Release update 2026-11-05: new sessions, instructions, annotations (part 62)
Browse files- actions/locomanipulation/LM17/session_019/cameras/slam.npz +3 -0
- actions/locomanipulation/LM17/session_019/meta.json +116 -2
- actions/locomanipulation/LM17/session_019/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM17/session_019/motions/smplx.npz +2 -2
- actions/locomanipulation/LM17/session_020/annotations.json +28 -0
- actions/locomanipulation/LM17/session_020/cameras/slam.npz +3 -0
- actions/locomanipulation/LM17/session_020/meta.json +116 -2
- actions/locomanipulation/LM17/session_020/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM17/session_020/motions/smplx.npz +2 -2
- actions/locomanipulation/LM17/session_021/annotations.json +28 -0
- actions/locomanipulation/LM17/session_021/cameras/slam.npz +3 -0
- actions/locomanipulation/LM17/session_021/meta.json +116 -2
actions/locomanipulation/LM17/session_019/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d0b54dc1b87cb94ca707f836ef48c7e5a7a9377871d58ff84779d897730b4c65
|
| 3 |
+
size 598516
|
actions/locomanipulation/LM17/session_019/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":
|
| 329 |
-
"hand_pose": "
|
| 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": {
|
|
@@ -511,10 +511,124 @@
|
|
| 511 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 512 |
"remaining_gyro_frame_deg": 0.866651471471935
|
| 513 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 514 |
"release": {
|
| 515 |
"release_path": "actions/locomanipulation/LM17/session_019",
|
| 516 |
"family": "locomanipulation",
|
| 517 |
"primitive": "LM17",
|
| 518 |
"source_session": "20260921/LM17/20260921_100605_session180"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 519 |
}
|
| 520 |
}
|
|
|
|
| 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": {
|
|
|
|
| 511 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 512 |
"remaining_gyro_frame_deg": 0.866651471471935
|
| 513 |
},
|
| 514 |
+
"hands_registration": {
|
| 515 |
+
"cameras": {},
|
| 516 |
+
"hands": {
|
| 517 |
+
"left": {
|
| 518 |
+
"offset_deg": 16.03,
|
| 519 |
+
"offset_rotvec": [
|
| 520 |
+
0.2165,
|
| 521 |
+
0.0816,
|
| 522 |
+
-0.1574
|
| 523 |
+
],
|
| 524 |
+
"dev_deg": {
|
| 525 |
+
"median": 7.86,
|
| 526 |
+
"p90": 15.05
|
| 527 |
+
},
|
| 528 |
+
"samples": 3054,
|
| 529 |
+
"accepted": 3010,
|
| 530 |
+
"wrist_pos_err_mm_median": 49.4,
|
| 531 |
+
"per_camera": {
|
| 532 |
+
"head": {
|
| 533 |
+
"samples": 3054,
|
| 534 |
+
"accepted": 3010,
|
| 535 |
+
"gate_deg": 30.0,
|
| 536 |
+
"offset_deg": 16.03,
|
| 537 |
+
"tier": "primary",
|
| 538 |
+
"dev_deg_median": 7.86,
|
| 539 |
+
"wrist_pos_err_mm_median": 49.4
|
| 540 |
+
}
|
| 541 |
+
},
|
| 542 |
+
"frames_by_state": {
|
| 543 |
+
"ace_sample": 12062,
|
| 544 |
+
"interpolated": 182,
|
| 545 |
+
"mean_hand": 240,
|
| 546 |
+
"no_body_fit": 0
|
| 547 |
+
},
|
| 548 |
+
"observed_fraction": 0.9808,
|
| 549 |
+
"observed_fraction_of_valid": 0.9808,
|
| 550 |
+
"palm_axis_vs_markers_deg": {
|
| 551 |
+
"gsi": 15.98,
|
| 552 |
+
"smplx": 1.14
|
| 553 |
+
},
|
| 554 |
+
"hand_marker_to_mesh_mm": {
|
| 555 |
+
"flat": {
|
| 556 |
+
"median": 11.2,
|
| 557 |
+
"p90": 13.5
|
| 558 |
+
},
|
| 559 |
+
"registered": {
|
| 560 |
+
"median": 10.2,
|
| 561 |
+
"p90": 12.4
|
| 562 |
+
}
|
| 563 |
+
}
|
| 564 |
+
},
|
| 565 |
+
"right": {
|
| 566 |
+
"offset_deg": 22.91,
|
| 567 |
+
"offset_rotvec": [
|
| 568 |
+
0.0099,
|
| 569 |
+
0.3951,
|
| 570 |
+
-0.0602
|
| 571 |
+
],
|
| 572 |
+
"dev_deg": {
|
| 573 |
+
"median": 3.7,
|
| 574 |
+
"p90": 11.23
|
| 575 |
+
},
|
| 576 |
+
"samples": 3097,
|
| 577 |
+
"accepted": 3044,
|
| 578 |
+
"wrist_pos_err_mm_median": 32.2,
|
| 579 |
+
"per_camera": {
|
| 580 |
+
"head": {
|
| 581 |
+
"samples": 3097,
|
| 582 |
+
"accepted": 3044,
|
| 583 |
+
"gate_deg": 30.0,
|
| 584 |
+
"offset_deg": 22.91,
|
| 585 |
+
"tier": "primary",
|
| 586 |
+
"dev_deg_median": 3.7,
|
| 587 |
+
"wrist_pos_err_mm_median": 32.2
|
| 588 |
+
}
|
| 589 |
+
},
|
| 590 |
+
"frames_by_state": {
|
| 591 |
+
"ace_sample": 12182,
|
| 592 |
+
"interpolated": 78,
|
| 593 |
+
"mean_hand": 224,
|
| 594 |
+
"no_body_fit": 0
|
| 595 |
+
},
|
| 596 |
+
"observed_fraction": 0.9821,
|
| 597 |
+
"observed_fraction_of_valid": 0.9821,
|
| 598 |
+
"palm_axis_vs_markers_deg": {
|
| 599 |
+
"gsi": 24.25,
|
| 600 |
+
"smplx": 1.43
|
| 601 |
+
},
|
| 602 |
+
"hand_marker_to_mesh_mm": {
|
| 603 |
+
"flat": {
|
| 604 |
+
"median": 9.7,
|
| 605 |
+
"p90": 17.6
|
| 606 |
+
},
|
| 607 |
+
"registered": {
|
| 608 |
+
"median": 10.3,
|
| 609 |
+
"p90": 16.7
|
| 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": "2026-11-03T22:48:04.750966+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/LM17/session_019",
|
| 626 |
"family": "locomanipulation",
|
| 627 |
"primitive": "LM17",
|
| 628 |
"source_session": "20260921/LM17/20260921_100605_session180"
|
| 629 |
+
},
|
| 630 |
+
"task": {
|
| 631 |
+
"primitive": "LM17",
|
| 632 |
+
"instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth."
|
| 633 |
}
|
| 634 |
}
|
actions/locomanipulation/LM17/session_019/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fc18e6149f0fada11304f229ccc8030fbb6fb58120cac0cf84708d6ff8fd2afc
|
| 3 |
+
size 4164368
|
actions/locomanipulation/LM17/session_019/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1d1aac6e4114b1c97baa8d541aeac98cac2a3920903e09d318d766ab98431942
|
| 3 |
+
size 8910455
|
actions/locomanipulation/LM17/session_020/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"source": "vendor annotation.json (schema 2, revision 1)",
|
| 4 |
+
"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
|
| 5 |
+
"primitive": "LM17",
|
| 6 |
+
"instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 118.966767,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03919066620760736
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "e39c7823-46fe-428e-ac76-a5d697dd01c6",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM17",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0.697,
|
| 22 |
+
"end_s": 109.619,
|
| 23 |
+
"t_start": 0.7362,
|
| 24 |
+
"t_end": 109.6582,
|
| 25 |
+
"instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM17/session_020/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:05679f48d7758ea0687d4b7e2a96948a52e2993d28e811ad00e1e4502532306c
|
| 3 |
+
size 685221
|
actions/locomanipulation/LM17/session_020/meta.json
CHANGED
|
@@ -327,8 +327,8 @@
|
|
| 327 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 328 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 329 |
"hands": {
|
| 330 |
-
"observed":
|
| 331 |
-
"hand_pose": "
|
| 332 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 333 |
"hand_marker_offsets_m": {
|
| 334 |
"left": {
|
|
@@ -513,10 +513,124 @@
|
|
| 513 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 514 |
"remaining_gyro_frame_deg": 0.8428594654689227
|
| 515 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 516 |
"release": {
|
| 517 |
"release_path": "actions/locomanipulation/LM17/session_020",
|
| 518 |
"family": "locomanipulation",
|
| 519 |
"primitive": "LM17",
|
| 520 |
"source_session": "20260921/LM17/20260921_101249_session184"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 521 |
}
|
| 522 |
}
|
|
|
|
| 327 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 328 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 329 |
"hands": {
|
| 330 |
+
"observed": true,
|
| 331 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 332 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 333 |
"hand_marker_offsets_m": {
|
| 334 |
"left": {
|
|
|
|
| 513 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 514 |
"remaining_gyro_frame_deg": 0.8428594654689227
|
| 515 |
},
|
| 516 |
+
"hands_registration": {
|
| 517 |
+
"cameras": {},
|
| 518 |
+
"hands": {
|
| 519 |
+
"left": {
|
| 520 |
+
"offset_deg": 19.77,
|
| 521 |
+
"offset_rotvec": [
|
| 522 |
+
0.2692,
|
| 523 |
+
-0.1033,
|
| 524 |
+
-0.1897
|
| 525 |
+
],
|
| 526 |
+
"dev_deg": {
|
| 527 |
+
"median": 3.58,
|
| 528 |
+
"p90": 16.58
|
| 529 |
+
},
|
| 530 |
+
"samples": 3533,
|
| 531 |
+
"accepted": 3429,
|
| 532 |
+
"wrist_pos_err_mm_median": 53.9,
|
| 533 |
+
"per_camera": {
|
| 534 |
+
"head": {
|
| 535 |
+
"samples": 3533,
|
| 536 |
+
"accepted": 3429,
|
| 537 |
+
"gate_deg": 30.0,
|
| 538 |
+
"offset_deg": 19.77,
|
| 539 |
+
"tier": "primary",
|
| 540 |
+
"dev_deg_median": 3.58,
|
| 541 |
+
"wrist_pos_err_mm_median": 53.9
|
| 542 |
+
}
|
| 543 |
+
},
|
| 544 |
+
"frames_by_state": {
|
| 545 |
+
"ace_sample": 13739,
|
| 546 |
+
"interpolated": 368,
|
| 547 |
+
"mean_hand": 169,
|
| 548 |
+
"no_body_fit": 8
|
| 549 |
+
},
|
| 550 |
+
"observed_fraction": 0.9876,
|
| 551 |
+
"observed_fraction_of_valid": 0.9882,
|
| 552 |
+
"palm_axis_vs_markers_deg": {
|
| 553 |
+
"gsi": 19.66,
|
| 554 |
+
"smplx": 1.21
|
| 555 |
+
},
|
| 556 |
+
"hand_marker_to_mesh_mm": {
|
| 557 |
+
"flat": {
|
| 558 |
+
"median": 11.3,
|
| 559 |
+
"p90": 12.6
|
| 560 |
+
},
|
| 561 |
+
"registered": {
|
| 562 |
+
"median": 10.7,
|
| 563 |
+
"p90": 12.0
|
| 564 |
+
}
|
| 565 |
+
}
|
| 566 |
+
},
|
| 567 |
+
"right": {
|
| 568 |
+
"offset_deg": 18.15,
|
| 569 |
+
"offset_rotvec": [
|
| 570 |
+
0.0181,
|
| 571 |
+
0.3135,
|
| 572 |
+
-0.0412
|
| 573 |
+
],
|
| 574 |
+
"dev_deg": {
|
| 575 |
+
"median": 3.66,
|
| 576 |
+
"p90": 9.83
|
| 577 |
+
},
|
| 578 |
+
"samples": 3547,
|
| 579 |
+
"accepted": 3467,
|
| 580 |
+
"wrist_pos_err_mm_median": 33.8,
|
| 581 |
+
"per_camera": {
|
| 582 |
+
"head": {
|
| 583 |
+
"samples": 3547,
|
| 584 |
+
"accepted": 3467,
|
| 585 |
+
"gate_deg": 30.0,
|
| 586 |
+
"offset_deg": 18.15,
|
| 587 |
+
"tier": "primary",
|
| 588 |
+
"dev_deg_median": 3.66,
|
| 589 |
+
"wrist_pos_err_mm_median": 33.8
|
| 590 |
+
}
|
| 591 |
+
},
|
| 592 |
+
"frames_by_state": {
|
| 593 |
+
"ace_sample": 13878,
|
| 594 |
+
"interpolated": 134,
|
| 595 |
+
"mean_hand": 264,
|
| 596 |
+
"no_body_fit": 8
|
| 597 |
+
},
|
| 598 |
+
"observed_fraction": 0.981,
|
| 599 |
+
"observed_fraction_of_valid": 0.9815,
|
| 600 |
+
"palm_axis_vs_markers_deg": {
|
| 601 |
+
"gsi": 18.96,
|
| 602 |
+
"smplx": 0.73
|
| 603 |
+
},
|
| 604 |
+
"hand_marker_to_mesh_mm": {
|
| 605 |
+
"flat": {
|
| 606 |
+
"median": 7.5,
|
| 607 |
+
"p90": 12.8
|
| 608 |
+
},
|
| 609 |
+
"registered": {
|
| 610 |
+
"median": 7.8,
|
| 611 |
+
"p90": 11.5
|
| 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": "2026-11-03T22:48:05.265085+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/LM17/session_020",
|
| 628 |
"family": "locomanipulation",
|
| 629 |
"primitive": "LM17",
|
| 630 |
"source_session": "20260921/LM17/20260921_101249_session184"
|
| 631 |
+
},
|
| 632 |
+
"task": {
|
| 633 |
+
"primitive": "LM17",
|
| 634 |
+
"instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth."
|
| 635 |
}
|
| 636 |
}
|
actions/locomanipulation/LM17/session_020/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:cdf663d28ea88517ee70eea282110bab0b2385bb754e9c196466bb50e80e99a5
|
| 3 |
+
size 4795725
|
actions/locomanipulation/LM17/session_020/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1785bc1162a9d3cac1b74b3016411a3ea88d9f0e21e6a94ca70cb4940bda70e8
|
| 3 |
+
size 10217070
|
actions/locomanipulation/LM17/session_021/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"source": "vendor annotation.json (schema 2, revision 1)",
|
| 4 |
+
"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
|
| 5 |
+
"primitive": "LM17",
|
| 6 |
+
"instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 98.966711,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03879112628908543
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "de1d209c-ecd8-4b3f-acc6-75948afb90b1",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM17",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 93.101,
|
| 23 |
+
"t_start": 0.0388,
|
| 24 |
+
"t_end": 93.1398,
|
| 25 |
+
"instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM17/session_021/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:70c7f0c036343dd90e56f120d1cf37113b7ad7d000ec97519cb6c9ebe199db60
|
| 3 |
+
size 573160
|
actions/locomanipulation/LM17/session_021/meta.json
CHANGED
|
@@ -327,8 +327,8 @@
|
|
| 327 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 328 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 329 |
"hands": {
|
| 330 |
-
"observed":
|
| 331 |
-
"hand_pose": "
|
| 332 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 333 |
"hand_marker_offsets_m": {
|
| 334 |
"left": {
|
|
@@ -525,10 +525,124 @@
|
|
| 525 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 526 |
"remaining_gyro_frame_deg": 0.9770384650406199
|
| 527 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 528 |
"release": {
|
| 529 |
"release_path": "actions/locomanipulation/LM17/session_021",
|
| 530 |
"family": "locomanipulation",
|
| 531 |
"primitive": "LM17",
|
| 532 |
"source_session": "20260922/LM17/20260922_070734_session93"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 533 |
}
|
| 534 |
}
|
|
|
|
| 327 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 328 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 329 |
"hands": {
|
| 330 |
+
"observed": true,
|
| 331 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 332 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 333 |
"hand_marker_offsets_m": {
|
| 334 |
"left": {
|
|
|
|
| 525 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 526 |
"remaining_gyro_frame_deg": 0.9770384650406199
|
| 527 |
},
|
| 528 |
+
"hands_registration": {
|
| 529 |
+
"cameras": {},
|
| 530 |
+
"hands": {
|
| 531 |
+
"left": {
|
| 532 |
+
"offset_deg": 34.75,
|
| 533 |
+
"offset_rotvec": [
|
| 534 |
+
0.1217,
|
| 535 |
+
0.1256,
|
| 536 |
+
-0.5808
|
| 537 |
+
],
|
| 538 |
+
"dev_deg": {
|
| 539 |
+
"median": 17.04,
|
| 540 |
+
"p90": 53.94
|
| 541 |
+
},
|
| 542 |
+
"samples": 2174,
|
| 543 |
+
"accepted": 1737,
|
| 544 |
+
"wrist_pos_err_mm_median": 111.1,
|
| 545 |
+
"per_camera": {
|
| 546 |
+
"head": {
|
| 547 |
+
"samples": 2174,
|
| 548 |
+
"accepted": 1737,
|
| 549 |
+
"gate_deg": 30.0,
|
| 550 |
+
"offset_deg": 34.75,
|
| 551 |
+
"tier": "primary",
|
| 552 |
+
"dev_deg_median": 17.04,
|
| 553 |
+
"wrist_pos_err_mm_median": 111.1
|
| 554 |
+
}
|
| 555 |
+
},
|
| 556 |
+
"frames_by_state": {
|
| 557 |
+
"ace_sample": 6946,
|
| 558 |
+
"interpolated": 1922,
|
| 559 |
+
"mean_hand": 3016,
|
| 560 |
+
"no_body_fit": 0
|
| 561 |
+
},
|
| 562 |
+
"observed_fraction": 0.7462,
|
| 563 |
+
"observed_fraction_of_valid": 0.7462,
|
| 564 |
+
"palm_axis_vs_markers_deg": {
|
| 565 |
+
"gsi": 25.16,
|
| 566 |
+
"smplx": 4.98
|
| 567 |
+
},
|
| 568 |
+
"hand_marker_to_mesh_mm": {
|
| 569 |
+
"flat": {
|
| 570 |
+
"median": 13.3,
|
| 571 |
+
"p90": 24.8
|
| 572 |
+
},
|
| 573 |
+
"registered": {
|
| 574 |
+
"median": 13.3,
|
| 575 |
+
"p90": 24.8
|
| 576 |
+
}
|
| 577 |
+
}
|
| 578 |
+
},
|
| 579 |
+
"right": {
|
| 580 |
+
"offset_deg": 22.43,
|
| 581 |
+
"offset_rotvec": [
|
| 582 |
+
-0.2485,
|
| 583 |
+
-0.1359,
|
| 584 |
+
0.2701
|
| 585 |
+
],
|
| 586 |
+
"dev_deg": {
|
| 587 |
+
"median": 6.7,
|
| 588 |
+
"p90": 37.17
|
| 589 |
+
},
|
| 590 |
+
"samples": 2273,
|
| 591 |
+
"accepted": 1999,
|
| 592 |
+
"wrist_pos_err_mm_median": 68.2,
|
| 593 |
+
"per_camera": {
|
| 594 |
+
"head": {
|
| 595 |
+
"samples": 2273,
|
| 596 |
+
"accepted": 1999,
|
| 597 |
+
"gate_deg": 30.0,
|
| 598 |
+
"offset_deg": 22.43,
|
| 599 |
+
"tier": "primary",
|
| 600 |
+
"dev_deg_median": 6.7,
|
| 601 |
+
"wrist_pos_err_mm_median": 68.2
|
| 602 |
+
}
|
| 603 |
+
},
|
| 604 |
+
"frames_by_state": {
|
| 605 |
+
"ace_sample": 8038,
|
| 606 |
+
"interpolated": 2002,
|
| 607 |
+
"mean_hand": 1844,
|
| 608 |
+
"no_body_fit": 0
|
| 609 |
+
},
|
| 610 |
+
"observed_fraction": 0.8448,
|
| 611 |
+
"observed_fraction_of_valid": 0.8448,
|
| 612 |
+
"palm_axis_vs_markers_deg": {
|
| 613 |
+
"gsi": 13.31,
|
| 614 |
+
"smplx": 0.87
|
| 615 |
+
},
|
| 616 |
+
"hand_marker_to_mesh_mm": {
|
| 617 |
+
"flat": {
|
| 618 |
+
"median": 13.3,
|
| 619 |
+
"p90": 16.1
|
| 620 |
+
},
|
| 621 |
+
"registered": {
|
| 622 |
+
"median": 13.6,
|
| 623 |
+
"p90": 15.8
|
| 624 |
+
}
|
| 625 |
+
}
|
| 626 |
+
}
|
| 627 |
+
},
|
| 628 |
+
"max_dev_deg": 30.0,
|
| 629 |
+
"max_gap_s": 1.0,
|
| 630 |
+
"cameras_used": [
|
| 631 |
+
"head"
|
| 632 |
+
],
|
| 633 |
+
"generated_at_utc": "2026-11-03T22:45:12.750919+00:00",
|
| 634 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 635 |
+
"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",
|
| 636 |
+
"wrist_flip_suspect": []
|
| 637 |
+
},
|
| 638 |
"release": {
|
| 639 |
"release_path": "actions/locomanipulation/LM17/session_021",
|
| 640 |
"family": "locomanipulation",
|
| 641 |
"primitive": "LM17",
|
| 642 |
"source_session": "20260922/LM17/20260922_070734_session93"
|
| 643 |
+
},
|
| 644 |
+
"task": {
|
| 645 |
+
"primitive": "LM17",
|
| 646 |
+
"instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth."
|
| 647 |
}
|
| 648 |
}
|