Release update 2026-11-05: new sessions, instructions, annotations (part 32)
Browse files- actions/locomanipulation/LM15/session_034/annotations.json +28 -0
- actions/locomanipulation/LM15/session_034/cameras/slam.npz +3 -0
- actions/locomanipulation/LM15/session_034/meta.json +116 -2
- actions/locomanipulation/LM15/session_034/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM15/session_034/motions/smplx.npz +2 -2
- actions/locomanipulation/LM15/session_035/annotations.json +28 -0
- actions/locomanipulation/LM15/session_035/cameras/slam.npz +3 -0
- actions/locomanipulation/LM15/session_035/meta.json +116 -2
- actions/locomanipulation/LM15/session_035/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM15/session_035/motions/smplx.npz +2 -2
- actions/locomanipulation/LM15/session_036/annotations.json +28 -0
actions/locomanipulation/LM15/session_034/annotations.json
ADDED
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{
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| 2 |
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"schema_version": 1,
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| 3 |
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"source": "vendor annotation.json (schema 2, revision 1)",
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| 4 |
+
"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
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| 5 |
+
"primitive": "LM15",
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| 6 |
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"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room.",
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| 7 |
+
"segments": [
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| 8 |
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{
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| 9 |
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"id": "segment1",
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| 10 |
+
"duration_s": 118.966656,
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| 11 |
+
"video": "left_eye",
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| 12 |
+
"video_t_start": 0.03870117994293576
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| 13 |
+
}
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| 14 |
+
],
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| 15 |
+
"episodes": [
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| 16 |
+
{
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| 17 |
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"id": "a916fbcf-43c7-4424-9ad1-5fee3a25f037",
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| 18 |
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"segment": "segment1",
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| 19 |
+
"action": "LM15",
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| 20 |
+
"quality": "valid",
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| 21 |
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"start_s": 1.29,
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| 22 |
+
"end_s": 110.138,
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| 23 |
+
"t_start": 1.3287,
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| 24 |
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"t_end": 110.1767,
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| 25 |
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"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
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| 26 |
+
}
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| 27 |
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]
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| 28 |
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}
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actions/locomanipulation/LM15/session_034/cameras/slam.npz
ADDED
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version https://git-lfs.github.com/spec/v1
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+
oid sha256:281a4810223040ba967a53b576f3a59e35690e1d3ad552a6b07b584a246003ca
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| 3 |
+
size 685161
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actions/locomanipulation/LM15/session_034/meta.json
CHANGED
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@@ -356,8 +356,8 @@
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| 356 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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| 357 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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| 358 |
"hands": {
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| 359 |
-
"observed":
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| 360 |
-
"hand_pose": "
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| 361 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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| 362 |
"hand_marker_offsets_m": {
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| 363 |
"left": {
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@@ -500,10 +500,124 @@
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| 500 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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| 501 |
}
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| 502 |
},
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| 503 |
"release": {
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| 504 |
"release_path": "actions/locomanipulation/LM15/session_034",
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| 505 |
"family": "locomanipulation",
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| 506 |
"primitive": "LM15",
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| 507 |
"source_session": "20261010/LM15/20261010_075724_session99"
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| 508 |
}
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| 509 |
}
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| 356 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 357 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 358 |
"hands": {
|
| 359 |
+
"observed": true,
|
| 360 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 361 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 362 |
"hand_marker_offsets_m": {
|
| 363 |
"left": {
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|
| 500 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 501 |
}
|
| 502 |
},
|
| 503 |
+
"hands_registration": {
|
| 504 |
+
"cameras": {},
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| 505 |
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"hands": {
|
| 506 |
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"left": {
|
| 507 |
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"offset_deg": 26.73,
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| 508 |
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"offset_rotvec": [
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0.4488,
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-0.1241,
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| 511 |
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-0.0288
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],
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| 513 |
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"dev_deg": {
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| 514 |
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"median": 22.19,
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| 515 |
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"p90": 39.41
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| 516 |
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},
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| 517 |
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"samples": 2267,
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| 518 |
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"accepted": 1693,
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| 519 |
+
"wrist_pos_err_mm_median": 212.6,
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| 520 |
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"per_camera": {
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| 521 |
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"head": {
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| 522 |
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"samples": 2267,
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| 523 |
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"accepted": 1693,
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| 524 |
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"gate_deg": 30.0,
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| 525 |
+
"offset_deg": 26.73,
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| 526 |
+
"tier": "primary",
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| 527 |
+
"dev_deg_median": 22.19,
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| 528 |
+
"wrist_pos_err_mm_median": 212.6
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| 529 |
+
}
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| 530 |
+
},
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| 531 |
+
"frames_by_state": {
|
| 532 |
+
"ace_sample": 7090,
|
| 533 |
+
"interpolated": 5906,
|
| 534 |
+
"mean_hand": 1284,
|
| 535 |
+
"no_body_fit": 4
|
| 536 |
+
},
|
| 537 |
+
"observed_fraction": 0.9098,
|
| 538 |
+
"observed_fraction_of_valid": 0.9101,
|
| 539 |
+
"palm_axis_vs_markers_deg": {
|
| 540 |
+
"gsi": 42.34,
|
| 541 |
+
"smplx": 0.72
|
| 542 |
+
},
|
| 543 |
+
"hand_marker_to_mesh_mm": {
|
| 544 |
+
"flat": {
|
| 545 |
+
"median": 7.2,
|
| 546 |
+
"p90": 12.3
|
| 547 |
+
},
|
| 548 |
+
"registered": {
|
| 549 |
+
"median": 8.3,
|
| 550 |
+
"p90": 13.8
|
| 551 |
+
}
|
| 552 |
+
}
|
| 553 |
+
},
|
| 554 |
+
"right": {
|
| 555 |
+
"offset_deg": 65.36,
|
| 556 |
+
"offset_rotvec": [
|
| 557 |
+
1.0867,
|
| 558 |
+
0.3346,
|
| 559 |
+
-0.0928
|
| 560 |
+
],
|
| 561 |
+
"dev_deg": {
|
| 562 |
+
"median": 36.63,
|
| 563 |
+
"p90": 70.7
|
| 564 |
+
},
|
| 565 |
+
"samples": 1584,
|
| 566 |
+
"accepted": 662,
|
| 567 |
+
"wrist_pos_err_mm_median": 123.3,
|
| 568 |
+
"per_camera": {
|
| 569 |
+
"head": {
|
| 570 |
+
"samples": 1584,
|
| 571 |
+
"accepted": 662,
|
| 572 |
+
"gate_deg": 30.0,
|
| 573 |
+
"offset_deg": 65.36,
|
| 574 |
+
"tier": "primary",
|
| 575 |
+
"dev_deg_median": 36.63,
|
| 576 |
+
"wrist_pos_err_mm_median": 123.3
|
| 577 |
+
}
|
| 578 |
+
},
|
| 579 |
+
"frames_by_state": {
|
| 580 |
+
"ace_sample": 2642,
|
| 581 |
+
"interpolated": 1574,
|
| 582 |
+
"mean_hand": 10064,
|
| 583 |
+
"no_body_fit": 4
|
| 584 |
+
},
|
| 585 |
+
"observed_fraction": 0.2952,
|
| 586 |
+
"observed_fraction_of_valid": 0.2952,
|
| 587 |
+
"palm_axis_vs_markers_deg": {
|
| 588 |
+
"gsi": 68.71,
|
| 589 |
+
"smplx": 3.42
|
| 590 |
+
},
|
| 591 |
+
"hand_marker_to_mesh_mm": {
|
| 592 |
+
"flat": {
|
| 593 |
+
"median": 10.3,
|
| 594 |
+
"p90": 15.3
|
| 595 |
+
},
|
| 596 |
+
"registered": {
|
| 597 |
+
"median": 9.9,
|
| 598 |
+
"p90": 13.4
|
| 599 |
+
}
|
| 600 |
+
}
|
| 601 |
+
}
|
| 602 |
+
},
|
| 603 |
+
"max_dev_deg": 30.0,
|
| 604 |
+
"max_gap_s": 1.0,
|
| 605 |
+
"cameras_used": [
|
| 606 |
+
"head"
|
| 607 |
+
],
|
| 608 |
+
"generated_at_utc": "2026-11-03T22:13:05.359701+00:00",
|
| 609 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 610 |
+
"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",
|
| 611 |
+
"wrist_flip_suspect": []
|
| 612 |
+
},
|
| 613 |
"release": {
|
| 614 |
"release_path": "actions/locomanipulation/LM15/session_034",
|
| 615 |
"family": "locomanipulation",
|
| 616 |
"primitive": "LM15",
|
| 617 |
"source_session": "20261010/LM15/20261010_075724_session99"
|
| 618 |
+
},
|
| 619 |
+
"task": {
|
| 620 |
+
"primitive": "LM15",
|
| 621 |
+
"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
|
| 622 |
}
|
| 623 |
}
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actions/locomanipulation/LM15/session_034/motions/hands_mano.npz
ADDED
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version https://git-lfs.github.com/spec/v1
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+
oid sha256:77b87e722274edcbb109072bea8cd47db0314e6514f3c4c05e6905e1bbac844e
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| 3 |
+
size 2730177
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actions/locomanipulation/LM15/session_034/motions/smplx.npz
CHANGED
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@@ -1,3 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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-
oid sha256:
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| 3 |
-
size
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| 1 |
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:af8a7fb95967b66a40a2cf798b8b7bd5945827ecccba1f6b19f213f3d5b1bb32
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+
size 8709029
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actions/locomanipulation/LM15/session_035/annotations.json
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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": "LM15",
|
| 6 |
+
"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 118.966667,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.037348851288332575
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "cd7f921e-a209-408a-927b-433ab9dd652b",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM15",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1.343,
|
| 22 |
+
"end_s": 111.865,
|
| 23 |
+
"t_start": 1.3803,
|
| 24 |
+
"t_end": 111.9023,
|
| 25 |
+
"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
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actions/locomanipulation/LM15/session_035/cameras/slam.npz
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:6a1043779a2ff67c708d44b414ea3cc8479b477edc79a3ad751efeb3df80c505
|
| 3 |
+
size 698760
|
actions/locomanipulation/LM15/session_035/meta.json
CHANGED
|
@@ -344,8 +344,8 @@
|
|
| 344 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 345 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 346 |
"hands": {
|
| 347 |
-
"observed":
|
| 348 |
-
"hand_pose": "
|
| 349 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 350 |
"hand_marker_offsets_m": {
|
| 351 |
"left": {
|
|
@@ -488,10 +488,124 @@
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|
| 488 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 489 |
}
|
| 490 |
},
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|
|
|
|
|
|
|
|
|
| 491 |
"release": {
|
| 492 |
"release_path": "actions/locomanipulation/LM15/session_035",
|
| 493 |
"family": "locomanipulation",
|
| 494 |
"primitive": "LM15",
|
| 495 |
"source_session": "20261010/LM15/20261010_075937_session100"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 496 |
}
|
| 497 |
}
|
|
|
|
| 344 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 345 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 346 |
"hands": {
|
| 347 |
+
"observed": true,
|
| 348 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 349 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 350 |
"hand_marker_offsets_m": {
|
| 351 |
"left": {
|
|
|
|
| 488 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 489 |
}
|
| 490 |
},
|
| 491 |
+
"hands_registration": {
|
| 492 |
+
"cameras": {},
|
| 493 |
+
"hands": {
|
| 494 |
+
"left": {
|
| 495 |
+
"offset_deg": 46.78,
|
| 496 |
+
"offset_rotvec": [
|
| 497 |
+
0.7851,
|
| 498 |
+
-0.1983,
|
| 499 |
+
-0.1038
|
| 500 |
+
],
|
| 501 |
+
"dev_deg": {
|
| 502 |
+
"median": 23.24,
|
| 503 |
+
"p90": 44.35
|
| 504 |
+
},
|
| 505 |
+
"samples": 2496,
|
| 506 |
+
"accepted": 1721,
|
| 507 |
+
"wrist_pos_err_mm_median": 141.1,
|
| 508 |
+
"per_camera": {
|
| 509 |
+
"head": {
|
| 510 |
+
"samples": 2496,
|
| 511 |
+
"accepted": 1721,
|
| 512 |
+
"gate_deg": 30.0,
|
| 513 |
+
"offset_deg": 46.78,
|
| 514 |
+
"tier": "primary",
|
| 515 |
+
"dev_deg_median": 23.24,
|
| 516 |
+
"wrist_pos_err_mm_median": 141.1
|
| 517 |
+
}
|
| 518 |
+
},
|
| 519 |
+
"frames_by_state": {
|
| 520 |
+
"ace_sample": 7138,
|
| 521 |
+
"interpolated": 4658,
|
| 522 |
+
"mean_hand": 2488,
|
| 523 |
+
"no_body_fit": 0
|
| 524 |
+
},
|
| 525 |
+
"observed_fraction": 0.8258,
|
| 526 |
+
"observed_fraction_of_valid": 0.8258,
|
| 527 |
+
"palm_axis_vs_markers_deg": {
|
| 528 |
+
"gsi": 53.76,
|
| 529 |
+
"smplx": 3.57
|
| 530 |
+
},
|
| 531 |
+
"hand_marker_to_mesh_mm": {
|
| 532 |
+
"flat": {
|
| 533 |
+
"median": 6.5,
|
| 534 |
+
"p90": 8.6
|
| 535 |
+
},
|
| 536 |
+
"registered": {
|
| 537 |
+
"median": 7.4,
|
| 538 |
+
"p90": 9.6
|
| 539 |
+
}
|
| 540 |
+
}
|
| 541 |
+
},
|
| 542 |
+
"right": {
|
| 543 |
+
"offset_deg": 17.95,
|
| 544 |
+
"offset_rotvec": [
|
| 545 |
+
0.3025,
|
| 546 |
+
0.081,
|
| 547 |
+
-0.0115
|
| 548 |
+
],
|
| 549 |
+
"dev_deg": {
|
| 550 |
+
"median": 14.51,
|
| 551 |
+
"p90": 28.98
|
| 552 |
+
},
|
| 553 |
+
"samples": 1790,
|
| 554 |
+
"accepted": 1629,
|
| 555 |
+
"wrist_pos_err_mm_median": 402.9,
|
| 556 |
+
"per_camera": {
|
| 557 |
+
"head": {
|
| 558 |
+
"samples": 1790,
|
| 559 |
+
"accepted": 1629,
|
| 560 |
+
"gate_deg": 30.0,
|
| 561 |
+
"offset_deg": 17.95,
|
| 562 |
+
"tier": "primary",
|
| 563 |
+
"dev_deg_median": 14.51,
|
| 564 |
+
"wrist_pos_err_mm_median": 402.9
|
| 565 |
+
}
|
| 566 |
+
},
|
| 567 |
+
"frames_by_state": {
|
| 568 |
+
"ace_sample": 6822,
|
| 569 |
+
"interpolated": 6198,
|
| 570 |
+
"mean_hand": 1264,
|
| 571 |
+
"no_body_fit": 0
|
| 572 |
+
},
|
| 573 |
+
"observed_fraction": 0.9115,
|
| 574 |
+
"observed_fraction_of_valid": 0.9115,
|
| 575 |
+
"palm_axis_vs_markers_deg": {
|
| 576 |
+
"gsi": 19.16,
|
| 577 |
+
"smplx": 0.95
|
| 578 |
+
},
|
| 579 |
+
"hand_marker_to_mesh_mm": {
|
| 580 |
+
"flat": {
|
| 581 |
+
"median": 10.1,
|
| 582 |
+
"p90": 11.8
|
| 583 |
+
},
|
| 584 |
+
"registered": {
|
| 585 |
+
"median": 10.9,
|
| 586 |
+
"p90": 12.4
|
| 587 |
+
}
|
| 588 |
+
}
|
| 589 |
+
}
|
| 590 |
+
},
|
| 591 |
+
"max_dev_deg": 30.0,
|
| 592 |
+
"max_gap_s": 1.0,
|
| 593 |
+
"cameras_used": [
|
| 594 |
+
"head"
|
| 595 |
+
],
|
| 596 |
+
"generated_at_utc": "2026-11-03T22:13:05.366986+00:00",
|
| 597 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 598 |
+
"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",
|
| 599 |
+
"wrist_flip_suspect": []
|
| 600 |
+
},
|
| 601 |
"release": {
|
| 602 |
"release_path": "actions/locomanipulation/LM15/session_035",
|
| 603 |
"family": "locomanipulation",
|
| 604 |
"primitive": "LM15",
|
| 605 |
"source_session": "20261010/LM15/20261010_075937_session100"
|
| 606 |
+
},
|
| 607 |
+
"task": {
|
| 608 |
+
"primitive": "LM15",
|
| 609 |
+
"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
|
| 610 |
}
|
| 611 |
}
|
actions/locomanipulation/LM15/session_035/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e99675f5e27612b2e0746ca1d78d32ccc0cf25ee44adc3650c491e55a01ad274
|
| 3 |
+
size 3021507
|
actions/locomanipulation/LM15/session_035/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 sha256:2e8df60debb9a3cf171179e259103b2ac358351b847630e1514df8c800d5fb66
|
| 3 |
+
size 9862295
|
actions/locomanipulation/LM15/session_036/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": "LM15",
|
| 6 |
+
"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 128.966767,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.0392654219018258
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "88b86213-6ddf-4404-a650-1b7ec26646e2",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM15",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1.279,
|
| 22 |
+
"end_s": 118.116,
|
| 23 |
+
"t_start": 1.3183,
|
| 24 |
+
"t_end": 118.1553,
|
| 25 |
+
"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|