Release update 2026-11-05: 5760 sessions, instructions, annotations (part 358)
Browse files- actions/locomanipulation/LM11/session_005/annotations.json +28 -0
- actions/locomanipulation/LM11/session_005/cameras/slam.npz +3 -0
- actions/locomanipulation/LM11/session_005/meta.json +116 -2
- actions/locomanipulation/LM11/session_005/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM11/session_005/motions/smplx.npz +2 -2
- actions/locomanipulation/LM11/session_006/annotations.json +28 -0
- actions/locomanipulation/LM11/session_006/cameras/slam.npz +3 -0
- actions/locomanipulation/LM11/session_006/meta.json +116 -2
- actions/locomanipulation/LM11/session_006/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM11/session_006/motions/smplx.npz +2 -2
actions/locomanipulation/LM11/session_005/annotations.json
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{
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| 2 |
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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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| 5 |
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"primitive": "LM11",
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| 6 |
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"instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop.",
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| 7 |
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"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": 123.966611,
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| 11 |
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"video": "left_eye",
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| 12 |
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"video_t_start": 0.03891596225492866
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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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| 16 |
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{
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| 17 |
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"id": "f30c3140-ecab-4f92-a4f7-58fc8959d6f3",
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| 18 |
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"segment": "segment1",
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| 19 |
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"action": "LM11",
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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": 122.082,
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| 23 |
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"t_start": 0.0389,
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| 24 |
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"t_end": 122.1209,
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| 25 |
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"instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
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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/LM11/session_005/cameras/slam.npz
ADDED
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version https://git-lfs.github.com/spec/v1
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oid sha256:82692257e1188a743db2c299fba46f1255689b0368ff079b3524199d4c682590
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| 3 |
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size 707747
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actions/locomanipulation/LM11/session_005/meta.json
CHANGED
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@@ -325,8 +325,8 @@
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| 325 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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| 326 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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| 327 |
"hands": {
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| 328 |
-
"observed":
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| 329 |
-
"hand_pose": "
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| 330 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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| 331 |
"hand_marker_offsets_m": {
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| 332 |
"left": {
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@@ -516,10 +516,124 @@
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| 516 |
"generated_by": "scripts/correct_processed_rig.py",
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| 517 |
"remaining_gyro_frame_deg": 0.8603963535956759
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| 518 |
},
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| 519 |
"release": {
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| 520 |
"release_path": "actions/locomanipulation/LM11/session_005",
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| 521 |
"family": "locomanipulation",
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| 522 |
"primitive": "LM11",
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| 523 |
"source_session": "20260910/LM11/20260910_083406_session150"
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| 524 |
}
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| 525 |
}
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| 325 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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| 326 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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| 327 |
"hands": {
|
| 328 |
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"observed": true,
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| 329 |
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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",
|
| 330 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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| 331 |
"hand_marker_offsets_m": {
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| 332 |
"left": {
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| 516 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 517 |
"remaining_gyro_frame_deg": 0.8603963535956759
|
| 518 |
},
|
| 519 |
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"hands_registration": {
|
| 520 |
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"cameras": {},
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| 521 |
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"hands": {
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| 522 |
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"left": {
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| 523 |
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"offset_deg": 18.07,
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| 524 |
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"offset_rotvec": [
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-0.163,
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| 526 |
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-0.1297,
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0.2367
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],
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| 529 |
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"dev_deg": {
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| 530 |
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"median": 5.11,
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| 531 |
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"p90": 11.45
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| 532 |
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},
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| 533 |
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"samples": 3655,
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| 534 |
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"accepted": 3614,
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| 535 |
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"wrist_pos_err_mm_median": 56.5,
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| 536 |
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"per_camera": {
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| 537 |
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"head": {
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| 538 |
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"samples": 3655,
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| 539 |
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"accepted": 3614,
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| 540 |
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"gate_deg": 30.0,
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| 541 |
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"offset_deg": 18.07,
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| 542 |
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"tier": "primary",
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| 543 |
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"dev_deg_median": 5.11,
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| 544 |
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"wrist_pos_err_mm_median": 56.5
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| 545 |
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}
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| 546 |
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},
|
| 547 |
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"frames_by_state": {
|
| 548 |
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"ace_sample": 14460,
|
| 549 |
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"interpolated": 72,
|
| 550 |
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"mean_hand": 352,
|
| 551 |
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"no_body_fit": 0
|
| 552 |
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},
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| 553 |
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"observed_fraction": 0.9764,
|
| 554 |
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"observed_fraction_of_valid": 0.9764,
|
| 555 |
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"palm_axis_vs_markers_deg": {
|
| 556 |
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"gsi": 15.74,
|
| 557 |
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"smplx": 0.54
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| 558 |
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},
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| 559 |
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"hand_marker_to_mesh_mm": {
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| 560 |
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"flat": {
|
| 561 |
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"median": 8.8,
|
| 562 |
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"p90": 10.7
|
| 563 |
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},
|
| 564 |
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"registered": {
|
| 565 |
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"median": 8.6,
|
| 566 |
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"p90": 10.4
|
| 567 |
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}
|
| 568 |
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}
|
| 569 |
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},
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| 570 |
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"right": {
|
| 571 |
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"offset_deg": 21.22,
|
| 572 |
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"offset_rotvec": [
|
| 573 |
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-0.1791,
|
| 574 |
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0.3197,
|
| 575 |
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-0.0535
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| 576 |
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],
|
| 577 |
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"dev_deg": {
|
| 578 |
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"median": 6.15,
|
| 579 |
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"p90": 13.79
|
| 580 |
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},
|
| 581 |
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"samples": 3644,
|
| 582 |
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"accepted": 3583,
|
| 583 |
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"wrist_pos_err_mm_median": 36.9,
|
| 584 |
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"per_camera": {
|
| 585 |
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"head": {
|
| 586 |
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"samples": 3644,
|
| 587 |
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"accepted": 3583,
|
| 588 |
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"gate_deg": 30.0,
|
| 589 |
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"offset_deg": 21.22,
|
| 590 |
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"tier": "primary",
|
| 591 |
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"dev_deg_median": 6.15,
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| 592 |
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"wrist_pos_err_mm_median": 36.9
|
| 593 |
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}
|
| 594 |
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},
|
| 595 |
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"frames_by_state": {
|
| 596 |
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"ace_sample": 14360,
|
| 597 |
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"interpolated": 392,
|
| 598 |
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"mean_hand": 132,
|
| 599 |
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"no_body_fit": 0
|
| 600 |
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},
|
| 601 |
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"observed_fraction": 0.9911,
|
| 602 |
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"observed_fraction_of_valid": 0.9911,
|
| 603 |
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"palm_axis_vs_markers_deg": {
|
| 604 |
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"gsi": 21.93,
|
| 605 |
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"smplx": 0.69
|
| 606 |
+
},
|
| 607 |
+
"hand_marker_to_mesh_mm": {
|
| 608 |
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"flat": {
|
| 609 |
+
"median": 7.1,
|
| 610 |
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"p90": 8.0
|
| 611 |
+
},
|
| 612 |
+
"registered": {
|
| 613 |
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"median": 6.5,
|
| 614 |
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"p90": 7.6
|
| 615 |
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}
|
| 616 |
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}
|
| 617 |
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}
|
| 618 |
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},
|
| 619 |
+
"max_dev_deg": 30.0,
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| 620 |
+
"max_gap_s": 1.0,
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| 621 |
+
"cameras_used": [
|
| 622 |
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"head"
|
| 623 |
+
],
|
| 624 |
+
"generated_at_utc": "2026-11-03T16:01:39.019327+00:00",
|
| 625 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 626 |
+
"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",
|
| 627 |
+
"wrist_flip_suspect": []
|
| 628 |
+
},
|
| 629 |
"release": {
|
| 630 |
"release_path": "actions/locomanipulation/LM11/session_005",
|
| 631 |
"family": "locomanipulation",
|
| 632 |
"primitive": "LM11",
|
| 633 |
"source_session": "20260910/LM11/20260910_083406_session150"
|
| 634 |
+
},
|
| 635 |
+
"task": {
|
| 636 |
+
"primitive": "LM11",
|
| 637 |
+
"instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
|
| 638 |
}
|
| 639 |
}
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actions/locomanipulation/LM11/session_005/motions/hands_mano.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:a1ae59539e01bd06462107d4475936ea529d4ecfcd949a8dffd6550836bcce04
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| 3 |
+
size 4940294
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actions/locomanipulation/LM11/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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| 1 |
version https://git-lfs.github.com/spec/v1
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+
oid sha256:e2ffd71f92a77d9973dc48f0885c892cf56188fcca33b82ac5c996e7aba863df
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size 10688458
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actions/locomanipulation/LM11/session_006/annotations.json
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{
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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": "LM11",
|
| 6 |
+
"instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 138.966578,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03860503525093817
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
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{
|
| 17 |
+
"id": "8fcd992a-eb56-4c20-a8dc-478de32cf651",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM11",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 135.761,
|
| 23 |
+
"t_start": 0.0386,
|
| 24 |
+
"t_end": 135.7996,
|
| 25 |
+
"instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
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}
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actions/locomanipulation/LM11/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 sha256:7538cdb4dbc9496677013f6d746139c036dd8eb274ce409705f365b3e94a45ce
|
| 3 |
+
size 795179
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actions/locomanipulation/LM11/session_006/meta.json
CHANGED
|
@@ -325,8 +325,8 @@
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|
| 325 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 326 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 327 |
"hands": {
|
| 328 |
-
"observed":
|
| 329 |
-
"hand_pose": "
|
| 330 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 331 |
"hand_marker_offsets_m": {
|
| 332 |
"left": {
|
|
@@ -507,10 +507,124 @@
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|
| 507 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 508 |
"remaining_gyro_frame_deg": 0.8511922779049129
|
| 509 |
},
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|
| 510 |
"release": {
|
| 511 |
"release_path": "actions/locomanipulation/LM11/session_006",
|
| 512 |
"family": "locomanipulation",
|
| 513 |
"primitive": "LM11",
|
| 514 |
"source_session": "20260910/LM11/20260910_083635_session151"
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|
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|
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|
| 515 |
}
|
| 516 |
}
|
|
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|
| 325 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 326 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 327 |
"hands": {
|
| 328 |
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"observed": true,
|
| 329 |
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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",
|
| 330 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 331 |
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|
| 332 |
"left": {
|
|
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|
| 507 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 508 |
"remaining_gyro_frame_deg": 0.8511922779049129
|
| 509 |
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|
| 510 |
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|
| 511 |
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"cameras": {},
|
| 512 |
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|
| 513 |
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"left": {
|
| 514 |
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"offset_deg": 19.58,
|
| 515 |
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|
| 516 |
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-0.2863,
|
| 517 |
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-0.0097,
|
| 518 |
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0.1864
|
| 519 |
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],
|
| 520 |
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|
| 521 |
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"median": 4.76,
|
| 522 |
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"p90": 9.81
|
| 523 |
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},
|
| 524 |
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"samples": 4060,
|
| 525 |
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"accepted": 4005,
|
| 526 |
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|
| 527 |
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"per_camera": {
|
| 528 |
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"head": {
|
| 529 |
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"samples": 4060,
|
| 530 |
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"accepted": 4005,
|
| 531 |
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"gate_deg": 30.0,
|
| 532 |
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"offset_deg": 19.58,
|
| 533 |
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"tier": "primary",
|
| 534 |
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"dev_deg_median": 4.76,
|
| 535 |
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"wrist_pos_err_mm_median": 51.2
|
| 536 |
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}
|
| 537 |
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},
|
| 538 |
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"frames_by_state": {
|
| 539 |
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"ace_sample": 16032,
|
| 540 |
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|
| 541 |
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"mean_hand": 356,
|
| 542 |
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| 543 |
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},
|
| 544 |
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"observed_fraction": 0.9782,
|
| 545 |
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"observed_fraction_of_valid": 0.9787,
|
| 546 |
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"palm_axis_vs_markers_deg": {
|
| 547 |
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"gsi": 18.92,
|
| 548 |
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"smplx": 0.48
|
| 549 |
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},
|
| 550 |
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"hand_marker_to_mesh_mm": {
|
| 551 |
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"flat": {
|
| 552 |
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"median": 10.4,
|
| 553 |
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"p90": 13.0
|
| 554 |
+
},
|
| 555 |
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"registered": {
|
| 556 |
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"median": 10.1,
|
| 557 |
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"p90": 12.4
|
| 558 |
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}
|
| 559 |
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}
|
| 560 |
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},
|
| 561 |
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"right": {
|
| 562 |
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"offset_deg": 19.16,
|
| 563 |
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"offset_rotvec": [
|
| 564 |
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-0.1647,
|
| 565 |
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0.2734,
|
| 566 |
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-0.1
|
| 567 |
+
],
|
| 568 |
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"dev_deg": {
|
| 569 |
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"median": 6.2,
|
| 570 |
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"p90": 12.2
|
| 571 |
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},
|
| 572 |
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"samples": 4094,
|
| 573 |
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"accepted": 4069,
|
| 574 |
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"wrist_pos_err_mm_median": 57.0,
|
| 575 |
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"per_camera": {
|
| 576 |
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"head": {
|
| 577 |
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"samples": 4094,
|
| 578 |
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"accepted": 4069,
|
| 579 |
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"gate_deg": 30.0,
|
| 580 |
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"offset_deg": 19.16,
|
| 581 |
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"tier": "primary",
|
| 582 |
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"dev_deg_median": 6.2,
|
| 583 |
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"wrist_pos_err_mm_median": 57.0
|
| 584 |
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}
|
| 585 |
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},
|
| 586 |
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"frames_by_state": {
|
| 587 |
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"ace_sample": 16292,
|
| 588 |
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"interpolated": 260,
|
| 589 |
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|
| 590 |
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|
| 591 |
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},
|
| 592 |
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"observed_fraction": 0.9921,
|
| 593 |
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"observed_fraction_of_valid": 0.9926,
|
| 594 |
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"palm_axis_vs_markers_deg": {
|
| 595 |
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"gsi": 20.74,
|
| 596 |
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"smplx": 0.53
|
| 597 |
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},
|
| 598 |
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"hand_marker_to_mesh_mm": {
|
| 599 |
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"flat": {
|
| 600 |
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"median": 7.2,
|
| 601 |
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|
| 602 |
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},
|
| 603 |
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|
| 604 |
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|
| 605 |
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|
| 606 |
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}
|
| 607 |
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|
| 608 |
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}
|
| 609 |
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},
|
| 610 |
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"max_dev_deg": 30.0,
|
| 611 |
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|
| 612 |
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|
| 613 |
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"head"
|
| 614 |
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],
|
| 615 |
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"generated_at_utc": "2026-11-03T16:01:44.228332+00:00",
|
| 616 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 617 |
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"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",
|
| 618 |
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"wrist_flip_suspect": []
|
| 619 |
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},
|
| 620 |
"release": {
|
| 621 |
"release_path": "actions/locomanipulation/LM11/session_006",
|
| 622 |
"family": "locomanipulation",
|
| 623 |
"primitive": "LM11",
|
| 624 |
"source_session": "20260910/LM11/20260910_083635_session151"
|
| 625 |
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},
|
| 626 |
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"task": {
|
| 627 |
+
"primitive": "LM11",
|
| 628 |
+
"instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
|
| 629 |
}
|
| 630 |
}
|
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ADDED
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@@ -0,0 +1,3 @@
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actions/locomanipulation/LM11/session_006/motions/smplx.npz
CHANGED
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@@ -1,3 +1,3 @@
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