Mayur1092 commited on
Commit
f42f2de
·
verified ·
1 Parent(s): 8e864c7

Release update 2026-11-05: 5760 sessions, instructions, annotations (part 358)

Browse files
actions/locomanipulation/LM11/session_005/annotations.json ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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": "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": 123.966611,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.03891596225492866
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "f30c3140-ecab-4f92-a4f7-58fc8959d6f3",
18
+ "segment": "segment1",
19
+ "action": "LM11",
20
+ "quality": "valid",
21
+ "start_s": 0,
22
+ "end_s": 122.082,
23
+ "t_start": 0.0389,
24
+ "t_end": 122.1209,
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
+ }
actions/locomanipulation/LM11/session_005/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:82692257e1188a743db2c299fba46f1255689b0368ff079b3524199d4c682590
3
+ size 707747
actions/locomanipulation/LM11/session_005/meta.json CHANGED
@@ -325,8 +325,8 @@
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": false,
329
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
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": {
@@ -516,10 +516,124 @@
516
  "generated_by": "scripts/correct_processed_rig.py",
517
  "remaining_gyro_frame_deg": 0.8603963535956759
518
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
519
  "release": {
520
  "release_path": "actions/locomanipulation/LM11/session_005",
521
  "family": "locomanipulation",
522
  "primitive": "LM11",
523
  "source_session": "20260910/LM11/20260910_083406_session150"
 
 
 
 
524
  }
525
  }
 
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": true,
329
+ "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
  "hand_marker_offsets_m": {
332
  "left": {
 
516
  "generated_by": "scripts/correct_processed_rig.py",
517
  "remaining_gyro_frame_deg": 0.8603963535956759
518
  },
519
+ "hands_registration": {
520
+ "cameras": {},
521
+ "hands": {
522
+ "left": {
523
+ "offset_deg": 18.07,
524
+ "offset_rotvec": [
525
+ -0.163,
526
+ -0.1297,
527
+ 0.2367
528
+ ],
529
+ "dev_deg": {
530
+ "median": 5.11,
531
+ "p90": 11.45
532
+ },
533
+ "samples": 3655,
534
+ "accepted": 3614,
535
+ "wrist_pos_err_mm_median": 56.5,
536
+ "per_camera": {
537
+ "head": {
538
+ "samples": 3655,
539
+ "accepted": 3614,
540
+ "gate_deg": 30.0,
541
+ "offset_deg": 18.07,
542
+ "tier": "primary",
543
+ "dev_deg_median": 5.11,
544
+ "wrist_pos_err_mm_median": 56.5
545
+ }
546
+ },
547
+ "frames_by_state": {
548
+ "ace_sample": 14460,
549
+ "interpolated": 72,
550
+ "mean_hand": 352,
551
+ "no_body_fit": 0
552
+ },
553
+ "observed_fraction": 0.9764,
554
+ "observed_fraction_of_valid": 0.9764,
555
+ "palm_axis_vs_markers_deg": {
556
+ "gsi": 15.74,
557
+ "smplx": 0.54
558
+ },
559
+ "hand_marker_to_mesh_mm": {
560
+ "flat": {
561
+ "median": 8.8,
562
+ "p90": 10.7
563
+ },
564
+ "registered": {
565
+ "median": 8.6,
566
+ "p90": 10.4
567
+ }
568
+ }
569
+ },
570
+ "right": {
571
+ "offset_deg": 21.22,
572
+ "offset_rotvec": [
573
+ -0.1791,
574
+ 0.3197,
575
+ -0.0535
576
+ ],
577
+ "dev_deg": {
578
+ "median": 6.15,
579
+ "p90": 13.79
580
+ },
581
+ "samples": 3644,
582
+ "accepted": 3583,
583
+ "wrist_pos_err_mm_median": 36.9,
584
+ "per_camera": {
585
+ "head": {
586
+ "samples": 3644,
587
+ "accepted": 3583,
588
+ "gate_deg": 30.0,
589
+ "offset_deg": 21.22,
590
+ "tier": "primary",
591
+ "dev_deg_median": 6.15,
592
+ "wrist_pos_err_mm_median": 36.9
593
+ }
594
+ },
595
+ "frames_by_state": {
596
+ "ace_sample": 14360,
597
+ "interpolated": 392,
598
+ "mean_hand": 132,
599
+ "no_body_fit": 0
600
+ },
601
+ "observed_fraction": 0.9911,
602
+ "observed_fraction_of_valid": 0.9911,
603
+ "palm_axis_vs_markers_deg": {
604
+ "gsi": 21.93,
605
+ "smplx": 0.69
606
+ },
607
+ "hand_marker_to_mesh_mm": {
608
+ "flat": {
609
+ "median": 7.1,
610
+ "p90": 8.0
611
+ },
612
+ "registered": {
613
+ "median": 6.5,
614
+ "p90": 7.6
615
+ }
616
+ }
617
+ }
618
+ },
619
+ "max_dev_deg": 30.0,
620
+ "max_gap_s": 1.0,
621
+ "cameras_used": [
622
+ "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
  }
actions/locomanipulation/LM11/session_005/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a1ae59539e01bd06462107d4475936ea529d4ecfcd949a8dffd6550836bcce04
3
+ size 4940294
actions/locomanipulation/LM11/session_005/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:d4ac032d18161fcaa38e8319d801180a03bef35252f7ae55e30cc175fd2d380a
3
- size 5760604
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e2ffd71f92a77d9973dc48f0885c892cf56188fcca33b82ac5c996e7aba863df
3
+ size 10688458
actions/locomanipulation/LM11/session_006/annotations.json ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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": "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
+ {
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
+ }
actions/locomanipulation/LM11/session_006/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7538cdb4dbc9496677013f6d746139c036dd8eb274ce409705f365b3e94a45ce
3
+ size 795179
actions/locomanipulation/LM11/session_006/meta.json CHANGED
@@ -325,8 +325,8 @@
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": false,
329
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
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 @@
507
  "generated_by": "scripts/correct_processed_rig.py",
508
  "remaining_gyro_frame_deg": 0.8511922779049129
509
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
510
  "release": {
511
  "release_path": "actions/locomanipulation/LM11/session_006",
512
  "family": "locomanipulation",
513
  "primitive": "LM11",
514
  "source_session": "20260910/LM11/20260910_083635_session151"
 
 
 
 
515
  }
516
  }
 
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": true,
329
+ "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
  "hand_marker_offsets_m": {
332
  "left": {
 
507
  "generated_by": "scripts/correct_processed_rig.py",
508
  "remaining_gyro_frame_deg": 0.8511922779049129
509
  },
510
+ "hands_registration": {
511
+ "cameras": {},
512
+ "hands": {
513
+ "left": {
514
+ "offset_deg": 19.58,
515
+ "offset_rotvec": [
516
+ -0.2863,
517
+ -0.0097,
518
+ 0.1864
519
+ ],
520
+ "dev_deg": {
521
+ "median": 4.76,
522
+ "p90": 9.81
523
+ },
524
+ "samples": 4060,
525
+ "accepted": 4005,
526
+ "wrist_pos_err_mm_median": 51.2,
527
+ "per_camera": {
528
+ "head": {
529
+ "samples": 4060,
530
+ "accepted": 4005,
531
+ "gate_deg": 30.0,
532
+ "offset_deg": 19.58,
533
+ "tier": "primary",
534
+ "dev_deg_median": 4.76,
535
+ "wrist_pos_err_mm_median": 51.2
536
+ }
537
+ },
538
+ "frames_by_state": {
539
+ "ace_sample": 16032,
540
+ "interpolated": 288,
541
+ "mean_hand": 356,
542
+ "no_body_fit": 8
543
+ },
544
+ "observed_fraction": 0.9782,
545
+ "observed_fraction_of_valid": 0.9787,
546
+ "palm_axis_vs_markers_deg": {
547
+ "gsi": 18.92,
548
+ "smplx": 0.48
549
+ },
550
+ "hand_marker_to_mesh_mm": {
551
+ "flat": {
552
+ "median": 10.4,
553
+ "p90": 13.0
554
+ },
555
+ "registered": {
556
+ "median": 10.1,
557
+ "p90": 12.4
558
+ }
559
+ }
560
+ },
561
+ "right": {
562
+ "offset_deg": 19.16,
563
+ "offset_rotvec": [
564
+ -0.1647,
565
+ 0.2734,
566
+ -0.1
567
+ ],
568
+ "dev_deg": {
569
+ "median": 6.2,
570
+ "p90": 12.2
571
+ },
572
+ "samples": 4094,
573
+ "accepted": 4069,
574
+ "wrist_pos_err_mm_median": 57.0,
575
+ "per_camera": {
576
+ "head": {
577
+ "samples": 4094,
578
+ "accepted": 4069,
579
+ "gate_deg": 30.0,
580
+ "offset_deg": 19.16,
581
+ "tier": "primary",
582
+ "dev_deg_median": 6.2,
583
+ "wrist_pos_err_mm_median": 57.0
584
+ }
585
+ },
586
+ "frames_by_state": {
587
+ "ace_sample": 16292,
588
+ "interpolated": 260,
589
+ "mean_hand": 124,
590
+ "no_body_fit": 8
591
+ },
592
+ "observed_fraction": 0.9921,
593
+ "observed_fraction_of_valid": 0.9926,
594
+ "palm_axis_vs_markers_deg": {
595
+ "gsi": 20.74,
596
+ "smplx": 0.53
597
+ },
598
+ "hand_marker_to_mesh_mm": {
599
+ "flat": {
600
+ "median": 7.2,
601
+ "p90": 9.6
602
+ },
603
+ "registered": {
604
+ "median": 6.7,
605
+ "p90": 8.9
606
+ }
607
+ }
608
+ }
609
+ },
610
+ "max_dev_deg": 30.0,
611
+ "max_gap_s": 1.0,
612
+ "cameras_used": [
613
+ "head"
614
+ ],
615
+ "generated_at_utc": "2026-11-03T16:01:44.228332+00:00",
616
+ "generated_by": "scripts/register_hands_smplx.py",
617
+ "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
+ "wrist_flip_suspect": []
619
+ },
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
+ },
626
+ "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
  }
actions/locomanipulation/LM11/session_006/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:65771ff55ea8e4d2e61cdbc553b36a65998881cd69a0f2a288c186284447c439
3
+ size 5514403
actions/locomanipulation/LM11/session_006/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:b2b2c6fc9e412803cb76e69ba641b9bd8393947eeea7cc07f3fb70c705c883c8
3
- size 6452003
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:983edcad53ee579e3c57b0c08f4f7604e87790e9e921d56924857128651df720
3
+ size 11967913