Release update 2026-11-05: new sessions, instructions, annotations (part 46)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +45 -0
- actions/static_manipulation/SM41/session_010/raw/mocap/Body0.csv +3 -0
- actions/static_manipulation/SM41/session_010/raw/mocap/Body0.trc +3 -0
- actions/static_manipulation/SM41/session_010/raw/mocap/Tracker0.csv +0 -0
- actions/static_manipulation/SM41/session_010/raw/mocap/Tracker0.trc +0 -0
- actions/static_manipulation/SM41/session_010/raw/sensors/robocap_imu_left.db +3 -0
- actions/static_manipulation/SM41/session_010/raw/sensors/robocap_imu_right.db +3 -0
- actions/static_manipulation/SM41/session_010/raw/sensors/robocap_mag_middle.db +3 -0
- actions/static_manipulation/SM41/session_010/raw/sensors/robowrist_imu_left.db +3 -0
- actions/static_manipulation/SM41/session_010/raw/sensors/robowrist_imu_right.db +3 -0
- actions/static_manipulation/SM41/session_010/raw/sensors/robowrist_mag_left.db +3 -0
- actions/static_manipulation/SM41/session_010/raw/sensors/robowrist_mag_right.db +3 -0
- actions/static_manipulation/SM41/session_010/sensors/head_imu.npz +3 -0
- actions/static_manipulation/SM41/session_010/sensors/head_mag.npz +3 -0
- actions/static_manipulation/SM41/session_010/sensors/wrist_imu.npz +3 -0
- actions/static_manipulation/SM41/session_010/sensors/wrist_mag.npz +3 -0
- actions/static_manipulation/SM41/session_010/videos/frame_timestamps.npz +3 -0
- actions/static_manipulation/SM41/session_010/videos/head_left.mp4 +3 -0
- actions/static_manipulation/SM41/session_010/videos/head_left_eye.mp4 +3 -0
- actions/static_manipulation/SM41/session_010/videos/head_left_front.mp4 +3 -0
- actions/static_manipulation/SM41/session_010/videos/head_right.mp4 +3 -0
- actions/static_manipulation/SM41/session_010/videos/head_right_eye.mp4 +3 -0
- actions/static_manipulation/SM41/session_010/videos/head_right_front.mp4 +3 -0
- actions/static_manipulation/SM41/session_010/videos/third_person.mp4 +3 -0
- actions/static_manipulation/SM41/session_010/videos/wrist_left.mp4 +3 -0
- actions/static_manipulation/SM41/session_010/videos/wrist_right.mp4 +3 -0
- actions/static_manipulation/SM42/session_001/annotations.json +39 -0
- actions/static_manipulation/SM42/session_001/cameras/gsi_online_calibration.json +257 -0
- actions/static_manipulation/SM42/session_001/cameras/slam.npz +3 -0
- actions/static_manipulation/SM42/session_001/meta.json +4 -0
- actions/static_manipulation/SM42/session_001/motions/hands_mano.npz +3 -0
- actions/static_manipulation/SM42/session_002/annotations.json +39 -0
- actions/static_manipulation/SM42/session_002/cameras/gsi_online_calibration.json +258 -0
- actions/static_manipulation/SM42/session_002/cameras/slam.npz +3 -0
- actions/static_manipulation/SM42/session_002/meta.json +116 -2
- actions/static_manipulation/SM42/session_002/motions/hands_mano.npz +3 -0
- actions/static_manipulation/SM42/session_002/motions/smplx.npz +2 -2
- actions/static_manipulation/SM42/session_003/annotations.json +39 -0
- actions/static_manipulation/SM42/session_003/cameras/gsi_online_calibration.json +257 -0
- actions/static_manipulation/SM42/session_003/cameras/slam.npz +3 -0
- actions/static_manipulation/SM42/session_003/meta.json +116 -2
- actions/static_manipulation/SM42/session_003/motions/hands_mano.npz +3 -0
- actions/static_manipulation/SM42/session_003/motions/smplx.npz +2 -2
- actions/static_manipulation/SM42/session_004/annotations.json +39 -0
- actions/static_manipulation/SM42/session_004/cameras/gsi_online_calibration.json +257 -0
- actions/static_manipulation/SM42/session_004/cameras/slam.npz +3 -0
- actions/static_manipulation/SM42/session_004/meta.json +116 -2
- actions/static_manipulation/SM42/session_004/motions/hands_mano.npz +3 -0
- actions/static_manipulation/SM42/session_004/motions/smplx.npz +2 -2
- actions/static_manipulation/SM42/session_005/cameras/gsi_online_calibration.json +259 -0
.gitattributes
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actions/static_manipulation/SM41/session_010/raw/mocap/Body0.csv
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actions/static_manipulation/SM41/session_010/raw/sensors/robocap_imu_left.db
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actions/static_manipulation/SM41/session_010/videos/head_right_front.mp4
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version https://git-lfs.github.com/spec/v1
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actions/static_manipulation/SM41/session_010/videos/third_person.mp4
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version https://git-lfs.github.com/spec/v1
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actions/static_manipulation/SM41/session_010/videos/wrist_left.mp4
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version https://git-lfs.github.com/spec/v1
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actions/static_manipulation/SM41/session_010/videos/wrist_right.mp4
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version https://git-lfs.github.com/spec/v1
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actions/static_manipulation/SM42/session_001/annotations.json
ADDED
|
@@ -0,0 +1,39 @@
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|
| 1 |
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{
|
| 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 |
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"primitive": "SM42",
|
| 6 |
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"instruction": "Reach as far as you comfortably can in each direction the operator calls: up, down, forward, each side, and behind. Hold each one briefly. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator.",
|
| 7 |
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"segments": [
|
| 8 |
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{
|
| 9 |
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"id": "segment1",
|
| 10 |
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"duration_s": 138.966644,
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"video": "left_eye",
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| 13 |
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}
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| 14 |
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"episodes": [
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| 16 |
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{
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| 17 |
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"id": "3e05f311-14ee-4310-bc1e-8291c64c6146",
|
| 18 |
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"segment": "segment1",
|
| 19 |
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"action": "SM42",
|
| 20 |
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"quality": "valid",
|
| 21 |
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"start_s": 0,
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| 22 |
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"end_s": 62.14,
|
| 23 |
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"t_start": 0.0391,
|
| 24 |
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"t_end": 62.1791,
|
| 25 |
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"instruction": "Reach as far as you comfortably can in each direction the operator calls: up, down, forward, each side, and behind. Hold each one briefly. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
| 26 |
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},
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| 27 |
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{
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| 28 |
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"id": "a39b0e65-0041-40b3-8611-fdab88f8d4f4",
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| 29 |
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"segment": "segment1",
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| 30 |
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"action": "SM42",
|
| 31 |
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"quality": "valid",
|
| 32 |
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"start_s": 62.615,
|
| 33 |
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"end_s": 132.441,
|
| 34 |
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"t_start": 62.6541,
|
| 35 |
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"t_end": 132.4801,
|
| 36 |
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"instruction": "Reach as far as you comfortably can in each direction the operator calls: up, down, forward, each side, and behind. Hold each one briefly. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/static_manipulation/SM42/session_001/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,257 @@
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|
| 1 |
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{
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| 2 |
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"camera_fit": {
|
| 3 |
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"groups_dropped": [],
|
| 4 |
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|
| 5 |
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| 6 |
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},
|
| 7 |
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|
| 8 |
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"left": {
|
| 9 |
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|
| 10 |
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|
| 11 |
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"left_front",
|
| 12 |
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|
| 13 |
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"left_eye",
|
| 14 |
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"right_eye"
|
| 15 |
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],
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| 16 |
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"delta_deg": 0.85,
|
| 17 |
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"gate_fail": [],
|
| 18 |
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"held_out_px_after": 0.564,
|
| 19 |
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"held_out_px_before": 4.955,
|
| 20 |
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"inliers": 3547,
|
| 21 |
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"position_fitted": false,
|
| 22 |
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"rotvec_deg": [
|
| 23 |
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|
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|
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|
| 26 |
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],
|
| 27 |
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"split_deg": 0.0595,
|
| 28 |
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"usable": true
|
| 29 |
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},
|
| 30 |
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"left_eye": {
|
| 31 |
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"accepted": true,
|
| 32 |
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"against": [
|
| 33 |
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"left_front",
|
| 34 |
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"right_front",
|
| 35 |
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"right_eye",
|
| 36 |
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"left",
|
| 37 |
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"right"
|
| 38 |
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],
|
| 39 |
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"delta_deg": 1.9054,
|
| 40 |
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"gate_fail": [],
|
| 41 |
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"held_out_px_after": 0.394,
|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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],
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
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|
| 55 |
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|
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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"role": "rig origin"
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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| 68 |
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| 69 |
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| 70 |
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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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|
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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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"factory_root_name": "e17c9efadb69e7b1",
|
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|
| 144 |
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|
| 148 |
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|
| 152 |
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"sha256": "153c39c5184f466b64e1dff4830c0436eebe31d8d908655f1b643254ba003bcd",
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|
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| 156 |
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actions/static_manipulation/SM42/session_001/cameras/slam.npz
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version https://git-lfs.github.com/spec/v1
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size 800066
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actions/static_manipulation/SM42/session_001/meta.json
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@@ -516,5 +516,9 @@
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| 516 |
"family": "static_manipulation",
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| 517 |
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| 518 |
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| 523 |
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|
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| 5 |
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|
| 6 |
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|
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"instruction": "Reach as far as you comfortably can in each direction the operator calls: up, down, forward, each side, and behind. Hold each one briefly. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
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|
| 37 |
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|
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]
|
| 39 |
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actions/static_manipulation/SM42/session_002/cameras/gsi_online_calibration.json
ADDED
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|
| 1 |
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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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|
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|
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|
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|
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|
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|
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|
| 685 |
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|
| 686 |
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"head"
|
| 687 |
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],
|
| 688 |
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"generated_at_utc": "2026-11-03T22:58:44.664328+00:00",
|
| 689 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 690 |
+
"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",
|
| 691 |
+
"wrist_flip_suspect": []
|
| 692 |
+
},
|
| 693 |
"release": {
|
| 694 |
"release_path": "actions/static_manipulation/SM42/session_002",
|
| 695 |
"family": "static_manipulation",
|
| 696 |
"primitive": "SM42",
|
| 697 |
"source_session": "20260918/SM42/20260918_084601_session58"
|
| 698 |
+
},
|
| 699 |
+
"task": {
|
| 700 |
+
"primitive": "SM42",
|
| 701 |
+
"instruction": "Reach as far as you comfortably can in each direction the operator calls: up, down, forward, each side, and behind. Hold each one briefly. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
| 702 |
}
|
| 703 |
}
|
actions/static_manipulation/SM42/session_002/motions/hands_mano.npz
ADDED
|
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version https://git-lfs.github.com/spec/v1
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|
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actions/static_manipulation/SM42/session_002/motions/smplx.npz
CHANGED
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version https://git-lfs.github.com/spec/v1
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actions/static_manipulation/SM42/session_003/annotations.json
ADDED
|
@@ -0,0 +1,39 @@
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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": "SM42",
|
| 6 |
+
"instruction": "Reach as far as you comfortably can in each direction the operator calls: up, down, forward, each side, and behind. Hold each one briefly. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator.",
|
| 7 |
+
"segments": [
|
| 8 |
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{
|
| 9 |
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"id": "segment1",
|
| 10 |
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"duration_s": 128.966533,
|
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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": "28edee19-0207-4b18-bdf0-fbc93c407ca1",
|
| 18 |
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"segment": "segment1",
|
| 19 |
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"action": "SM42",
|
| 20 |
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"quality": "valid",
|
| 21 |
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"start_s": 0,
|
| 22 |
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"end_s": 56.14,
|
| 23 |
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"t_start": 0.0392,
|
| 24 |
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"t_end": 56.1792,
|
| 25 |
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"instruction": "Reach as far as you comfortably can in each direction the operator calls: up, down, forward, each side, and behind. Hold each one briefly. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
| 26 |
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},
|
| 27 |
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{
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| 28 |
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"id": "0b965fff-88b3-46cb-bbd1-91c3a4317fd7",
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"segment": "segment1",
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| 30 |
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"action": "SM42",
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| 31 |
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"quality": "valid",
|
| 32 |
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"start_s": 56.142,
|
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"end_s": 123.762,
|
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"t_start": 56.1812,
|
| 35 |
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"t_end": 123.8012,
|
| 36 |
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"instruction": "Reach as far as you comfortably can in each direction the operator calls: up, down, forward, each side, and behind. Hold each one briefly. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/static_manipulation/SM42/session_003/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,257 @@
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|
| 1 |
+
{
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| 2 |
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"camera_fit": {
|
| 3 |
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"groups_dropped": [],
|
| 4 |
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|
| 5 |
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|
| 6 |
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},
|
| 7 |
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"cameras": {
|
| 8 |
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|
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|
| 10 |
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|
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|
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|
| 13 |
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|
| 14 |
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|
| 15 |
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],
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"delta_deg": 0.9992,
|
| 17 |
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|
| 18 |
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|
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|
| 20 |
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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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"split_deg": 0.1016,
|
| 28 |
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"usable": true
|
| 29 |
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},
|
| 30 |
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"left_eye": {
|
| 31 |
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"accepted": true,
|
| 32 |
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"against": [
|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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],
|
| 39 |
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"delta_deg": 2.5662,
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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],
|
| 50 |
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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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"split_deg": 0.0495,
|
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|
| 59 |
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},
|
| 60 |
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"left_front": {
|
| 61 |
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"role": "rig origin"
|
| 62 |
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},
|
| 63 |
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"right": {
|
| 64 |
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|
| 65 |
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"against": [
|
| 66 |
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|
| 67 |
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|
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|
| 69 |
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|
| 70 |
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],
|
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"delta_deg": 1.97,
|
| 72 |
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|
| 73 |
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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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|
| 83 |
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"usable": true
|
| 84 |
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},
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|
| 89 |
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|
| 90 |
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|
| 91 |
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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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|
| 104 |
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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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| 343 |
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|
| 638 |
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| 639 |
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| 640 |
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|
| 641 |
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| 642 |
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| 643 |
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|
| 645 |
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|
| 646 |
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},
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| 647 |
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|
| 648 |
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"primitive": "SM42",
|
| 649 |
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"instruction": "Reach as far as you comfortably can in each direction the operator calls: up, down, forward, each side, and behind. Hold each one briefly. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
| 650 |
}
|
| 651 |
}
|
actions/static_manipulation/SM42/session_003/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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oid sha256:43840c66e184883869864d7c817bf27c3df676800e2e02f64ca29f793dcf3974
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size 3641535
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actions/static_manipulation/SM42/session_003/motions/smplx.npz
CHANGED
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@@ -1,3 +1,3 @@
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|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
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actions/static_manipulation/SM42/session_004/annotations.json
ADDED
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@@ -0,0 +1,39 @@
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|
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| 1 |
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{
|
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|
| 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": "SM42",
|
| 6 |
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"instruction": "Reach as far as you comfortably can in each direction the operator calls: up, down, forward, each side, and behind. Hold each one briefly. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator.",
|
| 7 |
+
"segments": [
|
| 8 |
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{
|
| 9 |
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"id": "segment1",
|
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|
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{
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| 17 |
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"id": "58385e63-8f94-4411-8df5-14ffb2be8ed2",
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| 18 |
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"segment": "segment1",
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| 19 |
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| 20 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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"t_end": 65.9272,
|
| 25 |
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"instruction": "Reach as far as you comfortably can in each direction the operator calls: up, down, forward, each side, and behind. Hold each one briefly. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
| 26 |
+
},
|
| 27 |
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{
|
| 28 |
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"id": "be05d4fb-7a96-44b5-b7cf-86d7a292986b",
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| 29 |
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"segment": "segment1",
|
| 30 |
+
"action": "SM42",
|
| 31 |
+
"quality": "valid",
|
| 32 |
+
"start_s": 71.888,
|
| 33 |
+
"end_s": 121.464,
|
| 34 |
+
"t_start": 71.9272,
|
| 35 |
+
"t_end": 121.5032,
|
| 36 |
+
"instruction": "Reach as far as you comfortably can in each direction the operator calls: up, down, forward, each side, and behind. Hold each one briefly. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/static_manipulation/SM42/session_004/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,257 @@
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|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 14,
|
| 5 |
+
"median_px": 0.368
|
| 6 |
+
},
|
| 7 |
+
"cameras": {
|
| 8 |
+
"left": {
|
| 9 |
+
"accepted": true,
|
| 10 |
+
"against": [
|
| 11 |
+
"left_front",
|
| 12 |
+
"right_front",
|
| 13 |
+
"left_eye",
|
| 14 |
+
"right_eye"
|
| 15 |
+
],
|
| 16 |
+
"delta_deg": 0.9715,
|
| 17 |
+
"gate_fail": [],
|
| 18 |
+
"held_out_px_after": 0.56,
|
| 19 |
+
"held_out_px_before": 7.273,
|
| 20 |
+
"inliers": 2783,
|
| 21 |
+
"position_fitted": false,
|
| 22 |
+
"rotvec_deg": [
|
| 23 |
+
-0.0767,
|
| 24 |
+
-0.3603,
|
| 25 |
+
-0.8989
|
| 26 |
+
],
|
| 27 |
+
"split_deg": 0.0417,
|
| 28 |
+
"usable": true
|
| 29 |
+
},
|
| 30 |
+
"left_eye": {
|
| 31 |
+
"accepted": true,
|
| 32 |
+
"against": [
|
| 33 |
+
"left_front",
|
| 34 |
+
"right_front",
|
| 35 |
+
"right_eye",
|
| 36 |
+
"left",
|
| 37 |
+
"right"
|
| 38 |
+
],
|
| 39 |
+
"delta_deg": 2.6168,
|
| 40 |
+
"gate_fail": [],
|
| 41 |
+
"held_out_px_after": 0.377,
|
| 42 |
+
"held_out_px_before": 7.857,
|
| 43 |
+
"inliers": 4403,
|
| 44 |
+
"position_fitted": true,
|
| 45 |
+
"position_mm": [
|
| 46 |
+
4.06,
|
| 47 |
+
-5.09,
|
| 48 |
+
5.83
|
| 49 |
+
],
|
| 50 |
+
"position_sigma_mm": 0.371,
|
| 51 |
+
"position_split_mm": 1.62,
|
| 52 |
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"rotvec_deg": [
|
| 53 |
+
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|
| 54 |
+
0.8651,
|
| 55 |
+
-2.467
|
| 56 |
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],
|
| 57 |
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"split_deg": 0.0254,
|
| 58 |
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"usable": true
|
| 59 |
+
},
|
| 60 |
+
"left_front": {
|
| 61 |
+
"role": "rig origin"
|
| 62 |
+
},
|
| 63 |
+
"right": {
|
| 64 |
+
"accepted": true,
|
| 65 |
+
"against": [
|
| 66 |
+
"left_front",
|
| 67 |
+
"right_front",
|
| 68 |
+
"left_eye",
|
| 69 |
+
"right_eye"
|
| 70 |
+
],
|
| 71 |
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"delta_deg": 1.5839,
|
| 72 |
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"gate_fail": [],
|
| 73 |
+
"held_out_px_after": 0.573,
|
| 74 |
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"held_out_px_before": 5.622,
|
| 75 |
+
"inliers": 1449,
|
| 76 |
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"position_fitted": false,
|
| 77 |
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"rotvec_deg": [
|
| 78 |
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1.3916,
|
| 79 |
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|
| 80 |
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|
| 81 |
+
],
|
| 82 |
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"split_deg": 0.0597,
|
| 83 |
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"usable": true
|
| 84 |
+
},
|
| 85 |
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"right_eye": {
|
| 86 |
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"accepted": true,
|
| 87 |
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"against": [
|
| 88 |
+
"left_front",
|
| 89 |
+
"right_front",
|
| 90 |
+
"left_eye",
|
| 91 |
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"left",
|
| 92 |
+
"right"
|
| 93 |
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],
|
| 94 |
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"delta_deg": 1.2459,
|
| 95 |
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"gate_fail": [],
|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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"position_mm": [
|
| 101 |
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7.32,
|
| 102 |
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-5.97,
|
| 103 |
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0.16
|
| 104 |
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],
|
| 105 |
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"position_sigma_mm": 0.398,
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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],
|
| 112 |
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|
| 113 |
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|
| 114 |
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},
|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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"left_front",
|
| 119 |
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"left_eye",
|
| 120 |
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"right_eye",
|
| 121 |
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"left",
|
| 122 |
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"right"
|
| 123 |
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],
|
| 124 |
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"delta_deg": 2.1414,
|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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"rotvec_deg": [
|
| 131 |
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-0.3188,
|
| 132 |
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|
| 133 |
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|
| 134 |
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],
|
| 135 |
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"split_deg": 0.011,
|
| 136 |
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|
| 137 |
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}
|
| 138 |
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},
|
| 139 |
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"code_fingerprint": "711ecf5b3dd408f8",
|
| 140 |
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"device_id": "e17c9efadb69e7b1",
|
| 141 |
+
"factory_root_name": "e17c9efadb69e7b1",
|
| 142 |
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"files": {
|
| 143 |
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|
| 144 |
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"sha256": "cf42e59aaf426f8230e9eb0f5ae925d344b53e9fc86f387906660e2260363a62",
|
| 145 |
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|
| 146 |
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},
|
| 147 |
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"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 148 |
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"sha256": "49b4e8caa3b43499cc8c04b3ad6aa28458eeb9bc234a6af3ff62f425afd178fe",
|
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|
| 150 |
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},
|
| 151 |
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"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 152 |
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"sha256": "0e2afed7ce28cd53e92e66d5856e97165f8e69e20c2dbed6ea3bc78c2e26b0a7",
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| 154 |
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},
|
| 155 |
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|
| 156 |
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| 158 |
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}
|
| 159 |
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},
|
| 160 |
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"input_fingerprint": "4238da8a6052ba45",
|
| 161 |
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"kind": "online_calibration",
|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
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|
| 172 |
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| 173 |
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|
| 174 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
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| 187 |
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},
|
| 256 |
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"version": 1
|
| 257 |
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}
|
actions/static_manipulation/SM42/session_004/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:60f475f628a279ad224cc5d496ef54ab153b80aba4e0099babd32c3853adbd38
|
| 3 |
+
size 738323
|
actions/static_manipulation/SM42/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":
|
| 330 |
-
"hand_pose": "
|
| 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": {
|
|
@@ -518,12 +518,126 @@
|
|
| 518 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 519 |
"remaining_gyro_frame_deg": 0.6909371504763164
|
| 520 |
},
|
|
|
|
|
|
|
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|
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|
| 521 |
"release": {
|
| 522 |
"release_path": "actions/static_manipulation/SM42/session_004",
|
| 523 |
"family": "static_manipulation",
|
| 524 |
"primitive": "SM42",
|
| 525 |
"source_session": "20261012/SM42/20261012_115228_session65"
|
| 526 |
},
|
|
|
|
|
|
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|
|
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|
| 527 |
"objects": [
|
| 528 |
{
|
| 529 |
"name": "Table",
|
|
|
|
| 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": {
|
|
|
|
| 518 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 519 |
"remaining_gyro_frame_deg": 0.6909371504763164
|
| 520 |
},
|
| 521 |
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"hands_registration": {
|
| 522 |
+
"cameras": {},
|
| 523 |
+
"hands": {
|
| 524 |
+
"left": {
|
| 525 |
+
"offset_deg": 27.81,
|
| 526 |
+
"offset_rotvec": [
|
| 527 |
+
0.3633,
|
| 528 |
+
-0.1764,
|
| 529 |
+
0.2691
|
| 530 |
+
],
|
| 531 |
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"dev_deg": {
|
| 532 |
+
"median": 22.62,
|
| 533 |
+
"p90": 38.71
|
| 534 |
+
},
|
| 535 |
+
"samples": 2453,
|
| 536 |
+
"accepted": 1836,
|
| 537 |
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"wrist_pos_err_mm_median": 71.1,
|
| 538 |
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"per_camera": {
|
| 539 |
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"head": {
|
| 540 |
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"samples": 2453,
|
| 541 |
+
"accepted": 1836,
|
| 542 |
+
"gate_deg": 30.0,
|
| 543 |
+
"offset_deg": 27.81,
|
| 544 |
+
"tier": "primary",
|
| 545 |
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"dev_deg_median": 22.62,
|
| 546 |
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"wrist_pos_err_mm_median": 71.1
|
| 547 |
+
}
|
| 548 |
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},
|
| 549 |
+
"frames_by_state": {
|
| 550 |
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"ace_sample": 7406,
|
| 551 |
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"interpolated": 2894,
|
| 552 |
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"mean_hand": 5177,
|
| 553 |
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"no_body_fit": 7
|
| 554 |
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},
|
| 555 |
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"observed_fraction": 0.6652,
|
| 556 |
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"observed_fraction_of_valid": 0.6655,
|
| 557 |
+
"palm_axis_vs_markers_deg": {
|
| 558 |
+
"gsi": 26.97,
|
| 559 |
+
"smplx": 1.64
|
| 560 |
+
},
|
| 561 |
+
"hand_marker_to_mesh_mm": {
|
| 562 |
+
"flat": {
|
| 563 |
+
"median": 6.1,
|
| 564 |
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"p90": 8.2
|
| 565 |
+
},
|
| 566 |
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"registered": {
|
| 567 |
+
"median": 5.9,
|
| 568 |
+
"p90": 8.6
|
| 569 |
+
}
|
| 570 |
+
}
|
| 571 |
+
},
|
| 572 |
+
"right": {
|
| 573 |
+
"offset_deg": 16.08,
|
| 574 |
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"offset_rotvec": [
|
| 575 |
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0.0745,
|
| 576 |
+
0.1612,
|
| 577 |
+
-0.2173
|
| 578 |
+
],
|
| 579 |
+
"dev_deg": {
|
| 580 |
+
"median": 21.92,
|
| 581 |
+
"p90": 36.79
|
| 582 |
+
},
|
| 583 |
+
"samples": 1899,
|
| 584 |
+
"accepted": 1474,
|
| 585 |
+
"wrist_pos_err_mm_median": 79.5,
|
| 586 |
+
"per_camera": {
|
| 587 |
+
"head": {
|
| 588 |
+
"samples": 1899,
|
| 589 |
+
"accepted": 1474,
|
| 590 |
+
"gate_deg": 30.0,
|
| 591 |
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"offset_deg": 16.08,
|
| 592 |
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"tier": "primary",
|
| 593 |
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"dev_deg_median": 21.92,
|
| 594 |
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"wrist_pos_err_mm_median": 79.5
|
| 595 |
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}
|
| 596 |
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},
|
| 597 |
+
"frames_by_state": {
|
| 598 |
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"ace_sample": 5948,
|
| 599 |
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"interpolated": 2812,
|
| 600 |
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"mean_hand": 6717,
|
| 601 |
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"no_body_fit": 7
|
| 602 |
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},
|
| 603 |
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"observed_fraction": 0.5657,
|
| 604 |
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"observed_fraction_of_valid": 0.566,
|
| 605 |
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"palm_axis_vs_markers_deg": {
|
| 606 |
+
"gsi": 24.02,
|
| 607 |
+
"smplx": 1.75
|
| 608 |
+
},
|
| 609 |
+
"hand_marker_to_mesh_mm": {
|
| 610 |
+
"flat": {
|
| 611 |
+
"median": 5.2,
|
| 612 |
+
"p90": 7.6
|
| 613 |
+
},
|
| 614 |
+
"registered": {
|
| 615 |
+
"median": 6.2,
|
| 616 |
+
"p90": 9.0
|
| 617 |
+
}
|
| 618 |
+
}
|
| 619 |
+
}
|
| 620 |
+
},
|
| 621 |
+
"max_dev_deg": 30.0,
|
| 622 |
+
"max_gap_s": 1.0,
|
| 623 |
+
"cameras_used": [
|
| 624 |
+
"head"
|
| 625 |
+
],
|
| 626 |
+
"generated_at_utc": "2026-11-03T22:10:22.223862+00:00",
|
| 627 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 628 |
+
"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",
|
| 629 |
+
"wrist_flip_suspect": []
|
| 630 |
+
},
|
| 631 |
"release": {
|
| 632 |
"release_path": "actions/static_manipulation/SM42/session_004",
|
| 633 |
"family": "static_manipulation",
|
| 634 |
"primitive": "SM42",
|
| 635 |
"source_session": "20261012/SM42/20261012_115228_session65"
|
| 636 |
},
|
| 637 |
+
"task": {
|
| 638 |
+
"primitive": "SM42",
|
| 639 |
+
"instruction": "Reach as far as you comfortably can in each direction the operator calls: up, down, forward, each side, and behind. Hold each one briefly. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
| 640 |
+
},
|
| 641 |
"objects": [
|
| 642 |
{
|
| 643 |
"name": "Table",
|
actions/static_manipulation/SM42/session_004/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b287997cf6077dce4b1db0c0948f21037f8c940006a21dd5dd0a2d95db3f92bc
|
| 3 |
+
size 3068725
|
actions/static_manipulation/SM42/session_004/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
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|
| 1 |
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:0391d486cadd85e75e5b0323fd1b8931ce0029b0759bb1af22ac95c75c76f94f
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| 3 |
+
size 9655827
|
actions/static_manipulation/SM42/session_005/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,259 @@
|
|
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|
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|
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|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 14,
|
| 5 |
+
"median_px": 0.388
|
| 6 |
+
},
|
| 7 |
+
"cameras": {
|
| 8 |
+
"left": {
|
| 9 |
+
"accepted": true,
|
| 10 |
+
"against": [
|
| 11 |
+
"left_front",
|
| 12 |
+
"right_front",
|
| 13 |
+
"left_eye",
|
| 14 |
+
"right_eye"
|
| 15 |
+
],
|
| 16 |
+
"delta_deg": 1.7617,
|
| 17 |
+
"gate_fail": [],
|
| 18 |
+
"held_out_px_after": 0.546,
|
| 19 |
+
"held_out_px_before": 14.509,
|
| 20 |
+
"inliers": 2708,
|
| 21 |
+
"position_fitted": false,
|
| 22 |
+
"rotvec_deg": [
|
| 23 |
+
-1.3459,
|
| 24 |
+
-0.2443,
|
| 25 |
+
-1.1102
|
| 26 |
+
],
|
| 27 |
+
"split_deg": 0.0116,
|
| 28 |
+
"usable": true
|
| 29 |
+
},
|
| 30 |
+
"left_eye": {
|
| 31 |
+
"accepted": true,
|
| 32 |
+
"against": [
|
| 33 |
+
"left_front",
|
| 34 |
+
"right_front",
|
| 35 |
+
"right_eye",
|
| 36 |
+
"left",
|
| 37 |
+
"right"
|
| 38 |
+
],
|
| 39 |
+
"delta_deg": 2.3293,
|
| 40 |
+
"gate_fail": [],
|
| 41 |
+
"held_out_px_after": 0.562,
|
| 42 |
+
"held_out_px_before": 6.652,
|
| 43 |
+
"inliers": 4671,
|
| 44 |
+
"position_fitted": true,
|
| 45 |
+
"position_mm": [
|
| 46 |
+
5.76,
|
| 47 |
+
-20.33,
|
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