Release update 2026-11-05: new sessions, instructions, annotations (part 68)
Browse files- actions/locomanipulation/LM17/session_031/motions/smplx.npz +2 -2
- actions/locomanipulation/LM17/session_032/annotations.json +28 -0
- actions/locomanipulation/LM17/session_032/cameras/slam.npz +3 -0
- actions/locomanipulation/LM17/session_032/meta.json +116 -2
- actions/locomanipulation/LM17/session_032/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM17/session_032/motions/smplx.npz +2 -2
- actions/locomanipulation/LM17/session_033/annotations.json +28 -0
- actions/locomanipulation/LM17/session_033/cameras/slam.npz +3 -0
- actions/locomanipulation/LM17/session_033/meta.json +116 -2
- actions/locomanipulation/LM17/session_033/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM17/session_033/motions/smplx.npz +2 -2
- actions/locomanipulation/LM17/session_034/annotations.json +28 -0
actions/locomanipulation/LM17/session_031/motions/smplx.npz
CHANGED
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version https://git-lfs.github.com/spec/v1
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size
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version https://git-lfs.github.com/spec/v1
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size 8931232
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actions/locomanipulation/LM17/session_032/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 |
+
"primitive": "LM17",
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| 6 |
+
"instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth.",
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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": 128.966544,
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| 11 |
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"video": "left_eye",
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| 12 |
+
"video_t_start": 0.03957291701759624
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| 13 |
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}
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| 14 |
+
],
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| 15 |
+
"episodes": [
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| 16 |
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{
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| 17 |
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"id": "bc7672c5-2724-415e-92ce-1ae965ab89d1",
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| 18 |
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"segment": "segment1",
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| 19 |
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"action": "LM17",
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| 20 |
+
"quality": "valid",
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| 21 |
+
"start_s": 0.544,
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| 22 |
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"end_s": 117.399,
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| 23 |
+
"t_start": 0.5836,
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| 24 |
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"t_end": 117.4386,
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| 25 |
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"instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth."
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| 26 |
+
}
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| 27 |
+
]
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| 28 |
+
}
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actions/locomanipulation/LM17/session_032/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 sha256:291ca366c92a39ef9e67708837a4e246ad1afcaf36a6d473f8d26ef46d3d5ed5
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| 3 |
+
size 740468
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actions/locomanipulation/LM17/session_032/meta.json
CHANGED
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@@ -344,8 +344,8 @@
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| 344 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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| 345 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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| 346 |
"hands": {
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| 347 |
-
"observed":
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| 348 |
-
"hand_pose": "
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| 349 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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| 350 |
"hand_marker_offsets_m": {
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| 351 |
"left": {
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@@ -494,10 +494,124 @@
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| 494 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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| 495 |
}
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| 496 |
},
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| 497 |
"release": {
|
| 498 |
"release_path": "actions/locomanipulation/LM17/session_032",
|
| 499 |
"family": "locomanipulation",
|
| 500 |
"primitive": "LM17",
|
| 501 |
"source_session": "20261014/LM17/20261014_084129_session128"
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|
| 502 |
}
|
| 503 |
}
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|
| 344 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 345 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 346 |
"hands": {
|
| 347 |
+
"observed": true,
|
| 348 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 349 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 350 |
"hand_marker_offsets_m": {
|
| 351 |
"left": {
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|
| 494 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 495 |
}
|
| 496 |
},
|
| 497 |
+
"hands_registration": {
|
| 498 |
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"cameras": {},
|
| 499 |
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"hands": {
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| 500 |
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"left": {
|
| 501 |
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"offset_deg": 32.25,
|
| 502 |
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"offset_rotvec": [
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| 503 |
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0.5536,
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| 504 |
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-0.0482,
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| 505 |
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0.09
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| 506 |
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],
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| 507 |
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"dev_deg": {
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| 508 |
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"median": 7.42,
|
| 509 |
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"p90": 19.24
|
| 510 |
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},
|
| 511 |
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"samples": 3602,
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| 512 |
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"accepted": 3469,
|
| 513 |
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"wrist_pos_err_mm_median": 133.9,
|
| 514 |
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"per_camera": {
|
| 515 |
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"head": {
|
| 516 |
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"samples": 3602,
|
| 517 |
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"accepted": 3469,
|
| 518 |
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"gate_deg": 30.0,
|
| 519 |
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"offset_deg": 32.25,
|
| 520 |
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"tier": "primary",
|
| 521 |
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"dev_deg_median": 7.42,
|
| 522 |
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"wrist_pos_err_mm_median": 133.9
|
| 523 |
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}
|
| 524 |
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},
|
| 525 |
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"frames_by_state": {
|
| 526 |
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"ace_sample": 14025,
|
| 527 |
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"interpolated": 1306,
|
| 528 |
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"mean_hand": 145,
|
| 529 |
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"no_body_fit": 8
|
| 530 |
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},
|
| 531 |
+
"observed_fraction": 0.9901,
|
| 532 |
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"observed_fraction_of_valid": 0.9906,
|
| 533 |
+
"palm_axis_vs_markers_deg": {
|
| 534 |
+
"gsi": 30.31,
|
| 535 |
+
"smplx": 0.47
|
| 536 |
+
},
|
| 537 |
+
"hand_marker_to_mesh_mm": {
|
| 538 |
+
"flat": {
|
| 539 |
+
"median": 9.1,
|
| 540 |
+
"p90": 10.1
|
| 541 |
+
},
|
| 542 |
+
"registered": {
|
| 543 |
+
"median": 8.9,
|
| 544 |
+
"p90": 10.2
|
| 545 |
+
}
|
| 546 |
+
}
|
| 547 |
+
},
|
| 548 |
+
"right": {
|
| 549 |
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"offset_deg": 11.69,
|
| 550 |
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"offset_rotvec": [
|
| 551 |
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0.0818,
|
| 552 |
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-0.1187,
|
| 553 |
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0.1444
|
| 554 |
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],
|
| 555 |
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"dev_deg": {
|
| 556 |
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"median": 14.11,
|
| 557 |
+
"p90": 42.19
|
| 558 |
+
},
|
| 559 |
+
"samples": 3827,
|
| 560 |
+
"accepted": 2936,
|
| 561 |
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"wrist_pos_err_mm_median": 93.5,
|
| 562 |
+
"per_camera": {
|
| 563 |
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"head": {
|
| 564 |
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"samples": 3827,
|
| 565 |
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"accepted": 2936,
|
| 566 |
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"gate_deg": 30.0,
|
| 567 |
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"offset_deg": 11.69,
|
| 568 |
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"tier": "primary",
|
| 569 |
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"dev_deg_median": 14.11,
|
| 570 |
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"wrist_pos_err_mm_median": 93.5
|
| 571 |
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}
|
| 572 |
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},
|
| 573 |
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"frames_by_state": {
|
| 574 |
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"ace_sample": 11768,
|
| 575 |
+
"interpolated": 452,
|
| 576 |
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"mean_hand": 3256,
|
| 577 |
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"no_body_fit": 8
|
| 578 |
+
},
|
| 579 |
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"observed_fraction": 0.7892,
|
| 580 |
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"observed_fraction_of_valid": 0.7896,
|
| 581 |
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"palm_axis_vs_markers_deg": {
|
| 582 |
+
"gsi": 9.92,
|
| 583 |
+
"smplx": 0.85
|
| 584 |
+
},
|
| 585 |
+
"hand_marker_to_mesh_mm": {
|
| 586 |
+
"flat": {
|
| 587 |
+
"median": 10.6,
|
| 588 |
+
"p90": 17.8
|
| 589 |
+
},
|
| 590 |
+
"registered": {
|
| 591 |
+
"median": 10.2,
|
| 592 |
+
"p90": 17.1
|
| 593 |
+
}
|
| 594 |
+
}
|
| 595 |
+
}
|
| 596 |
+
},
|
| 597 |
+
"max_dev_deg": 30.0,
|
| 598 |
+
"max_gap_s": 1.0,
|
| 599 |
+
"cameras_used": [
|
| 600 |
+
"head"
|
| 601 |
+
],
|
| 602 |
+
"generated_at_utc": "2026-11-03T22:06:24.320158+00:00",
|
| 603 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 604 |
+
"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",
|
| 605 |
+
"wrist_flip_suspect": []
|
| 606 |
+
},
|
| 607 |
"release": {
|
| 608 |
"release_path": "actions/locomanipulation/LM17/session_032",
|
| 609 |
"family": "locomanipulation",
|
| 610 |
"primitive": "LM17",
|
| 611 |
"source_session": "20261014/LM17/20261014_084129_session128"
|
| 612 |
+
},
|
| 613 |
+
"task": {
|
| 614 |
+
"primitive": "LM17",
|
| 615 |
+
"instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth."
|
| 616 |
}
|
| 617 |
}
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actions/locomanipulation/LM17/session_032/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:ffcb5375de212bcf7d115dd5f8b81dd3005c18d4a0e0866badc1f9bd8065fe76
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| 3 |
+
size 5016236
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actions/locomanipulation/LM17/session_032/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:bc0766bb0a6c0abec214fc675804d47ba8c7dfaf5867a51ce9d7c0c5d7066883
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+
size 10666323
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actions/locomanipulation/LM17/session_033/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": "LM17",
|
| 6 |
+
"instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 123.966578,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03916404604775514
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "afd242ce-3ef2-4c69-8233-a38bf87ecf12",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM17",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0.848,
|
| 22 |
+
"end_s": 117.118,
|
| 23 |
+
"t_start": 0.8872,
|
| 24 |
+
"t_end": 117.1572,
|
| 25 |
+
"instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
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actions/locomanipulation/LM17/session_033/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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+
oid sha256:620472e651a5bac0af3f190925962f6e926854df06b50f558823716ef93b269c
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| 3 |
+
size 712558
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actions/locomanipulation/LM17/session_033/meta.json
CHANGED
|
@@ -344,8 +344,8 @@
|
|
| 344 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 345 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 346 |
"hands": {
|
| 347 |
-
"observed":
|
| 348 |
-
"hand_pose": "
|
| 349 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 350 |
"hand_marker_offsets_m": {
|
| 351 |
"left": {
|
|
@@ -521,10 +521,124 @@
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},
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| 522 |
"applied": 1
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},
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|
| 524 |
"release": {
|
| 525 |
"release_path": "actions/locomanipulation/LM17/session_033",
|
| 526 |
"family": "locomanipulation",
|
| 527 |
"primitive": "LM17",
|
| 528 |
"source_session": "20261014/LM17/20261014_084353_session129"
|
|
|
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|
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|
|
|
|
|
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|
| 529 |
}
|
| 530 |
}
|
|
|
|
| 344 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 345 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 346 |
"hands": {
|
| 347 |
+
"observed": true,
|
| 348 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 349 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 350 |
"hand_marker_offsets_m": {
|
| 351 |
"left": {
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|
|
|
| 521 |
},
|
| 522 |
"applied": 1
|
| 523 |
},
|
| 524 |
+
"hands_registration": {
|
| 525 |
+
"cameras": {},
|
| 526 |
+
"hands": {
|
| 527 |
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"left": {
|
| 528 |
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"offset_deg": 6.39,
|
| 529 |
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|
| 530 |
+
0.0295,
|
| 531 |
+
0.105,
|
| 532 |
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0.0235
|
| 533 |
+
],
|
| 534 |
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"dev_deg": {
|
| 535 |
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"median": 6.45,
|
| 536 |
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"p90": 17.18
|
| 537 |
+
},
|
| 538 |
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"samples": 3711,
|
| 539 |
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"accepted": 3569,
|
| 540 |
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"wrist_pos_err_mm_median": 66.6,
|
| 541 |
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"per_camera": {
|
| 542 |
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"head": {
|
| 543 |
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"samples": 3711,
|
| 544 |
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"accepted": 3569,
|
| 545 |
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"gate_deg": 30.0,
|
| 546 |
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"offset_deg": 6.39,
|
| 547 |
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"tier": "primary",
|
| 548 |
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"dev_deg_median": 6.45,
|
| 549 |
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"wrist_pos_err_mm_median": 66.6
|
| 550 |
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}
|
| 551 |
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},
|
| 552 |
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"frames_by_state": {
|
| 553 |
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|
| 554 |
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|
| 555 |
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|
| 556 |
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|
| 557 |
+
},
|
| 558 |
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"observed_fraction": 0.9691,
|
| 559 |
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|
| 560 |
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|
| 561 |
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"gsi": 8.43,
|
| 562 |
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"smplx": 2.54
|
| 563 |
+
},
|
| 564 |
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"hand_marker_to_mesh_mm": {
|
| 565 |
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"flat": {
|
| 566 |
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"median": 13.6,
|
| 567 |
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|
| 568 |
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},
|
| 569 |
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"registered": {
|
| 570 |
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"median": 13.3,
|
| 571 |
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"p90": 20.2
|
| 572 |
+
}
|
| 573 |
+
}
|
| 574 |
+
},
|
| 575 |
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"right": {
|
| 576 |
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"offset_deg": 33.46,
|
| 577 |
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"offset_rotvec": [
|
| 578 |
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0.5313,
|
| 579 |
+
0.218,
|
| 580 |
+
-0.1057
|
| 581 |
+
],
|
| 582 |
+
"dev_deg": {
|
| 583 |
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"median": 9.04,
|
| 584 |
+
"p90": 22.11
|
| 585 |
+
},
|
| 586 |
+
"samples": 2784,
|
| 587 |
+
"accepted": 2640,
|
| 588 |
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"wrist_pos_err_mm_median": 136.1,
|
| 589 |
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"per_camera": {
|
| 590 |
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"head": {
|
| 591 |
+
"samples": 2784,
|
| 592 |
+
"accepted": 2640,
|
| 593 |
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"gate_deg": 30.0,
|
| 594 |
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"offset_deg": 33.46,
|
| 595 |
+
"tier": "primary",
|
| 596 |
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"dev_deg_median": 9.04,
|
| 597 |
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"wrist_pos_err_mm_median": 136.1
|
| 598 |
+
}
|
| 599 |
+
},
|
| 600 |
+
"frames_by_state": {
|
| 601 |
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"ace_sample": 10832,
|
| 602 |
+
"interpolated": 3804,
|
| 603 |
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|
| 604 |
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|
| 605 |
+
},
|
| 606 |
+
"observed_fraction": 0.9833,
|
| 607 |
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"observed_fraction_of_valid": 0.9833,
|
| 608 |
+
"palm_axis_vs_markers_deg": {
|
| 609 |
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"gsi": 28.72,
|
| 610 |
+
"smplx": 0.57
|
| 611 |
+
},
|
| 612 |
+
"hand_marker_to_mesh_mm": {
|
| 613 |
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"flat": {
|
| 614 |
+
"median": 6.5,
|
| 615 |
+
"p90": 8.3
|
| 616 |
+
},
|
| 617 |
+
"registered": {
|
| 618 |
+
"median": 6.6,
|
| 619 |
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"p90": 8.6
|
| 620 |
+
}
|
| 621 |
+
}
|
| 622 |
+
}
|
| 623 |
+
},
|
| 624 |
+
"max_dev_deg": 30.0,
|
| 625 |
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"max_gap_s": 1.0,
|
| 626 |
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"cameras_used": [
|
| 627 |
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"head"
|
| 628 |
+
],
|
| 629 |
+
"generated_at_utc": "2026-11-03T22:06:22.945832+00:00",
|
| 630 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 631 |
+
"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",
|
| 632 |
+
"wrist_flip_suspect": []
|
| 633 |
+
},
|
| 634 |
"release": {
|
| 635 |
"release_path": "actions/locomanipulation/LM17/session_033",
|
| 636 |
"family": "locomanipulation",
|
| 637 |
"primitive": "LM17",
|
| 638 |
"source_session": "20261014/LM17/20261014_084353_session129"
|
| 639 |
+
},
|
| 640 |
+
"task": {
|
| 641 |
+
"primitive": "LM17",
|
| 642 |
+
"instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth."
|
| 643 |
}
|
| 644 |
}
|
actions/locomanipulation/LM17/session_033/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4d8a55cfe1320d5f1a0be007dee85e54c990cbfe49cdc0950d29c02481597dce
|
| 3 |
+
size 4428284
|
actions/locomanipulation/LM17/session_033/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
|
| 2 |
+
oid sha256:6c6e60f46150a52abd8efc22a458d3af16ce1bcf7c7fa2d08660cb63250bb438
|
| 3 |
+
size 10596500
|
actions/locomanipulation/LM17/session_034/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": "LM17",
|
| 6 |
+
"instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 123.966667,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.0389284508505352
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "82bb113f-f1e4-4b6f-a3ca-fc2dc7da41e0",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM17",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1.132,
|
| 22 |
+
"end_s": 116.439,
|
| 23 |
+
"t_start": 1.1709,
|
| 24 |
+
"t_end": 116.4779,
|
| 25 |
+
"instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|