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Add Halo loco-manipulation subset (55 takes, 5 behavior categories) - #3
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bilal-bdai wants to merge 14 commits into
Closed
bilal-bdai wants to merge 14 commits into
bilal-bdai wants to merge 14 commits into
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add bvh files
add g1 locomotion
Source: RAI Halo Loco_Manipulation collections 10_27_2025 and 11_20_2025, converted to hold's BVH convention by the cast pipeline (cast.datasets.converters.halo_to_convention). Layout: bvh/halo_loco_manipulation/<category>/ with five behavior buckets: pick 33 originals + 33 mirrors place 5 originals + 5 mirrors carry 5 originals + 5 mirrors tumble 5 originals + 5 mirrors door 7 originals + 7 mirrors Only the original frame rate is provided (no 80%-scale variant in this subset). Each original ships with a _mirrored.bvh companion generated using the L/R-swap + axis-mirror convention used elsewhere in the dataset (validated byte-for-byte against existing hold mirror pairs). Props parented to Z_UP_WORLD_ORIGIN with 8 corner end-sites per hold's prop-bone convention: Box, BoxSmall, BoxLarge, StepBox, Chair. Sole bones are estimated per-take with the velocity + height stance heuristic. README updated with category table and per-category file index.
The E-grab-box-from-shelf_000 take originally shipped without its _boxsmall companion BVH, so the converted file in pick/ only carried the StepBox (chair-as-step) prop. The boxsmall sidecar was recovered upstream and the take has been re-run through the cast Halo converter, which now merges both BoxSmall (the shelf box being grabbed) and StepBox into the same human take. Mirror regenerated to match.
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Source: RAI Halo Loco_Manipulation collections 10_27_2025 and 11_20_2025, converted to hold's BVH convention
Layout: bvh/halo_loco_manipulation// with five behavior buckets:
pick 33 originals + 33 mirrors
place 5 originals + 5 mirrors
carry 5 originals + 5 mirrors
tumble 5 originals + 5 mirrors
door 7 originals + 7 mirrors
Only the original skeleton size is provided (no 80%-scale variant in this subset). Each original ships with a _mirrored.bvh companion generated using the L/R-swap + axis-mirror convention used elsewhere in the dataset (validated byte-for-byte against existing hold mirror pairs).
Props parented to Z_UP_WORLD_ORIGIN with 8 corner end-sites per hold's prop-bone convention: Box, BoxSmall, BoxLarge, StepBox, Chair. Sole bones are estimated per-take with the velocity + height stance heuristic.
README updated with category table and per-category file index. Still missing the previews though