Release update 2026-11-05: new sessions, instructions, annotations (part 344)
Browse files- actions/locomanipulation/LM35/session_014/motions/smplx.npz +2 -2
- actions/locomanipulation/LM35/session_015/annotations.json +28 -0
- actions/locomanipulation/LM35/session_015/cameras/slam.npz +3 -0
- actions/locomanipulation/LM35/session_015/meta.json +116 -2
- actions/locomanipulation/LM35/session_015/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM35/session_015/motions/smplx.npz +2 -2
- actions/locomanipulation/LM35/session_016/annotations.json +28 -0
- actions/locomanipulation/LM35/session_016/cameras/slam.npz +3 -0
- actions/locomanipulation/LM35/session_016/meta.json +116 -2
- actions/locomanipulation/LM35/session_016/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM35/session_016/motions/smplx.npz +2 -2
actions/locomanipulation/LM35/session_014/motions/smplx.npz
CHANGED
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actions/locomanipulation/LM35/session_015/annotations.json
ADDED
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{
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"schema_version": 1,
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| 3 |
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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 |
+
"primitive": "LM35",
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| 6 |
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"instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking.",
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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": 148.966789,
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| 11 |
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"video": "left_eye",
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| 12 |
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"video_t_start": 0.03934914927026045
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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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"id": "05bd0007-715b-4aac-82ec-a1eb2f19ed95",
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| 18 |
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"segment": "segment1",
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| 19 |
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"action": "LM35",
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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": 142.823,
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| 23 |
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"t_start": 0.0393,
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| 24 |
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"t_end": 142.8623,
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| 25 |
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"instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking."
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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/LM35/session_015/cameras/slam.npz
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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+
oid sha256:2fbb679a81e0d9f30d1df72050b5b40cf0bf94409bc66b865ef2a56c67251916
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| 3 |
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size 859058
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actions/locomanipulation/LM35/session_015/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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@@ -506,10 +506,124 @@
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| 506 |
"generated_by": "scripts/correct_processed_rig.py",
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| 507 |
"remaining_gyro_frame_deg": 1.2397268608999394
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| 508 |
},
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| 509 |
"release": {
|
| 510 |
"release_path": "actions/locomanipulation/LM35/session_015",
|
| 511 |
"family": "locomanipulation",
|
| 512 |
"primitive": "LM35",
|
| 513 |
"source_session": "20260923/LM35/20260923_044841_session20"
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|
| 514 |
}
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| 515 |
}
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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": 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": {
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|
| 506 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 507 |
"remaining_gyro_frame_deg": 1.2397268608999394
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| 508 |
},
|
| 509 |
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"hands_registration": {
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| 510 |
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"cameras": {},
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| 511 |
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"hands": {
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| 512 |
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"left": {
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| 513 |
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"offset_deg": 28.04,
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| 514 |
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"offset_rotvec": [
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-0.0396,
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0.1902,
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-0.4492
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| 518 |
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],
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| 519 |
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"dev_deg": {
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| 520 |
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"median": 20.37,
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| 521 |
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"p90": 123.46
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| 522 |
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},
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| 523 |
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"samples": 2564,
|
| 524 |
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"accepted": 1577,
|
| 525 |
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"wrist_pos_err_mm_median": 65.4,
|
| 526 |
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"per_camera": {
|
| 527 |
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"head": {
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| 528 |
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"samples": 2564,
|
| 529 |
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"accepted": 1577,
|
| 530 |
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"gate_deg": 30.0,
|
| 531 |
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"offset_deg": 28.04,
|
| 532 |
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"tier": "primary",
|
| 533 |
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"dev_deg_median": 20.37,
|
| 534 |
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"wrist_pos_err_mm_median": 65.4
|
| 535 |
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}
|
| 536 |
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},
|
| 537 |
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"frames_by_state": {
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| 538 |
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"ace_sample": 6264,
|
| 539 |
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"interpolated": 336,
|
| 540 |
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"mean_hand": 11284,
|
| 541 |
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"no_body_fit": 0
|
| 542 |
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},
|
| 543 |
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"observed_fraction": 0.369,
|
| 544 |
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"observed_fraction_of_valid": 0.369,
|
| 545 |
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"palm_axis_vs_markers_deg": {
|
| 546 |
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"gsi": 22.66,
|
| 547 |
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"smplx": 2.03
|
| 548 |
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},
|
| 549 |
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"hand_marker_to_mesh_mm": {
|
| 550 |
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"flat": {
|
| 551 |
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"median": 9.9,
|
| 552 |
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"p90": 12.0
|
| 553 |
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},
|
| 554 |
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"registered": {
|
| 555 |
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"median": 9.9,
|
| 556 |
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"p90": 12.0
|
| 557 |
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}
|
| 558 |
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}
|
| 559 |
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},
|
| 560 |
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"right": {
|
| 561 |
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"offset_deg": 24.36,
|
| 562 |
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"offset_rotvec": [
|
| 563 |
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0.0172,
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-0.401,
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0.1404
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| 566 |
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],
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| 567 |
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"dev_deg": {
|
| 568 |
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"median": 10.47,
|
| 569 |
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"p90": 22.77
|
| 570 |
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},
|
| 571 |
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"samples": 3664,
|
| 572 |
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"accepted": 3391,
|
| 573 |
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"wrist_pos_err_mm_median": 45.5,
|
| 574 |
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"per_camera": {
|
| 575 |
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"head": {
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| 576 |
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"samples": 3664,
|
| 577 |
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"accepted": 3391,
|
| 578 |
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"gate_deg": 30.0,
|
| 579 |
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"offset_deg": 24.36,
|
| 580 |
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"tier": "primary",
|
| 581 |
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"dev_deg_median": 10.47,
|
| 582 |
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"wrist_pos_err_mm_median": 45.5
|
| 583 |
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}
|
| 584 |
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},
|
| 585 |
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"frames_by_state": {
|
| 586 |
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"ace_sample": 13552,
|
| 587 |
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"interpolated": 556,
|
| 588 |
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"mean_hand": 3776,
|
| 589 |
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"no_body_fit": 0
|
| 590 |
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},
|
| 591 |
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"observed_fraction": 0.7889,
|
| 592 |
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"observed_fraction_of_valid": 0.7889,
|
| 593 |
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"palm_axis_vs_markers_deg": {
|
| 594 |
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"gsi": 23.89,
|
| 595 |
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"smplx": 1.14
|
| 596 |
+
},
|
| 597 |
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"hand_marker_to_mesh_mm": {
|
| 598 |
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"flat": {
|
| 599 |
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"median": 10.4,
|
| 600 |
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"p90": 11.4
|
| 601 |
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},
|
| 602 |
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"registered": {
|
| 603 |
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"median": 10.1,
|
| 604 |
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"p90": 10.8
|
| 605 |
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}
|
| 606 |
+
}
|
| 607 |
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}
|
| 608 |
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},
|
| 609 |
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"max_dev_deg": 30.0,
|
| 610 |
+
"max_gap_s": 1.0,
|
| 611 |
+
"cameras_used": [
|
| 612 |
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"head"
|
| 613 |
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],
|
| 614 |
+
"generated_at_utc": "2026-11-03T22:39:18.456958+00:00",
|
| 615 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 616 |
+
"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",
|
| 617 |
+
"wrist_flip_suspect": []
|
| 618 |
+
},
|
| 619 |
"release": {
|
| 620 |
"release_path": "actions/locomanipulation/LM35/session_015",
|
| 621 |
"family": "locomanipulation",
|
| 622 |
"primitive": "LM35",
|
| 623 |
"source_session": "20260923/LM35/20260923_044841_session20"
|
| 624 |
+
},
|
| 625 |
+
"task": {
|
| 626 |
+
"primitive": "LM35",
|
| 627 |
+
"instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking."
|
| 628 |
}
|
| 629 |
}
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actions/locomanipulation/LM35/session_015/motions/hands_mano.npz
ADDED
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@@ -0,0 +1,3 @@
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+
version https://git-lfs.github.com/spec/v1
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oid sha256:d84b2221c772cfb2b2b8bf842d6baf37c289ef1d9c40002a35f4cd3677b4d3b8
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| 3 |
+
size 4308956
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actions/locomanipulation/LM35/session_015/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 sha256:5c2a0cbf40fdc07827fb8aca50dba64b28a23baa6a786f11c7d87e5c12f41811
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| 3 |
+
size 10699373
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actions/locomanipulation/LM35/session_016/annotations.json
ADDED
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@@ -0,0 +1,28 @@
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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": "LM35",
|
| 6 |
+
"instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 138.966678,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03872803351453502
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "9885d25a-be36-460d-ad70-cfef8818eef6",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM35",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 136.431,
|
| 23 |
+
"t_start": 0.0387,
|
| 24 |
+
"t_end": 136.4697,
|
| 25 |
+
"instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
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actions/locomanipulation/LM35/session_016/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 sha256:74e2abd845f56060659f92e606259f713e39d11bdc38b753d44455508904f8c7
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| 3 |
+
size 801563
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actions/locomanipulation/LM35/session_016/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":
|
| 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": {
|
|
@@ -506,10 +506,124 @@
|
|
| 506 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 507 |
"remaining_gyro_frame_deg": 1.2638932737903428
|
| 508 |
},
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| 509 |
"release": {
|
| 510 |
"release_path": "actions/locomanipulation/LM35/session_016",
|
| 511 |
"family": "locomanipulation",
|
| 512 |
"primitive": "LM35",
|
| 513 |
"source_session": "20260923/LM35/20260923_045120_session21"
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|
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|
| 514 |
}
|
| 515 |
}
|
|
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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": 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": {
|
|
|
|
| 506 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 507 |
"remaining_gyro_frame_deg": 1.2638932737903428
|
| 508 |
},
|
| 509 |
+
"hands_registration": {
|
| 510 |
+
"cameras": {},
|
| 511 |
+
"hands": {
|
| 512 |
+
"left": {
|
| 513 |
+
"offset_deg": 28.22,
|
| 514 |
+
"offset_rotvec": [
|
| 515 |
+
-0.0062,
|
| 516 |
+
0.2219,
|
| 517 |
+
-0.4396
|
| 518 |
+
],
|
| 519 |
+
"dev_deg": {
|
| 520 |
+
"median": 22.16,
|
| 521 |
+
"p90": 140.13
|
| 522 |
+
},
|
| 523 |
+
"samples": 2524,
|
| 524 |
+
"accepted": 1416,
|
| 525 |
+
"wrist_pos_err_mm_median": 66.5,
|
| 526 |
+
"per_camera": {
|
| 527 |
+
"head": {
|
| 528 |
+
"samples": 2524,
|
| 529 |
+
"accepted": 1416,
|
| 530 |
+
"gate_deg": 30.0,
|
| 531 |
+
"offset_deg": 28.22,
|
| 532 |
+
"tier": "primary",
|
| 533 |
+
"dev_deg_median": 22.16,
|
| 534 |
+
"wrist_pos_err_mm_median": 66.5
|
| 535 |
+
}
|
| 536 |
+
},
|
| 537 |
+
"frames_by_state": {
|
| 538 |
+
"ace_sample": 5590,
|
| 539 |
+
"interpolated": 62,
|
| 540 |
+
"mean_hand": 11032,
|
| 541 |
+
"no_body_fit": 0
|
| 542 |
+
},
|
| 543 |
+
"observed_fraction": 0.3388,
|
| 544 |
+
"observed_fraction_of_valid": 0.3388,
|
| 545 |
+
"palm_axis_vs_markers_deg": {
|
| 546 |
+
"gsi": 28.07,
|
| 547 |
+
"smplx": 2.23
|
| 548 |
+
},
|
| 549 |
+
"hand_marker_to_mesh_mm": {
|
| 550 |
+
"flat": {
|
| 551 |
+
"median": 12.5,
|
| 552 |
+
"p90": 16.0
|
| 553 |
+
},
|
| 554 |
+
"registered": {
|
| 555 |
+
"median": 12.5,
|
| 556 |
+
"p90": 16.1
|
| 557 |
+
}
|
| 558 |
+
}
|
| 559 |
+
},
|
| 560 |
+
"right": {
|
| 561 |
+
"offset_deg": 23.96,
|
| 562 |
+
"offset_rotvec": [
|
| 563 |
+
0.1,
|
| 564 |
+
-0.3793,
|
| 565 |
+
0.1448
|
| 566 |
+
],
|
| 567 |
+
"dev_deg": {
|
| 568 |
+
"median": 10.41,
|
| 569 |
+
"p90": 24.92
|
| 570 |
+
},
|
| 571 |
+
"samples": 3481,
|
| 572 |
+
"accepted": 3275,
|
| 573 |
+
"wrist_pos_err_mm_median": 65.3,
|
| 574 |
+
"per_camera": {
|
| 575 |
+
"head": {
|
| 576 |
+
"samples": 3481,
|
| 577 |
+
"accepted": 3275,
|
| 578 |
+
"gate_deg": 30.0,
|
| 579 |
+
"offset_deg": 23.96,
|
| 580 |
+
"tier": "primary",
|
| 581 |
+
"dev_deg_median": 10.41,
|
| 582 |
+
"wrist_pos_err_mm_median": 65.3
|
| 583 |
+
}
|
| 584 |
+
},
|
| 585 |
+
"frames_by_state": {
|
| 586 |
+
"ace_sample": 13102,
|
| 587 |
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"interpolated": 678,
|
| 588 |
+
"mean_hand": 2904,
|
| 589 |
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"no_body_fit": 0
|
| 590 |
+
},
|
| 591 |
+
"observed_fraction": 0.8259,
|
| 592 |
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"observed_fraction_of_valid": 0.8259,
|
| 593 |
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"palm_axis_vs_markers_deg": {
|
| 594 |
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"gsi": 24.62,
|
| 595 |
+
"smplx": 1.0
|
| 596 |
+
},
|
| 597 |
+
"hand_marker_to_mesh_mm": {
|
| 598 |
+
"flat": {
|
| 599 |
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"median": 10.9,
|
| 600 |
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"p90": 12.3
|
| 601 |
+
},
|
| 602 |
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"registered": {
|
| 603 |
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"median": 10.5,
|
| 604 |
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"p90": 11.5
|
| 605 |
+
}
|
| 606 |
+
}
|
| 607 |
+
}
|
| 608 |
+
},
|
| 609 |
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"max_dev_deg": 30.0,
|
| 610 |
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"max_gap_s": 1.0,
|
| 611 |
+
"cameras_used": [
|
| 612 |
+
"head"
|
| 613 |
+
],
|
| 614 |
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"generated_at_utc": "2026-11-03T22:39:18.466822+00:00",
|
| 615 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 616 |
+
"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",
|
| 617 |
+
"wrist_flip_suspect": []
|
| 618 |
+
},
|
| 619 |
"release": {
|
| 620 |
"release_path": "actions/locomanipulation/LM35/session_016",
|
| 621 |
"family": "locomanipulation",
|
| 622 |
"primitive": "LM35",
|
| 623 |
"source_session": "20260923/LM35/20260923_045120_session21"
|
| 624 |
+
},
|
| 625 |
+
"task": {
|
| 626 |
+
"primitive": "LM35",
|
| 627 |
+
"instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking."
|
| 628 |
}
|
| 629 |
}
|
actions/locomanipulation/LM35/session_016/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:008579efc66bf0401675b72c03b48fce8721ff4b44c41153705bfc4c0a4fe4c6
|
| 3 |
+
size 4147175
|
actions/locomanipulation/LM35/session_016/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
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| 2 |
+
oid sha256:656cf673eb4041eddc13ba45f380888c379033e23757575d0919a5ecbf64c125
|
| 3 |
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size 10009413
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