Release update 2026-11-05: new sessions, instructions, annotations (part 94)
Browse files- actions/locomanipulation/LM18/session_032/motions/smplx.npz +2 -2
- actions/locomanipulation/LM18/session_033/annotations.json +28 -0
- actions/locomanipulation/LM18/session_033/cameras/gsi_online_calibration.json +215 -0
- actions/locomanipulation/LM18/session_033/cameras/slam.npz +3 -0
- actions/locomanipulation/LM18/session_033/meta.json +116 -2
- actions/locomanipulation/LM18/session_033/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM18/session_033/motions/smplx.npz +2 -2
- actions/locomanipulation/LM18/session_034/annotations.json +28 -0
- actions/locomanipulation/LM18/session_034/cameras/gsi_online_calibration.json +245 -0
actions/locomanipulation/LM18/session_032/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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oid sha256:aa20791a8e8291ff58223f339641f4ecdf8b4b8cb0f25205bcde295cbeac4737
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size 10411563
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actions/locomanipulation/LM18/session_033/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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"primitive": "LM18",
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"instruction": "Hold the object against your hip on the side the operator calls, and carry it back and forth across the room.",
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"segments": [
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{
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"id": "segment1",
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"duration_s": 124.966678,
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"video": "left_eye",
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"video_t_start": 0.03988888393227019
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}
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],
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"episodes": [
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{
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"id": "a7b60b92-a06e-4af0-be0f-52f5515681d0",
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"segment": "segment1",
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"action": "LM18",
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"quality": "valid",
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"start_s": 1,
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| 22 |
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"end_s": 119.941,
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| 23 |
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"t_start": 1.0399,
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| 24 |
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"t_end": 119.9809,
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"instruction": "Hold the object against your hip on the side the operator calls, and carry it back and forth across the room."
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}
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]
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| 28 |
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}
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actions/locomanipulation/LM18/session_033/cameras/gsi_online_calibration.json
ADDED
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@@ -0,0 +1,215 @@
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| 1 |
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{
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"camera_fit": {
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|
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|
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| 35 |
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|
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|
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},
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"device_id": "e3296774a321bb51",
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"factory_root_name": "e3296774a321bb51",
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| 142 |
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"files": {
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| 143 |
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"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
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},
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"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
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},
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"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
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"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
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"version": 1
|
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}
|
actions/locomanipulation/LM18/session_033/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b4635646816e9b90d62a6f23cc539f2b26df7ddf6235e67a641ba09a0af04cdf
|
| 3 |
+
size 716556
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actions/locomanipulation/LM18/session_033/meta.json
CHANGED
|
@@ -390,8 +390,8 @@
|
|
| 390 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 391 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 392 |
"hands": {
|
| 393 |
-
"observed":
|
| 394 |
-
"hand_pose": "
|
| 395 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 396 |
"hand_marker_offsets_m": {
|
| 397 |
"left": {
|
|
@@ -531,12 +531,126 @@
|
|
| 531 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 532 |
}
|
| 533 |
},
|
|
|
|
|
|
|
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|
| 534 |
"release": {
|
| 535 |
"release_path": "actions/locomanipulation/LM18/session_033",
|
| 536 |
"family": "locomanipulation",
|
| 537 |
"primitive": "LM18",
|
| 538 |
"source_session": "20261016/LM18/20261016_021647_session29"
|
| 539 |
},
|
|
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|
| 540 |
"objects": [
|
| 541 |
{
|
| 542 |
"name": "BigBox",
|
|
|
|
| 390 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 391 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 392 |
"hands": {
|
| 393 |
+
"observed": true,
|
| 394 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 395 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 396 |
"hand_marker_offsets_m": {
|
| 397 |
"left": {
|
|
|
|
| 531 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 532 |
}
|
| 533 |
},
|
| 534 |
+
"hands_registration": {
|
| 535 |
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"cameras": {},
|
| 536 |
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"hands": {
|
| 537 |
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"left": {
|
| 538 |
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"offset_deg": 44.73,
|
| 539 |
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"offset_rotvec": [
|
| 540 |
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0.7495,
|
| 541 |
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0.1735,
|
| 542 |
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0.1331
|
| 543 |
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],
|
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"dev_deg": {
|
| 545 |
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"median": 20.88,
|
| 546 |
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"p90": 38.49
|
| 547 |
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},
|
| 548 |
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"samples": 3328,
|
| 549 |
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"accepted": 2550,
|
| 550 |
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"wrist_pos_err_mm_median": 62.9,
|
| 551 |
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"per_camera": {
|
| 552 |
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"head": {
|
| 553 |
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"samples": 3328,
|
| 554 |
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"accepted": 2550,
|
| 555 |
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"gate_deg": 30.0,
|
| 556 |
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"offset_deg": 44.73,
|
| 557 |
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"tier": "primary",
|
| 558 |
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"dev_deg_median": 20.88,
|
| 559 |
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"wrist_pos_err_mm_median": 62.9
|
| 560 |
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}
|
| 561 |
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},
|
| 562 |
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"frames_by_state": {
|
| 563 |
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"ace_sample": 10284,
|
| 564 |
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"interpolated": 1208,
|
| 565 |
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"mean_hand": 2185,
|
| 566 |
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|
| 567 |
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},
|
| 568 |
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"observed_fraction": 0.7659,
|
| 569 |
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"observed_fraction_of_valid": 0.8402,
|
| 570 |
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"palm_axis_vs_markers_deg": {
|
| 571 |
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"gsi": 43.08,
|
| 572 |
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"smplx": 1.92
|
| 573 |
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},
|
| 574 |
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"hand_marker_to_mesh_mm": {
|
| 575 |
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"flat": {
|
| 576 |
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"median": 8.3,
|
| 577 |
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"p90": 9.4
|
| 578 |
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},
|
| 579 |
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"registered": {
|
| 580 |
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"median": 8.2,
|
| 581 |
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"p90": 9.2
|
| 582 |
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}
|
| 583 |
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}
|
| 584 |
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},
|
| 585 |
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"right": {
|
| 586 |
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"offset_deg": 21.32,
|
| 587 |
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"offset_rotvec": [
|
| 588 |
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0.34,
|
| 589 |
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-0.1478,
|
| 590 |
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-0.0314
|
| 591 |
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],
|
| 592 |
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"dev_deg": {
|
| 593 |
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"median": 14.22,
|
| 594 |
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"p90": 31.28
|
| 595 |
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},
|
| 596 |
+
"samples": 2847,
|
| 597 |
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"accepted": 2536,
|
| 598 |
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"wrist_pos_err_mm_median": 54.9,
|
| 599 |
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"per_camera": {
|
| 600 |
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"head": {
|
| 601 |
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"samples": 2847,
|
| 602 |
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"accepted": 2536,
|
| 603 |
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"gate_deg": 30.0,
|
| 604 |
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"offset_deg": 21.32,
|
| 605 |
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"tier": "primary",
|
| 606 |
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"dev_deg_median": 14.22,
|
| 607 |
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"wrist_pos_err_mm_median": 54.9
|
| 608 |
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}
|
| 609 |
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},
|
| 610 |
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"frames_by_state": {
|
| 611 |
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"ace_sample": 10396,
|
| 612 |
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"interpolated": 3008,
|
| 613 |
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"mean_hand": 273,
|
| 614 |
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"no_body_fit": 1327
|
| 615 |
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},
|
| 616 |
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"observed_fraction": 0.8934,
|
| 617 |
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"observed_fraction_of_valid": 0.98,
|
| 618 |
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"palm_axis_vs_markers_deg": {
|
| 619 |
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"gsi": 24.8,
|
| 620 |
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"smplx": 0.98
|
| 621 |
+
},
|
| 622 |
+
"hand_marker_to_mesh_mm": {
|
| 623 |
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"flat": {
|
| 624 |
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"median": 15.2,
|
| 625 |
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"p90": 26.4
|
| 626 |
+
},
|
| 627 |
+
"registered": {
|
| 628 |
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"median": 14.8,
|
| 629 |
+
"p90": 24.9
|
| 630 |
+
}
|
| 631 |
+
}
|
| 632 |
+
}
|
| 633 |
+
},
|
| 634 |
+
"max_dev_deg": 30.0,
|
| 635 |
+
"max_gap_s": 1.0,
|
| 636 |
+
"cameras_used": [
|
| 637 |
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"head"
|
| 638 |
+
],
|
| 639 |
+
"generated_at_utc": "2026-11-03T21:49:04.195511+00:00",
|
| 640 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 641 |
+
"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",
|
| 642 |
+
"wrist_flip_suspect": []
|
| 643 |
+
},
|
| 644 |
"release": {
|
| 645 |
"release_path": "actions/locomanipulation/LM18/session_033",
|
| 646 |
"family": "locomanipulation",
|
| 647 |
"primitive": "LM18",
|
| 648 |
"source_session": "20261016/LM18/20261016_021647_session29"
|
| 649 |
},
|
| 650 |
+
"task": {
|
| 651 |
+
"primitive": "LM18",
|
| 652 |
+
"instruction": "Hold the object against your hip on the side the operator calls, and carry it back and forth across the room."
|
| 653 |
+
},
|
| 654 |
"objects": [
|
| 655 |
{
|
| 656 |
"name": "BigBox",
|
actions/locomanipulation/LM18/session_033/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:53acdc855bb76ce10289ae9e8507091e56cb7c6f034680cb3986f0fb3c53b08f
|
| 3 |
+
size 4632484
|
actions/locomanipulation/LM18/session_033/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
|
| 2 |
+
oid sha256:4c06da02b237f730866f04972472b392104ee71b3f004b29218c7a171ef283cf
|
| 3 |
+
size 9509476
|
actions/locomanipulation/LM18/session_034/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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|
|
|
|
|
|
|
|
|
|
|
|
|
| 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": "LM18",
|
| 6 |
+
"instruction": "Hold the object against your hip on the side the operator calls, and carry it back and forth across the room.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 122.866544,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03965871317045616
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "631b2e42-fb8a-4833-bda3-2cac85703c15",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM18",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0.872,
|
| 22 |
+
"end_s": 119.969,
|
| 23 |
+
"t_start": 0.9117,
|
| 24 |
+
"t_end": 120.0087,
|
| 25 |
+
"instruction": "Hold the object against your hip on the side the operator calls, and carry it back and forth across the room."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM18/session_034/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,245 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 15,
|
| 5 |
+
"median_px": 0.387
|
| 6 |
+
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