Mayur1092 commited on
Commit
6da1362
·
verified ·
1 Parent(s): 57796aa

Release update 2026-11-05: new sessions, instructions, annotations (part 313)

Browse files
actions/locomanipulation/LM33/session_014/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:a431cafba3f31c3bf8869fd1091d4bc001d3fbe13e4469eea2425a197127ffd8
3
- size 6185120
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:555d2c85cec1c80c7534a698a0fd00faccc592cf18ad7cd7c7127db022f2ec2f
3
+ size 11464857
actions/locomanipulation/LM33/session_015/annotations.json ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "source": "vendor annotation.json (schema 2, revision 1)",
4
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
5
+ "primitive": "LM33",
6
+ "instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 133.966656,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.03910197539850291
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "7e9a31f4-c389-491d-aca8-d4c06af7904f",
18
+ "segment": "segment1",
19
+ "action": "LM33",
20
+ "quality": "valid",
21
+ "start_s": 1.855,
22
+ "end_s": 125.261,
23
+ "t_start": 1.8941,
24
+ "t_end": 125.3001,
25
+ "instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM33/session_015/cameras/gsi_online_calibration.json ADDED
@@ -0,0 +1,258 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "camera_fit": {
3
+ "groups_dropped": [],
4
+ "groups_used": 15,
5
+ "median_px": 0.378
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": 1.2582,
18
+ "gate_fail": [],
19
+ "held_out_px_after": 0.46,
20
+ "held_out_px_before": 6.185,
21
+ "inliers": 3755,
22
+ "position_fitted": false,
23
+ "rotvec_deg": [
24
+ -0.0626,
25
+ -0.5128,
26
+ -1.1472
27
+ ],
28
+ "split_deg": 0.0259,
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": 2.6978,
41
+ "gate_fail": [],
42
+ "held_out_px_after": 0.368,
43
+ "held_out_px_before": 7.453,
44
+ "inliers": 6591,
45
+ "position_fitted": true,
46
+ "position_mm": [
47
+ 5.05,
48
+ -15.72,
49
+ 4.33
50
+ ],
51
+ "position_sigma_mm": 0.206,
52
+ "position_split_mm": 1.63,
53
+ "rotvec_deg": [
54
+ -0.0719,
55
+ 0.8998,
56
+ -2.5423
57
+ ],
58
+ "split_deg": 0.0299,
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": 1.7819,
74
+ "gate_fail": [],
75
+ "held_out_px_after": 1.114,
76
+ "held_out_px_before": 5.441,
77
+ "inliers": 1102,
78
+ "position_fitted": false,
79
+ "rotvec_deg": [
80
+ 1.5679,
81
+ -0.3749,
82
+ -0.7592
83
+ ],
84
+ "split_deg": 0.2355,
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": 1.1887,
97
+ "gate_fail": [],
98
+ "held_out_px_after": 0.362,
99
+ "held_out_px_before": 2.841,
100
+ "inliers": 7323,
101
+ "position_fitted": true,
102
+ "position_mm": [
103
+ 6.31,
104
+ -18.97,
105
+ 4.16
106
+ ],
107
+ "position_sigma_mm": 0.195,
108
+ "position_split_mm": 0.966,
109
+ "rotvec_deg": [
110
+ 0.2165,
111
+ -0.2565,
112
+ -1.1403
113
+ ],
114
+ "split_deg": 0.0216,
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": 2.0252,
127
+ "gate_fail": [],
128
+ "held_out_px_after": 0.355,
129
+ "held_out_px_before": 6.025,
130
+ "inliers": 5689,
131
+ "position_fitted": false,
132
+ "rotvec_deg": [
133
+ -0.2188,
134
+ 0.0141,
135
+ -2.0133
136
+ ],
137
+ "split_deg": 0.0186,
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": "582dc0787450a27ec71defda960e83969ee3a4b194e0febac429694386f576a4",
147
+ "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
148
+ },
149
+ "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
150
+ "sha256": "1af396518e0ae1b1eedf8710ffae2fefed88bc32ef88ced020147cdb3354d20e",
151
+ "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
152
+ },
153
+ "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
154
+ "sha256": "a3ca7937ca91ade3449d4c275fe30ec7b4b184f9bb6f8c9c82781fe1f9d95628",
155
+ "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
156
+ },
157
+ "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
158
+ "sha256": "c183e8585edd708f17eaed16b9df792c409a5f83ae31dfd857afac241de914f4",
159
+ "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
160
+ }
161
+ },
162
+ "input_fingerprint": "37a8fe412e87971b",
163
+ "kind": "online_calibration",
164
+ "output_sha256": "4d52a1e73ff7fc4dfc237594bc2327eb80e007f16f3552956b7b7a736969be38",
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": 43.044,
184
+ "left_eye": 42.669,
185
+ "left_front": 44.933,
186
+ "right": 48.042,
187
+ "right_eye": 44.256,
188
+ "right_front": 43.757
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
+ 4027541819666,
199
+ 4028541886333,
200
+ 4032541841888,
201
+ 4033541841888,
202
+ 4036541941888,
203
+ 4037541808555,
204
+ 4041541986333,
205
+ 4042541841888,
206
+ 4048541841888,
207
+ 4049541819666,
208
+ 4051541964111,
209
+ 4052541853000,
210
+ 4055541830777,
211
+ 4056541830777,
212
+ 4058541841888,
213
+ 4059541819666,
214
+ 4062541841888,
215
+ 4063541819666,
216
+ 4069541953000,
217
+ 4070541841888,
218
+ 4074541808555,
219
+ 4075541908555,
220
+ 4076541819666,
221
+ 4082541841888,
222
+ 4083541841888,
223
+ 4084541819666,
224
+ 4089541830777,
225
+ 4090541819666,
226
+ 4093541808555,
227
+ 4094541841888,
228
+ 4097541819666,
229
+ 4098541841888,
230
+ 4104541830777,
231
+ 4105541841888,
232
+ 4106541841888,
233
+ 4110541941888,
234
+ 4111541808555,
235
+ 4115541841888,
236
+ 4116541841888,
237
+ 4118541853000,
238
+ 4119541841888,
239
+ 4124541964111,
240
+ 4125541919666,
241
+ 4128541853000,
242
+ 4129541841888,
243
+ 4132541830777,
244
+ 4133541830777,
245
+ 4136541886333,
246
+ 4137541841888,
247
+ 4139541830777,
248
+ 4140541864111,
249
+ 4145541841888,
250
+ 4146541841888,
251
+ 4151541953000,
252
+ 4152541808555,
253
+ 4155541808555,
254
+ 4156541897444
255
+ ]
256
+ },
257
+ "version": 1
258
+ }
actions/locomanipulation/LM33/session_015/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:56404c5cd9f31f796d36704440910ac98adf613ca4a6f48056b292b57404d81d
3
+ size 772293
actions/locomanipulation/LM33/session_015/meta.json CHANGED
@@ -326,8 +326,8 @@
326
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
327
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
328
  "hands": {
329
- "observed": false,
330
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
331
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
332
  "hand_marker_offsets_m": {
333
  "left": {
@@ -511,10 +511,124 @@
511
  "generated_by": "scripts/correct_processed_rig.py",
512
  "remaining_gyro_frame_deg": 1.4638225254494264
513
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
514
  "release": {
515
  "release_path": "actions/locomanipulation/LM33/session_015",
516
  "family": "locomanipulation",
517
  "primitive": "LM33",
518
  "source_session": "20261009/LM33/20261009_012032_session13"
 
 
 
 
519
  }
520
  }
 
326
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
327
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
328
  "hands": {
329
+ "observed": true,
330
+ "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
331
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
332
  "hand_marker_offsets_m": {
333
  "left": {
 
511
  "generated_by": "scripts/correct_processed_rig.py",
512
  "remaining_gyro_frame_deg": 1.4638225254494264
513
  },
514
+ "hands_registration": {
515
+ "cameras": {},
516
+ "hands": {
517
+ "left": {
518
+ "offset_deg": 10.67,
519
+ "offset_rotvec": [
520
+ 0.0332,
521
+ 0.1059,
522
+ 0.1496
523
+ ],
524
+ "dev_deg": {
525
+ "median": 9.37,
526
+ "p90": 21.62
527
+ },
528
+ "samples": 3977,
529
+ "accepted": 3832,
530
+ "wrist_pos_err_mm_median": 44.2,
531
+ "per_camera": {
532
+ "head": {
533
+ "samples": 3977,
534
+ "accepted": 3832,
535
+ "gate_deg": 30.0,
536
+ "offset_deg": 10.67,
537
+ "tier": "primary",
538
+ "dev_deg_median": 9.37,
539
+ "wrist_pos_err_mm_median": 44.2
540
+ }
541
+ },
542
+ "frames_by_state": {
543
+ "ace_sample": 15345,
544
+ "interpolated": 346,
545
+ "mean_hand": 385,
546
+ "no_body_fit": 8
547
+ },
548
+ "observed_fraction": 0.9756,
549
+ "observed_fraction_of_valid": 0.9761,
550
+ "palm_axis_vs_markers_deg": {
551
+ "gsi": 8.91,
552
+ "smplx": 1.74
553
+ },
554
+ "hand_marker_to_mesh_mm": {
555
+ "flat": {
556
+ "median": 12.4,
557
+ "p90": 20.1
558
+ },
559
+ "registered": {
560
+ "median": 12.2,
561
+ "p90": 20.0
562
+ }
563
+ }
564
+ },
565
+ "right": {
566
+ "offset_deg": 12.72,
567
+ "offset_rotvec": [
568
+ 0.1647,
569
+ -0.1472,
570
+ 0.0213
571
+ ],
572
+ "dev_deg": {
573
+ "median": 8.65,
574
+ "p90": 13.77
575
+ },
576
+ "samples": 3956,
577
+ "accepted": 3953,
578
+ "wrist_pos_err_mm_median": 30.8,
579
+ "per_camera": {
580
+ "head": {
581
+ "samples": 3956,
582
+ "accepted": 3953,
583
+ "gate_deg": 30.0,
584
+ "offset_deg": 12.72,
585
+ "tier": "primary",
586
+ "dev_deg_median": 8.65,
587
+ "wrist_pos_err_mm_median": 30.8
588
+ }
589
+ },
590
+ "frames_by_state": {
591
+ "ace_sample": 15809,
592
+ "interpolated": 10,
593
+ "mean_hand": 257,
594
+ "no_body_fit": 8
595
+ },
596
+ "observed_fraction": 0.9835,
597
+ "observed_fraction_of_valid": 0.984,
598
+ "palm_axis_vs_markers_deg": {
599
+ "gsi": 15.85,
600
+ "smplx": 3.17
601
+ },
602
+ "hand_marker_to_mesh_mm": {
603
+ "flat": {
604
+ "median": 11.8,
605
+ "p90": 19.4
606
+ },
607
+ "registered": {
608
+ "median": 10.9,
609
+ "p90": 17.7
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": "2026-11-03T22:16:24.035407+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/LM33/session_015",
626
  "family": "locomanipulation",
627
  "primitive": "LM33",
628
  "source_session": "20261009/LM33/20261009_012032_session13"
629
+ },
630
+ "task": {
631
+ "primitive": "LM33",
632
+ "instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop."
633
  }
634
  }
actions/locomanipulation/LM33/session_015/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a859a42fc649092c88d364b6e064b1e9d332c67abc07de47109eb355e454e45b
3
+ size 5337957
actions/locomanipulation/LM33/session_015/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:9cd4bbe879f2c711ec4fd922c477406b3d777cfe1a88af69feb1f73db0b91361
3
- size 6174049
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bc2e06798a9ac9332d622c2e5a1eea59ad61ac15afe5f15720a74f67c2e93ff8
3
+ size 11462007
actions/locomanipulation/LM33/session_016/annotations.json ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "source": "vendor annotation.json (schema 2, revision 1)",
4
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
5
+ "primitive": "LM33",
6
+ "instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 133.9667,
11
+ "video": "left_eye",
12
+ "video_t_start": -1.2525266761949376
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "9edd9c72-6ae2-4037-8dd6-fc787ede709f",
18
+ "segment": "segment1",
19
+ "action": "LM33",
20
+ "quality": "valid",
21
+ "start_s": 1.695,
22
+ "end_s": 129.983,
23
+ "t_start": 0.4425,
24
+ "t_end": 128.7305,
25
+ "instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM33/session_016/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:de0fc5581965895d21bafd5e393ec3c50f47153e0522625a93a15ecb4ad34c66
3
+ size 769905
actions/locomanipulation/LM33/session_016/meta.json CHANGED
@@ -363,8 +363,8 @@
363
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
364
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
365
  "hands": {
366
- "observed": false,
367
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
368
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
369
  "hand_marker_offsets_m": {
370
  "left": {
@@ -583,10 +583,124 @@
583
  },
584
  "applied": 3
585
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
586
  "release": {
587
  "release_path": "actions/locomanipulation/LM33/session_016",
588
  "family": "locomanipulation",
589
  "primitive": "LM33",
590
  "source_session": "20261013/LM33/20261013_055824_session92"
 
 
 
 
591
  }
592
  }
 
363
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
364
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
365
  "hands": {
366
+ "observed": true,
367
+ "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
368
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
369
  "hand_marker_offsets_m": {
370
  "left": {
 
583
  },
584
  "applied": 3
585
  },
586
+ "hands_registration": {
587
+ "cameras": {},
588
+ "hands": {
589
+ "left": {
590
+ "offset_deg": 25.9,
591
+ "offset_rotvec": [
592
+ -0.1463,
593
+ 0.3699,
594
+ -0.215
595
+ ],
596
+ "dev_deg": {
597
+ "median": 20.84,
598
+ "p90": 81.83
599
+ },
600
+ "samples": 3953,
601
+ "accepted": 2717,
602
+ "wrist_pos_err_mm_median": 23.3,
603
+ "per_camera": {
604
+ "head": {
605
+ "samples": 3953,
606
+ "accepted": 2717,
607
+ "gate_deg": 30.0,
608
+ "offset_deg": 25.9,
609
+ "tier": "primary",
610
+ "dev_deg_median": 20.84,
611
+ "wrist_pos_err_mm_median": 23.3
612
+ }
613
+ },
614
+ "frames_by_state": {
615
+ "ace_sample": 10898,
616
+ "interpolated": 1282,
617
+ "mean_hand": 3749,
618
+ "no_body_fit": 0
619
+ },
620
+ "observed_fraction": 0.7646,
621
+ "observed_fraction_of_valid": 0.7646,
622
+ "palm_axis_vs_markers_deg": {
623
+ "gsi": 29.53,
624
+ "smplx": NaN
625
+ },
626
+ "hand_marker_to_mesh_mm": {
627
+ "flat": {
628
+ "median": NaN,
629
+ "p90": NaN
630
+ },
631
+ "registered": {
632
+ "median": NaN,
633
+ "p90": NaN
634
+ }
635
+ }
636
+ },
637
+ "right": {
638
+ "offset_deg": 37.05,
639
+ "offset_rotvec": [
640
+ 0.5676,
641
+ -0.2579,
642
+ -0.1716
643
+ ],
644
+ "dev_deg": {
645
+ "median": 7.61,
646
+ "p90": 26.97
647
+ },
648
+ "samples": 3931,
649
+ "accepted": 3575,
650
+ "wrist_pos_err_mm_median": 32.0,
651
+ "per_camera": {
652
+ "head": {
653
+ "samples": 3931,
654
+ "accepted": 3575,
655
+ "gate_deg": 30.0,
656
+ "offset_deg": 37.05,
657
+ "tier": "primary",
658
+ "dev_deg_median": 7.61,
659
+ "wrist_pos_err_mm_median": 32.0
660
+ }
661
+ },
662
+ "frames_by_state": {
663
+ "ace_sample": 14320,
664
+ "interpolated": 528,
665
+ "mean_hand": 1081,
666
+ "no_body_fit": 0
667
+ },
668
+ "observed_fraction": 0.9321,
669
+ "observed_fraction_of_valid": 0.9321,
670
+ "palm_axis_vs_markers_deg": {
671
+ "gsi": 32.82,
672
+ "smplx": 0.94
673
+ },
674
+ "hand_marker_to_mesh_mm": {
675
+ "flat": {
676
+ "median": 7.2,
677
+ "p90": 9.9
678
+ },
679
+ "registered": {
680
+ "median": 7.0,
681
+ "p90": 8.5
682
+ }
683
+ }
684
+ }
685
+ },
686
+ "max_dev_deg": 30.0,
687
+ "max_gap_s": 1.0,
688
+ "cameras_used": [
689
+ "head"
690
+ ],
691
+ "generated_at_utc": "2026-11-03T22:08:46.951538+00:00",
692
+ "generated_by": "scripts/register_hands_smplx.py",
693
+ "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",
694
+ "wrist_flip_suspect": []
695
+ },
696
  "release": {
697
  "release_path": "actions/locomanipulation/LM33/session_016",
698
  "family": "locomanipulation",
699
  "primitive": "LM33",
700
  "source_session": "20261013/LM33/20261013_055824_session92"
701
+ },
702
+ "task": {
703
+ "primitive": "LM33",
704
+ "instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop."
705
  }
706
  }
actions/locomanipulation/LM33/session_016/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d6257567aa93aa400b8a4aef546376379874d7d322e0af9d619f427b8caa082d
3
+ size 5376479