Add MANO tabletop archive

README.md

@@ -69,6 +69,7 @@ The repository contains the following archive groups:
 | `allegro_dataset_1.zip` | Allegro Hand grasping motion sequences. |
 | `allegro_dataset_2.zip` | Additional Allegro Hand grasping motion sequences. |
 | `allegro_tabletop.zip` | Allegro Hand tabletop grasping motions. Objects are placed on a table and the hand approaches from above. |
+| `mano_tabletop.zip` | MANO hand tabletop grasping motions. Objects are placed on a table and the hand approaches from above. |
 | `sharpa_tabletop.zip` | SharpA Hand tabletop grasping motions. Objects are placed on a table and the hand approaches from above. |
 | `mano_dataset_1.zip.part00`, `mano_dataset_1.zip.part01` | Split parts of `mano_dataset_1.zip`, containing MANO hand grasping motion sequences. |
 | `mano_dataset_2.zip.part00`, `mano_dataset_2.zip.part01` | Split parts of `mano_dataset_2.zip`, containing additional MANO hand grasping motion sequences. |
@@ -152,12 +153,12 @@ recorded motion sequences.
 
 ## Tabletop sequences
 
-`allegro_tabletop.zip` and `sharpa_tabletop.zip` contain grasping motions in a
-tabletop setting. In the original diverse-motion archives, the hand approaches
-objects from different directions to generate broad hand-object interaction
-coverage. In the tabletop archives, each object is placed on a table and the hand
-approaches the object from above. This setting is useful for applications that
-focus on tabletop grasping scenes.
+`allegro_tabletop.zip`, `mano_tabletop.zip`, and `sharpa_tabletop.zip` contain
+grasping motions in a tabletop setting. In the original diverse-motion archives,
+the hand approaches objects from different directions to generate broad
+hand-object interaction coverage. In the tabletop archives, each object is placed
+on a table and the hand approaches the object from above. This setting is useful
+for applications that focus on tabletop grasping scenes.
 
 The tabletop archives are organized as follows:
 
@@ -201,10 +202,14 @@ sharpa_tabletop.zip
     `-- ...
 ```
 
+`mano_tabletop.zip` follows the same directory structure and contains
+`mano_0.npy`, `mano_1.npy`, ... sequence files.
+
 Each tabletop `.npy` file contains a single motion sequence:
 
 ```python
 data = np.load("allegro_0.npy", allow_pickle=True).item()
+data = np.load("mano_0.npy", allow_pickle=True).item()
 data = np.load("sharpa_0.npy", allow_pickle=True).item()
 ```
 
@@ -221,6 +226,20 @@ For Allegro tabletop sequences:
 - `data[object_id]["rot"]`: NumPy array of shape `(frame_num, 3)`. Object
   orientation sequence in axis-angle representation.
 
+For MANO tabletop sequences:
+
+- `data["right_hand"]["trans"]`: NumPy array of shape `(frame_num, 3)`. Wrist
+  position sequence.
+- `data["right_hand"]["rot"]`: NumPy array of shape `(frame_num, 3)`. Wrist
+  orientation sequence in axis-angle representation. For MANO, these are the
+  first 3 dimensions of the MANO parameter.
+- `data["right_hand"]["pose"]`: NumPy array of shape `(frame_num, 45)`. The
+  remaining 45 dimensions of the MANO parameter.
+- `data[object_id]["trans"]`: NumPy array of shape `(frame_num, 3)`. Object
+  position sequence.
+- `data[object_id]["rot"]`: NumPy array of shape `(frame_num, 3)`. Object
+  orientation sequence in axis-angle representation.
+
 For SharpA tabletop sequences:
 
 - `data["right_hand"]["trans"]`: NumPy array of shape `(frame_num, 3)`. Wrist

mano_tabletop.zip

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ce4f884892147b1419716def4813010f011c5b8bf67a1f15db7fcee4c55142c
+size 18920168549