Release update 2026-11-05: new sessions, instructions, annotations (part 314)
Browse files- actions/locomanipulation/LM33/session_016/motions/smplx.npz +2 -2
- actions/locomanipulation/LM33/session_017/annotations.json +28 -0
- actions/locomanipulation/LM33/session_017/cameras/slam.npz +3 -0
- actions/locomanipulation/LM33/session_017/meta.json +119 -5
- actions/locomanipulation/LM33/session_017/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM33/session_017/motions/smplx.npz +2 -2
- actions/locomanipulation/LM33/session_018/annotations.json +28 -0
- actions/locomanipulation/LM33/session_018/cameras/slam.npz +3 -0
- actions/locomanipulation/LM33/session_018/meta.json +119 -5
- actions/locomanipulation/LM33/session_018/motions/hands_mano.npz +3 -0
actions/locomanipulation/LM33/session_016/motions/smplx.npz
CHANGED
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actions/locomanipulation/LM33/session_017/annotations.json
ADDED
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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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| 5 |
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"primitive": "LM33",
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"instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop.",
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"segments": [
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{
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"id": "segment1",
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"duration_s": 123.966633,
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"video": "left_eye",
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"video_t_start": 0.03924075333041532
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],
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"episodes": [
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{
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"id": "9cbc6f90-4a43-4d44-ace0-79cd0fe5a095",
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"segment": "segment1",
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"action": "LM33",
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| 20 |
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"quality": "valid",
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"start_s": 0.4,
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"end_s": 118.151,
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| 23 |
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"t_start": 0.4392,
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| 24 |
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"t_end": 118.1902,
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| 25 |
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"instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop."
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| 26 |
+
}
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| 27 |
+
]
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| 28 |
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}
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actions/locomanipulation/LM33/session_017/cameras/slam.npz
ADDED
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version https://git-lfs.github.com/spec/v1
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+
oid sha256:43d6148e2f9464acef8df757ba4deab9b17e9e598b59bdaaa5d5d45ff0c16650
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| 3 |
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size 715670
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actions/locomanipulation/LM33/session_017/meta.json
CHANGED
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@@ -363,8 +363,8 @@
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| 363 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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| 364 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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| 365 |
"hands": {
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| 366 |
-
"observed":
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| 367 |
-
"hand_pose": "
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| 368 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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| 369 |
"hand_marker_offsets_m": {
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| 370 |
"left": {
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@@ -577,18 +577,132 @@
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| 577 |
},
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| 578 |
"applied": 4
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},
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| 580 |
"release": {
|
| 581 |
"release_path": "actions/locomanipulation/LM33/session_017",
|
| 582 |
"family": "locomanipulation",
|
| 583 |
"primitive": "LM33",
|
| 584 |
"source_session": "20261013/LM33/20261013_060051_session93"
|
| 585 |
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| 586 |
"objects": [
|
| 587 |
{
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| 588 |
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"name": "BigBox",
|
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| 590 |
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"source": "
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| 591 |
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"pose_frame": "
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| 592 |
}
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| 593 |
]
|
| 594 |
}
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|
| 363 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 364 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 365 |
"hands": {
|
| 366 |
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"observed": true,
|
| 367 |
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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",
|
| 368 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 369 |
"hand_marker_offsets_m": {
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| 370 |
"left": {
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| 577 |
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| 578 |
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"hands_registration": {
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],
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"dev_deg": {
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"median": 20.85,
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"p90": 74.57
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| 593 |
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},
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"samples": 3690,
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| 595 |
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"accepted": 2563,
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"wrist_pos_err_mm_median": 24.7,
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| 597 |
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"per_camera": {
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| 598 |
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"head": {
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"samples": 3690,
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| 600 |
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"accepted": 2563,
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"gate_deg": 30.0,
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"offset_deg": 21.31,
|
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"tier": "primary",
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"dev_deg_median": 20.85,
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"wrist_pos_err_mm_median": 24.7
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| 606 |
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}
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},
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"frames_by_state": {
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|
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"observed_fraction": 0.8038,
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"observed_fraction_of_valid": 0.8038,
|
| 616 |
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"palm_axis_vs_markers_deg": {
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|
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|
| 619 |
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},
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|
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| 622 |
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|
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|
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|
| 626 |
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|
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}
|
| 629 |
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}
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},
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| 631 |
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"right": {
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|
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"samples": 3602,
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|
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| 646 |
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| 647 |
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|
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|
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"offset_deg": 36.71,
|
| 651 |
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"tier": "primary",
|
| 652 |
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"dev_deg_median": 10.68,
|
| 653 |
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"wrist_pos_err_mm_median": 40.4
|
| 654 |
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}
|
| 655 |
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},
|
| 656 |
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"frames_by_state": {
|
| 657 |
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"ace_sample": 13626,
|
| 658 |
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|
| 659 |
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"mean_hand": 468,
|
| 660 |
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|
| 661 |
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},
|
| 662 |
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"observed_fraction": 0.9686,
|
| 663 |
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"observed_fraction_of_valid": 0.9686,
|
| 664 |
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"palm_axis_vs_markers_deg": {
|
| 665 |
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"gsi": 35.12,
|
| 666 |
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"smplx": 1.83
|
| 667 |
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},
|
| 668 |
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"hand_marker_to_mesh_mm": {
|
| 669 |
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"flat": {
|
| 670 |
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"median": 7.2,
|
| 671 |
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"p90": 9.8
|
| 672 |
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},
|
| 673 |
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"registered": {
|
| 674 |
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"median": 6.4,
|
| 675 |
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"p90": 8.7
|
| 676 |
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}
|
| 677 |
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}
|
| 678 |
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}
|
| 679 |
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},
|
| 680 |
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"max_dev_deg": 30.0,
|
| 681 |
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"max_gap_s": 1.0,
|
| 682 |
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"cameras_used": [
|
| 683 |
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"head"
|
| 684 |
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],
|
| 685 |
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"generated_at_utc": "2026-11-03T22:08:43.244746+00:00",
|
| 686 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 687 |
+
"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",
|
| 688 |
+
"wrist_flip_suspect": []
|
| 689 |
+
},
|
| 690 |
"release": {
|
| 691 |
"release_path": "actions/locomanipulation/LM33/session_017",
|
| 692 |
"family": "locomanipulation",
|
| 693 |
"primitive": "LM33",
|
| 694 |
"source_session": "20261013/LM33/20261013_060051_session93"
|
| 695 |
},
|
| 696 |
+
"task": {
|
| 697 |
+
"primitive": "LM33",
|
| 698 |
+
"instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop."
|
| 699 |
+
},
|
| 700 |
"objects": [
|
| 701 |
{
|
| 702 |
+
"name": "BigBox#1",
|
| 703 |
"object_type": "BigBox",
|
| 704 |
+
"source": "vision",
|
| 705 |
+
"pose_frame": "mesh"
|
| 706 |
}
|
| 707 |
]
|
| 708 |
}
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actions/locomanipulation/LM33/session_017/motions/hands_mano.npz
ADDED
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version https://git-lfs.github.com/spec/v1
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+
oid sha256:18f3e1394d62287a27af68db6d3b41ef0ba39a103725fe8bdff4306473d93b53
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| 3 |
+
size 4955261
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actions/locomanipulation/LM33/session_017/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
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| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:eed04a4a4abbbc0b8567c3dba3b7de813ef80201e43c644af9833d24b5d4964c
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| 3 |
+
size 10255165
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actions/locomanipulation/LM33/session_018/annotations.json
ADDED
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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": "LM33",
|
| 6 |
+
"instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 128.966689,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03908608898855581
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "b635e400-ff60-4000-8195-14930a6ce57c",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM33",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0.704,
|
| 22 |
+
"end_s": 125.046,
|
| 23 |
+
"t_start": 0.7431,
|
| 24 |
+
"t_end": 125.0851,
|
| 25 |
+
"instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM33/session_018/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0099bc461645796c3932ad3ff19a6fdc94f81b6cabe7086f27e4cf3e29f5ab17
|
| 3 |
+
size 743856
|
actions/locomanipulation/LM33/session_018/meta.json
CHANGED
|
@@ -363,8 +363,8 @@
|
|
| 363 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 364 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 365 |
"hands": {
|
| 366 |
-
"observed":
|
| 367 |
-
"hand_pose": "
|
| 368 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 369 |
"hand_marker_offsets_m": {
|
| 370 |
"left": {
|
|
@@ -584,18 +584,132 @@
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|
| 584 |
},
|
| 585 |
"applied": 5
|
| 586 |
},
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|
|
|
|
|
|
|
| 587 |
"release": {
|
| 588 |
"release_path": "actions/locomanipulation/LM33/session_018",
|
| 589 |
"family": "locomanipulation",
|
| 590 |
"primitive": "LM33",
|
| 591 |
"source_session": "20261013/LM33/20261013_060306_session94"
|
| 592 |
},
|
|
|
|
|
|
|
|
|
|
|
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|
| 593 |
"objects": [
|
| 594 |
{
|
| 595 |
-
"name": "BigBox",
|
| 596 |
"object_type": "BigBox",
|
| 597 |
-
"source": "
|
| 598 |
-
"pose_frame": "
|
| 599 |
}
|
| 600 |
]
|
| 601 |
}
|
|
|
|
| 363 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 364 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 365 |
"hands": {
|
| 366 |
+
"observed": true,
|
| 367 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 368 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 369 |
"hand_marker_offsets_m": {
|
| 370 |
"left": {
|
|
|
|
| 584 |
},
|
| 585 |
"applied": 5
|
| 586 |
},
|
| 587 |
+
"hands_registration": {
|
| 588 |
+
"cameras": {},
|
| 589 |
+
"hands": {
|
| 590 |
+
"left": {
|
| 591 |
+
"offset_deg": 23.54,
|
| 592 |
+
"offset_rotvec": [
|
| 593 |
+
-0.0203,
|
| 594 |
+
0.3515,
|
| 595 |
+
-0.2117
|
| 596 |
+
],
|
| 597 |
+
"dev_deg": {
|
| 598 |
+
"median": 21.19,
|
| 599 |
+
"p90": 61.36
|
| 600 |
+
},
|
| 601 |
+
"samples": 3831,
|
| 602 |
+
"accepted": 2773,
|
| 603 |
+
"wrist_pos_err_mm_median": 23.7,
|
| 604 |
+
"per_camera": {
|
| 605 |
+
"head": {
|
| 606 |
+
"samples": 3831,
|
| 607 |
+
"accepted": 2773,
|
| 608 |
+
"gate_deg": 30.0,
|
| 609 |
+
"offset_deg": 23.54,
|
| 610 |
+
"tier": "primary",
|
| 611 |
+
"dev_deg_median": 21.19,
|
| 612 |
+
"wrist_pos_err_mm_median": 23.7
|
| 613 |
+
}
|
| 614 |
+
},
|
| 615 |
+
"frames_by_state": {
|
| 616 |
+
"ace_sample": 11158,
|
| 617 |
+
"interpolated": 1318,
|
| 618 |
+
"mean_hand": 3008,
|
| 619 |
+
"no_body_fit": 0
|
| 620 |
+
},
|
| 621 |
+
"observed_fraction": 0.8057,
|
| 622 |
+
"observed_fraction_of_valid": 0.8057,
|
| 623 |
+
"palm_axis_vs_markers_deg": {
|
| 624 |
+
"gsi": 28.34,
|
| 625 |
+
"smplx": NaN
|
| 626 |
+
},
|
| 627 |
+
"hand_marker_to_mesh_mm": {
|
| 628 |
+
"flat": {
|
| 629 |
+
"median": NaN,
|
| 630 |
+
"p90": NaN
|
| 631 |
+
},
|
| 632 |
+
"registered": {
|
| 633 |
+
"median": NaN,
|
| 634 |
+
"p90": NaN
|
| 635 |
+
}
|
| 636 |
+
}
|
| 637 |
+
},
|
| 638 |
+
"right": {
|
| 639 |
+
"offset_deg": 27.73,
|
| 640 |
+
"offset_rotvec": [
|
| 641 |
+
0.4251,
|
| 642 |
+
-0.1511,
|
| 643 |
+
-0.1753
|
| 644 |
+
],
|
| 645 |
+
"dev_deg": {
|
| 646 |
+
"median": 11.74,
|
| 647 |
+
"p90": 66.47
|
| 648 |
+
},
|
| 649 |
+
"samples": 3669,
|
| 650 |
+
"accepted": 3094,
|
| 651 |
+
"wrist_pos_err_mm_median": 51.0,
|
| 652 |
+
"per_camera": {
|
| 653 |
+
"head": {
|
| 654 |
+
"samples": 3669,
|
| 655 |
+
"accepted": 3094,
|
| 656 |
+
"gate_deg": 30.0,
|
| 657 |
+
"offset_deg": 27.73,
|
| 658 |
+
"tier": "primary",
|
| 659 |
+
"dev_deg_median": 11.74,
|
| 660 |
+
"wrist_pos_err_mm_median": 51.0
|
| 661 |
+
}
|
| 662 |
+
},
|
| 663 |
+
"frames_by_state": {
|
| 664 |
+
"ace_sample": 12424,
|
| 665 |
+
"interpolated": 880,
|
| 666 |
+
"mean_hand": 2180,
|
| 667 |
+
"no_body_fit": 0
|
| 668 |
+
},
|
| 669 |
+
"observed_fraction": 0.8592,
|
| 670 |
+
"observed_fraction_of_valid": 0.8592,
|
| 671 |
+
"palm_axis_vs_markers_deg": {
|
| 672 |
+
"gsi": 24.02,
|
| 673 |
+
"smplx": 3.23
|
| 674 |
+
},
|
| 675 |
+
"hand_marker_to_mesh_mm": {
|
| 676 |
+
"flat": {
|
| 677 |
+
"median": 8.9,
|
| 678 |
+
"p90": 10.4
|
| 679 |
+
},
|
| 680 |
+
"registered": {
|
| 681 |
+
"median": 8.2,
|
| 682 |
+
"p90": 10.7
|
| 683 |
+
}
|
| 684 |
+
}
|
| 685 |
+
}
|
| 686 |
+
},
|
| 687 |
+
"max_dev_deg": 30.0,
|
| 688 |
+
"max_gap_s": 1.0,
|
| 689 |
+
"cameras_used": [
|
| 690 |
+
"head"
|
| 691 |
+
],
|
| 692 |
+
"generated_at_utc": "2026-11-03T22:08:44.000543+00:00",
|
| 693 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 694 |
+
"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",
|
| 695 |
+
"wrist_flip_suspect": []
|
| 696 |
+
},
|
| 697 |
"release": {
|
| 698 |
"release_path": "actions/locomanipulation/LM33/session_018",
|
| 699 |
"family": "locomanipulation",
|
| 700 |
"primitive": "LM33",
|
| 701 |
"source_session": "20261013/LM33/20261013_060306_session94"
|
| 702 |
},
|
| 703 |
+
"task": {
|
| 704 |
+
"primitive": "LM33",
|
| 705 |
+
"instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop."
|
| 706 |
+
},
|
| 707 |
"objects": [
|
| 708 |
{
|
| 709 |
+
"name": "BigBox#1",
|
| 710 |
"object_type": "BigBox",
|
| 711 |
+
"source": "vision",
|
| 712 |
+
"pose_frame": "mesh"
|
| 713 |
}
|
| 714 |
]
|
| 715 |
}
|
actions/locomanipulation/LM33/session_018/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e1276b8926b343919e5d4192d12c9c17d6e0a27f7dafd926b670e0f9d7585b54
|
| 3 |
+
size 5102255
|