flat": {
|
| 566 |
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"median": 11.7,
|
| 567 |
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"p90": 13.0
|
| 568 |
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},
|
| 569 |
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"registered": {
|
| 570 |
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"median": 11.5,
|
| 571 |
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"p90": 12.7
|
| 572 |
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}
|
| 573 |
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}
|
| 574 |
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},
|
| 575 |
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"right": {
|
| 576 |
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"offset_deg": 15.8,
|
| 577 |
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"offset_rotvec": [
|
| 578 |
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0.0717,
|
| 579 |
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0.2444,
|
| 580 |
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0.1056
|
| 581 |
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],
|
| 582 |
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"dev_deg": {
|
| 583 |
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"median": 12.66,
|
| 584 |
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"p90": 24.5
|
| 585 |
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},
|
| 586 |
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"samples": 2558,
|
| 587 |
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"accepted": 2397,
|
| 588 |
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"wrist_pos_err_mm_median": 131.8,
|
| 589 |
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"per_camera": {
|
| 590 |
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"head": {
|
| 591 |
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"samples": 2558,
|
| 592 |
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"accepted": 2397,
|
| 593 |
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"gate_deg": 30.0,
|
| 594 |
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"offset_deg": 15.8,
|
| 595 |
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"tier": "primary",
|
| 596 |
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"dev_deg_median": 12.66,
|
| 597 |
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"wrist_pos_err_mm_median": 131.8
|
| 598 |
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}
|
| 599 |
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},
|
| 600 |
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"frames_by_state": {
|
| 601 |
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"ace_sample": 9754,
|
| 602 |
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"interpolated": 2002,
|
| 603 |
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"mean_hand": 120,
|
| 604 |
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"no_body_fit": 8
|
| 605 |
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},
|
| 606 |
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"observed_fraction": 0.9892,
|
| 607 |
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"observed_fraction_of_valid": 0.9899,
|
| 608 |
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"palm_axis_vs_markers_deg": {
|
| 609 |
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"gsi": 12.8,
|
| 610 |
+
"smplx": 0.56
|
| 611 |
+
},
|
| 612 |
+
"hand_marker_to_mesh_mm": {
|
| 613 |
+
"flat": {
|
| 614 |
+
"median": 6.9,
|
| 615 |
+
"p90": 7.6
|
| 616 |
+
},
|
| 617 |
+
"registered": {
|
| 618 |
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"median": 6.7,
|
| 619 |
+
"p90": 7.9
|
| 620 |
+
}
|
| 621 |
+
}
|
| 622 |
+
}
|
| 623 |
+
},
|
| 624 |
+
"max_dev_deg": 30.0,
|
| 625 |
+
"max_gap_s": 1.0,
|
| 626 |
+
"cameras_used": [
|
| 627 |
+
"head"
|
| 628 |
+
],
|
| 629 |
+
"generated_at_utc": "2026-11-03T16:07:11.826848+00:00",
|
| 630 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 631 |
+
"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",
|
| 632 |
+
"wrist_flip_suspect": []
|
| 633 |
+
},
|
| 634 |
"release": {
|
| 635 |
"release_path": "actions/locomanipulation/LM15/session_006",
|
| 636 |
"family": "locomanipulation",
|
| 637 |
"primitive": "LM15",
|
| 638 |
"source_session": "20260910/LM15/20260910_075222_session137"
|
| 639 |
+
},
|
| 640 |
+
"task": {
|
| 641 |
+
"primitive": "LM15",
|
| 642 |
+
"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
|
| 643 |
}
|
| 644 |
}
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actions/locomanipulation/LM15/session_006/motions/hands_mano.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:fd5ec28c0b7958e7a9851c0bfecb79ad5671694af7078e38eae0f8f74940b266
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| 3 |
+
size 3412855
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actions/locomanipulation/LM15/session_006/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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| 2 |
-
oid sha256:
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| 3 |
-
size
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| 1 |
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:ddaca33aec4034acaf0c8246a00f97b4f05935b700c326afa04325ca0c0778d6
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| 3 |
+
size 8298226
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actions/locomanipulation/LM15/session_007/annotations.json
ADDED
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@@ -0,0 +1,28 @@
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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": "LM15",
|
| 6 |
+
"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 98.966544,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.038842618629162606
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "6d92f29d-bd64-42d5-bb15-9f33cacb47ba",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM15",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 95.468,
|
| 23 |
+
"t_start": 0.0388,
|
| 24 |
+
"t_end": 95.5068,
|
| 25 |
+
"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
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actions/locomanipulation/LM15/session_007/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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| 2 |
+
oid sha256:fbd3fa236e13142fb0af16e60171b2abed6867f5170746bdc0301030ccf9bee3
|
| 3 |
+
size 570513
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actions/locomanipulation/LM15/session_007/meta.json
CHANGED
|
@@ -339,8 +339,8 @@
|
|
| 339 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 340 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 341 |
"hands": {
|
| 342 |
-
"observed":
|
| 343 |
-
"hand_pose": "
|
| 344 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 345 |
"hand_marker_offsets_m": {
|
| 346 |
"left": {
|
|
@@ -532,10 +532,124 @@
|
|
| 532 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 533 |
"remaining_gyro_frame_deg": 0.9953188262677594
|
| 534 |
},
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|
| 535 |
"release": {
|
| 536 |
"release_path": "actions/locomanipulation/LM15/session_007",
|
| 537 |
"family": "locomanipulation",
|
| 538 |
"primitive": "LM15",
|
| 539 |
"source_session": "20260910/LM15/20260910_075418_session138"
|
|
|
|
|
|
|
|
|
|
|
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|
| 540 |
}
|
| 541 |
}
|
|
|
|
| 339 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 340 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 341 |
"hands": {
|
| 342 |
+
"observed": true,
|
| 343 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 344 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 345 |
"hand_marker_offsets_m": {
|
| 346 |
"left": {
|
|
|
|
| 532 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 533 |
"remaining_gyro_frame_deg": 0.9953188262677594
|
| 534 |
},
|
| 535 |
+
"hands_registration": {
|
| 536 |
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"cameras": {},
|
| 537 |
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"hands": {
|
| 538 |
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"left": {
|
| 539 |
+
"offset_deg": 8.04,
|
| 540 |
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"offset_rotvec": [
|
| 541 |
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0.0294,
|
| 542 |
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-0.0844,
|
| 543 |
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0.1081
|
| 544 |
+
],
|
| 545 |
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"dev_deg": {
|
| 546 |
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"median": 17.5,
|
| 547 |
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"p90": 35.1
|
| 548 |
+
},
|
| 549 |
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"samples": 1992,
|
| 550 |
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"accepted": 1629,
|
| 551 |
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|
| 552 |
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|
| 553 |
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|
| 554 |
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"samples": 1992,
|
| 555 |
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"accepted": 1629,
|
| 556 |
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|
| 557 |
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"offset_deg": 8.04,
|
| 558 |
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"tier": "primary",
|
| 559 |
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|
| 560 |
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|
| 561 |
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}
|
| 562 |
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},
|
| 563 |
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|
| 564 |
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|
| 565 |
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|
| 566 |
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|
| 567 |
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|
| 568 |
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},
|
| 569 |
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|
| 570 |
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|
| 571 |
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|
| 572 |
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"gsi": 16.03,
|
| 573 |
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|
| 574 |
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},
|
| 575 |
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|
| 576 |
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|
| 577 |
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"median": 7.9,
|
| 578 |
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|
| 579 |
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},
|
| 580 |
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"registered": {
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| 581 |
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"median": 8.6,
|
| 582 |
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"p90": 10.4
|
| 583 |
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}
|
| 584 |
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}
|
| 585 |
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},
|
| 586 |
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"right": {
|
| 587 |
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"offset_deg": 17.71,
|
| 588 |
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|
| 589 |
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0.261,
|
| 590 |
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0.1612,
|
| 591 |
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-0.0381
|
| 592 |
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],
|
| 593 |
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"dev_deg": {
|
| 594 |
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"median": 17.89,
|
| 595 |
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"p90": 52.61
|
| 596 |
+
},
|
| 597 |
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"samples": 1893,
|
| 598 |
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"accepted": 1296,
|
| 599 |
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"wrist_pos_err_mm_median": 124.6,
|
| 600 |
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"per_camera": {
|
| 601 |
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"head": {
|
| 602 |
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"samples": 1893,
|
| 603 |
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"accepted": 1296,
|
| 604 |
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"gate_deg": 30.0,
|
| 605 |
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"offset_deg": 17.71,
|
| 606 |
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"tier": "primary",
|
| 607 |
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"dev_deg_median": 17.89,
|
| 608 |
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"wrist_pos_err_mm_median": 124.6
|
| 609 |
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}
|
| 610 |
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},
|
| 611 |
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|
| 612 |
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|
| 613 |
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|
| 614 |
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|
| 615 |
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|
| 616 |
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},
|
| 617 |
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"observed_fraction": 0.6082,
|
| 618 |
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|
| 619 |
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|
| 620 |
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"gsi": 21.09,
|
| 621 |
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"smplx": 1.13
|
| 622 |
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},
|
| 623 |
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"hand_marker_to_mesh_mm": {
|
| 624 |
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"flat": {
|
| 625 |
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"median": 6.6,
|
| 626 |
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"p90": 9.0
|
| 627 |
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},
|
| 628 |
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"registered": {
|
| 629 |
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"median": 6.1,
|
| 630 |
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"p90": 8.3
|
| 631 |
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}
|
| 632 |
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}
|
| 633 |
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}
|
| 634 |
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},
|
| 635 |
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"max_dev_deg": 30.0,
|
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|
| 637 |
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"cameras_used": [
|
| 638 |
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"head"
|
| 639 |
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],
|
| 640 |
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"generated_at_utc": "2026-11-03T16:07:09.423452+00:00",
|
| 641 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 642 |
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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",
|
| 643 |
+
"wrist_flip_suspect": []
|
| 644 |
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},
|
| 645 |
"release": {
|
| 646 |
"release_path": "actions/locomanipulation/LM15/session_007",
|
| 647 |
"family": "locomanipulation",
|
| 648 |
"primitive": "LM15",
|
| 649 |
"source_session": "20260910/LM15/20260910_075418_session138"
|
| 650 |
+
},
|
| 651 |
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"task": {
|
| 652 |
+
"primitive": "LM15",
|
| 653 |
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"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
|
| 654 |
}
|
| 655 |
}
|
actions/locomanipulation/LM15/session_007/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
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|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:30897f0152da2bd324b68d690d83922b6dac8c76981cfd029694b0cf3ab3c6da
|
| 3 |
+
size 2711693
|
actions/locomanipulation/LM15/session_007/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:a27ba949edfbbef53853ea2a3f0cc1a7256ee2ad775250ee0929a159f2507ee1
|
| 3 |
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size 7974887
|
actions/locomanipulation/LM15/session_008/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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": "LM15",
|
| 6 |
+
"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 98.966556,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03912318599590425
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
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"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "65b52bcb-eb36-44ce-9fcc-d1dd9ca8a104",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM15",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 96.602,
|
| 23 |
+
"t_start": 0.0391,
|
| 24 |
+
"t_end": 96.6411,
|
| 25 |
+
"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|