Release update 2026-11-05: 5760 sessions, instructions, annotations (part 288)
Browse files- actions/locomanipulation/LM08/session_005/annotations.json +28 -0
- actions/locomanipulation/LM08/session_005/cameras/slam.npz +3 -0
- actions/locomanipulation/LM08/session_005/meta.json +116 -2
- actions/locomanipulation/LM08/session_005/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM08/session_005/motions/smplx.npz +2 -2
- actions/locomanipulation/LM08/session_006/annotations.json +28 -0
- actions/locomanipulation/LM08/session_006/cameras/slam.npz +3 -0
- actions/locomanipulation/LM08/session_006/meta.json +116 -2
- actions/locomanipulation/LM08/session_006/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM08/session_006/motions/smplx.npz +2 -2
- actions/locomanipulation/LM08/session_007/annotations.json +28 -0
- actions/locomanipulation/LM08/session_007/cameras/slam.npz +3 -0
- actions/locomanipulation/LM08/session_007/meta.json +116 -2
- actions/locomanipulation/LM08/session_007/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM08/session_007/motions/smplx.npz +2 -2
- actions/locomanipulation/LM08/session_008/cameras/gsi_online_calibration.json +265 -0
- actions/locomanipulation/LM08/session_008/cameras/poses.npz +2 -2
- actions/locomanipulation/LM08/session_008/cameras/slam.npz +3 -0
- actions/locomanipulation/LM08/session_008/meta.json +26 -22
- actions/locomanipulation/LM08/session_008/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM08/session_008/motions/head_rig.npz +2 -2
actions/locomanipulation/LM08/session_005/annotations.json
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{
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"schema_version": 1,
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"source": "vendor annotation.json (schema 2, revision 1)",
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"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
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"primitive": "LM08",
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"instruction": "Take an object from the lowest shelf, carry it across the room, and place it on the highest shelf you can comfortably reach. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
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"segments": [
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{
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"id": "segment1",
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"duration_s": 138.9667,
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"video": "left_eye",
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"video_t_start": -0.002960459684954543
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}
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],
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"episodes": [
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{
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"id": "96cfa6d0-1384-4b54-a774-03ae4fbe646c",
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| 18 |
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"segment": "segment1",
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| 19 |
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"action": "LM08",
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| 20 |
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"quality": "valid",
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| 21 |
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"start_s": 1.616,
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| 22 |
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"end_s": 135.1,
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| 23 |
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"t_start": 1.613,
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| 24 |
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"t_end": 135.097,
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| 25 |
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"instruction": "Take an object from the lowest shelf, carry it across the room, and place it on the highest shelf you can comfortably reach. Keep going until the operator says stop; one object at a time, and do not rush between trips."
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| 26 |
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}
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| 27 |
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]
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| 28 |
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}
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actions/locomanipulation/LM08/session_005/cameras/slam.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:2f3dd3bca92d0e7d3de855c1540b1a1029dcc21ca8217aa22c30eae5ce703eac
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size 800886
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actions/locomanipulation/LM08/session_005/meta.json
CHANGED
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@@ -344,8 +344,8 @@
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| 344 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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| 345 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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| 346 |
"hands": {
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| 347 |
-
"observed":
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| 348 |
-
"hand_pose": "
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| 349 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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| 350 |
"hand_marker_offsets_m": {
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| 351 |
"left": {
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@@ -526,10 +526,124 @@
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},
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| 527 |
"applied": 2
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},
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| 529 |
"release": {
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| 530 |
"release_path": "actions/locomanipulation/LM08/session_005",
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| 531 |
"family": "locomanipulation",
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| 532 |
"primitive": "LM08",
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| 533 |
"source_session": "20261010/LM08/20261010_050103_session63"
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}
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| 535 |
}
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| 344 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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| 345 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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| 346 |
"hands": {
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| 347 |
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"observed": true,
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| 348 |
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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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| 349 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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| 350 |
"hand_marker_offsets_m": {
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| 351 |
"left": {
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},
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"applied": 2
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},
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"hands_registration": {
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"cameras": {},
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| 531 |
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"hands": {
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"left": {
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"offset_deg": 20.0,
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| 534 |
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"offset_rotvec": [
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0.276,
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0.2129,
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0.0191
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],
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| 539 |
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"dev_deg": {
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| 540 |
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"median": 19.55,
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| 541 |
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"p90": 54.32
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| 542 |
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},
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| 543 |
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"samples": 3404,
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| 544 |
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"accepted": 2426,
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| 545 |
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"wrist_pos_err_mm_median": 56.2,
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| 546 |
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"per_camera": {
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| 547 |
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"head": {
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| 548 |
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"samples": 3404,
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| 549 |
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"accepted": 2426,
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| 550 |
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"gate_deg": 30.0,
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| 551 |
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"offset_deg": 20.0,
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| 552 |
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"tier": "primary",
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| 553 |
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"dev_deg_median": 19.55,
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| 554 |
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"wrist_pos_err_mm_median": 56.2
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| 555 |
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}
|
| 556 |
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},
|
| 557 |
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"frames_by_state": {
|
| 558 |
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"ace_sample": 9776,
|
| 559 |
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"interpolated": 2172,
|
| 560 |
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"mean_hand": 4731,
|
| 561 |
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"no_body_fit": 0
|
| 562 |
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},
|
| 563 |
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"observed_fraction": 0.7163,
|
| 564 |
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"observed_fraction_of_valid": 0.7163,
|
| 565 |
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"palm_axis_vs_markers_deg": {
|
| 566 |
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"gsi": 28.12,
|
| 567 |
+
"smplx": 3.55
|
| 568 |
+
},
|
| 569 |
+
"hand_marker_to_mesh_mm": {
|
| 570 |
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"flat": {
|
| 571 |
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"median": 12.2,
|
| 572 |
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"p90": 14.7
|
| 573 |
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},
|
| 574 |
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"registered": {
|
| 575 |
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"median": 10.2,
|
| 576 |
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"p90": 12.4
|
| 577 |
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}
|
| 578 |
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}
|
| 579 |
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},
|
| 580 |
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"right": {
|
| 581 |
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"offset_deg": 28.81,
|
| 582 |
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"offset_rotvec": [
|
| 583 |
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0.4301,
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| 584 |
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-0.2598,
|
| 585 |
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0.0194
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| 586 |
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],
|
| 587 |
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"dev_deg": {
|
| 588 |
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"median": 19.06,
|
| 589 |
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"p90": 40.88
|
| 590 |
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},
|
| 591 |
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"samples": 3298,
|
| 592 |
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"accepted": 2608,
|
| 593 |
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"wrist_pos_err_mm_median": 75.1,
|
| 594 |
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"per_camera": {
|
| 595 |
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"head": {
|
| 596 |
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"samples": 3298,
|
| 597 |
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"accepted": 2608,
|
| 598 |
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"gate_deg": 30.0,
|
| 599 |
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"offset_deg": 28.81,
|
| 600 |
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"tier": "primary",
|
| 601 |
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"dev_deg_median": 19.06,
|
| 602 |
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"wrist_pos_err_mm_median": 75.1
|
| 603 |
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}
|
| 604 |
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},
|
| 605 |
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"frames_by_state": {
|
| 606 |
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"ace_sample": 10606,
|
| 607 |
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"interpolated": 3782,
|
| 608 |
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"mean_hand": 2291,
|
| 609 |
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"no_body_fit": 0
|
| 610 |
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},
|
| 611 |
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"observed_fraction": 0.8626,
|
| 612 |
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"observed_fraction_of_valid": 0.8626,
|
| 613 |
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"palm_axis_vs_markers_deg": {
|
| 614 |
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"gsi": 32.08,
|
| 615 |
+
"smplx": 1.96
|
| 616 |
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},
|
| 617 |
+
"hand_marker_to_mesh_mm": {
|
| 618 |
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"flat": {
|
| 619 |
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"median": 14.6,
|
| 620 |
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"p90": 20.3
|
| 621 |
+
},
|
| 622 |
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"registered": {
|
| 623 |
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"median": 13.6,
|
| 624 |
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"p90": 18.7
|
| 625 |
+
}
|
| 626 |
+
}
|
| 627 |
+
}
|
| 628 |
+
},
|
| 629 |
+
"max_dev_deg": 30.0,
|
| 630 |
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"max_gap_s": 1.0,
|
| 631 |
+
"cameras_used": [
|
| 632 |
+
"head"
|
| 633 |
+
],
|
| 634 |
+
"generated_at_utc": "2026-11-03T22:13:41.914112+00:00",
|
| 635 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 636 |
+
"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",
|
| 637 |
+
"wrist_flip_suspect": []
|
| 638 |
+
},
|
| 639 |
"release": {
|
| 640 |
"release_path": "actions/locomanipulation/LM08/session_005",
|
| 641 |
"family": "locomanipulation",
|
| 642 |
"primitive": "LM08",
|
| 643 |
"source_session": "20261010/LM08/20261010_050103_session63"
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| 644 |
+
},
|
| 645 |
+
"task": {
|
| 646 |
+
"primitive": "LM08",
|
| 647 |
+
"instruction": "Take an object from the lowest shelf, carry it across the room, and place it on the highest shelf you can comfortably reach. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 648 |
}
|
| 649 |
}
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actions/locomanipulation/LM08/session_005/motions/hands_mano.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:293bfe47f0e5f168420287fe1aa46d4bd0abca03a5b64d52858877b071dbfdc4
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| 3 |
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size 4591740
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actions/locomanipulation/LM08/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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version https://git-lfs.github.com/spec/v1
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oid sha256:a4581efebfe26a025fe5eeba66bb2bf6fa3042b828407ec6cfa0cf0d73a09636
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size 11138170
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actions/locomanipulation/LM08/session_006/annotations.json
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{
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"schema_version": 1,
|
| 3 |
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"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": "LM08",
|
| 6 |
+
"instruction": "Take an object from the lowest shelf, carry it across the room, and place it on the highest shelf you can comfortably reach. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 133.966656,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.039091805668069135
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "05db2ca4-6ee1-44bf-baf3-a736ee458652",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM08",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1.967,
|
| 22 |
+
"end_s": 128.725,
|
| 23 |
+
"t_start": 2.0061,
|
| 24 |
+
"t_end": 128.7641,
|
| 25 |
+
"instruction": "Take an object from the lowest shelf, carry it across the room, and place it on the highest shelf you can comfortably reach. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
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actions/locomanipulation/LM08/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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| 2 |
+
oid sha256:c1e957d5e762d860a541a4600015448220144a2e56d7ccce9b87344a7755f5a4
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| 3 |
+
size 771715
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actions/locomanipulation/LM08/session_006/meta.json
CHANGED
|
@@ -344,8 +344,8 @@
|
|
| 344 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 345 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 346 |
"hands": {
|
| 347 |
-
"observed":
|
| 348 |
-
"hand_pose": "
|
| 349 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 350 |
"hand_marker_offsets_m": {
|
| 351 |
"left": {
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@@ -542,10 +542,124 @@
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},
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"applied": 3
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},
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| 550 |
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| 344 |
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"primitive": "LM08",
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"instruction": "Take an object from the lowest shelf, carry it across the room, and place it on the highest shelf you can comfortably reach. Keep going until the operator says stop; one object at a time, and do not rush between trips."
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actions/locomanipulation/LM08/session_006/motions/hands_mano.npz
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actions/locomanipulation/LM08/session_007/annotations.json
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|
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"primitive": "LM08",
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| 26 |
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|
| 27 |
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|
| 28 |
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actions/locomanipulation/LM08/session_007/cameras/slam.npz
ADDED
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actions/locomanipulation/LM08/session_007/meta.json
CHANGED
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@@ -344,8 +344,8 @@
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|
| 344 |
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| 345 |
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|
| 346 |
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|
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|
@@ -521,10 +521,124 @@
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|
| 521 |
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|
| 522 |
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| 523 |
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|
| 524 |
"release": {
|
| 525 |
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|
| 526 |
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|
| 527 |
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|
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|
|
|
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|
| 529 |
}
|
| 530 |
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|
|
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|
| 344 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 345 |
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|
| 346 |
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|
| 347 |
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"observed": true,
|
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| 351 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 550 |
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|
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},
|
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|
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|
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|
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|
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|
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|
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|
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|
| 563 |
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|
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|
| 565 |
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|
| 566 |
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|
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|
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|
| 570 |
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|
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|
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| 575 |
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"right": {
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"primitive": "LM08",
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"instruction": "Take an object from the lowest shelf, carry it across the room, and place it on the highest shelf you can comfortably reach. Keep going until the operator says stop; one object at a time, and do not rush between trips."
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{
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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