Mayur1092 commited on
Commit
4d77a65
·
verified ·
1 Parent(s): 649aa76

Release update 2026-11-05: new sessions, instructions, annotations (part 110)

Browse files
Files changed (28) hide show
  1. actions/locomanipulation/LM19/session_001/motions/smplx.npz +2 -2
  2. actions/locomanipulation/LM19/session_002/annotations.json +28 -0
  3. actions/locomanipulation/LM19/session_002/cameras/slam.npz +3 -0
  4. actions/locomanipulation/LM19/session_002/meta.json +116 -2
  5. actions/locomanipulation/LM19/session_002/motions/hands_mano.npz +3 -0
  6. actions/locomanipulation/LM19/session_002/motions/smplx.npz +2 -2
  7. actions/locomanipulation/LM19/session_003/annotations.json +28 -0
  8. actions/locomanipulation/LM19/session_003/cameras/slam.npz +3 -0
  9. actions/locomanipulation/LM19/session_003/meta.json +116 -2
  10. actions/locomanipulation/LM19/session_003/motions/hands_mano.npz +3 -0
  11. actions/locomanipulation/LM19/session_003/motions/smplx.npz +2 -2
  12. actions/locomanipulation/LM19/session_004/annotations.json +28 -0
  13. actions/locomanipulation/LM19/session_004/cameras/slam.npz +3 -0
  14. actions/locomanipulation/LM19/session_004/meta.json +116 -2
  15. actions/locomanipulation/LM19/session_004/motions/hands_mano.npz +3 -0
  16. actions/locomanipulation/LM19/session_004/motions/smplx.npz +2 -2
  17. actions/locomanipulation/LM19/session_005/annotations.json +28 -0
  18. actions/locomanipulation/LM19/session_005/cameras/slam.npz +3 -0
  19. actions/locomanipulation/LM19/session_005/meta.json +116 -2
  20. actions/locomanipulation/LM19/session_005/motions/hands_mano.npz +3 -0
  21. actions/locomanipulation/LM19/session_005/motions/smplx.npz +2 -2
  22. actions/locomanipulation/LM19/session_006/annotations.json +28 -0
  23. actions/locomanipulation/LM19/session_006/cameras/gsi_online_calibration.json +259 -0
  24. actions/locomanipulation/LM19/session_006/cameras/slam.npz +3 -0
  25. actions/locomanipulation/LM19/session_006/meta.json +116 -2
  26. actions/locomanipulation/LM19/session_006/motions/hands_mano.npz +3 -0
  27. actions/locomanipulation/LM19/session_006/motions/smplx.npz +2 -2
  28. actions/locomanipulation/LM19/session_007/annotations.json +28 -0
actions/locomanipulation/LM19/session_001/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:ba8543eda343ebca724c2c017602962ea2837c3787b049b1b4d5622700d08fbc
3
- size 6189140
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fc69acedef0f82c92fb266a18bb68b50cd3063b69e94dfa3c3312d5b416e5efe
3
+ size 11273777
actions/locomanipulation/LM19/session_002/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": "LM19",
6
+ "instruction": "Carry one object in each hand, the heavy one in the hand the operator calls, walking back and forth across the room.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 128.966656,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.038972290013251865
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "9b627f90-d66e-4e03-9e5f-b8decae23a6d",
18
+ "segment": "segment1",
19
+ "action": "LM19",
20
+ "quality": "valid",
21
+ "start_s": 0,
22
+ "end_s": 125.33,
23
+ "t_start": 0.039,
24
+ "t_end": 125.369,
25
+ "instruction": "Carry one object in each hand, the heavy one in the hand the operator calls, walking back and forth across the room."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM19/session_002/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ec3f6ecc8721caf4e94dc294760094f6f7aa6e70b6a7078092e7e7d71224a6ab
3
+ size 745964
actions/locomanipulation/LM19/session_002/meta.json CHANGED
@@ -322,8 +322,8 @@
322
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
323
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
324
  "hands": {
325
- "observed": false,
326
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
327
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
328
  "hand_marker_offsets_m": {
329
  "left": {
@@ -507,10 +507,124 @@
507
  "generated_by": "scripts/correct_processed_rig.py",
508
  "remaining_gyro_frame_deg": 0.9218763166858888
509
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
510
  "release": {
511
  "release_path": "actions/locomanipulation/LM19/session_002",
512
  "family": "locomanipulation",
513
  "primitive": "LM19",
514
  "source_session": "20260909/LM19/20260909_100707_session162"
 
 
 
 
515
  }
516
  }
 
322
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
323
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
324
  "hands": {
325
+ "observed": true,
326
+ "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
327
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
328
  "hand_marker_offsets_m": {
329
  "left": {
 
507
  "generated_by": "scripts/correct_processed_rig.py",
508
  "remaining_gyro_frame_deg": 0.9218763166858888
509
  },
510
+ "hands_registration": {
511
+ "cameras": {},
512
+ "hands": {
513
+ "left": {
514
+ "offset_deg": 10.0,
515
+ "offset_rotvec": [
516
+ 0.0689,
517
+ -0.1021,
518
+ 0.1237
519
+ ],
520
+ "dev_deg": {
521
+ "median": 16.11,
522
+ "p90": 34.86
523
+ },
524
+ "samples": 3302,
525
+ "accepted": 2813,
526
+ "wrist_pos_err_mm_median": 193.3,
527
+ "per_camera": {
528
+ "head": {
529
+ "samples": 3302,
530
+ "accepted": 2813,
531
+ "gate_deg": 30.0,
532
+ "offset_deg": 10.0,
533
+ "tier": "primary",
534
+ "dev_deg_median": 16.11,
535
+ "wrist_pos_err_mm_median": 193.3
536
+ }
537
+ },
538
+ "frames_by_state": {
539
+ "ace_sample": 11488,
540
+ "interpolated": 3560,
541
+ "mean_hand": 436,
542
+ "no_body_fit": 0
543
+ },
544
+ "observed_fraction": 0.9718,
545
+ "observed_fraction_of_valid": 0.9718,
546
+ "palm_axis_vs_markers_deg": {
547
+ "gsi": 15.02,
548
+ "smplx": 0.88
549
+ },
550
+ "hand_marker_to_mesh_mm": {
551
+ "flat": {
552
+ "median": 14.7,
553
+ "p90": 16.2
554
+ },
555
+ "registered": {
556
+ "median": 21.0,
557
+ "p90": 22.9
558
+ }
559
+ }
560
+ },
561
+ "right": {
562
+ "offset_deg": 29.3,
563
+ "offset_rotvec": [
564
+ 0.3956,
565
+ 0.3235,
566
+ -0.0171
567
+ ],
568
+ "dev_deg": {
569
+ "median": 22.75,
570
+ "p90": 36.83
571
+ },
572
+ "samples": 3359,
573
+ "accepted": 2671,
574
+ "wrist_pos_err_mm_median": 139.3,
575
+ "per_camera": {
576
+ "head": {
577
+ "samples": 3359,
578
+ "accepted": 2671,
579
+ "gate_deg": 30.0,
580
+ "offset_deg": 29.3,
581
+ "tier": "primary",
582
+ "dev_deg_median": 22.75,
583
+ "wrist_pos_err_mm_median": 139.3
584
+ }
585
+ },
586
+ "frames_by_state": {
587
+ "ace_sample": 10954,
588
+ "interpolated": 3678,
589
+ "mean_hand": 852,
590
+ "no_body_fit": 0
591
+ },
592
+ "observed_fraction": 0.945,
593
+ "observed_fraction_of_valid": 0.945,
594
+ "palm_axis_vs_markers_deg": {
595
+ "gsi": 18.97,
596
+ "smplx": 1.22
597
+ },
598
+ "hand_marker_to_mesh_mm": {
599
+ "flat": {
600
+ "median": 8.0,
601
+ "p90": 9.1
602
+ },
603
+ "registered": {
604
+ "median": 7.4,
605
+ "p90": 11.3
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": "2026-11-03T15:34:36.226178+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/LM19/session_002",
622
  "family": "locomanipulation",
623
  "primitive": "LM19",
624
  "source_session": "20260909/LM19/20260909_100707_session162"
625
+ },
626
+ "task": {
627
+ "primitive": "LM19",
628
+ "instruction": "Carry one object in each hand, the heavy one in the hand the operator calls, walking back and forth across the room."
629
  }
630
  }
actions/locomanipulation/LM19/session_002/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0cf63316f6363bacb06753723fa6e600bf7aed36058cdc5710510749b3ae035e
3
+ size 4543151
actions/locomanipulation/LM19/session_002/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:c82d67967395985d7f24eb9dbfd254473e2106dc9418dc6edb0454071e7e6d28
3
- size 5956363
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f84357615ef10aec43ca22a26ec09a09a861f2737d9625cd324302216603a96e
3
+ size 11017065
actions/locomanipulation/LM19/session_003/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": "LM19",
6
+ "instruction": "Carry one object in each hand, the heavy one in the hand the operator calls, walking back and forth across the room.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 138.966689,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.03909228240001106
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "a4df9ddd-e38a-4808-a2b9-8546cc7fee3e",
18
+ "segment": "segment1",
19
+ "action": "LM19",
20
+ "quality": "valid",
21
+ "start_s": 0,
22
+ "end_s": 132.566,
23
+ "t_start": 0.0391,
24
+ "t_end": 132.6051,
25
+ "instruction": "Carry one object in each hand, the heavy one in the hand the operator calls, walking back and forth across the room."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM19/session_003/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8eef885c4b56b1dfb2a67f85c726226ea3f9aaca9e802c03bb28a07842575333
3
+ size 804332
actions/locomanipulation/LM19/session_003/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": {
@@ -515,10 +515,124 @@
515
  "generated_by": "scripts/correct_processed_rig.py",
516
  "remaining_gyro_frame_deg": 0.8562433260379455
517
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
518
  "release": {
519
  "release_path": "actions/locomanipulation/LM19/session_003",
520
  "family": "locomanipulation",
521
  "primitive": "LM19",
522
  "source_session": "20260909/LM19/20260909_100937_session163"
 
 
 
 
523
  }
524
  }
 
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": {
 
515
  "generated_by": "scripts/correct_processed_rig.py",
516
  "remaining_gyro_frame_deg": 0.8562433260379455
517
  },
518
+ "hands_registration": {
519
+ "cameras": {},
520
+ "hands": {
521
+ "left": {
522
+ "offset_deg": 8.52,
523
+ "offset_rotvec": [
524
+ -0.0004,
525
+ -0.075,
526
+ 0.1285
527
+ ],
528
+ "dev_deg": {
529
+ "median": 12.95,
530
+ "p90": 32.85
531
+ },
532
+ "samples": 3549,
533
+ "accepted": 3114,
534
+ "wrist_pos_err_mm_median": 158.4,
535
+ "per_camera": {
536
+ "head": {
537
+ "samples": 3549,
538
+ "accepted": 3114,
539
+ "gate_deg": 30.0,
540
+ "offset_deg": 8.52,
541
+ "tier": "primary",
542
+ "dev_deg_median": 12.95,
543
+ "wrist_pos_err_mm_median": 158.4
544
+ }
545
+ },
546
+ "frames_by_state": {
547
+ "ace_sample": 12646,
548
+ "interpolated": 2978,
549
+ "mean_hand": 1060,
550
+ "no_body_fit": 0
551
+ },
552
+ "observed_fraction": 0.9365,
553
+ "observed_fraction_of_valid": 0.9365,
554
+ "palm_axis_vs_markers_deg": {
555
+ "gsi": 13.01,
556
+ "smplx": 1.07
557
+ },
558
+ "hand_marker_to_mesh_mm": {
559
+ "flat": {
560
+ "median": 15.3,
561
+ "p90": 16.4
562
+ },
563
+ "registered": {
564
+ "median": 20.6,
565
+ "p90": 22.1
566
+ }
567
+ }
568
+ },
569
+ "right": {
570
+ "offset_deg": 24.44,
571
+ "offset_rotvec": [
572
+ 0.3299,
573
+ 0.2702,
574
+ -0.0107
575
+ ],
576
+ "dev_deg": {
577
+ "median": 19.58,
578
+ "p90": 40.1
579
+ },
580
+ "samples": 3619,
581
+ "accepted": 2977,
582
+ "wrist_pos_err_mm_median": 127.6,
583
+ "per_camera": {
584
+ "head": {
585
+ "samples": 3619,
586
+ "accepted": 2977,
587
+ "gate_deg": 30.0,
588
+ "offset_deg": 24.44,
589
+ "tier": "primary",
590
+ "dev_deg_median": 19.58,
591
+ "wrist_pos_err_mm_median": 127.6
592
+ }
593
+ },
594
+ "frames_by_state": {
595
+ "ace_sample": 12136,
596
+ "interpolated": 3372,
597
+ "mean_hand": 1176,
598
+ "no_body_fit": 0
599
+ },
600
+ "observed_fraction": 0.9295,
601
+ "observed_fraction_of_valid": 0.9295,
602
+ "palm_axis_vs_markers_deg": {
603
+ "gsi": 17.18,
604
+ "smplx": 1.35
605
+ },
606
+ "hand_marker_to_mesh_mm": {
607
+ "flat": {
608
+ "median": 6.1,
609
+ "p90": 9.6
610
+ },
611
+ "registered": {
612
+ "median": 6.9,
613
+ "p90": 10.9
614
+ }
615
+ }
616
+ }
617
+ },
618
+ "max_dev_deg": 30.0,
619
+ "max_gap_s": 1.0,
620
+ "cameras_used": [
621
+ "head"
622
+ ],
623
+ "generated_at_utc": "2026-11-03T15:34:55.328015+00:00",
624
+ "generated_by": "scripts/register_hands_smplx.py",
625
+ "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",
626
+ "wrist_flip_suspect": []
627
+ },
628
  "release": {
629
  "release_path": "actions/locomanipulation/LM19/session_003",
630
  "family": "locomanipulation",
631
  "primitive": "LM19",
632
  "source_session": "20260909/LM19/20260909_100937_session163"
633
+ },
634
+ "task": {
635
+ "primitive": "LM19",
636
+ "instruction": "Carry one object in each hand, the heavy one in the hand the operator calls, walking back and forth across the room."
637
  }
638
  }
actions/locomanipulation/LM19/session_003/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:221116a8f687df31c971ccdcda88bae59f564b09957560d17ee3c2fdb5c3919f
3
+ size 4899775
actions/locomanipulation/LM19/session_003/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:b0cb3254426b6f113f8775812133d82610c21514f4d85982d3794ab7df1d151b
3
- size 6417793
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4b8b82eb576026473a4206d4edc8f35e9af3f71737f77871bc7e9a093141ee35
3
+ size 11780368
actions/locomanipulation/LM19/session_004/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": "LM19",
6
+ "instruction": "Carry one object in each hand, the heavy one in the hand the operator calls, walking back and forth across the room.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 123.966556,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.039145695372413414
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "4b866e80-9224-470b-9a53-eaff9bba6b00",
18
+ "segment": "segment1",
19
+ "action": "LM19",
20
+ "quality": "valid",
21
+ "start_s": 0,
22
+ "end_s": 120.242,
23
+ "t_start": 0.0391,
24
+ "t_end": 120.2811,
25
+ "instruction": "Carry one object in each hand, the heavy one in the hand the operator calls, walking back and forth across the room."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM19/session_004/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4fd7ff4bef01244dfc4d627a7a5f706352d88d98960b6aeae785d008c8d4244b
3
+ size 713053
actions/locomanipulation/LM19/session_004/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": {
@@ -508,10 +508,124 @@
508
  "generated_by": "scripts/correct_processed_rig.py",
509
  "remaining_gyro_frame_deg": 0.8474018607896026
510
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
511
  "release": {
512
  "release_path": "actions/locomanipulation/LM19/session_004",
513
  "family": "locomanipulation",
514
  "primitive": "LM19",
515
  "source_session": "20260910/LM19/20260910_071651_session124"
 
 
 
 
516
  }
517
  }
 
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": {
 
508
  "generated_by": "scripts/correct_processed_rig.py",
509
  "remaining_gyro_frame_deg": 0.8474018607896026
510
  },
511
+ "hands_registration": {
512
+ "cameras": {},
513
+ "hands": {
514
+ "left": {
515
+ "offset_deg": 9.16,
516
+ "offset_rotvec": [
517
+ 0.0247,
518
+ -0.1339,
519
+ 0.0837
520
+ ],
521
+ "dev_deg": {
522
+ "median": 16.67,
523
+ "p90": 35.63
524
+ },
525
+ "samples": 2027,
526
+ "accepted": 1687,
527
+ "wrist_pos_err_mm_median": 181.3,
528
+ "per_camera": {
529
+ "head": {
530
+ "samples": 2027,
531
+ "accepted": 1687,
532
+ "gate_deg": 30.0,
533
+ "offset_deg": 9.16,
534
+ "tier": "primary",
535
+ "dev_deg_median": 16.67,
536
+ "wrist_pos_err_mm_median": 181.3
537
+ }
538
+ },
539
+ "frames_by_state": {
540
+ "ace_sample": 7101,
541
+ "interpolated": 6298,
542
+ "mean_hand": 1477,
543
+ "no_body_fit": 8
544
+ },
545
+ "observed_fraction": 0.9002,
546
+ "observed_fraction_of_valid": 0.9007,
547
+ "palm_axis_vs_markers_deg": {
548
+ "gsi": 19.37,
549
+ "smplx": 0.93
550
+ },
551
+ "hand_marker_to_mesh_mm": {
552
+ "flat": {
553
+ "median": 12.3,
554
+ "p90": 13.6
555
+ },
556
+ "registered": {
557
+ "median": 12.1,
558
+ "p90": 13.3
559
+ }
560
+ }
561
+ },
562
+ "right": {
563
+ "offset_deg": 35.11,
564
+ "offset_rotvec": [
565
+ 0.3405,
566
+ 0.5066,
567
+ -0.0536
568
+ ],
569
+ "dev_deg": {
570
+ "median": 28.61,
571
+ "p90": 62.95
572
+ },
573
+ "samples": 2103,
574
+ "accepted": 1115,
575
+ "wrist_pos_err_mm_median": 171.0,
576
+ "per_camera": {
577
+ "head": {
578
+ "samples": 2103,
579
+ "accepted": 1115,
580
+ "gate_deg": 30.0,
581
+ "offset_deg": 35.11,
582
+ "tier": "primary",
583
+ "dev_deg_median": 28.61,
584
+ "wrist_pos_err_mm_median": 171.0
585
+ }
586
+ },
587
+ "frames_by_state": {
588
+ "ace_sample": 4666,
589
+ "interpolated": 4930,
590
+ "mean_hand": 5280,
591
+ "no_body_fit": 8
592
+ },
593
+ "observed_fraction": 0.6447,
594
+ "observed_fraction_of_valid": 0.6451,
595
+ "palm_axis_vs_markers_deg": {
596
+ "gsi": 48.57,
597
+ "smplx": 0.59
598
+ },
599
+ "hand_marker_to_mesh_mm": {
600
+ "flat": {
601
+ "median": 10.2,
602
+ "p90": 13.0
603
+ },
604
+ "registered": {
605
+ "median": 10.3,
606
+ "p90": 12.4
607
+ }
608
+ }
609
+ }
610
+ },
611
+ "max_dev_deg": 30.0,
612
+ "max_gap_s": 1.0,
613
+ "cameras_used": [
614
+ "head"
615
+ ],
616
+ "generated_at_utc": "2026-11-03T16:11:57.819528+00:00",
617
+ "generated_by": "scripts/register_hands_smplx.py",
618
+ "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",
619
+ "wrist_flip_suspect": []
620
+ },
621
  "release": {
622
  "release_path": "actions/locomanipulation/LM19/session_004",
623
  "family": "locomanipulation",
624
  "primitive": "LM19",
625
  "source_session": "20260910/LM19/20260910_071651_session124"
626
+ },
627
+ "task": {
628
+ "primitive": "LM19",
629
+ "instruction": "Carry one object in each hand, the heavy one in the hand the operator calls, walking back and forth across the room."
630
  }
631
  }
actions/locomanipulation/LM19/session_004/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6b77b557dbaea82f505f64004ee107f282d0f175a4e0de6cdee9d85998dbacbc
3
+ size 2915552
actions/locomanipulation/LM19/session_004/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:1339d3a0cdc542695543c8bbabfbf1484b29e14a321ee2d1574cdfa0c9a47cf7
3
- size 5744995
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c2aab8ad697b6889690682a1798f92479cb3a020fa802235dca317a050153bfe
3
+ size 9930160
actions/locomanipulation/LM19/session_005/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": "LM19",
6
+ "instruction": "Carry one object in each hand, the heavy one in the hand the operator calls, walking back and forth across the room.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 138.966589,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.03901556411295659
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "7d933622-49dc-4abf-b00c-5844bf6091e5",
18
+ "segment": "segment1",
19
+ "action": "LM19",
20
+ "quality": "valid",
21
+ "start_s": 0,
22
+ "end_s": 131.223,
23
+ "t_start": 0.039,
24
+ "t_end": 131.262,
25
+ "instruction": "Carry one object in each hand, the heavy one in the hand the operator calls, walking back and forth across the room."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM19/session_005/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:12f7c5d78b22006fa48fbcb4f5faad935be5cb2261ec2d95c8a51f9acb341946
3
+ size 800452
actions/locomanipulation/LM19/session_005/meta.json CHANGED
@@ -325,8 +325,8 @@
325
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
326
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
327
  "hands": {
328
- "observed": false,
329
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
330
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
331
  "hand_marker_offsets_m": {
332
  "left": {
@@ -506,10 +506,124 @@
506
  "generated_by": "scripts/correct_processed_rig.py",
507
  "remaining_gyro_frame_deg": 0.929657804535557
508
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
509
  "release": {
510
  "release_path": "actions/locomanipulation/LM19/session_005",
511
  "family": "locomanipulation",
512
  "primitive": "LM19",
513
  "source_session": "20260910/LM19/20260910_071923_session125"
 
 
 
 
514
  }
515
  }
 
325
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
326
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
327
  "hands": {
328
+ "observed": true,
329
+ "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
330
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
331
  "hand_marker_offsets_m": {
332
  "left": {
 
506
  "generated_by": "scripts/correct_processed_rig.py",
507
  "remaining_gyro_frame_deg": 0.929657804535557
508
  },
509
+ "hands_registration": {
510
+ "cameras": {},
511
+ "hands": {
512
+ "left": {
513
+ "offset_deg": 6.23,
514
+ "offset_rotvec": [
515
+ 0.0311,
516
+ 0.0453,
517
+ 0.0939
518
+ ],
519
+ "dev_deg": {
520
+ "median": 14.46,
521
+ "p90": 32.64
522
+ },
523
+ "samples": 2070,
524
+ "accepted": 1798,
525
+ "wrist_pos_err_mm_median": 197.9,
526
+ "per_camera": {
527
+ "head": {
528
+ "samples": 2070,
529
+ "accepted": 1798,
530
+ "gate_deg": 30.0,
531
+ "offset_deg": 6.23,
532
+ "tier": "primary",
533
+ "dev_deg_median": 14.46,
534
+ "wrist_pos_err_mm_median": 197.9
535
+ }
536
+ },
537
+ "frames_by_state": {
538
+ "ace_sample": 7654,
539
+ "interpolated": 8374,
540
+ "mean_hand": 651,
541
+ "no_body_fit": 5
542
+ },
543
+ "observed_fraction": 0.9607,
544
+ "observed_fraction_of_valid": 0.961,
545
+ "palm_axis_vs_markers_deg": {
546
+ "gsi": 10.03,
547
+ "smplx": 0.41
548
+ },
549
+ "hand_marker_to_mesh_mm": {
550
+ "flat": {
551
+ "median": 13.7,
552
+ "p90": 14.7
553
+ },
554
+ "registered": {
555
+ "median": 13.4,
556
+ "p90": 14.4
557
+ }
558
+ }
559
+ },
560
+ "right": {
561
+ "offset_deg": 27.53,
562
+ "offset_rotvec": [
563
+ 0.2391,
564
+ 0.4167,
565
+ -0.0089
566
+ ],
567
+ "dev_deg": {
568
+ "median": 27.9,
569
+ "p90": 53.19
570
+ },
571
+ "samples": 2450,
572
+ "accepted": 1317,
573
+ "wrist_pos_err_mm_median": 190.8,
574
+ "per_camera": {
575
+ "head": {
576
+ "samples": 2450,
577
+ "accepted": 1317,
578
+ "gate_deg": 30.0,
579
+ "offset_deg": 27.53,
580
+ "tier": "primary",
581
+ "dev_deg_median": 27.9,
582
+ "wrist_pos_err_mm_median": 190.8
583
+ }
584
+ },
585
+ "frames_by_state": {
586
+ "ace_sample": 5512,
587
+ "interpolated": 6614,
588
+ "mean_hand": 4553,
589
+ "no_body_fit": 5
590
+ },
591
+ "observed_fraction": 0.7268,
592
+ "observed_fraction_of_valid": 0.727,
593
+ "palm_axis_vs_markers_deg": {
594
+ "gsi": 43.97,
595
+ "smplx": 0.63
596
+ },
597
+ "hand_marker_to_mesh_mm": {
598
+ "flat": {
599
+ "median": 7.5,
600
+ "p90": 10.0
601
+ },
602
+ "registered": {
603
+ "median": 7.7,
604
+ "p90": 9.4
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": "2026-11-03T16:12:00.429879+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/LM19/session_005",
621
  "family": "locomanipulation",
622
  "primitive": "LM19",
623
  "source_session": "20260910/LM19/20260910_071923_session125"
624
+ },
625
+ "task": {
626
+ "primitive": "LM19",
627
+ "instruction": "Carry one object in each hand, the heavy one in the hand the operator calls, walking back and forth across the room."
628
  }
629
  }
actions/locomanipulation/LM19/session_005/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:920f656145b322ea7ff88367d9dd174aea79b4207ad1d0c34028a339b5526448
3
+ size 3195794
actions/locomanipulation/LM19/session_005/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:2cf57f5f99481350a7a4ca976732acd457b935214140d97ffc84078f511a32d8
3
- size 6453073
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6be6de7305b333d7ffc01179aaee4517575ec42b3bbf8bbe22f1da7c6659c25e
3
+ size 11476548
actions/locomanipulation/LM19/session_006/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": "LM19",
6
+ "instruction": "Carry one object in each hand, the heavy one in the hand the operator calls, walking back and forth across the room.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 133.966622,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.03896783512680546
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "947f4ed0-09ee-4384-80e1-2aab1a03b293",
18
+ "segment": "segment1",
19
+ "action": "LM19",
20
+ "quality": "valid",
21
+ "start_s": 0,
22
+ "end_s": 131.101,
23
+ "t_start": 0.039,
24
+ "t_end": 131.14,
25
+ "instruction": "Carry one object in each hand, the heavy one in the hand the operator calls, walking back and forth across the room."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM19/session_006/cameras/gsi_online_calibration.json ADDED
@@ -0,0 +1,259 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "camera_fit": {
3
+ "groups_dropped": [],
4
+ "groups_used": 15,
5
+ "median_px": 0.38
6
+ },
7
+ "cameras": {
8
+ "left": {
9
+ "accepted": true,
10
+ "against": [
11
+ "left_front",
12
+ "right_front",
13
+ "left_eye",
14
+ "right_eye",
15
+ "right"
16
+ ],
17
+ "delta_deg": 0.7918,
18
+ "gate_fail": [],
19
+ "held_out_px_after": 0.485,
20
+ "held_out_px_before": 3.705,
21
+ "inliers": 2239,
22
+ "position_fitted": false,
23
+ "rotvec_deg": [
24
+ 0.3796,
25
+ -0.3271,
26
+ -0.6131
27
+ ],
28
+ "split_deg": 0.1094,
29
+ "usable": true
30
+ },
31
+ "left_eye": {
32
+ "accepted": true,
33
+ "against": [
34
+ "left_front",
35
+ "right_front",
36
+ "right_eye",
37
+ "left",
38
+ "right"
39
+ ],
40
+ "delta_deg": 1.9481,
41
+ "gate_fail": [],
42
+ "held_out_px_after": 0.41,
43
+ "held_out_px_before": 6.481,
44
+ "inliers": 2993,
45
+ "position_fitted": true,
46
+ "position_mm": [
47
+ 2.44,
48
+ -13.18,
49
+ 1.69
50
+ ],
51
+ "position_sigma_mm": 0.264,
52
+ "position_split_mm": 2.192,
53
+ "rotvec_deg": [
54
+ 0.146,
55
+ 0.5849,
56
+ -1.8525
57
+ ],
58
+ "split_deg": 0.0392,
59
+ "usable": true
60
+ },
61
+ "left_front": {
62
+ "role": "rig origin"
63
+ },
64
+ "right": {
65
+ "accepted": true,
66
+ "against": [
67
+ "left_front",
68
+ "right_front",
69
+ "left_eye",
70
+ "right_eye",
71
+ "left"
72
+ ],
73
+ "delta_deg": 1.0354,
74
+ "gate_fail": [],
75
+ "held_out_px_after": 0.659,
76
+ "held_out_px_before": 3.832,
77
+ "inliers": 1422,
78
+ "position_fitted": false,
79
+ "rotvec_deg": [
80
+ 0.9521,
81
+ -0.2398,
82
+ -0.329
83
+ ],
84
+ "split_deg": 0.1724,
85
+ "usable": true
86
+ },
87
+ "right_eye": {
88
+ "accepted": true,
89
+ "against": [
90
+ "left_front",
91
+ "right_front",
92
+ "left_eye",
93
+ "left",
94
+ "right"
95
+ ],
96
+ "delta_deg": 0.7624,
97
+ "gate_fail": [],
98
+ "held_out_px_after": 0.401,
99
+ "held_out_px_before": 3.041,
100
+ "inliers": 3046,
101
+ "position_fitted": true,
102
+ "position_mm": [
103
+ 5.75,
104
+ -14.16,
105
+ 2.26
106
+ ],
107
+ "position_sigma_mm": 0.269,
108
+ "position_split_mm": 2.623,
109
+ "rotvec_deg": [
110
+ 0.3878,
111
+ -0.4528,
112
+ -0.4752
113
+ ],
114
+ "split_deg": 0.0427,
115
+ "usable": true
116
+ },
117
+ "right_front": {
118
+ "accepted": true,
119
+ "against": [
120
+ "left_front",
121
+ "left_eye",
122
+ "right_eye",
123
+ "left",
124
+ "right"
125
+ ],
126
+ "delta_deg": 1.369,
127
+ "gate_fail": [],
128
+ "held_out_px_after": 0.32,
129
+ "held_out_px_before": 5.292,
130
+ "inliers": 3896,
131
+ "position_fitted": false,
132
+ "rotvec_deg": [
133
+ -0.3908,
134
+ -0.0377,
135
+ -1.3115
136
+ ],
137
+ "split_deg": 0.0137,
138
+ "usable": true
139
+ }
140
+ },
141
+ "code_fingerprint": "711ecf5b3dd408f8",
142
+ "device_id": "e17c9efadb69e7b1",
143
+ "factory_root_name": "e17c9efadb69e7b1",
144
+ "files": {
145
+ "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
146
+ "sha256": "a3093cb84e47d203b4be4fddb2a9ca63483bee186ac5d1acc428f8775e9e32dd",
147
+ "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
148
+ },
149
+ "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
150
+ "sha256": "623c799031178eee8adb47aa2afeb998a0fe7b9c0aa3beaf37efdfa79689466b",
151
+ "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
152
+ },
153
+ "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
154
+ "sha256": "73baa6ef14a6efa9253656c423d926dcd925132b466d55fc955da31eff74e216",
155
+ "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
156
+ },
157
+ "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
158
+ "sha256": "8f2e2d39a6aa28be326efb4e33af454f545abbd6a46ab3fbae2eb86d6be40b9d",
159
+ "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
160
+ }
161
+ },
162
+ "input_fingerprint": "f4bb0adcd1f2aac7",
163
+ "kind": "online_calibration",
164
+ "output_sha256": "dc6ac1edc757c097eda36ed7d18b26ff8158d95fdb263bf96b10bbfd4e3db787",
165
+ "overlap": {
166
+ "left-right": 0.501,
167
+ "left_eye-left": 0.707,
168
+ "left_eye-right": 0.671,
169
+ "left_front-left": 0.478,
170
+ "left_front-left_eye": 0.72,
171
+ "left_front-right": 0.448,
172
+ "left_front-right_eye": 0.732,
173
+ "left_front-right_front": 1.0,
174
+ "right_eye-left": 0.696,
175
+ "right_eye-left_eye": 1.0,
176
+ "right_eye-right": 0.673,
177
+ "right_front-left": 0.464,
178
+ "right_front-left_eye": 0.723,
179
+ "right_front-right": 0.466,
180
+ "right_front-right_eye": 0.734
181
+ },
182
+ "picture_change": {
183
+ "left": 40.718,
184
+ "left_eye": 27.718,
185
+ "left_front": 32.793,
186
+ "right": 42.171,
187
+ "right_eye": 29.365,
188
+ "right_front": 31.443
189
+ },
190
+ "runtime": {
191
+ "numpy": "2.4.6",
192
+ "opencv": "5.0.0",
193
+ "scipy": "1.17.1"
194
+ },
195
+ "segment": 1,
196
+ "selection": {
197
+ "overlap_captures": [
198
+ 5569041639000,
199
+ 5570041505666,
200
+ 5577041494555,
201
+ 5578041650111,
202
+ 5580041516777,
203
+ 5581041516777,
204
+ 5583041650111,
205
+ 5584041639000,
206
+ 5590041494555,
207
+ 5591041516777,
208
+ 5592041494555,
209
+ 5596041494555,
210
+ 5597041505666,
211
+ 5600041583444,
212
+ 5601041527888,
213
+ 5604041483444,
214
+ 5605041605666,
215
+ 5610041505666,
216
+ 5611041505666,
217
+ 5613041550111,
218
+ 5614041527888,
219
+ 5619041516777,
220
+ 5620041516777,
221
+ 5622041539000,
222
+ 5623041572333,
223
+ 5628041583444,
224
+ 5629041527888,
225
+ 5632041572333,
226
+ 5633041516777,
227
+ 5636041516777,
228
+ 5637041494555,
229
+ 5640041516777,
230
+ 5641041516777,
231
+ 5644041516777,
232
+ 5645041505666,
233
+ 5648041572333,
234
+ 5649041505666,
235
+ 5651041516777,
236
+ 5652041505666,
237
+ 5656041494555,
238
+ 5657041594555,
239
+ 5663041527888,
240
+ 5664041494555,
241
+ 5666041527888,
242
+ 5667041527888,
243
+ 5672041672333,
244
+ 5673041527888,
245
+ 5674041516777,
246
+ 5679041527888,
247
+ 5680041494555,
248
+ 5683041527888,
249
+ 5684041494555,
250
+ 5689041494555,
251
+ 5690041494555,
252
+ 5693041627888,
253
+ 5694041494555,
254
+ 5697041650111,
255
+ 5698041650111
256
+ ]
257
+ },
258
+ "version": 1
259
+ }
actions/locomanipulation/LM19/session_006/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4f6cebd59110647719b5d56c9258a0670decf1ca170328e7c3f4b1d62b134ff0
3
+ size 772583
actions/locomanipulation/LM19/session_006/meta.json CHANGED
@@ -339,8 +339,8 @@
339
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
340
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
341
  "hands": {
342
- "observed": false,
343
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
344
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
345
  "hand_marker_offsets_m": {
346
  "left": {
@@ -524,10 +524,124 @@
524
  "generated_by": "scripts/correct_processed_rig.py",
525
  "remaining_gyro_frame_deg": 0.71308991392641
526
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
527
  "release": {
528
  "release_path": "actions/locomanipulation/LM19/session_006",
529
  "family": "locomanipulation",
530
  "primitive": "LM19",
531
  "source_session": "20260914/LM19/20260914_122828_session37"
 
 
 
 
532
  }
533
  }
 
339
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
340
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
341
  "hands": {
342
+ "observed": true,
343
+ "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
344
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
345
  "hand_marker_offsets_m": {
346
  "left": {
 
524
  "generated_by": "scripts/correct_processed_rig.py",
525
  "remaining_gyro_frame_deg": 0.71308991392641
526
  },
527
+ "hands_registration": {
528
+ "cameras": {},
529
+ "hands": {
530
+ "left": {
531
+ "offset_deg": 8.56,
532
+ "offset_rotvec": [
533
+ 0.029,
534
+ 0.136,
535
+ -0.0544
536
+ ],
537
+ "dev_deg": {
538
+ "median": 9.24,
539
+ "p90": 25.15
540
+ },
541
+ "samples": 2924,
542
+ "accepted": 2750,
543
+ "wrist_pos_err_mm_median": 42.5,
544
+ "per_camera": {
545
+ "head": {
546
+ "samples": 2924,
547
+ "accepted": 2750,
548
+ "gate_deg": 30.0,
549
+ "offset_deg": 8.56,
550
+ "tier": "primary",
551
+ "dev_deg_median": 9.24,
552
+ "wrist_pos_err_mm_median": 42.5
553
+ }
554
+ },
555
+ "frames_by_state": {
556
+ "ace_sample": 11200,
557
+ "interpolated": 4272,
558
+ "mean_hand": 612,
559
+ "no_body_fit": 0
560
+ },
561
+ "observed_fraction": 0.9619,
562
+ "observed_fraction_of_valid": 0.9619,
563
+ "palm_axis_vs_markers_deg": {
564
+ "gsi": 12.51,
565
+ "smplx": 1.46
566
+ },
567
+ "hand_marker_to_mesh_mm": {
568
+ "flat": {
569
+ "median": 11.6,
570
+ "p90": 19.0
571
+ },
572
+ "registered": {
573
+ "median": 10.8,
574
+ "p90": 17.0
575
+ }
576
+ }
577
+ },
578
+ "right": {
579
+ "offset_deg": 4.15,
580
+ "offset_rotvec": [
581
+ -0.0447,
582
+ -0.0444,
583
+ 0.0357
584
+ ],
585
+ "dev_deg": {
586
+ "median": 9.53,
587
+ "p90": 26.75
588
+ },
589
+ "samples": 2244,
590
+ "accepted": 2078,
591
+ "wrist_pos_err_mm_median": 59.9,
592
+ "per_camera": {
593
+ "head": {
594
+ "samples": 2244,
595
+ "accepted": 2078,
596
+ "gate_deg": 30.0,
597
+ "offset_deg": 4.15,
598
+ "tier": "primary",
599
+ "dev_deg_median": 9.53,
600
+ "wrist_pos_err_mm_median": 59.9
601
+ }
602
+ },
603
+ "frames_by_state": {
604
+ "ace_sample": 8500,
605
+ "interpolated": 5600,
606
+ "mean_hand": 1984,
607
+ "no_body_fit": 0
608
+ },
609
+ "observed_fraction": 0.8766,
610
+ "observed_fraction_of_valid": 0.8766,
611
+ "palm_axis_vs_markers_deg": {
612
+ "gsi": 8.79,
613
+ "smplx": 1.03
614
+ },
615
+ "hand_marker_to_mesh_mm": {
616
+ "flat": {
617
+ "median": 6.2,
618
+ "p90": 8.4
619
+ },
620
+ "registered": {
621
+ "median": 6.8,
622
+ "p90": 7.9
623
+ }
624
+ }
625
+ }
626
+ },
627
+ "max_dev_deg": 30.0,
628
+ "max_gap_s": 1.0,
629
+ "cameras_used": [
630
+ "head"
631
+ ],
632
+ "generated_at_utc": "2026-11-03T18:42:57.747116+00:00",
633
+ "generated_by": "scripts/register_hands_smplx.py",
634
+ "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",
635
+ "wrist_flip_suspect": []
636
+ },
637
  "release": {
638
  "release_path": "actions/locomanipulation/LM19/session_006",
639
  "family": "locomanipulation",
640
  "primitive": "LM19",
641
  "source_session": "20260914/LM19/20260914_122828_session37"
642
+ },
643
+ "task": {
644
+ "primitive": "LM19",
645
+ "instruction": "Carry one object in each hand, the heavy one in the hand the operator calls, walking back and forth across the room."
646
  }
647
  }
actions/locomanipulation/LM19/session_006/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fe4f789ea12691339324730ce6293bf3a367272348a7f8e1d71a7be7b1ed9366
3
+ size 3602136
actions/locomanipulation/LM19/session_006/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:e2b34e933d1638d65acb5fa2f9f52a63d5f13e42e12e02d2fcdecd7d9bc6002c
3
- size 6184706
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4d2e900b9d736b606fea832cf29de5f7222106f0004c0a2e6b2445b5727fd360
3
+ size 11322257
actions/locomanipulation/LM19/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": "LM19",
6
+ "instruction": "Carry one object in each hand, the heavy one in the hand the operator calls, walking back and forth across the room.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 138.966644,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.0392346081464241
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "f0bf12bd-4257-426c-9a1f-66b276d60562",
18
+ "segment": "segment1",
19
+ "action": "LM19",
20
+ "quality": "valid",
21
+ "start_s": 1.063,
22
+ "end_s": 136.505,
23
+ "t_start": 1.1022,
24
+ "t_end": 136.5442,
25
+ "instruction": "Carry one object in each hand, the heavy one in the hand the operator calls, walking back and forth across the room."
26
+ }
27
+ ]
28
+ }