Mayur1092 commited on
Commit
470f3ed
·
verified ·
1 Parent(s): e30d4ac

Release update 2026-11-05: new sessions, instructions, annotations (part 6)

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. actions/locomanipulation/LM13/session_006/motions/smplx.npz +2 -2
  2. actions/locomanipulation/LM13/session_007/annotations.json +28 -0
  3. actions/locomanipulation/LM13/session_007/cameras/slam.npz +3 -0
  4. actions/locomanipulation/LM13/session_007/meta.json +116 -2
  5. actions/locomanipulation/LM13/session_007/motions/hands_mano.npz +3 -0
  6. actions/locomanipulation/LM13/session_007/motions/smplx.npz +2 -2
  7. actions/locomanipulation/LM13/session_008/annotations.json +28 -0
  8. actions/locomanipulation/LM13/session_008/cameras/slam.npz +3 -0
  9. actions/locomanipulation/LM13/session_008/meta.json +116 -2
  10. actions/locomanipulation/LM13/session_008/motions/hands_mano.npz +3 -0
  11. actions/locomanipulation/LM13/session_008/motions/smplx.npz +2 -2
  12. actions/locomanipulation/LM13/session_009/annotations.json +28 -0
  13. actions/locomanipulation/LM13/session_009/cameras/slam.npz +3 -0
  14. actions/locomanipulation/LM13/session_009/meta.json +116 -2
  15. actions/locomanipulation/LM13/session_009/motions/hands_mano.npz +3 -0
  16. actions/locomanipulation/LM13/session_009/motions/smplx.npz +2 -2
  17. actions/locomanipulation/LM13/session_010/annotations.json +28 -0
  18. actions/locomanipulation/LM13/session_010/cameras/slam.npz +3 -0
  19. actions/locomanipulation/LM13/session_010/meta.json +116 -2
  20. actions/locomanipulation/LM13/session_010/motions/hands_mano.npz +3 -0
  21. actions/locomanipulation/LM13/session_010/motions/smplx.npz +2 -2
  22. actions/locomanipulation/LM13/session_011/annotations.json +28 -0
  23. actions/locomanipulation/LM13/session_011/cameras/slam.npz +3 -0
  24. actions/locomanipulation/LM13/session_011/meta.json +116 -2
  25. actions/locomanipulation/LM13/session_011/motions/hands_mano.npz +3 -0
  26. actions/locomanipulation/LM13/session_011/motions/smplx.npz +2 -2
  27. actions/locomanipulation/LM13/session_012/annotations.json +28 -0
  28. actions/locomanipulation/LM13/session_012/cameras/slam.npz +3 -0
  29. actions/locomanipulation/LM13/session_012/meta.json +116 -2
  30. actions/locomanipulation/LM13/session_012/motions/hands_mano.npz +3 -0
  31. actions/locomanipulation/LM13/session_012/motions/smplx.npz +2 -2
  32. actions/locomanipulation/LM13/session_013/annotations.json +28 -0
  33. actions/locomanipulation/LM13/session_013/cameras/slam.npz +3 -0
  34. actions/locomanipulation/LM13/session_013/meta.json +4 -0
  35. actions/locomanipulation/LM13/session_013/motions/hands_mano.npz +3 -0
  36. actions/locomanipulation/LM13/session_014/annotations.json +28 -0
  37. actions/locomanipulation/LM13/session_014/cameras/slam.npz +3 -0
  38. actions/locomanipulation/LM13/session_014/meta.json +4 -0
  39. actions/locomanipulation/LM13/session_014/motions/hands_mano.npz +3 -0
  40. actions/locomanipulation/LM13/session_015/annotations.json +28 -0
  41. actions/locomanipulation/LM13/session_015/cameras/slam.npz +3 -0
  42. actions/locomanipulation/LM13/session_015/meta.json +4 -0
  43. actions/locomanipulation/LM13/session_015/motions/hands_mano.npz +3 -0
  44. actions/locomanipulation/LM13/session_016/annotations.json +28 -0
  45. actions/locomanipulation/LM13/session_016/cameras/slam.npz +3 -0
  46. actions/locomanipulation/LM13/session_016/meta.json +116 -2
  47. actions/locomanipulation/LM13/session_016/motions/hands_mano.npz +3 -0
  48. actions/locomanipulation/LM13/session_016/motions/smplx.npz +2 -2
  49. actions/locomanipulation/LM13/session_017/annotations.json +28 -0
  50. actions/locomanipulation/LM13/session_017/cameras/slam.npz +3 -0
actions/locomanipulation/LM13/session_006/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:8d7a85c6529a0078150d33c8e57cde9fa1eb202c4c542f9b445dd9d51d25d627
3
- size 6198794
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9eaa401960927e8496ba01f38a983e00c7de289bc5df9f6ed8c4e0d997e484fb
3
+ size 11559463
actions/locomanipulation/LM13/session_007/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": "LM13",
6
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 133.966767,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.0389907833531844
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "e0c12fc8-053d-4c57-8911-54a66373d731",
18
+ "segment": "segment1",
19
+ "action": "LM13",
20
+ "quality": "valid",
21
+ "start_s": 1.527,
22
+ "end_s": 127.389,
23
+ "t_start": 1.566,
24
+ "t_end": 127.428,
25
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM13/session_007/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fb5df2993637784a01b8011fcc931819177cd94692f0025f9919fb3ac3c570ad
3
+ size 773763
actions/locomanipulation/LM13/session_007/meta.json CHANGED
@@ -326,8 +326,8 @@
326
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
327
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
328
  "hands": {
329
- "observed": false,
330
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
331
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
332
  "hand_marker_offsets_m": {
333
  "left": {
@@ -511,10 +511,124 @@
511
  "generated_by": "scripts/correct_processed_rig.py",
512
  "remaining_gyro_frame_deg": 0.866192493215326
513
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
514
  "release": {
515
  "release_path": "actions/locomanipulation/LM13/session_007",
516
  "family": "locomanipulation",
517
  "primitive": "LM13",
518
  "source_session": "20260919/LM13/20260919_055055_session86"
 
 
 
 
519
  }
520
  }
 
326
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
327
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
328
  "hands": {
329
+ "observed": true,
330
+ "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
331
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
332
  "hand_marker_offsets_m": {
333
  "left": {
 
511
  "generated_by": "scripts/correct_processed_rig.py",
512
  "remaining_gyro_frame_deg": 0.866192493215326
513
  },
514
+ "hands_registration": {
515
+ "cameras": {},
516
+ "hands": {
517
+ "left": {
518
+ "offset_deg": 16.82,
519
+ "offset_rotvec": [
520
+ -0.0301,
521
+ 0.2491,
522
+ -0.1522
523
+ ],
524
+ "dev_deg": {
525
+ "median": 7.78,
526
+ "p90": 15.14
527
+ },
528
+ "samples": 3906,
529
+ "accepted": 3807,
530
+ "wrist_pos_err_mm_median": 39.7,
531
+ "per_camera": {
532
+ "head": {
533
+ "samples": 3906,
534
+ "accepted": 3807,
535
+ "gate_deg": 30.0,
536
+ "offset_deg": 16.82,
537
+ "tier": "primary",
538
+ "dev_deg_median": 7.78,
539
+ "wrist_pos_err_mm_median": 39.7
540
+ }
541
+ },
542
+ "frames_by_state": {
543
+ "ace_sample": 15259,
544
+ "interpolated": 724,
545
+ "mean_hand": 93,
546
+ "no_body_fit": 8
547
+ },
548
+ "observed_fraction": 0.9937,
549
+ "observed_fraction_of_valid": 0.9942,
550
+ "palm_axis_vs_markers_deg": {
551
+ "gsi": 15.68,
552
+ "smplx": 0.93
553
+ },
554
+ "hand_marker_to_mesh_mm": {
555
+ "flat": {
556
+ "median": 10.8,
557
+ "p90": 17.5
558
+ },
559
+ "registered": {
560
+ "median": 10.3,
561
+ "p90": 16.6
562
+ }
563
+ }
564
+ },
565
+ "right": {
566
+ "offset_deg": 11.38,
567
+ "offset_rotvec": [
568
+ 0.1391,
569
+ -0.1401,
570
+ 0.0216
571
+ ],
572
+ "dev_deg": {
573
+ "median": 9.44,
574
+ "p90": 23.45
575
+ },
576
+ "samples": 3857,
577
+ "accepted": 3703,
578
+ "wrist_pos_err_mm_median": 51.2,
579
+ "per_camera": {
580
+ "head": {
581
+ "samples": 3857,
582
+ "accepted": 3703,
583
+ "gate_deg": 30.0,
584
+ "offset_deg": 11.38,
585
+ "tier": "primary",
586
+ "dev_deg_median": 9.44,
587
+ "wrist_pos_err_mm_median": 51.2
588
+ }
589
+ },
590
+ "frames_by_state": {
591
+ "ace_sample": 14871,
592
+ "interpolated": 1200,
593
+ "mean_hand": 5,
594
+ "no_body_fit": 8
595
+ },
596
+ "observed_fraction": 0.9992,
597
+ "observed_fraction_of_valid": 0.9997,
598
+ "palm_axis_vs_markers_deg": {
599
+ "gsi": 15.13,
600
+ "smplx": 0.84
601
+ },
602
+ "hand_marker_to_mesh_mm": {
603
+ "flat": {
604
+ "median": 12.2,
605
+ "p90": 21.2
606
+ },
607
+ "registered": {
608
+ "median": 11.6,
609
+ "p90": 19.9
610
+ }
611
+ }
612
+ }
613
+ },
614
+ "max_dev_deg": 30.0,
615
+ "max_gap_s": 1.0,
616
+ "cameras_used": [
617
+ "head"
618
+ ],
619
+ "generated_at_utc": "2026-11-03T22:57:44.562444+00:00",
620
+ "generated_by": "scripts/register_hands_smplx.py",
621
+ "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",
622
+ "wrist_flip_suspect": []
623
+ },
624
  "release": {
625
  "release_path": "actions/locomanipulation/LM13/session_007",
626
  "family": "locomanipulation",
627
  "primitive": "LM13",
628
  "source_session": "20260919/LM13/20260919_055055_session86"
629
+ },
630
+ "task": {
631
+ "primitive": "LM13",
632
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
633
  }
634
  }
actions/locomanipulation/LM13/session_007/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:85427663f3705f25fda94cb4a235579091a081971f5846b59bc1159215421ba6
3
+ size 5215735
actions/locomanipulation/LM13/session_007/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:fd7709f80e8fe55d513f022d38d8dab935eaec2de1e844ae134822c6ec59eb84
3
- size 6201152
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:29ca8ec7020b42f3cafd7f397d0a55a9d5d972c0dff6d828d88d0c79c5fd6c46
3
+ size 11580101
actions/locomanipulation/LM13/session_008/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": "LM13",
6
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 128.966667,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.03904045823508051
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "51cedecc-a5c5-47c7-a9ed-e9460f55d455",
18
+ "segment": "segment1",
19
+ "action": "LM13",
20
+ "quality": "valid",
21
+ "start_s": 1.961,
22
+ "end_s": 124.072,
23
+ "t_start": 2.0,
24
+ "t_end": 124.111,
25
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM13/session_008/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:58da38910e3d50507d438a0f9b1e5f1bbcf14c4a34ca323df4d232e500e4dde3
3
+ size 743601
actions/locomanipulation/LM13/session_008/meta.json CHANGED
@@ -326,8 +326,8 @@
326
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
327
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
328
  "hands": {
329
- "observed": false,
330
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
331
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
332
  "hand_marker_offsets_m": {
333
  "left": {
@@ -507,10 +507,124 @@
507
  "generated_by": "scripts/correct_processed_rig.py",
508
  "remaining_gyro_frame_deg": 0.8304241663683752
509
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
510
  "release": {
511
  "release_path": "actions/locomanipulation/LM13/session_008",
512
  "family": "locomanipulation",
513
  "primitive": "LM13",
514
  "source_session": "20260919/LM13/20260919_055319_session87"
 
 
 
 
515
  }
516
  }
 
326
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
327
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
328
  "hands": {
329
+ "observed": true,
330
+ "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
331
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
332
  "hand_marker_offsets_m": {
333
  "left": {
 
507
  "generated_by": "scripts/correct_processed_rig.py",
508
  "remaining_gyro_frame_deg": 0.8304241663683752
509
  },
510
+ "hands_registration": {
511
+ "cameras": {},
512
+ "hands": {
513
+ "left": {
514
+ "offset_deg": 24.06,
515
+ "offset_rotvec": [
516
+ -0.1813,
517
+ 0.3739,
518
+ -0.0598
519
+ ],
520
+ "dev_deg": {
521
+ "median": 9.36,
522
+ "p90": 22.68
523
+ },
524
+ "samples": 3815,
525
+ "accepted": 3500,
526
+ "wrist_pos_err_mm_median": 28.6,
527
+ "per_camera": {
528
+ "head": {
529
+ "samples": 3815,
530
+ "accepted": 3500,
531
+ "gate_deg": 30.0,
532
+ "offset_deg": 24.06,
533
+ "tier": "primary",
534
+ "dev_deg_median": 9.36,
535
+ "wrist_pos_err_mm_median": 28.6
536
+ }
537
+ },
538
+ "frames_by_state": {
539
+ "ace_sample": 14034,
540
+ "interpolated": 562,
541
+ "mean_hand": 888,
542
+ "no_body_fit": 0
543
+ },
544
+ "observed_fraction": 0.9427,
545
+ "observed_fraction_of_valid": 0.9427,
546
+ "palm_axis_vs_markers_deg": {
547
+ "gsi": 25.45,
548
+ "smplx": 1.48
549
+ },
550
+ "hand_marker_to_mesh_mm": {
551
+ "flat": {
552
+ "median": 15.0,
553
+ "p90": 24.3
554
+ },
555
+ "registered": {
556
+ "median": 14.6,
557
+ "p90": 23.3
558
+ }
559
+ }
560
+ },
561
+ "right": {
562
+ "offset_deg": 11.09,
563
+ "offset_rotvec": [
564
+ 0.0741,
565
+ -0.1768,
566
+ -0.0267
567
+ ],
568
+ "dev_deg": {
569
+ "median": 11.69,
570
+ "p90": 28.2
571
+ },
572
+ "samples": 3647,
573
+ "accepted": 3342,
574
+ "wrist_pos_err_mm_median": 59.1,
575
+ "per_camera": {
576
+ "head": {
577
+ "samples": 3647,
578
+ "accepted": 3342,
579
+ "gate_deg": 30.0,
580
+ "offset_deg": 11.09,
581
+ "tier": "primary",
582
+ "dev_deg_median": 11.69,
583
+ "wrist_pos_err_mm_median": 59.1
584
+ }
585
+ },
586
+ "frames_by_state": {
587
+ "ace_sample": 13446,
588
+ "interpolated": 1040,
589
+ "mean_hand": 998,
590
+ "no_body_fit": 0
591
+ },
592
+ "observed_fraction": 0.9355,
593
+ "observed_fraction_of_valid": 0.9355,
594
+ "palm_axis_vs_markers_deg": {
595
+ "gsi": 13.58,
596
+ "smplx": 1.24
597
+ },
598
+ "hand_marker_to_mesh_mm": {
599
+ "flat": {
600
+ "median": 10.9,
601
+ "p90": 19.1
602
+ },
603
+ "registered": {
604
+ "median": 10.8,
605
+ "p90": 18.0
606
+ }
607
+ }
608
+ }
609
+ },
610
+ "max_dev_deg": 30.0,
611
+ "max_gap_s": 1.0,
612
+ "cameras_used": [
613
+ "head"
614
+ ],
615
+ "generated_at_utc": "2026-11-03T22:57:41.790544+00:00",
616
+ "generated_by": "scripts/register_hands_smplx.py",
617
+ "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",
618
+ "wrist_flip_suspect": []
619
+ },
620
  "release": {
621
  "release_path": "actions/locomanipulation/LM13/session_008",
622
  "family": "locomanipulation",
623
  "primitive": "LM13",
624
  "source_session": "20260919/LM13/20260919_055319_session87"
625
+ },
626
+ "task": {
627
+ "primitive": "LM13",
628
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
629
  }
630
  }
actions/locomanipulation/LM13/session_008/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:65f8cdadfa86796dd3c6d3229081c0daf05f26ec70cdfc158ca2663127ab7676
3
+ size 5014710
actions/locomanipulation/LM13/session_008/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:fbab4a23fbb0d7da472c5d91a589f0a330f43c493ca082b6240586bee70ca51b
3
- size 5977420
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8971fdb63cb0c26deb4b04958ab6ce81c52e51739b30a087d4790ee1e51d8f45
3
+ size 10884437
actions/locomanipulation/LM13/session_009/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": "LM13",
6
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 133.966667,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.03861773529839052
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "feb38ce7-9459-4e57-991d-36bb075f143e",
18
+ "segment": "segment1",
19
+ "action": "LM13",
20
+ "quality": "valid",
21
+ "start_s": 1.743,
22
+ "end_s": 128.758,
23
+ "t_start": 1.7816,
24
+ "t_end": 128.7966,
25
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM13/session_009/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:13098a89c217acc94cfc40fc8c6043c86617932baeb40dce5c0abc5204a03b05
3
+ size 773525
actions/locomanipulation/LM13/session_009/meta.json CHANGED
@@ -326,8 +326,8 @@
326
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
327
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
328
  "hands": {
329
- "observed": false,
330
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
331
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
332
  "hand_marker_offsets_m": {
333
  "left": {
@@ -511,10 +511,124 @@
511
  "generated_by": "scripts/correct_processed_rig.py",
512
  "remaining_gyro_frame_deg": 0.8869968582204171
513
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
514
  "release": {
515
  "release_path": "actions/locomanipulation/LM13/session_009",
516
  "family": "locomanipulation",
517
  "primitive": "LM13",
518
  "source_session": "20260919/LM13/20260919_055544_session88"
 
 
 
 
519
  }
520
  }
 
326
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
327
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
328
  "hands": {
329
+ "observed": true,
330
+ "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
331
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
332
  "hand_marker_offsets_m": {
333
  "left": {
 
511
  "generated_by": "scripts/correct_processed_rig.py",
512
  "remaining_gyro_frame_deg": 0.8869968582204171
513
  },
514
+ "hands_registration": {
515
+ "cameras": {},
516
+ "hands": {
517
+ "left": {
518
+ "offset_deg": 22.38,
519
+ "offset_rotvec": [
520
+ -0.168,
521
+ 0.3328,
522
+ -0.1168
523
+ ],
524
+ "dev_deg": {
525
+ "median": 8.14,
526
+ "p90": 17.33
527
+ },
528
+ "samples": 3962,
529
+ "accepted": 3832,
530
+ "wrist_pos_err_mm_median": 27.3,
531
+ "per_camera": {
532
+ "head": {
533
+ "samples": 3962,
534
+ "accepted": 3832,
535
+ "gate_deg": 30.0,
536
+ "offset_deg": 22.38,
537
+ "tier": "primary",
538
+ "dev_deg_median": 8.14,
539
+ "wrist_pos_err_mm_median": 27.3
540
+ }
541
+ },
542
+ "frames_by_state": {
543
+ "ace_sample": 15360,
544
+ "interpolated": 616,
545
+ "mean_hand": 91,
546
+ "no_body_fit": 17
547
+ },
548
+ "observed_fraction": 0.9933,
549
+ "observed_fraction_of_valid": 0.9943,
550
+ "palm_axis_vs_markers_deg": {
551
+ "gsi": 19.6,
552
+ "smplx": 1.16
553
+ },
554
+ "hand_marker_to_mesh_mm": {
555
+ "flat": {
556
+ "median": 12.3,
557
+ "p90": 17.6
558
+ },
559
+ "registered": {
560
+ "median": 12.3,
561
+ "p90": 16.4
562
+ }
563
+ }
564
+ },
565
+ "right": {
566
+ "offset_deg": 17.11,
567
+ "offset_rotvec": [
568
+ 0.1759,
569
+ -0.2406,
570
+ 0.0168
571
+ ],
572
+ "dev_deg": {
573
+ "median": 13.5,
574
+ "p90": 29.33
575
+ },
576
+ "samples": 3892,
577
+ "accepted": 3518,
578
+ "wrist_pos_err_mm_median": 47.2,
579
+ "per_camera": {
580
+ "head": {
581
+ "samples": 3892,
582
+ "accepted": 3518,
583
+ "gate_deg": 30.0,
584
+ "offset_deg": 17.11,
585
+ "tier": "primary",
586
+ "dev_deg_median": 13.5,
587
+ "wrist_pos_err_mm_median": 47.2
588
+ }
589
+ },
590
+ "frames_by_state": {
591
+ "ace_sample": 14116,
592
+ "interpolated": 780,
593
+ "mean_hand": 1171,
594
+ "no_body_fit": 17
595
+ },
596
+ "observed_fraction": 0.9261,
597
+ "observed_fraction_of_valid": 0.9271,
598
+ "palm_axis_vs_markers_deg": {
599
+ "gsi": 21.78,
600
+ "smplx": 2.3
601
+ },
602
+ "hand_marker_to_mesh_mm": {
603
+ "flat": {
604
+ "median": 12.2,
605
+ "p90": 22.6
606
+ },
607
+ "registered": {
608
+ "median": 11.3,
609
+ "p90": 21.2
610
+ }
611
+ }
612
+ }
613
+ },
614
+ "max_dev_deg": 30.0,
615
+ "max_gap_s": 1.0,
616
+ "cameras_used": [
617
+ "head"
618
+ ],
619
+ "generated_at_utc": "2026-11-03T22:57:44.641203+00:00",
620
+ "generated_by": "scripts/register_hands_smplx.py",
621
+ "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",
622
+ "wrist_flip_suspect": []
623
+ },
624
  "release": {
625
  "release_path": "actions/locomanipulation/LM13/session_009",
626
  "family": "locomanipulation",
627
  "primitive": "LM13",
628
  "source_session": "20260919/LM13/20260919_055544_session88"
629
+ },
630
+ "task": {
631
+ "primitive": "LM13",
632
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
633
  }
634
  }
actions/locomanipulation/LM13/session_009/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d1c69a2df3e2c207fefd158fe27d61c50dc13a2ba2708921220c88028245fff1
3
+ size 5276033
actions/locomanipulation/LM13/session_009/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:08a53c27171d3ecd9863cfa1db011b8056caa331a8534f77cbba6605b8d4c06e
3
- size 6196103
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0d7888d9d5f83afb0d70889d13f49b723f234d4f76bbba155661d36b3c516d30
3
+ size 11425596
actions/locomanipulation/LM13/session_010/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": "LM13",
6
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 128.966556,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.03900319917260853
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "e8722a25-4c89-4009-8767-a3afcb81a4da",
18
+ "segment": "segment1",
19
+ "action": "LM13",
20
+ "quality": "valid",
21
+ "start_s": 0,
22
+ "end_s": 126.675,
23
+ "t_start": 0.039,
24
+ "t_end": 126.714,
25
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM13/session_010/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e882d2f184b42739bcff6526b96ab431d87f38a1af9d7acbd2499eaa1940c50a
3
+ size 744825
actions/locomanipulation/LM13/session_010/meta.json CHANGED
@@ -326,8 +326,8 @@
326
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
327
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
328
  "hands": {
329
- "observed": false,
330
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
331
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
332
  "hand_marker_offsets_m": {
333
  "left": {
@@ -507,10 +507,124 @@
507
  "generated_by": "scripts/correct_processed_rig.py",
508
  "remaining_gyro_frame_deg": 0.792413367168604
509
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
510
  "release": {
511
  "release_path": "actions/locomanipulation/LM13/session_010",
512
  "family": "locomanipulation",
513
  "primitive": "LM13",
514
  "source_session": "20260920/LM13/20260920_005123_session3"
 
 
 
 
515
  }
516
  }
 
326
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
327
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
328
  "hands": {
329
+ "observed": true,
330
+ "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
331
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
332
  "hand_marker_offsets_m": {
333
  "left": {
 
507
  "generated_by": "scripts/correct_processed_rig.py",
508
  "remaining_gyro_frame_deg": 0.792413367168604
509
  },
510
+ "hands_registration": {
511
+ "cameras": {},
512
+ "hands": {
513
+ "left": {
514
+ "offset_deg": 25.01,
515
+ "offset_rotvec": [
516
+ 0.4083,
517
+ -0.1084,
518
+ -0.1103
519
+ ],
520
+ "dev_deg": {
521
+ "median": 27.29,
522
+ "p90": 54.83
523
+ },
524
+ "samples": 434,
525
+ "accepted": 249,
526
+ "wrist_pos_err_mm_median": 189.8,
527
+ "per_camera": {
528
+ "head": {
529
+ "samples": 434,
530
+ "accepted": 249,
531
+ "gate_deg": 30.0,
532
+ "offset_deg": 25.01,
533
+ "tier": "primary",
534
+ "dev_deg_median": 27.29,
535
+ "wrist_pos_err_mm_median": 189.8
536
+ }
537
+ },
538
+ "frames_by_state": {
539
+ "ace_sample": 936,
540
+ "interpolated": 896,
541
+ "mean_hand": 13652,
542
+ "no_body_fit": 0
543
+ },
544
+ "observed_fraction": 0.1183,
545
+ "observed_fraction_of_valid": 0.1183,
546
+ "palm_axis_vs_markers_deg": {
547
+ "gsi": 27.54,
548
+ "smplx": 0.65
549
+ },
550
+ "hand_marker_to_mesh_mm": {
551
+ "flat": {
552
+ "median": 10.8,
553
+ "p90": 14.9
554
+ },
555
+ "registered": {
556
+ "median": 10.6,
557
+ "p90": 13.9
558
+ }
559
+ }
560
+ },
561
+ "right": {
562
+ "offset_deg": 18.39,
563
+ "offset_rotvec": [
564
+ 0.2018,
565
+ -0.1454,
566
+ 0.2029
567
+ ],
568
+ "dev_deg": {
569
+ "median": 28.23,
570
+ "p90": 75.79
571
+ },
572
+ "samples": 684,
573
+ "accepted": 364,
574
+ "wrist_pos_err_mm_median": 200.5,
575
+ "per_camera": {
576
+ "head": {
577
+ "samples": 684,
578
+ "accepted": 364,
579
+ "gate_deg": 30.0,
580
+ "offset_deg": 18.39,
581
+ "tier": "primary",
582
+ "dev_deg_median": 28.23,
583
+ "wrist_pos_err_mm_median": 200.5
584
+ }
585
+ },
586
+ "frames_by_state": {
587
+ "ace_sample": 1406,
588
+ "interpolated": 194,
589
+ "mean_hand": 13884,
590
+ "no_body_fit": 0
591
+ },
592
+ "observed_fraction": 0.1033,
593
+ "observed_fraction_of_valid": 0.1033,
594
+ "palm_axis_vs_markers_deg": {
595
+ "gsi": 37.71,
596
+ "smplx": 1.73
597
+ },
598
+ "hand_marker_to_mesh_mm": {
599
+ "flat": {
600
+ "median": 15.0,
601
+ "p90": 25.6
602
+ },
603
+ "registered": {
604
+ "median": 14.5,
605
+ "p90": 24.4
606
+ }
607
+ }
608
+ }
609
+ },
610
+ "max_dev_deg": 30.0,
611
+ "max_gap_s": 1.0,
612
+ "cameras_used": [
613
+ "head"
614
+ ],
615
+ "generated_at_utc": "2026-11-03T22:53:35.322202+00:00",
616
+ "generated_by": "scripts/register_hands_smplx.py",
617
+ "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",
618
+ "wrist_flip_suspect": []
619
+ },
620
  "release": {
621
  "release_path": "actions/locomanipulation/LM13/session_010",
622
  "family": "locomanipulation",
623
  "primitive": "LM13",
624
  "source_session": "20260920/LM13/20260920_005123_session3"
625
+ },
626
+ "task": {
627
+ "primitive": "LM13",
628
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
629
  }
630
  }
actions/locomanipulation/LM13/session_010/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4a1e37927c3cc9b6c6013ead029806ba205f423d8d5eb5ec8eb9d14754edeb67
3
+ size 950218
actions/locomanipulation/LM13/session_010/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:a514e1d14e9066b05c81f3a6d88ec6bdceb5a7bce1869223a5ef316a26609e4b
3
- size 5984825
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b3e60ef5d31879636cfd7cc4f5fc9b62dfeb142f052f43737cbd887441ed7233
3
+ size 6942533
actions/locomanipulation/LM13/session_011/annotations.json ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "source": "vendor annotation.json (schema 2, revision 2)",
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": "LM13",
6
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 128.966578,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.03920149369072923
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "e13b51b0-9d92-496b-ad65-211e0bf5da88",
18
+ "segment": "segment1",
19
+ "action": "LM13",
20
+ "quality": "valid",
21
+ "start_s": 0,
22
+ "end_s": 122.978,
23
+ "t_start": 0.0392,
24
+ "t_end": 123.0172,
25
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM13/session_011/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bd1137e1d1457fe38735ceda6987fed849175583d83c15d187b582200ed7fc92
3
+ size 742391
actions/locomanipulation/LM13/session_011/meta.json CHANGED
@@ -326,8 +326,8 @@
326
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
327
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
328
  "hands": {
329
- "observed": false,
330
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
331
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
332
  "hand_marker_offsets_m": {
333
  "left": {
@@ -506,10 +506,124 @@
506
  "generated_by": "scripts/correct_processed_rig.py",
507
  "remaining_gyro_frame_deg": 0.8122950608966268
508
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
509
  "release": {
510
  "release_path": "actions/locomanipulation/LM13/session_011",
511
  "family": "locomanipulation",
512
  "primitive": "LM13",
513
  "source_session": "20260920/LM13/20260920_005348_session4"
 
 
 
 
514
  }
515
  }
 
326
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
327
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
328
  "hands": {
329
+ "observed": true,
330
+ "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
331
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
332
  "hand_marker_offsets_m": {
333
  "left": {
 
506
  "generated_by": "scripts/correct_processed_rig.py",
507
  "remaining_gyro_frame_deg": 0.8122950608966268
508
  },
509
+ "hands_registration": {
510
+ "cameras": {},
511
+ "hands": {
512
+ "left": {
513
+ "offset_deg": 34.24,
514
+ "offset_rotvec": [
515
+ 0.4919,
516
+ -0.2607,
517
+ 0.2172
518
+ ],
519
+ "dev_deg": {
520
+ "median": 28.64,
521
+ "p90": 55.58
522
+ },
523
+ "samples": 938,
524
+ "accepted": 504,
525
+ "wrist_pos_err_mm_median": 180.6,
526
+ "per_camera": {
527
+ "head": {
528
+ "samples": 938,
529
+ "accepted": 504,
530
+ "gate_deg": 30.0,
531
+ "offset_deg": 34.24,
532
+ "tier": "primary",
533
+ "dev_deg_median": 28.64,
534
+ "wrist_pos_err_mm_median": 180.6
535
+ }
536
+ },
537
+ "frames_by_state": {
538
+ "ace_sample": 2040,
539
+ "interpolated": 2008,
540
+ "mean_hand": 11436,
541
+ "no_body_fit": 0
542
+ },
543
+ "observed_fraction": 0.2614,
544
+ "observed_fraction_of_valid": 0.2614,
545
+ "palm_axis_vs_markers_deg": {
546
+ "gsi": 37.7,
547
+ "smplx": 0.84
548
+ },
549
+ "hand_marker_to_mesh_mm": {
550
+ "flat": {
551
+ "median": 10.0,
552
+ "p90": 16.6
553
+ },
554
+ "registered": {
555
+ "median": 9.2,
556
+ "p90": 15.2
557
+ }
558
+ }
559
+ },
560
+ "right": {
561
+ "offset_deg": 70.2,
562
+ "offset_rotvec": [
563
+ 1.1662,
564
+ -0.1887,
565
+ 0.3251
566
+ ],
567
+ "dev_deg": {
568
+ "median": 34.28,
569
+ "p90": 66.76
570
+ },
571
+ "samples": 393,
572
+ "accepted": 140,
573
+ "wrist_pos_err_mm_median": 205.1,
574
+ "per_camera": {
575
+ "head": {
576
+ "samples": 393,
577
+ "accepted": 140,
578
+ "gate_deg": 30.0,
579
+ "offset_deg": 70.2,
580
+ "tier": "primary",
581
+ "dev_deg_median": 34.28,
582
+ "wrist_pos_err_mm_median": 205.1
583
+ }
584
+ },
585
+ "frames_by_state": {
586
+ "ace_sample": 490,
587
+ "interpolated": 398,
588
+ "mean_hand": 14596,
589
+ "no_body_fit": 0
590
+ },
591
+ "observed_fraction": 0.0573,
592
+ "observed_fraction_of_valid": 0.0573,
593
+ "palm_axis_vs_markers_deg": {
594
+ "gsi": 76.25,
595
+ "smplx": 1.17
596
+ },
597
+ "hand_marker_to_mesh_mm": {
598
+ "flat": {
599
+ "median": 15.2,
600
+ "p90": 26.8
601
+ },
602
+ "registered": {
603
+ "median": 14.9,
604
+ "p90": 25.8
605
+ }
606
+ }
607
+ }
608
+ },
609
+ "max_dev_deg": 30.0,
610
+ "max_gap_s": 1.0,
611
+ "cameras_used": [
612
+ "head"
613
+ ],
614
+ "generated_at_utc": "2026-11-03T22:53:35.428671+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/LM13/session_011",
621
  "family": "locomanipulation",
622
  "primitive": "LM13",
623
  "source_session": "20260920/LM13/20260920_005348_session4"
624
+ },
625
+ "task": {
626
+ "primitive": "LM13",
627
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
628
  }
629
  }
actions/locomanipulation/LM13/session_011/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:13b11a4a31572956551c3aad5823756321ff9c2d45552d612a6acf2c6d5b9ac3
3
+ size 1090614
actions/locomanipulation/LM13/session_011/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:248da0d776569a008e5f293431a7ee99864403f7c0153e8ebff6684be410a086
3
- size 5985305
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:977ac365dbe28d68c5b27c1d801011d6804e3b94b00faec2e06127d5aec37463
3
+ size 7127523
actions/locomanipulation/LM13/session_012/annotations.json ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "source": "vendor annotation.json (schema 2, revision 2)",
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": "LM13",
6
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 128.966656,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.039376867112502545
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "8f9ad418-a031-4bff-83c8-290051f0bf0c",
18
+ "segment": "segment1",
19
+ "action": "LM13",
20
+ "quality": "valid",
21
+ "start_s": 0,
22
+ "end_s": 125.254,
23
+ "t_start": 0.0394,
24
+ "t_end": 125.2934,
25
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM13/session_012/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9208698e12156472d85ce61cd02cfd2fd9683e801aa424634c4de6d3b0846221
3
+ size 745742
actions/locomanipulation/LM13/session_012/meta.json CHANGED
@@ -330,8 +330,8 @@
330
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
331
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
332
  "hands": {
333
- "observed": false,
334
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
335
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
336
  "hand_marker_offsets_m": {
337
  "left": {
@@ -511,10 +511,124 @@
511
  "generated_by": "scripts/correct_processed_rig.py",
512
  "remaining_gyro_frame_deg": 0.7814393673853598
513
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
514
  "release": {
515
  "release_path": "actions/locomanipulation/LM13/session_012",
516
  "family": "locomanipulation",
517
  "primitive": "LM13",
518
  "source_session": "20260920/LM13/20260920_005627_session5"
 
 
 
 
519
  }
520
  }
 
330
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
331
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
332
  "hands": {
333
+ "observed": true,
334
+ "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
335
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
336
  "hand_marker_offsets_m": {
337
  "left": {
 
511
  "generated_by": "scripts/correct_processed_rig.py",
512
  "remaining_gyro_frame_deg": 0.7814393673853598
513
  },
514
+ "hands_registration": {
515
+ "cameras": {},
516
+ "hands": {
517
+ "left": {
518
+ "offset_deg": 22.91,
519
+ "offset_rotvec": [
520
+ 0.3128,
521
+ -0.1094,
522
+ 0.2237
523
+ ],
524
+ "dev_deg": {
525
+ "median": 18.77,
526
+ "p90": 31.79
527
+ },
528
+ "samples": 2617,
529
+ "accepted": 2317,
530
+ "wrist_pos_err_mm_median": 190.7,
531
+ "per_camera": {
532
+ "head": {
533
+ "samples": 2617,
534
+ "accepted": 2317,
535
+ "gate_deg": 30.0,
536
+ "offset_deg": 22.91,
537
+ "tier": "primary",
538
+ "dev_deg_median": 18.77,
539
+ "wrist_pos_err_mm_median": 190.7
540
+ }
541
+ },
542
+ "frames_by_state": {
543
+ "ace_sample": 9412,
544
+ "interpolated": 3644,
545
+ "mean_hand": 2420,
546
+ "no_body_fit": 8
547
+ },
548
+ "observed_fraction": 0.8432,
549
+ "observed_fraction_of_valid": 0.8436,
550
+ "palm_axis_vs_markers_deg": {
551
+ "gsi": 7.44,
552
+ "smplx": 0.42
553
+ },
554
+ "hand_marker_to_mesh_mm": {
555
+ "flat": {
556
+ "median": 8.4,
557
+ "p90": 10.3
558
+ },
559
+ "registered": {
560
+ "median": 8.6,
561
+ "p90": 8.9
562
+ }
563
+ }
564
+ },
565
+ "right": {
566
+ "offset_deg": 53.69,
567
+ "offset_rotvec": [
568
+ 0.8612,
569
+ -0.0623,
570
+ 0.3641
571
+ ],
572
+ "dev_deg": {
573
+ "median": 34.19,
574
+ "p90": 67.88
575
+ },
576
+ "samples": 300,
577
+ "accepted": 119,
578
+ "wrist_pos_err_mm_median": 221.1,
579
+ "per_camera": {
580
+ "head": {
581
+ "samples": 300,
582
+ "accepted": 119,
583
+ "gate_deg": 30.0,
584
+ "offset_deg": 53.69,
585
+ "tier": "primary",
586
+ "dev_deg_median": 34.19,
587
+ "wrist_pos_err_mm_median": 221.1
588
+ }
589
+ },
590
+ "frames_by_state": {
591
+ "ace_sample": 438,
592
+ "interpolated": 322,
593
+ "mean_hand": 14716,
594
+ "no_body_fit": 8
595
+ },
596
+ "observed_fraction": 0.0491,
597
+ "observed_fraction_of_valid": 0.0491,
598
+ "palm_axis_vs_markers_deg": {
599
+ "gsi": 51.26,
600
+ "smplx": 1.81
601
+ },
602
+ "hand_marker_to_mesh_mm": {
603
+ "flat": {
604
+ "median": 15.1,
605
+ "p90": 25.9
606
+ },
607
+ "registered": {
608
+ "median": 14.5,
609
+ "p90": 25.0
610
+ }
611
+ }
612
+ }
613
+ },
614
+ "max_dev_deg": 30.0,
615
+ "max_gap_s": 1.0,
616
+ "cameras_used": [
617
+ "head"
618
+ ],
619
+ "generated_at_utc": "2026-11-03T22:53:36.073011+00:00",
620
+ "generated_by": "scripts/register_hands_smplx.py",
621
+ "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",
622
+ "wrist_flip_suspect": []
623
+ },
624
  "release": {
625
  "release_path": "actions/locomanipulation/LM13/session_012",
626
  "family": "locomanipulation",
627
  "primitive": "LM13",
628
  "source_session": "20260920/LM13/20260920_005627_session5"
629
+ },
630
+ "task": {
631
+ "primitive": "LM13",
632
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
633
  }
634
  }
actions/locomanipulation/LM13/session_012/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e4573a3593453a66194a787c40a83fd7c0085f1c364d64d5cda0ba57dc147932
3
+ size 2119338
actions/locomanipulation/LM13/session_012/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:479d9a8dba380c16f8cee6ecf6cfb402d1aec8c41fbc80953865d2e021deff9d
3
- size 5988727
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bd95e663c6fb845feb928ca4b3a3f4ac9b2190e92e0517c14adf7334db6a679d
3
+ size 8505355
actions/locomanipulation/LM13/session_013/annotations.json ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "source": "vendor annotation.json (schema 2, revision 2)",
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": "LM13",
6
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 168.9667,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.039049685580795135
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "b81bfc45-bd1f-4c13-9e75-4c03d1c74731",
18
+ "segment": "segment1",
19
+ "action": "LM13",
20
+ "quality": "valid",
21
+ "start_s": 0,
22
+ "end_s": 163.359,
23
+ "t_start": 0.039,
24
+ "t_end": 163.398,
25
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM13/session_013/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8dffb80889adda8cb6b8c21ac707dc13dbebafdf78a1a42ff43922d1458ab764
3
+ size 970650
actions/locomanipulation/LM13/session_013/meta.json CHANGED
@@ -524,5 +524,9 @@
524
  "family": "locomanipulation",
525
  "primitive": "LM13",
526
  "source_session": "20260920/LM13/20260920_090103_session95"
 
 
 
 
527
  }
528
  }
 
524
  "family": "locomanipulation",
525
  "primitive": "LM13",
526
  "source_session": "20260920/LM13/20260920_090103_session95"
527
+ },
528
+ "task": {
529
+ "primitive": "LM13",
530
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
531
  }
532
  }
actions/locomanipulation/LM13/session_013/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f3dad979c4ed7aeadea2527896b2e9ae4fc88b3b05b0c604af6c3b6354dff7ac
3
+ size 3395623
actions/locomanipulation/LM13/session_014/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": "LM13",
6
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 153.966767,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.038911313825462424
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "4823e341-b76a-4374-9e14-e5c4601e0968",
18
+ "segment": "segment1",
19
+ "action": "LM13",
20
+ "quality": "valid",
21
+ "start_s": 0,
22
+ "end_s": 149.715,
23
+ "t_start": 0.0389,
24
+ "t_end": 149.7539,
25
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM13/session_014/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e501b6768085be955e00658c23cc4b4cea1d9da84dbdfc7a117b9cbb8a87e6b4
3
+ size 884824
actions/locomanipulation/LM13/session_014/meta.json CHANGED
@@ -522,5 +522,9 @@
522
  "family": "locomanipulation",
523
  "primitive": "LM13",
524
  "source_session": "20260920/LM13/20260920_090403_session96"
 
 
 
 
525
  }
526
  }
 
522
  "family": "locomanipulation",
523
  "primitive": "LM13",
524
  "source_session": "20260920/LM13/20260920_090403_session96"
525
+ },
526
+ "task": {
527
+ "primitive": "LM13",
528
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
529
  }
530
  }
actions/locomanipulation/LM13/session_014/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:24243b09db8b8d4da88c5e89e88865ceab882efaba83310b9b40ef6684f113e1
3
+ size 2754327
actions/locomanipulation/LM13/session_015/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": "LM13",
6
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 138.966689,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.03922670065076628
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "6eaa98f3-470e-4cee-85aa-344b8bcc4324",
18
+ "segment": "segment1",
19
+ "action": "LM13",
20
+ "quality": "valid",
21
+ "start_s": 0,
22
+ "end_s": 134.367,
23
+ "t_start": 0.0392,
24
+ "t_end": 134.4062,
25
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM13/session_015/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d60bbed91fb2a35c6137fb91653aa28090438fc5633db7679884051da7f5bf85
3
+ size 798243
actions/locomanipulation/LM13/session_015/meta.json CHANGED
@@ -522,5 +522,9 @@
522
  "family": "locomanipulation",
523
  "primitive": "LM13",
524
  "source_session": "20260920/LM13/20260920_090720_session97"
 
 
 
 
525
  }
526
  }
 
522
  "family": "locomanipulation",
523
  "primitive": "LM13",
524
  "source_session": "20260920/LM13/20260920_090720_session97"
525
+ },
526
+ "task": {
527
+ "primitive": "LM13",
528
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
529
  }
530
  }
actions/locomanipulation/LM13/session_015/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c1a0f68f67d65b01e62eb3493fb828b6f30e0dff2690abf51d29f3830ec152f8
3
+ size 1796060
actions/locomanipulation/LM13/session_016/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": "LM13",
6
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 133.966633,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.039206889792943844
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "67c80ed6-a7c9-4b5f-8434-498075b3a178",
18
+ "segment": "segment1",
19
+ "action": "LM13",
20
+ "quality": "valid",
21
+ "start_s": 0.44,
22
+ "end_s": 127.523,
23
+ "t_start": 0.4792,
24
+ "t_end": 127.5622,
25
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM13/session_016/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d8fda07b6186a3864b1ab4489d0d77823c14fae68dc1d633b7cb827a683eee0c
3
+ size 771713
actions/locomanipulation/LM13/session_016/meta.json CHANGED
@@ -326,8 +326,8 @@
326
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
327
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
328
  "hands": {
329
- "observed": false,
330
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
331
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
332
  "hand_marker_offsets_m": {
333
  "left": {
@@ -513,10 +513,124 @@
513
  "generated_by": "scripts/correct_processed_rig.py",
514
  "remaining_gyro_frame_deg": 0.6029027633103069
515
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
516
  "release": {
517
  "release_path": "actions/locomanipulation/LM13/session_016",
518
  "family": "locomanipulation",
519
  "primitive": "LM13",
520
  "source_session": "20260921/LM13/20260921_091022_session164"
 
 
 
 
521
  }
522
  }
 
326
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
327
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
328
  "hands": {
329
+ "observed": true,
330
+ "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
331
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
332
  "hand_marker_offsets_m": {
333
  "left": {
 
513
  "generated_by": "scripts/correct_processed_rig.py",
514
  "remaining_gyro_frame_deg": 0.6029027633103069
515
  },
516
+ "hands_registration": {
517
+ "cameras": {},
518
+ "hands": {
519
+ "left": {
520
+ "offset_deg": 17.46,
521
+ "offset_rotvec": [
522
+ 0.2011,
523
+ 0.0661,
524
+ -0.2193
525
+ ],
526
+ "dev_deg": {
527
+ "median": 3.71,
528
+ "p90": 6.35
529
+ },
530
+ "samples": 3963,
531
+ "accepted": 3949,
532
+ "wrist_pos_err_mm_median": 33.9,
533
+ "per_camera": {
534
+ "head": {
535
+ "samples": 3963,
536
+ "accepted": 3949,
537
+ "gate_deg": 30.0,
538
+ "offset_deg": 17.46,
539
+ "tier": "primary",
540
+ "dev_deg_median": 3.71,
541
+ "wrist_pos_err_mm_median": 33.9
542
+ }
543
+ },
544
+ "frames_by_state": {
545
+ "ace_sample": 15787,
546
+ "interpolated": 0,
547
+ "mean_hand": 289,
548
+ "no_body_fit": 8
549
+ },
550
+ "observed_fraction": 0.9815,
551
+ "observed_fraction_of_valid": 0.982,
552
+ "palm_axis_vs_markers_deg": {
553
+ "gsi": 16.19,
554
+ "smplx": 0.74
555
+ },
556
+ "hand_marker_to_mesh_mm": {
557
+ "flat": {
558
+ "median": 13.0,
559
+ "p90": 21.4
560
+ },
561
+ "registered": {
562
+ "median": 13.2,
563
+ "p90": 19.4
564
+ }
565
+ }
566
+ },
567
+ "right": {
568
+ "offset_deg": 16.0,
569
+ "offset_rotvec": [
570
+ -0.1168,
571
+ 0.2527,
572
+ 0.0216
573
+ ],
574
+ "dev_deg": {
575
+ "median": 5.89,
576
+ "p90": 10.46
577
+ },
578
+ "samples": 3990,
579
+ "accepted": 3984,
580
+ "wrist_pos_err_mm_median": 50.4,
581
+ "per_camera": {
582
+ "head": {
583
+ "samples": 3990,
584
+ "accepted": 3984,
585
+ "gate_deg": 30.0,
586
+ "offset_deg": 16.0,
587
+ "tier": "primary",
588
+ "dev_deg_median": 5.89,
589
+ "wrist_pos_err_mm_median": 50.4
590
+ }
591
+ },
592
+ "frames_by_state": {
593
+ "ace_sample": 15949,
594
+ "interpolated": 122,
595
+ "mean_hand": 5,
596
+ "no_body_fit": 8
597
+ },
598
+ "observed_fraction": 0.9992,
599
+ "observed_fraction_of_valid": 0.9997,
600
+ "palm_axis_vs_markers_deg": {
601
+ "gsi": 16.11,
602
+ "smplx": 0.71
603
+ },
604
+ "hand_marker_to_mesh_mm": {
605
+ "flat": {
606
+ "median": 3.7,
607
+ "p90": 4.9
608
+ },
609
+ "registered": {
610
+ "median": 3.4,
611
+ "p90": 4.3
612
+ }
613
+ }
614
+ }
615
+ },
616
+ "max_dev_deg": 30.0,
617
+ "max_gap_s": 1.0,
618
+ "cameras_used": [
619
+ "head"
620
+ ],
621
+ "generated_at_utc": "2026-11-03T22:48:36.687523+00:00",
622
+ "generated_by": "scripts/register_hands_smplx.py",
623
+ "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",
624
+ "wrist_flip_suspect": []
625
+ },
626
  "release": {
627
  "release_path": "actions/locomanipulation/LM13/session_016",
628
  "family": "locomanipulation",
629
  "primitive": "LM13",
630
  "source_session": "20260921/LM13/20260921_091022_session164"
631
+ },
632
+ "task": {
633
+ "primitive": "LM13",
634
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
635
  }
636
  }
actions/locomanipulation/LM13/session_016/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:142d76084204d7ac761fd872ee92a00a2124744ffdecee4ce16aab01713e8fd8
3
+ size 5321996
actions/locomanipulation/LM13/session_016/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:1bab1c387b01f3e438f45492982b5bda7613b66004e755c54e26934f625d6970
3
- size 6199210
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:032b5095e17771040a8ddea1cce0212dc0c850a9b2608f757c5fd19d002e9426
3
+ size 11567222
actions/locomanipulation/LM13/session_017/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": "LM13",
6
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 148.966656,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.03889209751499667
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "9aa26ce1-d741-4dc8-92e1-6bbd5bb22c69",
18
+ "segment": "segment1",
19
+ "action": "LM13",
20
+ "quality": "valid",
21
+ "start_s": 0.783,
22
+ "end_s": 142.037,
23
+ "t_start": 0.8219,
24
+ "t_end": 142.0759,
25
+ "instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM13/session_017/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:329f7ff5dc60e84515e630ee5fda1cc99ea41672a3be018f8c28988c6dbd469f
3
+ size 856238