Release update 2026-11-05: new sessions, instructions, annotations (part 9)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +18 -0
- actions/locomanipulation/LM78/session_016/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM78/session_016/raw/mocap/Body0.trc +3 -0
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- actions/locomanipulation/LM78/session_016/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM78/session_016/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM78/session_016/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM78/session_016/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM78/session_016/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM78/session_016/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM78/session_016/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM78/session_016/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM78/session_016/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM78/session_016/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM78/session_016/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM78/session_016/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM78/session_016/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM78/session_016/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM78/session_016/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM79/session_001/annotations.json +28 -0
- actions/locomanipulation/LM79/session_001/cameras/slam.npz +3 -0
- actions/locomanipulation/LM79/session_001/meta.json +116 -2
- actions/locomanipulation/LM79/session_001/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM79/session_001/motions/smplx.npz +2 -2
- actions/locomanipulation/LM79/session_002/annotations.json +28 -0
- actions/locomanipulation/LM79/session_002/cameras/slam.npz +3 -0
- actions/locomanipulation/LM79/session_002/meta.json +116 -2
- actions/locomanipulation/LM79/session_002/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM79/session_002/motions/smplx.npz +2 -2
- actions/locomanipulation/LM79/session_003/annotations.json +28 -0
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- actions/locomanipulation/LM79/session_003/motions/smplx.npz +2 -2
- actions/locomanipulation/LM79/session_004/annotations.json +28 -0
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|
| 1 |
+
{
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| 2 |
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|
| 3 |
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"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": "LM79",
|
| 6 |
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"instruction": "Carry the object over and set it down on the wobbly board without tipping it over. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
|
| 7 |
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"segments": [
|
| 8 |
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{
|
| 9 |
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"id": "segment1",
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| 10 |
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{
|
| 17 |
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"id": "2a8048d0-6f68-4289-ab5e-6c095945e9b6",
|
| 18 |
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"segment": "segment1",
|
| 19 |
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"action": "LM79",
|
| 20 |
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"quality": "valid",
|
| 21 |
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|
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|
| 23 |
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|
| 24 |
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|
| 25 |
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"instruction": "Carry the object over and set it down on the wobbly board without tipping it over. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM79/session_001/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
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|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:e99180172a4b3d8bbd85a5b6cc6033cc74b359df09ded4f58940cb7b840599fc
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| 3 |
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size 686262
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actions/locomanipulation/LM79/session_001/meta.json
CHANGED
|
@@ -324,8 +324,8 @@
|
|
| 324 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 325 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 326 |
"hands": {
|
| 327 |
-
"observed":
|
| 328 |
-
"hand_pose": "
|
| 329 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 330 |
"hand_marker_offsets_m": {
|
| 331 |
"left": {
|
|
@@ -514,10 +514,124 @@
|
|
| 514 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 515 |
"remaining_gyro_frame_deg": 0.8933668172238901
|
| 516 |
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|
| 517 |
"release": {
|
| 518 |
"release_path": "actions/locomanipulation/LM79/session_001",
|
| 519 |
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|
| 520 |
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|
| 521 |
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|
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|
| 522 |
}
|
| 523 |
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|
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|
| 324 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 325 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 326 |
"hands": {
|
| 327 |
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"observed": true,
|
| 328 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 329 |
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|
| 330 |
"hand_marker_offsets_m": {
|
| 331 |
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|
| 514 |
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| 516 |
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| 518 |
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| 519 |
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|
| 520 |
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|
| 521 |
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|
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| 523 |
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],
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| 528 |
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| 529 |
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|
| 530 |
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},
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|
| 532 |
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|
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|
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|
| 535 |
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| 536 |
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| 537 |
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|
| 538 |
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|
| 539 |
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|
| 540 |
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|
| 541 |
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|
| 542 |
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|
| 543 |
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}
|
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},
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| 545 |
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|
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| 548 |
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|
| 549 |
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| 550 |
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},
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|
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|
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|
| 556 |
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},
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| 557 |
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| 558 |
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"flat": {
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"median": 9.7,
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|
| 561 |
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},
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| 563 |
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|
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}
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| 566 |
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},
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"right": {
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],
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| 576 |
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"median": 9.38,
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| 577 |
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"p90": 18.89
|
| 578 |
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},
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| 591 |
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| 602 |
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|
| 603 |
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|
| 604 |
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},
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| 611 |
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}
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| 616 |
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},
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|
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|
| 619 |
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"head"
|
| 621 |
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],
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| 622 |
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"generated_at_utc": "2026-11-03T20:25:20.330154+00:00",
|
| 623 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 624 |
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"conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
|
| 625 |
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"wrist_flip_suspect": []
|
| 626 |
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},
|
| 627 |
"release": {
|
| 628 |
"release_path": "actions/locomanipulation/LM79/session_001",
|
| 629 |
"family": "locomanipulation",
|
| 630 |
"primitive": "LM79",
|
| 631 |
"source_session": "20260915/LM79/20260915_101718_session122"
|
| 632 |
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},
|
| 633 |
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"task": {
|
| 634 |
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"primitive": "LM79",
|
| 635 |
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"instruction": "Carry the object over and set it down on the wobbly board without tipping it over. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 636 |
}
|
| 637 |
}
|
actions/locomanipulation/LM79/session_001/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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size 4598633
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actions/locomanipulation/LM79/session_001/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
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|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:
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size
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version https://git-lfs.github.com/spec/v1
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size 10223450
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actions/locomanipulation/LM79/session_002/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
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|
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|
|
|
|
|
| 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": "LM79",
|
| 6 |
+
"instruction": "Carry the object over and set it down on the wobbly board without tipping it over. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
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|
| 11 |
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"video": "left_eye",
|
| 12 |
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|
| 13 |
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}
|
| 14 |
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],
|
| 15 |
+
"episodes": [
|
| 16 |
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{
|
| 17 |
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"id": "5d3bfc3f-82aa-4080-a4eb-28f55ffff189",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
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"action": "LM79",
|
| 20 |
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"quality": "valid",
|
| 21 |
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|
| 22 |
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|
| 23 |
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"t_start": 2.058,
|
| 24 |
+
"t_end": 123.357,
|
| 25 |
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"instruction": "Carry the object over and set it down on the wobbly board without tipping it over. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM79/session_002/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
|
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|
|
|
|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 740721
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actions/locomanipulation/LM79/session_002/meta.json
CHANGED
|
@@ -340,8 +340,8 @@
|
|
| 340 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 341 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 342 |
"hands": {
|
| 343 |
-
"observed":
|
| 344 |
-
"hand_pose": "
|
| 345 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 346 |
"hand_marker_offsets_m": {
|
| 347 |
"left": {
|
|
@@ -532,10 +532,124 @@
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|
| 532 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 533 |
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|
| 534 |
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| 600 |
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|
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|
| 602 |
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| 603 |
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|
| 604 |
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|
| 607 |
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| 608 |
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|
| 609 |
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|
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|
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| 612 |
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| 613 |
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|
| 614 |
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|
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|
| 616 |
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|
| 617 |
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|
| 618 |
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"head"
|
| 619 |
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|
| 620 |
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"generated_at_utc": "2026-11-03T22:30:18.252708+00:00",
|
| 621 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 622 |
+
"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",
|
| 623 |
+
"wrist_flip_suspect": []
|
| 624 |
+
},
|
| 625 |
"release": {
|
| 626 |
"release_path": "actions/locomanipulation/LM79/session_003",
|
| 627 |
"family": "locomanipulation",
|
| 628 |
"primitive": "LM79",
|
| 629 |
"source_session": "20260928/LM79/20260928_012741_session9"
|
| 630 |
+
},
|
| 631 |
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"task": {
|
| 632 |
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"primitive": "LM79",
|
| 633 |
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"instruction": "Carry the object over and set it down on the wobbly board without tipping it over. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 634 |
}
|
| 635 |
}
|
actions/locomanipulation/LM79/session_003/motions/hands_mano.npz
ADDED
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actions/locomanipulation/LM79/session_003/motions/smplx.npz
CHANGED
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@@ -1,3 +1,3 @@
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|
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version https://git-lfs.github.com/spec/v1
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|
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size 10203247
|
actions/locomanipulation/LM79/session_004/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
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|
|
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|
|
|
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|
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|
|
|
|
|
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|
|
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|
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|
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|
|
|
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|
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|
|
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|
| 1 |
+
{
|
| 2 |
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"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": "LM79",
|
| 6 |
+
"instruction": "Carry the object over and set it down on the wobbly board without tipping it over. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
|
| 7 |
+
"segments": [
|
| 8 |
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{
|
| 9 |
+
"id": "segment1",
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
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|
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"episodes": [
|
| 16 |
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{
|
| 17 |
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"id": "465459dc-70ab-417f-947f-c80184c8c969",
|
| 18 |
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"segment": "segment1",
|
| 19 |
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"action": "LM79",
|
| 20 |
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"quality": "valid",
|
| 21 |
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"start_s": 0,
|
| 22 |
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"end_s": 127.767,
|
| 23 |
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"t_start": 0.0395,
|
| 24 |
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"t_end": 127.8065,
|
| 25 |
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"instruction": "Carry the object over and set it down on the wobbly board without tipping it over. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|