Release update 2026-11-05: new sessions, instructions, annotations (part 18)
Browse files- actions/locomanipulation/LM15/session_003/motions/smplx.npz +2 -2
- actions/locomanipulation/LM15/session_004/annotations.json +28 -0
- actions/locomanipulation/LM15/session_004/cameras/gsi_online_calibration.json +255 -0
- actions/locomanipulation/LM15/session_004/cameras/slam.npz +3 -0
- actions/locomanipulation/LM15/session_004/meta.json +116 -2
- actions/locomanipulation/LM15/session_004/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM15/session_004/motions/smplx.npz +2 -2
- actions/locomanipulation/LM15/session_005/annotations.json +28 -0
- actions/locomanipulation/LM15/session_005/cameras/slam.npz +3 -0
- actions/locomanipulation/LM15/session_005/meta.json +116 -2
- actions/locomanipulation/LM15/session_005/motions/hands_mano.npz +3 -0
actions/locomanipulation/LM15/session_003/motions/smplx.npz
CHANGED
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version https://git-lfs.github.com/spec/v1
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size
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version https://git-lfs.github.com/spec/v1
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size 7972895
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actions/locomanipulation/LM15/session_004/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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| 4 |
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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": "LM15",
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"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room.",
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"segments": [
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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": 103.966556,
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| 11 |
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"video": "left_eye",
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| 12 |
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"video_t_start": 0.03891127317150489
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| 13 |
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}
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| 14 |
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],
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| 15 |
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"episodes": [
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{
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"id": "6892da12-c0e6-4f57-9185-d0dea00e955f",
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| 18 |
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"segment": "segment1",
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| 19 |
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"action": "LM15",
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| 20 |
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"quality": "valid",
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| 21 |
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"start_s": 0,
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| 22 |
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"end_s": 96.743,
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| 23 |
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"t_start": 0.0389,
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| 24 |
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"t_end": 96.7819,
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| 25 |
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"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
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| 26 |
+
}
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| 27 |
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]
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| 28 |
+
}
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actions/locomanipulation/LM15/session_004/cameras/gsi_online_calibration.json
ADDED
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@@ -0,0 +1,255 @@
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| 1 |
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{
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},
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],
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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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| 328 |
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| 330 |
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| 631 |
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|
| 1 |
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{
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|
| 3 |
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"source": "vendor annotation.json (schema 2, revision 1)",
|
| 4 |
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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",
|
| 5 |
+
"primitive": "LM15",
|
| 6 |
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"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room.",
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{
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"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
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| 26 |
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}
|
| 27 |
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|
| 28 |
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}
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actions/locomanipulation/LM15/session_005/cameras/slam.npz
ADDED
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actions/locomanipulation/LM15/session_005/meta.json
CHANGED
|
@@ -339,8 +339,8 @@
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|
| 339 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 340 |
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|
| 341 |
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| 342 |
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|
| 343 |
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|
| 344 |
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| 346 |
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|
@@ -529,10 +529,124 @@
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|
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|
| 532 |
"release": {
|
| 533 |
"release_path": "actions/locomanipulation/LM15/session_005",
|
| 534 |
"family": "locomanipulation",
|
| 535 |
"primitive": "LM15",
|
| 536 |
"source_session": "20260910/LM15/20260910_074937_session136"
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|
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|
|
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|
|
|
|
| 537 |
}
|
| 538 |
}
|
|
|
|
| 339 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 340 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 341 |
"hands": {
|
| 342 |
+
"observed": true,
|
| 343 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 344 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 345 |
"hand_marker_offsets_m": {
|
| 346 |
"left": {
|
|
|
|
| 529 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 530 |
"remaining_gyro_frame_deg": 0.8837277002220345
|
| 531 |
},
|
| 532 |
+
"hands_registration": {
|
| 533 |
+
"cameras": {},
|
| 534 |
+
"hands": {
|
| 535 |
+
"left": {
|
| 536 |
+
"offset_deg": 13.41,
|
| 537 |
+
"offset_rotvec": [
|
| 538 |
+
-0.0082,
|
| 539 |
+
-0.103,
|
| 540 |
+
0.2101
|
| 541 |
+
],
|
| 542 |
+
"dev_deg": {
|
| 543 |
+
"median": 8.63,
|
| 544 |
+
"p90": 15.69
|
| 545 |
+
},
|
| 546 |
+
"samples": 3223,
|
| 547 |
+
"accepted": 3218,
|
| 548 |
+
"wrist_pos_err_mm_median": 65.0,
|
| 549 |
+
"per_camera": {
|
| 550 |
+
"head": {
|
| 551 |
+
"samples": 3223,
|
| 552 |
+
"accepted": 3218,
|
| 553 |
+
"gate_deg": 30.0,
|
| 554 |
+
"offset_deg": 13.41,
|
| 555 |
+
"tier": "primary",
|
| 556 |
+
"dev_deg_median": 8.63,
|
| 557 |
+
"wrist_pos_err_mm_median": 65.0
|
| 558 |
+
}
|
| 559 |
+
},
|
| 560 |
+
"frames_by_state": {
|
| 561 |
+
"ace_sample": 12882,
|
| 562 |
+
"interpolated": 66,
|
| 563 |
+
"mean_hand": 128,
|
| 564 |
+
"no_body_fit": 8
|
| 565 |
+
},
|
| 566 |
+
"observed_fraction": 0.9896,
|
| 567 |
+
"observed_fraction_of_valid": 0.9902,
|
| 568 |
+
"palm_axis_vs_markers_deg": {
|
| 569 |
+
"gsi": 9.48,
|
| 570 |
+
"smplx": 0.89
|
| 571 |
+
},
|
| 572 |
+
"hand_marker_to_mesh_mm": {
|
| 573 |
+
"flat": {
|
| 574 |
+
"median": 9.2,
|
| 575 |
+
"p90": 10.0
|
| 576 |
+
},
|
| 577 |
+
"registered": {
|
| 578 |
+
"median": 9.0,
|
| 579 |
+
"p90": 10.1
|
| 580 |
+
}
|
| 581 |
+
}
|
| 582 |
+
},
|
| 583 |
+
"right": {
|
| 584 |
+
"offset_deg": 12.17,
|
| 585 |
+
"offset_rotvec": [
|
| 586 |
+
0.0703,
|
| 587 |
+
0.1744,
|
| 588 |
+
-0.0989
|
| 589 |
+
],
|
| 590 |
+
"dev_deg": {
|
| 591 |
+
"median": 8.85,
|
| 592 |
+
"p90": 15.13
|
| 593 |
+
},
|
| 594 |
+
"samples": 3204,
|
| 595 |
+
"accepted": 3164,
|
| 596 |
+
"wrist_pos_err_mm_median": 66.7,
|
| 597 |
+
"per_camera": {
|
| 598 |
+
"head": {
|
| 599 |
+
"samples": 3204,
|
| 600 |
+
"accepted": 3164,
|
| 601 |
+
"gate_deg": 30.0,
|
| 602 |
+
"offset_deg": 12.17,
|
| 603 |
+
"tier": "primary",
|
| 604 |
+
"dev_deg_median": 8.85,
|
| 605 |
+
"wrist_pos_err_mm_median": 66.7
|
| 606 |
+
}
|
| 607 |
+
},
|
| 608 |
+
"frames_by_state": {
|
| 609 |
+
"ace_sample": 12668,
|
| 610 |
+
"interpolated": 244,
|
| 611 |
+
"mean_hand": 164,
|
| 612 |
+
"no_body_fit": 8
|
| 613 |
+
},
|
| 614 |
+
"observed_fraction": 0.9869,
|
| 615 |
+
"observed_fraction_of_valid": 0.9875,
|
| 616 |
+
"palm_axis_vs_markers_deg": {
|
| 617 |
+
"gsi": 10.79,
|
| 618 |
+
"smplx": 0.87
|
| 619 |
+
},
|
| 620 |
+
"hand_marker_to_mesh_mm": {
|
| 621 |
+
"flat": {
|
| 622 |
+
"median": 6.5,
|
| 623 |
+
"p90": 8.2
|
| 624 |
+
},
|
| 625 |
+
"registered": {
|
| 626 |
+
"median": 5.8,
|
| 627 |
+
"p90": 7.8
|
| 628 |
+
}
|
| 629 |
+
}
|
| 630 |
+
}
|
| 631 |
+
},
|
| 632 |
+
"max_dev_deg": 30.0,
|
| 633 |
+
"max_gap_s": 1.0,
|
| 634 |
+
"cameras_used": [
|
| 635 |
+
"head"
|
| 636 |
+
],
|
| 637 |
+
"generated_at_utc": "2026-11-03T16:06:54.830467+00:00",
|
| 638 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 639 |
+
"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",
|
| 640 |
+
"wrist_flip_suspect": []
|
| 641 |
+
},
|
| 642 |
"release": {
|
| 643 |
"release_path": "actions/locomanipulation/LM15/session_005",
|
| 644 |
"family": "locomanipulation",
|
| 645 |
"primitive": "LM15",
|
| 646 |
"source_session": "20260910/LM15/20260910_074937_session136"
|
| 647 |
+
},
|
| 648 |
+
"task": {
|
| 649 |
+
"primitive": "LM15",
|
| 650 |
+
"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
|
| 651 |
}
|
| 652 |
}
|
actions/locomanipulation/LM15/session_005/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bf7156d2d10ad03da1457d3c9db4e0d313bb03c39b55c26d1bd2b05e61e48ee8
|
| 3 |
+
size 4345132
|