Release update 2026-11-05: new sessions, instructions, annotations (part 340)
Browse files- actions/locomanipulation/LM35/session_006/cameras/slam.npz +3 -0
- actions/locomanipulation/LM35/session_006/meta.json +116 -2
- actions/locomanipulation/LM35/session_006/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM35/session_006/motions/smplx.npz +2 -2
- actions/locomanipulation/LM35/session_007/annotations.json +28 -0
- actions/locomanipulation/LM35/session_007/cameras/slam.npz +3 -0
- actions/locomanipulation/LM35/session_007/meta.json +116 -2
- actions/locomanipulation/LM35/session_007/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM35/session_007/motions/smplx.npz +2 -2
- actions/locomanipulation/LM35/session_008/annotations.json +28 -0
- actions/locomanipulation/LM35/session_008/cameras/slam.npz +3 -0
- actions/locomanipulation/LM35/session_008/meta.json +116 -2
actions/locomanipulation/LM35/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:a95669e17648404e5753f95176f394980dcd5d11a984174d17fa9090e398afe6
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size 745040
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actions/locomanipulation/LM35/session_006/meta.json
CHANGED
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@@ -326,8 +326,8 @@
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| 326 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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| 327 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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| 328 |
"hands": {
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| 329 |
-
"observed":
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| 330 |
-
"hand_pose": "
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| 331 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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| 332 |
"hand_marker_offsets_m": {
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| 333 |
"left": {
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@@ -507,10 +507,124 @@
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| 507 |
"generated_by": "scripts/correct_processed_rig.py",
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"remaining_gyro_frame_deg": 0.7798589564181174
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| 509 |
},
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| 510 |
"release": {
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| 511 |
"release_path": "actions/locomanipulation/LM35/session_006",
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| 512 |
"family": "locomanipulation",
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| 513 |
"primitive": "LM35",
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| 514 |
"source_session": "20260920/LM35/20260920_034322_session14"
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| 515 |
}
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| 516 |
}
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| 326 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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| 327 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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| 328 |
"hands": {
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| 329 |
+
"observed": true,
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| 330 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
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| 331 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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| 332 |
"hand_marker_offsets_m": {
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| 333 |
"left": {
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| 507 |
"generated_by": "scripts/correct_processed_rig.py",
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| 508 |
"remaining_gyro_frame_deg": 0.7798589564181174
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| 509 |
},
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| 510 |
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"hands_registration": {
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| 511 |
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"cameras": {},
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| 512 |
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"hands": {
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"left": {
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| 514 |
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"offset_deg": 11.98,
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"offset_rotvec": [
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0.2042,
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-0.0181,
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-0.041
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],
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"dev_deg": {
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| 521 |
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"median": 9.68,
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| 522 |
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"p90": 27.64
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| 523 |
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},
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| 524 |
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"samples": 2695,
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| 525 |
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"accepted": 2459,
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| 526 |
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"wrist_pos_err_mm_median": 57.1,
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| 527 |
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"per_camera": {
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| 528 |
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"head": {
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| 529 |
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"samples": 2695,
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| 530 |
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"accepted": 2459,
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| 531 |
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"gate_deg": 30.0,
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| 532 |
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"offset_deg": 11.98,
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| 533 |
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"tier": "primary",
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| 534 |
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"dev_deg_median": 9.68,
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| 535 |
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"wrist_pos_err_mm_median": 57.1
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| 536 |
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}
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| 537 |
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},
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| 538 |
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"frames_by_state": {
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| 539 |
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"ace_sample": 9812,
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| 540 |
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"interpolated": 216,
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| 541 |
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"mean_hand": 5448,
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| 542 |
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"no_body_fit": 8
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| 543 |
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},
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| 544 |
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"observed_fraction": 0.6476,
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| 545 |
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"observed_fraction_of_valid": 0.648,
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| 546 |
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"palm_axis_vs_markers_deg": {
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| 547 |
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"gsi": 16.19,
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| 548 |
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"smplx": 1.05
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| 549 |
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},
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| 550 |
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"hand_marker_to_mesh_mm": {
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| 551 |
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"flat": {
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| 552 |
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"median": 12.2,
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| 553 |
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"p90": 18.4
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| 554 |
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},
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| 555 |
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"registered": {
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| 556 |
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"median": 12.2,
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"p90": 17.4
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}
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}
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},
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"right": {
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"offset_deg": 32.49,
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"offset_rotvec": [
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0.07,
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-0.1404,
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0.5448
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],
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"dev_deg": {
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"median": 12.41,
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"p90": 48.62
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},
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| 572 |
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"samples": 1690,
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| 573 |
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"accepted": 1343,
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| 574 |
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"wrist_pos_err_mm_median": 67.4,
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| 575 |
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"per_camera": {
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| 576 |
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"head": {
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| 577 |
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"samples": 1690,
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| 578 |
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"accepted": 1343,
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| 579 |
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"gate_deg": 30.0,
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| 580 |
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"offset_deg": 32.49,
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| 581 |
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"tier": "primary",
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| 582 |
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"dev_deg_median": 12.41,
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| 583 |
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"wrist_pos_err_mm_median": 67.4
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| 584 |
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}
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| 585 |
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},
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| 586 |
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"frames_by_state": {
|
| 587 |
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"ace_sample": 5342,
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| 588 |
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"interpolated": 330,
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| 589 |
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"mean_hand": 9804,
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| 590 |
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"no_body_fit": 8
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| 591 |
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},
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| 592 |
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"observed_fraction": 0.3663,
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| 593 |
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"observed_fraction_of_valid": 0.3665,
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| 594 |
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"palm_axis_vs_markers_deg": {
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| 595 |
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"gsi": 20.11,
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| 596 |
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"smplx": 2.74
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| 597 |
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},
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| 598 |
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"hand_marker_to_mesh_mm": {
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| 599 |
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"flat": {
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| 600 |
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"median": 12.1,
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| 601 |
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"p90": 17.7
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| 602 |
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},
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| 603 |
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"registered": {
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| 604 |
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"median": 11.6,
|
| 605 |
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"p90": 16.5
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| 606 |
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}
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| 607 |
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}
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| 608 |
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}
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| 609 |
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},
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| 610 |
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"max_dev_deg": 30.0,
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| 611 |
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"max_gap_s": 1.0,
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| 612 |
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"cameras_used": [
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| 613 |
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"head"
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| 614 |
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],
|
| 615 |
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"generated_at_utc": "2026-11-03T22:51:49.562229+00:00",
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| 616 |
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"generated_by": "scripts/register_hands_smplx.py",
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| 617 |
+
"conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
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| 618 |
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"wrist_flip_suspect": []
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| 619 |
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},
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| 620 |
"release": {
|
| 621 |
"release_path": "actions/locomanipulation/LM35/session_006",
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| 622 |
"family": "locomanipulation",
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| 623 |
"primitive": "LM35",
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| 624 |
"source_session": "20260920/LM35/20260920_034322_session14"
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| 625 |
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},
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| 626 |
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"task": {
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| 627 |
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"primitive": "LM35",
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| 628 |
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"instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking."
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| 629 |
}
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| 630 |
}
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actions/locomanipulation/LM35/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:bd604e4bcaec3272cbd0f0a17c04c417c62019397e924b27c643ce188d257b09
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| 3 |
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size 3056179
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actions/locomanipulation/LM35/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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-
oid sha256:
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size
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version https://git-lfs.github.com/spec/v1
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oid sha256:e5226400d181d30f19af3d8b7d2501a7ef94a7164d7d5b3af627a43aca533a28
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size 8900372
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actions/locomanipulation/LM35/session_007/annotations.json
ADDED
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@@ -0,0 +1,28 @@
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{
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| 2 |
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"schema_version": 1,
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| 3 |
+
"source": "vendor annotation.json (schema 2, revision 1)",
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| 4 |
+
"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
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| 5 |
+
"primitive": "LM35",
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| 6 |
+
"instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking.",
|
| 7 |
+
"segments": [
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| 8 |
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{
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| 9 |
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"id": "segment1",
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| 10 |
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"duration_s": 118.966656,
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| 11 |
+
"video": "left_eye",
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| 12 |
+
"video_t_start": 0.038770880459234824
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| 13 |
+
}
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| 14 |
+
],
|
| 15 |
+
"episodes": [
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| 16 |
+
{
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| 17 |
+
"id": "95435091-5fb5-45a9-b343-1af28d823b71",
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| 18 |
+
"segment": "segment1",
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| 19 |
+
"action": "LM35",
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| 20 |
+
"quality": "valid",
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| 21 |
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"start_s": 0,
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| 22 |
+
"end_s": 115.001,
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| 23 |
+
"t_start": 0.0388,
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| 24 |
+
"t_end": 115.0398,
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| 25 |
+
"instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking."
|
| 26 |
+
}
|
| 27 |
+
]
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| 28 |
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}
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actions/locomanipulation/LM35/session_007/cameras/slam.npz
ADDED
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version https://git-lfs.github.com/spec/v1
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+
oid sha256:8c27b7ebe271f688b1dd68c422f61893632848c0f3ce883b928e03b9cb1cee2f
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| 3 |
+
size 687332
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actions/locomanipulation/LM35/session_007/meta.json
CHANGED
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@@ -328,8 +328,8 @@
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|
| 328 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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| 329 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 330 |
"hands": {
|
| 331 |
-
"observed":
|
| 332 |
-
"hand_pose": "
|
| 333 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 334 |
"hand_marker_offsets_m": {
|
| 335 |
"left": {
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@@ -509,10 +509,124 @@
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|
| 509 |
"generated_by": "scripts/correct_processed_rig.py",
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| 510 |
"remaining_gyro_frame_deg": 0.7871619289959961
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| 511 |
},
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| 512 |
"release": {
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| 513 |
"release_path": "actions/locomanipulation/LM35/session_007",
|
| 514 |
"family": "locomanipulation",
|
| 515 |
"primitive": "LM35",
|
| 516 |
"source_session": "20260920/LM35/20260920_034543_session15"
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| 517 |
}
|
| 518 |
}
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|
| 328 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 329 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 330 |
"hands": {
|
| 331 |
+
"observed": true,
|
| 332 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 333 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 334 |
"hand_marker_offsets_m": {
|
| 335 |
"left": {
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|
| 509 |
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},
|
| 620 |
"release": {
|
| 621 |
"release_path": "actions/locomanipulation/LM35/session_008",
|
| 622 |
"family": "locomanipulation",
|
| 623 |
"primitive": "LM35",
|
| 624 |
"source_session": "20260920/LM35/20260920_034752_session16"
|
| 625 |
+
},
|
| 626 |
+
"task": {
|
| 627 |
+
"primitive": "LM35",
|
| 628 |
+
"instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking."
|
| 629 |
}
|
| 630 |
}
|