Release update 2026-11-05: new sessions, instructions, annotations (part 364)
Browse files- actions/locomanipulation/LM36/session_012/motions/smplx.npz +2 -2
- actions/locomanipulation/LM36/session_013/annotations.json +28 -0
- actions/locomanipulation/LM36/session_013/cameras/slam.npz +3 -0
- actions/locomanipulation/LM36/session_013/meta.json +116 -2
- actions/locomanipulation/LM36/session_013/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM36/session_013/motions/smplx.npz +2 -2
- actions/locomanipulation/LM36/session_014/annotations.json +28 -0
- actions/locomanipulation/LM36/session_014/cameras/gsi_online_calibration.json +257 -0
- actions/locomanipulation/LM36/session_014/cameras/slam.npz +3 -0
- actions/locomanipulation/LM36/session_014/meta.json +116 -2
- actions/locomanipulation/LM36/session_014/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM36/session_014/motions/smplx.npz +2 -2
actions/locomanipulation/LM36/session_012/motions/smplx.npz
CHANGED
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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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version https://git-lfs.github.com/spec/v1
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size 11060206
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actions/locomanipulation/LM36/session_013/annotations.json
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{
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| 2 |
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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 |
+
"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": "LM36",
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| 6 |
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"instruction": "Carry the open tray of loose items across the room, back and forth, trying not to let anything fall out.",
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| 7 |
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"segments": [
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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": 158.966644,
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| 11 |
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"video": "left_eye",
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| 12 |
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"video_t_start": 0.03884698777163975
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| 13 |
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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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{
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"id": "9f50519c-06f7-46cd-be34-05b6496bbb24",
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"segment": "segment1",
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| 19 |
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"action": "LM36",
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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": 152.41,
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| 23 |
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"t_start": 0.0388,
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| 24 |
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"t_end": 152.4488,
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| 25 |
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"instruction": "Carry the open tray of loose items across the room, back and forth, trying not to let anything fall out."
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| 26 |
+
}
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| 27 |
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]
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| 28 |
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}
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actions/locomanipulation/LM36/session_013/cameras/slam.npz
ADDED
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version https://git-lfs.github.com/spec/v1
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oid sha256:8e9c6e035ea17bc115b37a798adc112c8e60feaa9073451fa2ffc692eccd5be3
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| 3 |
+
size 913860
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actions/locomanipulation/LM36/session_013/meta.json
CHANGED
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@@ -340,8 +340,8 @@
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| 340 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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| 341 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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| 342 |
"hands": {
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| 343 |
-
"observed":
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| 344 |
-
"hand_pose": "
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| 345 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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| 346 |
"hand_marker_offsets_m": {
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| 347 |
"left": {
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@@ -526,10 +526,124 @@
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| 526 |
"generated_by": "scripts/correct_processed_rig.py",
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| 527 |
"remaining_gyro_frame_deg": 0.6755227054311803
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| 528 |
},
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| 529 |
"release": {
|
| 530 |
"release_path": "actions/locomanipulation/LM36/session_013",
|
| 531 |
"family": "locomanipulation",
|
| 532 |
"primitive": "LM36",
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| 533 |
"source_session": "20260923/LM36/20260923_031548_session229"
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| 534 |
}
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| 535 |
}
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| 340 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 341 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 342 |
"hands": {
|
| 343 |
+
"observed": true,
|
| 344 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
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| 345 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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| 346 |
"hand_marker_offsets_m": {
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| 347 |
"left": {
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|
| 526 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 527 |
"remaining_gyro_frame_deg": 0.6755227054311803
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| 528 |
},
|
| 529 |
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"hands_registration": {
|
| 530 |
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"cameras": {},
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| 531 |
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"hands": {
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| 532 |
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"left": {
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| 533 |
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"offset_deg": 24.73,
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| 534 |
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"offset_rotvec": [
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| 535 |
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0.0029,
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0.333,
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| 537 |
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-0.2747
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| 538 |
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],
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| 539 |
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"dev_deg": {
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| 540 |
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"median": 5.07,
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| 541 |
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"p90": 12.16
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| 542 |
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},
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| 543 |
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"samples": 4700,
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| 544 |
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"accepted": 4684,
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| 545 |
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"wrist_pos_err_mm_median": 62.1,
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| 546 |
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"per_camera": {
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| 547 |
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"head": {
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| 548 |
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"samples": 4700,
|
| 549 |
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"accepted": 4684,
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| 550 |
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"gate_deg": 30.0,
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| 551 |
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"offset_deg": 24.73,
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| 552 |
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"tier": "primary",
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| 553 |
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"dev_deg_median": 5.07,
|
| 554 |
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"wrist_pos_err_mm_median": 62.1
|
| 555 |
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}
|
| 556 |
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},
|
| 557 |
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"frames_by_state": {
|
| 558 |
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"ace_sample": 18734,
|
| 559 |
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"interpolated": 98,
|
| 560 |
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"mean_hand": 252,
|
| 561 |
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"no_body_fit": 0
|
| 562 |
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},
|
| 563 |
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"observed_fraction": 0.9868,
|
| 564 |
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"observed_fraction_of_valid": 0.9868,
|
| 565 |
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"palm_axis_vs_markers_deg": {
|
| 566 |
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"gsi": 21.07,
|
| 567 |
+
"smplx": 0.77
|
| 568 |
+
},
|
| 569 |
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"hand_marker_to_mesh_mm": {
|
| 570 |
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"flat": {
|
| 571 |
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"median": 9.8,
|
| 572 |
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"p90": 12.5
|
| 573 |
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},
|
| 574 |
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"registered": {
|
| 575 |
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"median": 9.1,
|
| 576 |
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"p90": 12.2
|
| 577 |
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}
|
| 578 |
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}
|
| 579 |
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},
|
| 580 |
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"right": {
|
| 581 |
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"offset_deg": 29.19,
|
| 582 |
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"offset_rotvec": [
|
| 583 |
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0.1527,
|
| 584 |
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-0.4551,
|
| 585 |
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0.1704
|
| 586 |
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],
|
| 587 |
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"dev_deg": {
|
| 588 |
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"median": 3.73,
|
| 589 |
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"p90": 9.23
|
| 590 |
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},
|
| 591 |
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"samples": 4730,
|
| 592 |
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"accepted": 4730,
|
| 593 |
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"wrist_pos_err_mm_median": 80.4,
|
| 594 |
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"per_camera": {
|
| 595 |
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"head": {
|
| 596 |
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"samples": 4730,
|
| 597 |
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"accepted": 4730,
|
| 598 |
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"gate_deg": 30.0,
|
| 599 |
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"offset_deg": 29.19,
|
| 600 |
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"tier": "primary",
|
| 601 |
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"dev_deg_median": 3.73,
|
| 602 |
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"wrist_pos_err_mm_median": 80.4
|
| 603 |
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}
|
| 604 |
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},
|
| 605 |
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"frames_by_state": {
|
| 606 |
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"ace_sample": 18922,
|
| 607 |
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"interpolated": 34,
|
| 608 |
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"mean_hand": 128,
|
| 609 |
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"no_body_fit": 0
|
| 610 |
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},
|
| 611 |
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"observed_fraction": 0.9933,
|
| 612 |
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"observed_fraction_of_valid": 0.9933,
|
| 613 |
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"palm_axis_vs_markers_deg": {
|
| 614 |
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"gsi": 29.32,
|
| 615 |
+
"smplx": 0.52
|
| 616 |
+
},
|
| 617 |
+
"hand_marker_to_mesh_mm": {
|
| 618 |
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"flat": {
|
| 619 |
+
"median": 13.1,
|
| 620 |
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"p90": 13.9
|
| 621 |
+
},
|
| 622 |
+
"registered": {
|
| 623 |
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"median": 12.7,
|
| 624 |
+
"p90": 13.3
|
| 625 |
+
}
|
| 626 |
+
}
|
| 627 |
+
}
|
| 628 |
+
},
|
| 629 |
+
"max_dev_deg": 30.0,
|
| 630 |
+
"max_gap_s": 1.0,
|
| 631 |
+
"cameras_used": [
|
| 632 |
+
"head"
|
| 633 |
+
],
|
| 634 |
+
"generated_at_utc": "2026-11-03T22:39:20.842771+00:00",
|
| 635 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 636 |
+
"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",
|
| 637 |
+
"wrist_flip_suspect": []
|
| 638 |
+
},
|
| 639 |
"release": {
|
| 640 |
"release_path": "actions/locomanipulation/LM36/session_013",
|
| 641 |
"family": "locomanipulation",
|
| 642 |
"primitive": "LM36",
|
| 643 |
"source_session": "20260923/LM36/20260923_031548_session229"
|
| 644 |
+
},
|
| 645 |
+
"task": {
|
| 646 |
+
"primitive": "LM36",
|
| 647 |
+
"instruction": "Carry the open tray of loose items across the room, back and forth, trying not to let anything fall out."
|
| 648 |
}
|
| 649 |
}
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actions/locomanipulation/LM36/session_013/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:f27911cf6100d8a9d6a6384506d95777e26d66d84cba080b774ad0f8fb44d77b
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| 3 |
+
size 6343409
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actions/locomanipulation/LM36/session_013/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 sha256:15a35fb7787eacd573338e35fd768130bea821ac3979f5de776c38ef9e7155d5
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+
size 13648236
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actions/locomanipulation/LM36/session_014/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",
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| 5 |
+
"primitive": "LM36",
|
| 6 |
+
"instruction": "Carry the open tray of loose items across the room, back and forth, trying not to let anything fall out.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 133.966722,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03915302290819134
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "4bf8dd35-1f77-4647-adc2-472995cf97ab",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM36",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 126.549,
|
| 23 |
+
"t_start": 0.0392,
|
| 24 |
+
"t_end": 126.5882,
|
| 25 |
+
"instruction": "Carry the open tray of loose items across the room, back and forth, trying not to let anything fall out."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
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actions/locomanipulation/LM36/session_014/cameras/gsi_online_calibration.json
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actions/locomanipulation/LM36/session_014/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:f03b3c765c482022da75dec7969acc50c532adcec6299e71641eb670438cb512
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size 771549
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actions/locomanipulation/LM36/session_014/meta.json
CHANGED
|
@@ -353,8 +353,8 @@
|
|
| 353 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 354 |
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|
| 355 |
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| 356 |
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| 357 |
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| 358 |
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| 359 |
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| 360 |
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|
@@ -539,10 +539,124 @@
|
|
| 539 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 540 |
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| 541 |
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|
| 542 |
"release": {
|
| 543 |
"release_path": "actions/locomanipulation/LM36/session_014",
|
| 544 |
"family": "locomanipulation",
|
| 545 |
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|
| 546 |
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|
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|
| 547 |
}
|
| 548 |
}
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|
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|
| 353 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 354 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 355 |
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|
| 356 |
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"observed": true,
|
| 357 |
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|
| 358 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 359 |
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|
| 360 |
"left": {
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|
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|
| 539 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 540 |
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|
| 541 |
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|
| 542 |
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|
| 543 |
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| 544 |
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| 545 |
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|
| 546 |
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|
| 547 |
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|
| 548 |
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-0.1022,
|
| 549 |
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0.2977,
|
| 550 |
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|
| 551 |
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| 552 |
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|
| 553 |
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|
| 554 |
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|
| 555 |
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},
|
| 556 |
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|
| 557 |
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|
| 558 |
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|
| 559 |
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|
| 560 |
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|
| 561 |
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|
| 562 |
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|
| 563 |
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|
| 564 |
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|
| 565 |
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"tier": "primary",
|
| 566 |
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|
| 567 |
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|
| 568 |
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}
|
| 569 |
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},
|
| 570 |
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|
| 571 |
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|
| 572 |
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|
| 573 |
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|
| 574 |
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| 575 |
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},
|
| 576 |
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"observed_fraction": 0.9821,
|
| 577 |
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|
| 578 |
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|
| 579 |
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"gsi": 19.35,
|
| 580 |
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"smplx": 0.43
|
| 581 |
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},
|
| 582 |
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| 583 |
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"flat": {
|
| 584 |
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"median": 9.0,
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| 585 |
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|
| 586 |
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| 587 |
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| 588 |
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|
| 589 |
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|
| 590 |
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}
|
| 591 |
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}
|
| 592 |
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},
|
| 593 |
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"right": {
|
| 594 |
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"offset_deg": 33.99,
|
| 595 |
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| 596 |
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-0.1314,
|
| 597 |
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-0.5768,
|
| 598 |
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0.0447
|
| 599 |
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],
|
| 600 |
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"dev_deg": {
|
| 601 |
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"median": 4.44,
|
| 602 |
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"p90": 10.82
|
| 603 |
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},
|
| 604 |
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"samples": 3981,
|
| 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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|
| 611 |
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|
| 612 |
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|
| 613 |
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|
| 614 |
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|
| 615 |
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"wrist_pos_err_mm_median": 33.2
|
| 616 |
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}
|
| 617 |
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},
|
| 618 |
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"frames_by_state": {
|
| 619 |
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|
| 620 |
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|
| 621 |
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|
| 622 |
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| 623 |
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},
|
| 624 |
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"observed_fraction": 0.9918,
|
| 625 |
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|
| 626 |
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|
| 627 |
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"gsi": 35.39,
|
| 628 |
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"smplx": 0.24
|
| 629 |
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},
|
| 630 |
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|
| 631 |
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|
| 632 |
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|
| 633 |
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|
| 634 |
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| 635 |
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|
| 637 |
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|
| 638 |
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| 639 |
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| 640 |
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}
|
| 641 |
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| 642 |
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|
| 643 |
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|
| 644 |
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"head"
|
| 646 |
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],
|
| 647 |
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"generated_at_utc": "2026-11-03T22:39:18.896269+00:00",
|
| 648 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 649 |
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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",
|
| 650 |
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"wrist_flip_suspect": []
|
| 651 |
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},
|
| 652 |
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|
| 653 |
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| 654 |
"family": "locomanipulation",
|
| 655 |
"primitive": "LM36",
|
| 656 |
"source_session": "20260923/LM36/20260923_055125_session34"
|
| 657 |
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},
|
| 658 |
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"task": {
|
| 659 |
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"primitive": "LM36",
|
| 660 |
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"instruction": "Carry the open tray of loose items across the room, back and forth, trying not to let anything fall out."
|
| 661 |
}
|
| 662 |
}
|
actions/locomanipulation/LM36/session_014/motions/hands_mano.npz
ADDED
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@@ -0,0 +1,3 @@
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actions/locomanipulation/LM36/session_014/motions/smplx.npz
CHANGED
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@@ -1,3 +1,3 @@
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|
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