Release update 2026-11-05: new sessions, instructions, annotations (part 18)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +27 -0
- actions/locomanipulation/LM79/session_033/raw/mocap/LittleBox5.csv +0 -0
- actions/locomanipulation/LM79/session_033/raw/mocap/LittleBox5.trc +0 -0
- actions/locomanipulation/LM79/session_033/raw/mocap/LittleBox6.csv +0 -0
- actions/locomanipulation/LM79/session_033/raw/mocap/LittleBox6.trc +0 -0
- actions/locomanipulation/LM79/session_033/raw/mocap/Table.csv +0 -0
- actions/locomanipulation/LM79/session_033/raw/mocap/Table.trc +0 -0
- actions/locomanipulation/LM79/session_033/raw/mocap/Table2.csv +0 -0
- actions/locomanipulation/LM79/session_033/raw/mocap/Table2.trc +0 -0
- actions/locomanipulation/LM79/session_033/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM79/session_033/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM79/session_033/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM79/session_033/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM79/session_033/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM79/session_033/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM79/session_033/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM79/session_033/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM79/session_033/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM79/session_033/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM79/session_033/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM79/session_033/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM79/session_033/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM79/session_033/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM79/session_033/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM79/session_033/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM79/session_033/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM79/session_033/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM79/session_033/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM79/session_033/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM79/session_033/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM79/session_033/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM79/session_033/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM80/session_001/annotations.json +28 -0
- actions/locomanipulation/LM80/session_001/cameras/gsi_online_calibration.json +257 -0
- actions/locomanipulation/LM80/session_001/cameras/slam.npz +3 -0
- actions/locomanipulation/LM80/session_001/meta.json +116 -2
- actions/locomanipulation/LM80/session_001/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM80/session_001/motions/smplx.npz +2 -2
- actions/locomanipulation/LM80/session_002/annotations.json +28 -0
- actions/locomanipulation/LM80/session_002/cameras/gsi_online_calibration.json +256 -0
- actions/locomanipulation/LM80/session_002/cameras/slam.npz +3 -0
- actions/locomanipulation/LM80/session_002/meta.json +116 -2
- actions/locomanipulation/LM80/session_002/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM80/session_002/motions/smplx.npz +2 -2
- actions/locomanipulation/LM80/session_003/annotations.json +28 -0
- actions/locomanipulation/LM80/session_003/cameras/gsi_online_calibration.json +258 -0
- actions/locomanipulation/LM80/session_003/cameras/slam.npz +3 -0
- actions/locomanipulation/LM80/session_003/meta.json +116 -2
- actions/locomanipulation/LM80/session_003/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM80/session_003/motions/smplx.npz +2 -2
.gitattributes
CHANGED
|
@@ -48177,3 +48177,30 @@ actions/locomanipulation/LM79/session_032/raw/sensors/robowrist_mag_left.db filt
|
|
| 48177 |
actions/locomanipulation/LM79/session_032/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
|
| 48178 |
actions/locomanipulation/LM79/session_033/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
|
| 48179 |
actions/locomanipulation/LM79/session_033/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 48177 |
actions/locomanipulation/LM79/session_032/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
|
| 48178 |
actions/locomanipulation/LM79/session_033/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
|
| 48179 |
actions/locomanipulation/LM79/session_033/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
|
| 48180 |
+
actions/locomanipulation/LM79/session_033/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
|
| 48181 |
+
actions/locomanipulation/LM79/session_033/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
|
| 48182 |
+
actions/locomanipulation/LM79/session_033/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
|
| 48183 |
+
actions/locomanipulation/LM79/session_033/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
|
| 48184 |
+
actions/locomanipulation/LM79/session_033/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
|
| 48185 |
+
actions/locomanipulation/LM79/session_033/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
|
| 48186 |
+
actions/locomanipulation/LM79/session_033/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
|
| 48187 |
+
actions/locomanipulation/LM80/session_031/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
|
| 48188 |
+
actions/locomanipulation/LM80/session_031/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
|
| 48189 |
+
actions/locomanipulation/LM80/session_031/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
|
| 48190 |
+
actions/locomanipulation/LM80/session_031/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
|
| 48191 |
+
actions/locomanipulation/LM80/session_031/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
|
| 48192 |
+
actions/locomanipulation/LM80/session_031/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
|
| 48193 |
+
actions/locomanipulation/LM80/session_031/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
|
| 48194 |
+
actions/locomanipulation/LM80/session_031/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
|
| 48195 |
+
actions/locomanipulation/LM80/session_031/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
|
| 48196 |
+
actions/locomanipulation/LM80/session_032/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
|
| 48197 |
+
actions/locomanipulation/LM80/session_032/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
|
| 48198 |
+
actions/locomanipulation/LM80/session_032/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
|
| 48199 |
+
actions/locomanipulation/LM80/session_032/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
|
| 48200 |
+
actions/locomanipulation/LM80/session_032/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
|
| 48201 |
+
actions/locomanipulation/LM80/session_032/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
|
| 48202 |
+
actions/locomanipulation/LM80/session_032/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
|
| 48203 |
+
actions/locomanipulation/LM80/session_032/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
|
| 48204 |
+
actions/locomanipulation/LM80/session_032/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
|
| 48205 |
+
actions/locomanipulation/LM80/session_033/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
|
| 48206 |
+
actions/locomanipulation/LM80/session_033/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
|
actions/locomanipulation/LM79/session_033/raw/mocap/LittleBox5.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
actions/locomanipulation/LM79/session_033/raw/mocap/LittleBox5.trc
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
actions/locomanipulation/LM79/session_033/raw/mocap/LittleBox6.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
actions/locomanipulation/LM79/session_033/raw/mocap/LittleBox6.trc
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
actions/locomanipulation/LM79/session_033/raw/mocap/Table.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
actions/locomanipulation/LM79/session_033/raw/mocap/Table.trc
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
actions/locomanipulation/LM79/session_033/raw/mocap/Table2.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
actions/locomanipulation/LM79/session_033/raw/mocap/Table2.trc
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
actions/locomanipulation/LM79/session_033/raw/mocap/Tracker0.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
actions/locomanipulation/LM79/session_033/raw/mocap/Tracker0.trc
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
actions/locomanipulation/LM79/session_033/raw/sensors/robocap_imu_left.db
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0458cf650083df4513f70a469814e9edfac02cb690936b2f0ff0e0eefcd53731
|
| 3 |
+
size 1261568
|
actions/locomanipulation/LM79/session_033/raw/sensors/robocap_imu_right.db
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a3c5f02207139acfd47ce604840f1c1dad2fe90f47b0c75bf0ff1d104d198ee9
|
| 3 |
+
size 1208320
|
actions/locomanipulation/LM79/session_033/raw/sensors/robocap_mag_middle.db
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:13f95acd99d9e6f3c4dc3fea895a829bd0481748ab0350a6c8631c4fba2e8982
|
| 3 |
+
size 331776
|
actions/locomanipulation/LM79/session_033/raw/sensors/robowrist_imu_left.db
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:49e0d6e2011327bb0d5d42792afcc1d146eaa91e44b5e1162ba9b158c11a252e
|
| 3 |
+
size 1224704
|
actions/locomanipulation/LM79/session_033/raw/sensors/robowrist_imu_right.db
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6fab288bbe24f0b24e0e62a3968e6a027bd97908aa70e4d3532419f233de26d0
|
| 3 |
+
size 1224704
|
actions/locomanipulation/LM79/session_033/raw/sensors/robowrist_mag_left.db
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5aa512df4305e92b9645aa71637024f50620a050b8692bae44e9cff34fb8e857
|
| 3 |
+
size 315392
|
actions/locomanipulation/LM79/session_033/raw/sensors/robowrist_mag_right.db
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a0be1cda59341b1fa995877432e50f4f7a058a6b02ce0aa9c387e0a3ee374bc6
|
| 3 |
+
size 315392
|
actions/locomanipulation/LM79/session_033/sensors/head_imu.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8dbbe7e08cd50515901dea5479dff8d35432a9582ed957c776f5148a70dd7fde
|
| 3 |
+
size 1284517
|
actions/locomanipulation/LM79/session_033/sensors/head_mag.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:15c9052451e0acd4d8c0a7d31418341ac0d10cf1584a8de6fa94048423e68fe9
|
| 3 |
+
size 114899
|
actions/locomanipulation/LM79/session_033/sensors/wrist_imu.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0f88631630945a67d028baed957a9c490b12e828befdb03f6cee74c06e762ca1
|
| 3 |
+
size 1393422
|
actions/locomanipulation/LM79/session_033/sensors/wrist_mag.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:59ff40c7bf960ab2ddae2a6b23f22fad01d680d06063a66025d3e49790374b5f
|
| 3 |
+
size 267173
|
actions/locomanipulation/LM79/session_033/videos/frame_timestamps.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3f80418983965d530719c0576b7af48a244eb3d37f9d8ce353aadb85e0512778
|
| 3 |
+
size 246081
|
actions/locomanipulation/LM79/session_033/videos/head_left.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:67c9179ea8b329a3a6d32f6102cc04d6117413e5aefac95081d41f1477dd1a9f
|
| 3 |
+
size 61143721
|
actions/locomanipulation/LM79/session_033/videos/head_left_eye.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:67fa9ed9cc1273ce895007eb68acf2afe9568185faaba5c82428547beb404bd0
|
| 3 |
+
size 61119399
|
actions/locomanipulation/LM79/session_033/videos/head_left_front.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c39e896775197b632bafb05359a214453ef9bc732e1c8fa8b80b776c955d8bbf
|
| 3 |
+
size 61155963
|
actions/locomanipulation/LM79/session_033/videos/head_right.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:159ca267a6a8da50a7671c3c5f6d216a35be4c139539c5a2bb42f72de0bd1180
|
| 3 |
+
size 61163458
|
actions/locomanipulation/LM79/session_033/videos/head_right_eye.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:65d75c7c55f2153fe79cf04f0ab3c1aa9cd12c3377fe7268869e0deb8cbab2bf
|
| 3 |
+
size 61124317
|
actions/locomanipulation/LM79/session_033/videos/head_right_front.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f88fb29d8b8214f71f711c0a0e28fb49e1426f63eda5778cc2a765dc96a143fe
|
| 3 |
+
size 61130376
|
actions/locomanipulation/LM79/session_033/videos/third_person.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:19abc812e588494381a706b05df2e15c2b5f2a0c5f75440a223dfdac25352915
|
| 3 |
+
size 40842265
|
actions/locomanipulation/LM79/session_033/videos/wrist_left.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5602d4638d47ef4c68f94c697642111516170ee2675c0df1f4080d99e24fd497
|
| 3 |
+
size 42127976
|
actions/locomanipulation/LM79/session_033/videos/wrist_right.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4bae59e3e7588b1a1effad3963e4eebcf3ba98ca32571441dce957bfe39db75c
|
| 3 |
+
size 42973777
|
actions/locomanipulation/LM80/session_001/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": "LM80",
|
| 6 |
+
"instruction": "Put the soft bag up onto your shoulder and carry it across the room, back and forth.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 108.966567,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03981143154347522
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "911f226e-5622-4695-9fc9-d42e2c0082f1",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM80",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 104,
|
| 23 |
+
"t_start": 0.0398,
|
| 24 |
+
"t_end": 104.0398,
|
| 25 |
+
"instruction": "Put the soft bag up onto your shoulder and carry it across the room, back and forth."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM80/session_001/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,257 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 15,
|
| 5 |
+
"median_px": 0.319
|
| 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": 0.7688,
|
| 18 |
+
"gate_fail": [],
|
| 19 |
+
"held_out_px_after": 0.444,
|
| 20 |
+
"held_out_px_before": 2.914,
|
| 21 |
+
"inliers": 4052,
|
| 22 |
+
"position_fitted": false,
|
| 23 |
+
"rotvec_deg": [
|
| 24 |
+
0.5394,
|
| 25 |
+
-0.3141,
|
| 26 |
+
-0.4488
|
| 27 |
+
],
|
| 28 |
+
"split_deg": 0.054,
|
| 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": 1.732,
|
| 41 |
+
"gate_fail": [],
|
| 42 |
+
"held_out_px_after": 0.338,
|
| 43 |
+
"held_out_px_before": 7.074,
|
| 44 |
+
"inliers": 6209,
|
| 45 |
+
"position_fitted": true,
|
| 46 |
+
"position_mm": [
|
| 47 |
+
-2.15,
|
| 48 |
+
-7.23,
|
| 49 |
+
10.11
|
| 50 |
+
],
|
| 51 |
+
"position_sigma_mm": 0.369,
|
| 52 |
+
"position_split_mm": 3.464,
|
| 53 |
+
"rotvec_deg": [
|
| 54 |
+
0.3599,
|
| 55 |
+
0.5993,
|
| 56 |
+
-1.5847
|
| 57 |
+
],
|
| 58 |
+
"split_deg": 0.0489,
|
| 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": 1.2901,
|
| 74 |
+
"gate_fail": [],
|
| 75 |
+
"held_out_px_after": 0.539,
|
| 76 |
+
"held_out_px_before": 4.246,
|
| 77 |
+
"inliers": 834,
|
| 78 |
+
"position_fitted": false,
|
| 79 |
+
"rotvec_deg": [
|
| 80 |
+
1.116,
|
| 81 |
+
-0.4187,
|
| 82 |
+
0.4935
|
| 83 |
+
],
|
| 84 |
+
"split_deg": 0.1291,
|
| 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": 0.7102,
|
| 97 |
+
"gate_fail": [],
|
| 98 |
+
"held_out_px_after": 0.323,
|
| 99 |
+
"held_out_px_before": 2.574,
|
| 100 |
+
"inliers": 7054,
|
| 101 |
+
"position_fitted": true,
|
| 102 |
+
"position_mm": [
|
| 103 |
+
6.22,
|
| 104 |
+
-6.66,
|
| 105 |
+
10.6
|
| 106 |
+
],
|
| 107 |
+
"position_sigma_mm": 0.363,
|
| 108 |
+
"position_split_mm": 2.725,
|
| 109 |
+
"rotvec_deg": [
|
| 110 |
+
0.466,
|
| 111 |
+
-0.4885,
|
| 112 |
+
-0.2204
|
| 113 |
+
],
|
| 114 |
+
"split_deg": 0.0299,
|
| 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": 1.0601,
|
| 127 |
+
"gate_fail": [],
|
| 128 |
+
"held_out_px_after": 0.283,
|
| 129 |
+
"held_out_px_before": 5.094,
|
| 130 |
+
"inliers": 6169,
|
| 131 |
+
"position_fitted": false,
|
| 132 |
+
"rotvec_deg": [
|
| 133 |
+
-0.3944,
|
| 134 |
+
-0.0416,
|
| 135 |
+
-0.9831
|
| 136 |
+
],
|
| 137 |
+
"split_deg": 0.0179,
|
| 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": "205437c32efecfa23fb05673fdeac7e572f4157517c496046da903c8e9107128",
|
| 147 |
+
"source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
|
| 148 |
+
},
|
| 149 |
+
"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 150 |
+
"sha256": "34ee12ff9db876f4329b0de2dd46a9467ce6196c6797784ee078544362b8512c",
|
| 151 |
+
"source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
|
| 152 |
+
},
|
| 153 |
+
"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 154 |
+
"sha256": "f7a6d9360020d14421cfe086be47d1adc29aaf37c80df789d808ee4ad78194c3",
|
| 155 |
+
"source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
|
| 156 |
+
},
|
| 157 |
+
"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 158 |
+
"sha256": "9f47455a8e3524ccf0eee27a3ddb8897d36e849db4555a962dc0b3c21184de26",
|
| 159 |
+
"source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"input_fingerprint": "9851550af90fdc56",
|
| 163 |
+
"kind": "online_calibration",
|
| 164 |
+
"output_sha256": "74fc8e4744479e9877236b50fe0b02fcebf4faceb8933c4b0820f3e9235eded1",
|
| 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": 35.127,
|
| 184 |
+
"left_eye": 32.238,
|
| 185 |
+
"left_front": 43.216,
|
| 186 |
+
"right": 34.756,
|
| 187 |
+
"right_eye": 31.287,
|
| 188 |
+
"right_front": 41.803
|
| 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 |
+
7646363366000,
|
| 199 |
+
7647363377111,
|
| 200 |
+
7650363366000,
|
| 201 |
+
7651363366000,
|
| 202 |
+
7656363366000,
|
| 203 |
+
7657363388222,
|
| 204 |
+
7658363366000,
|
| 205 |
+
7659363377111,
|
| 206 |
+
7660363388222,
|
| 207 |
+
7661363366000,
|
| 208 |
+
7664363366000,
|
| 209 |
+
7665363399333,
|
| 210 |
+
7668363354888,
|
| 211 |
+
7669363366000,
|
| 212 |
+
7671363366000,
|
| 213 |
+
7672363366000,
|
| 214 |
+
7675363354888,
|
| 215 |
+
7676363366000,
|
| 216 |
+
7678363366000,
|
| 217 |
+
7679363366000,
|
| 218 |
+
7683363366000,
|
| 219 |
+
7684363366000,
|
| 220 |
+
7688363366000,
|
| 221 |
+
7689363366000,
|
| 222 |
+
7690363377111,
|
| 223 |
+
7693363366000,
|
| 224 |
+
7694363366000,
|
| 225 |
+
7696363366000,
|
| 226 |
+
7697363366000,
|
| 227 |
+
7701363366000,
|
| 228 |
+
7702363410444,
|
| 229 |
+
7703363366000,
|
| 230 |
+
7706363366000,
|
| 231 |
+
7707363388222,
|
| 232 |
+
7712363366000,
|
| 233 |
+
7713363366000,
|
| 234 |
+
7714363366000,
|
| 235 |
+
7718363366000,
|
| 236 |
+
7719363366000,
|
| 237 |
+
7721363366000,
|
| 238 |
+
7722363354888,
|
| 239 |
+
7726363488222,
|
| 240 |
+
7727363388222,
|
| 241 |
+
7728363366000,
|
| 242 |
+
7731363366000,
|
| 243 |
+
7732363410444,
|
| 244 |
+
7737363366000,
|
| 245 |
+
7738363366000,
|
| 246 |
+
7740363377111,
|
| 247 |
+
7741363377111,
|
| 248 |
+
7743363366000,
|
| 249 |
+
7744363366000,
|
| 250 |
+
7746363366000,
|
| 251 |
+
7747363366000,
|
| 252 |
+
7748363388222,
|
| 253 |
+
7749363377111
|
| 254 |
+
]
|
| 255 |
+
},
|
| 256 |
+
"version": 1
|
| 257 |
+
}
|
actions/locomanipulation/LM80/session_001/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e6ab3ec00a52c4a5ce264834da1c054b73837eb41ac1ebf07965332db7091624
|
| 3 |
+
size 626275
|
actions/locomanipulation/LM80/session_001/meta.json
CHANGED
|
@@ -328,8 +328,8 @@
|
|
| 328 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 329 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 330 |
"hands": {
|
| 331 |
-
"observed":
|
| 332 |
-
"hand_pose": "
|
| 333 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 334 |
"hand_marker_offsets_m": {
|
| 335 |
"left": {
|
|
@@ -513,10 +513,124 @@
|
|
| 513 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 514 |
"remaining_gyro_frame_deg": 0.9330165930094663
|
| 515 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 516 |
"release": {
|
| 517 |
"release_path": "actions/locomanipulation/LM80/session_001",
|
| 518 |
"family": "locomanipulation",
|
| 519 |
"primitive": "LM80",
|
| 520 |
"source_session": "20260910/LM80/20260910_023203_session41"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 521 |
}
|
| 522 |
}
|
|
|
|
| 328 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 329 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 330 |
"hands": {
|
| 331 |
+
"observed": true,
|
| 332 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 333 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 334 |
"hand_marker_offsets_m": {
|
| 335 |
"left": {
|
|
|
|
| 513 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 514 |
"remaining_gyro_frame_deg": 0.9330165930094663
|
| 515 |
},
|
| 516 |
+
"hands_registration": {
|
| 517 |
+
"cameras": {},
|
| 518 |
+
"hands": {
|
| 519 |
+
"left": {
|
| 520 |
+
"offset_deg": 24.18,
|
| 521 |
+
"offset_rotvec": [
|
| 522 |
+
0.1545,
|
| 523 |
+
-0.3913,
|
| 524 |
+
0.0329
|
| 525 |
+
],
|
| 526 |
+
"dev_deg": {
|
| 527 |
+
"median": 13.12,
|
| 528 |
+
"p90": 56.43
|
| 529 |
+
},
|
| 530 |
+
"samples": 65,
|
| 531 |
+
"accepted": 56,
|
| 532 |
+
"wrist_pos_err_mm_median": 337.5,
|
| 533 |
+
"per_camera": {
|
| 534 |
+
"head": {
|
| 535 |
+
"samples": 65,
|
| 536 |
+
"accepted": 56,
|
| 537 |
+
"gate_deg": 30.0,
|
| 538 |
+
"offset_deg": 24.18,
|
| 539 |
+
"tier": "primary",
|
| 540 |
+
"dev_deg_median": 13.12,
|
| 541 |
+
"wrist_pos_err_mm_median": 337.5
|
| 542 |
+
}
|
| 543 |
+
},
|
| 544 |
+
"frames_by_state": {
|
| 545 |
+
"ace_sample": 172,
|
| 546 |
+
"interpolated": 408,
|
| 547 |
+
"mean_hand": 12496,
|
| 548 |
+
"no_body_fit": 8
|
| 549 |
+
},
|
| 550 |
+
"observed_fraction": 0.0443,
|
| 551 |
+
"observed_fraction_of_valid": 0.0444,
|
| 552 |
+
"palm_axis_vs_markers_deg": {
|
| 553 |
+
"gsi": 32.11,
|
| 554 |
+
"smplx": 0.46
|
| 555 |
+
},
|
| 556 |
+
"hand_marker_to_mesh_mm": {
|
| 557 |
+
"flat": {
|
| 558 |
+
"median": 7.1,
|
| 559 |
+
"p90": 8.0
|
| 560 |
+
},
|
| 561 |
+
"registered": {
|
| 562 |
+
"median": 8.8,
|
| 563 |
+
"p90": 10.2
|
| 564 |
+
}
|
| 565 |
+
}
|
| 566 |
+
},
|
| 567 |
+
"right": {
|
| 568 |
+
"offset_deg": 20.43,
|
| 569 |
+
"offset_rotvec": [
|
| 570 |
+
0.1943,
|
| 571 |
+
0.2987,
|
| 572 |
+
-0.0095
|
| 573 |
+
],
|
| 574 |
+
"dev_deg": {
|
| 575 |
+
"median": 18.86,
|
| 576 |
+
"p90": 39.4
|
| 577 |
+
},
|
| 578 |
+
"samples": 2908,
|
| 579 |
+
"accepted": 2358,
|
| 580 |
+
"wrist_pos_err_mm_median": 96.4,
|
| 581 |
+
"per_camera": {
|
| 582 |
+
"head": {
|
| 583 |
+
"samples": 2908,
|
| 584 |
+
"accepted": 2358,
|
| 585 |
+
"gate_deg": 30.0,
|
| 586 |
+
"offset_deg": 20.43,
|
| 587 |
+
"tier": "primary",
|
| 588 |
+
"dev_deg_median": 18.86,
|
| 589 |
+
"wrist_pos_err_mm_median": 96.4
|
| 590 |
+
}
|
| 591 |
+
},
|
| 592 |
+
"frames_by_state": {
|
| 593 |
+
"ace_sample": 9687,
|
| 594 |
+
"interpolated": 2484,
|
| 595 |
+
"mean_hand": 905,
|
| 596 |
+
"no_body_fit": 8
|
| 597 |
+
},
|
| 598 |
+
"observed_fraction": 0.9302,
|
| 599 |
+
"observed_fraction_of_valid": 0.9308,
|
| 600 |
+
"palm_axis_vs_markers_deg": {
|
| 601 |
+
"gsi": 19.81,
|
| 602 |
+
"smplx": 0.68
|
| 603 |
+
},
|
| 604 |
+
"hand_marker_to_mesh_mm": {
|
| 605 |
+
"flat": {
|
| 606 |
+
"median": 4.3,
|
| 607 |
+
"p90": 5.4
|
| 608 |
+
},
|
| 609 |
+
"registered": {
|
| 610 |
+
"median": 4.4,
|
| 611 |
+
"p90": 5.4
|
| 612 |
+
}
|
| 613 |
+
}
|
| 614 |
+
}
|
| 615 |
+
},
|
| 616 |
+
"max_dev_deg": 30.0,
|
| 617 |
+
"max_gap_s": 1.0,
|
| 618 |
+
"cameras_used": [
|
| 619 |
+
"head"
|
| 620 |
+
],
|
| 621 |
+
"generated_at_utc": "2026-11-03T16:34:14.121897+00:00",
|
| 622 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 623 |
+
"conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
|
| 624 |
+
"wrist_flip_suspect": []
|
| 625 |
+
},
|
| 626 |
"release": {
|
| 627 |
"release_path": "actions/locomanipulation/LM80/session_001",
|
| 628 |
"family": "locomanipulation",
|
| 629 |
"primitive": "LM80",
|
| 630 |
"source_session": "20260910/LM80/20260910_023203_session41"
|
| 631 |
+
},
|
| 632 |
+
"task": {
|
| 633 |
+
"primitive": "LM80",
|
| 634 |
+
"instruction": "Put the soft bag up onto your shoulder and carry it across the room, back and forth."
|
| 635 |
}
|
| 636 |
}
|
actions/locomanipulation/LM80/session_001/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ca4be8474da8383bc6b4519df304d8d1cac3654d0f3558f3859b06b868ba4bae
|
| 3 |
+
size 2119524
|
actions/locomanipulation/LM80/session_001/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:d67655c7af56d3b36ad0e3cd7d7a73bc66795bccd81a1bdb064f1936a74a275b
|
| 3 |
+
size 7284703
|
actions/locomanipulation/LM80/session_002/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": "LM80",
|
| 6 |
+
"instruction": "Put the soft bag up onto your shoulder and carry it across the room, back and forth.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 108.966567,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.041970361044843314
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "5587317b-77d7-420e-a027-38ce7022e2a8",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM80",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 101,
|
| 23 |
+
"t_start": 0.042,
|
| 24 |
+
"t_end": 101.042,
|
| 25 |
+
"instruction": "Put the soft bag up onto your shoulder and carry it across the room, back and forth."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM80/session_002/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,256 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 14,
|
| 5 |
+
"median_px": 0.316
|
| 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": 0.8201,
|
| 17 |
+
"gate_fail": [],
|
| 18 |
+
"held_out_px_after": 0.422,
|
| 19 |
+
"held_out_px_before": 2.694,
|
| 20 |
+
"inliers": 4144,
|
| 21 |
+
"position_fitted": false,
|
| 22 |
+
"rotvec_deg": [
|
| 23 |
+
0.5869,
|
| 24 |
+
-0.3221,
|
| 25 |
+
-0.4736
|
| 26 |
+
],
|
| 27 |
+
"split_deg": 0.0847,
|
| 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": 1.7842,
|
| 40 |
+
"gate_fail": [],
|
| 41 |
+
"held_out_px_after": 0.316,
|
| 42 |
+
"held_out_px_before": 7.013,
|
| 43 |
+
"inliers": 6467,
|
| 44 |
+
"position_fitted": true,
|
| 45 |
+
"position_mm": [
|
| 46 |
+
-1.1,
|
| 47 |
+
-10.09,
|
| 48 |
+
8.24
|
| 49 |
+
],
|
| 50 |
+
"position_sigma_mm": 0.436,
|
| 51 |
+
"position_split_mm": 1.195,
|
| 52 |
+
"rotvec_deg": [
|
| 53 |
+
0.3925,
|
| 54 |
+
0.6073,
|
| 55 |
+
-1.6311
|
| 56 |
+
],
|
| 57 |
+
"split_deg": 0.0332,
|
| 58 |
+
"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 |
+
"delta_deg": 1.4332,
|
| 72 |
+
"gate_fail": [],
|
| 73 |
+
"held_out_px_after": 0.5,
|
| 74 |
+
"held_out_px_before": 4.287,
|
| 75 |
+
"inliers": 720,
|
| 76 |
+
"position_fitted": false,
|
| 77 |
+
"rotvec_deg": [
|
| 78 |
+
1.2291,
|
| 79 |
+
-0.481,
|
| 80 |
+
0.5586
|
| 81 |
+
],
|
| 82 |
+
"split_deg": 0.0413,
|
| 83 |
+
"usable": true
|
| 84 |
+
},
|
| 85 |
+
"right_eye": {
|
| 86 |
+
"accepted": true,
|
| 87 |
+
"against": [
|
| 88 |
+
"left_front",
|
| 89 |
+
"right_front",
|
| 90 |
+
"left_eye",
|
| 91 |
+
"left",
|
| 92 |
+
"right"
|
| 93 |
+
],
|
| 94 |
+
"delta_deg": 0.7412,
|
| 95 |
+
"gate_fail": [],
|
| 96 |
+
"held_out_px_after": 0.315,
|
| 97 |
+
"held_out_px_before": 2.469,
|
| 98 |
+
"inliers": 7043,
|
| 99 |
+
"position_fitted": true,
|
| 100 |
+
"position_mm": [
|
| 101 |
+
3.42,
|
| 102 |
+
-9.27,
|
| 103 |
+
7.54
|
| 104 |
+
],
|
| 105 |
+
"position_sigma_mm": 0.445,
|
| 106 |
+
"position_split_mm": 4.198,
|
| 107 |
+
"rotvec_deg": [
|
| 108 |
+
0.5005,
|
| 109 |
+
-0.4736,
|
| 110 |
+
-0.2732
|
| 111 |
+
],
|
| 112 |
+
"split_deg": 0.0509,
|
| 113 |
+
"usable": true
|
| 114 |
+
},
|
| 115 |
+
"right_front": {
|
| 116 |
+
"accepted": true,
|
| 117 |
+
"against": [
|
| 118 |
+
"left_front",
|
| 119 |
+
"left_eye",
|
| 120 |
+
"right_eye",
|
| 121 |
+
"left",
|
| 122 |
+
"right"
|
| 123 |
+
],
|
| 124 |
+
"delta_deg": 1.071,
|
| 125 |
+
"gate_fail": [],
|
| 126 |
+
"held_out_px_after": 0.284,
|
| 127 |
+
"held_out_px_before": 5.189,
|
| 128 |
+
"inliers": 6155,
|
| 129 |
+
"position_fitted": false,
|
| 130 |
+
"rotvec_deg": [
|
| 131 |
+
-0.3941,
|
| 132 |
+
-0.0511,
|
| 133 |
+
-0.9946
|
| 134 |
+
],
|
| 135 |
+
"split_deg": 0.0123,
|
| 136 |
+
"usable": true
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"code_fingerprint": "711ecf5b3dd408f8",
|
| 140 |
+
"device_id": "e17c9efadb69e7b1",
|
| 141 |
+
"factory_root_name": "e17c9efadb69e7b1",
|
| 142 |
+
"files": {
|
| 143 |
+
"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 144 |
+
"sha256": "faafc32e38317c6d5efac062406c008f6b1d6193187ad0c73fe806a0e58665be",
|
| 145 |
+
"source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
|
| 146 |
+
},
|
| 147 |
+
"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 148 |
+
"sha256": "58cf182d13c946437781edd950916fb79c33f9c2fccc1a5cf8a2e98112bd962d",
|
| 149 |
+
"source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
|
| 150 |
+
},
|
| 151 |
+
"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 152 |
+
"sha256": "64cbe0cf48bab2016d16baf6ea6fd42a3aed7081ab6a714b3a32821f40ebf380",
|
| 153 |
+
"source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
|
| 154 |
+
},
|
| 155 |
+
"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 156 |
+
"sha256": "fc3282b239994b655a5857f84eb48c3f08032895a9ee2b48ee54bc2a0727bef5",
|
| 157 |
+
"source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
"input_fingerprint": "7fe7d211af581c32",
|
| 161 |
+
"kind": "online_calibration",
|
| 162 |
+
"output_sha256": "73e6e8c4f3aa2e646cc16aad090616f367d6457da5d91a525eef7523758ef212",
|
| 163 |
+
"overlap": {
|
| 164 |
+
"left-right": 0.501,
|
| 165 |
+
"left_eye-left": 0.707,
|
| 166 |
+
"left_eye-right": 0.671,
|
| 167 |
+
"left_front-left": 0.478,
|
| 168 |
+
"left_front-left_eye": 0.72,
|
| 169 |
+
"left_front-right": 0.448,
|
| 170 |
+
"left_front-right_eye": 0.732,
|
| 171 |
+
"left_front-right_front": 1.0,
|
| 172 |
+
"right_eye-left": 0.696,
|
| 173 |
+
"right_eye-left_eye": 1.0,
|
| 174 |
+
"right_eye-right": 0.673,
|
| 175 |
+
"right_front-left": 0.464,
|
| 176 |
+
"right_front-left_eye": 0.723,
|
| 177 |
+
"right_front-right": 0.466,
|
| 178 |
+
"right_front-right_eye": 0.734
|
| 179 |
+
},
|
| 180 |
+
"picture_change": {
|
| 181 |
+
"left": 37.713,
|
| 182 |
+
"left_eye": 30.821,
|
| 183 |
+
"left_front": 39.843,
|
| 184 |
+
"right": 37.349,
|
| 185 |
+
"right_eye": 29.743,
|
| 186 |
+
"right_front": 37.817
|
| 187 |
+
},
|
| 188 |
+
"runtime": {
|
| 189 |
+
"numpy": "2.4.6",
|
| 190 |
+
"opencv": "5.0.0",
|
| 191 |
+
"scipy": "1.17.1"
|
| 192 |
+
},
|
| 193 |
+
"segment": 1,
|
| 194 |
+
"selection": {
|
| 195 |
+
"overlap_captures": [
|
| 196 |
+
7783414423000,
|
| 197 |
+
7784414423000,
|
| 198 |
+
7788414556333,
|
| 199 |
+
7789414423000,
|
| 200 |
+
7791414423000,
|
| 201 |
+
7792414423000,
|
| 202 |
+
7795414423000,
|
| 203 |
+
7796414411888,
|
| 204 |
+
7799414423000,
|
| 205 |
+
7800414423000,
|
| 206 |
+
7802414423000,
|
| 207 |
+
7803414545222,
|
| 208 |
+
7804414478555,
|
| 209 |
+
7805414423000,
|
| 210 |
+
7810414545222,
|
| 211 |
+
7811414423000,
|
| 212 |
+
7813414423000,
|
| 213 |
+
7814414423000,
|
| 214 |
+
7816414423000,
|
| 215 |
+
7817414434111,
|
| 216 |
+
7818414423000,
|
| 217 |
+
7819414411888,
|
| 218 |
+
7822414423000,
|
| 219 |
+
7823414434111,
|
| 220 |
+
7825414434111,
|
| 221 |
+
7826414434111,
|
| 222 |
+
7829414423000,
|
| 223 |
+
7830414423000,
|
| 224 |
+
7833414423000,
|
| 225 |
+
7834414411888,
|
| 226 |
+
7835414478555,
|
| 227 |
+
7836414411888,
|
| 228 |
+
7838414423000,
|
| 229 |
+
7839414423000,
|
| 230 |
+
7843414434111,
|
| 231 |
+
7844414423000,
|
| 232 |
+
7847414467444,
|
| 233 |
+
7848414423000,
|
| 234 |
+
7851414423000,
|
| 235 |
+
7852414445222,
|
| 236 |
+
7853414545222,
|
| 237 |
+
7856414423000,
|
| 238 |
+
7857414456333,
|
| 239 |
+
7860414423000,
|
| 240 |
+
7861414423000,
|
| 241 |
+
7865414556333,
|
| 242 |
+
7866414423000,
|
| 243 |
+
7867414578555,
|
| 244 |
+
7872414423000,
|
| 245 |
+
7873414423000,
|
| 246 |
+
7874414423000,
|
| 247 |
+
7876414423000,
|
| 248 |
+
7877414434111,
|
| 249 |
+
7882414445222,
|
| 250 |
+
7883414423000,
|
| 251 |
+
7885414423000,
|
| 252 |
+
7886414423000
|
| 253 |
+
]
|
| 254 |
+
},
|
| 255 |
+
"version": 1
|
| 256 |
+
}
|
actions/locomanipulation/LM80/session_002/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ce9853cda9529d692048eca8b56054dfbad999591eba5eb48d287fc2c8b035d8
|
| 3 |
+
size 639464
|
actions/locomanipulation/LM80/session_002/meta.json
CHANGED
|
@@ -329,8 +329,8 @@
|
|
| 329 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 330 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 331 |
"hands": {
|
| 332 |
-
"observed":
|
| 333 |
-
"hand_pose": "
|
| 334 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 335 |
"hand_marker_offsets_m": {
|
| 336 |
"left": {
|
|
@@ -516,10 +516,124 @@
|
|
| 516 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 517 |
"remaining_gyro_frame_deg": 1.1937989143689585
|
| 518 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 519 |
"release": {
|
| 520 |
"release_path": "actions/locomanipulation/LM80/session_002",
|
| 521 |
"family": "locomanipulation",
|
| 522 |
"primitive": "LM80",
|
| 523 |
"source_session": "20260910/LM80/20260910_023420_session42"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 524 |
}
|
| 525 |
}
|
|
|
|
| 329 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 330 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 331 |
"hands": {
|
| 332 |
+
"observed": true,
|
| 333 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 334 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 335 |
"hand_marker_offsets_m": {
|
| 336 |
"left": {
|
|
|
|
| 516 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 517 |
"remaining_gyro_frame_deg": 1.1937989143689585
|
| 518 |
},
|
| 519 |
+
"hands_registration": {
|
| 520 |
+
"cameras": {},
|
| 521 |
+
"hands": {
|
| 522 |
+
"left": {
|
| 523 |
+
"offset_deg": 60.5,
|
| 524 |
+
"offset_rotvec": [
|
| 525 |
+
0.9248,
|
| 526 |
+
-0.4644,
|
| 527 |
+
0.2096
|
| 528 |
+
],
|
| 529 |
+
"dev_deg": {
|
| 530 |
+
"median": 11.03,
|
| 531 |
+
"p90": 25.07
|
| 532 |
+
},
|
| 533 |
+
"samples": 90,
|
| 534 |
+
"accepted": 85,
|
| 535 |
+
"wrist_pos_err_mm_median": 307.3,
|
| 536 |
+
"per_camera": {
|
| 537 |
+
"head": {
|
| 538 |
+
"samples": 90,
|
| 539 |
+
"accepted": 85,
|
| 540 |
+
"gate_deg": 30.0,
|
| 541 |
+
"offset_deg": 60.5,
|
| 542 |
+
"tier": "primary",
|
| 543 |
+
"dev_deg_median": 11.03,
|
| 544 |
+
"wrist_pos_err_mm_median": 307.3
|
| 545 |
+
}
|
| 546 |
+
},
|
| 547 |
+
"frames_by_state": {
|
| 548 |
+
"ace_sample": 322,
|
| 549 |
+
"interpolated": 486,
|
| 550 |
+
"mean_hand": 11995,
|
| 551 |
+
"no_body_fit": 281
|
| 552 |
+
},
|
| 553 |
+
"observed_fraction": 0.0618,
|
| 554 |
+
"observed_fraction_of_valid": 0.0631,
|
| 555 |
+
"palm_axis_vs_markers_deg": {
|
| 556 |
+
"gsi": 53.69,
|
| 557 |
+
"smplx": 0.99
|
| 558 |
+
},
|
| 559 |
+
"hand_marker_to_mesh_mm": {
|
| 560 |
+
"flat": {
|
| 561 |
+
"median": 12.6,
|
| 562 |
+
"p90": 15.7
|
| 563 |
+
},
|
| 564 |
+
"registered": {
|
| 565 |
+
"median": 12.8,
|
| 566 |
+
"p90": 15.7
|
| 567 |
+
}
|
| 568 |
+
}
|
| 569 |
+
},
|
| 570 |
+
"right": {
|
| 571 |
+
"offset_deg": 31.21,
|
| 572 |
+
"offset_rotvec": [
|
| 573 |
+
0.3737,
|
| 574 |
+
0.396,
|
| 575 |
+
0.0174
|
| 576 |
+
],
|
| 577 |
+
"dev_deg": {
|
| 578 |
+
"median": 21.86,
|
| 579 |
+
"p90": 41.35
|
| 580 |
+
},
|
| 581 |
+
"samples": 2756,
|
| 582 |
+
"accepted": 1958,
|
| 583 |
+
"wrist_pos_err_mm_median": 104.0,
|
| 584 |
+
"per_camera": {
|
| 585 |
+
"head": {
|
| 586 |
+
"samples": 2756,
|
| 587 |
+
"accepted": 1958,
|
| 588 |
+
"gate_deg": 30.0,
|
| 589 |
+
"offset_deg": 31.21,
|
| 590 |
+
"tier": "primary",
|
| 591 |
+
"dev_deg_median": 21.86,
|
| 592 |
+
"wrist_pos_err_mm_median": 104.0
|
| 593 |
+
}
|
| 594 |
+
},
|
| 595 |
+
"frames_by_state": {
|
| 596 |
+
"ace_sample": 8110,
|
| 597 |
+
"interpolated": 3004,
|
| 598 |
+
"mean_hand": 1689,
|
| 599 |
+
"no_body_fit": 281
|
| 600 |
+
},
|
| 601 |
+
"observed_fraction": 0.8494,
|
| 602 |
+
"observed_fraction_of_valid": 0.8681,
|
| 603 |
+
"palm_axis_vs_markers_deg": {
|
| 604 |
+
"gsi": 29.53,
|
| 605 |
+
"smplx": 0.75
|
| 606 |
+
},
|
| 607 |
+
"hand_marker_to_mesh_mm": {
|
| 608 |
+
"flat": {
|
| 609 |
+
"median": 5.0,
|
| 610 |
+
"p90": 5.8
|
| 611 |
+
},
|
| 612 |
+
"registered": {
|
| 613 |
+
"median": 4.8,
|
| 614 |
+
"p90": 5.7
|
| 615 |
+
}
|
| 616 |
+
}
|
| 617 |
+
}
|
| 618 |
+
},
|
| 619 |
+
"max_dev_deg": 30.0,
|
| 620 |
+
"max_gap_s": 1.0,
|
| 621 |
+
"cameras_used": [
|
| 622 |
+
"head"
|
| 623 |
+
],
|
| 624 |
+
"generated_at_utc": "2026-11-03T16:34:17.731669+00:00",
|
| 625 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 626 |
+
"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",
|
| 627 |
+
"wrist_flip_suspect": []
|
| 628 |
+
},
|
| 629 |
"release": {
|
| 630 |
"release_path": "actions/locomanipulation/LM80/session_002",
|
| 631 |
"family": "locomanipulation",
|
| 632 |
"primitive": "LM80",
|
| 633 |
"source_session": "20260910/LM80/20260910_023420_session42"
|
| 634 |
+
},
|
| 635 |
+
"task": {
|
| 636 |
+
"primitive": "LM80",
|
| 637 |
+
"instruction": "Put the soft bag up onto your shoulder and carry it across the room, back and forth."
|
| 638 |
}
|
| 639 |
}
|
actions/locomanipulation/LM80/session_002/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:781513a7d7571056897a4e77f44462c5dc21672710ea02a1b10b70eaf66eaeaa
|
| 3 |
+
size 2094930
|
actions/locomanipulation/LM80/session_002/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 sha256:19df5daf8a90fb299ba4dfc5084360eec0002eef5cdb14bc157cfcb6ad03de8d
|
| 3 |
+
size 7041075
|
actions/locomanipulation/LM80/session_003/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": "LM80",
|
| 6 |
+
"instruction": "Put the soft bag up onto your shoulder and carry it across the room, back and forth.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 108.966578,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03860382380831262
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "dd38c09a-a464-4daa-b760-e66ff5b19b80",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM80",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 105,
|
| 23 |
+
"t_start": 0.0386,
|
| 24 |
+
"t_end": 105.0386,
|
| 25 |
+
"instruction": "Put the soft bag up onto your shoulder and carry it across the room, back and forth."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM80/session_003/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,258 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 15,
|
| 5 |
+
"median_px": 0.313
|
| 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": 0.8026,
|
| 18 |
+
"gate_fail": [],
|
| 19 |
+
"held_out_px_after": 0.448,
|
| 20 |
+
"held_out_px_before": 2.792,
|
| 21 |
+
"inliers": 4325,
|
| 22 |
+
"position_fitted": false,
|
| 23 |
+
"rotvec_deg": [
|
| 24 |
+
0.5747,
|
| 25 |
+
-0.3145,
|
| 26 |
+
-0.4637
|
| 27 |
+
],
|
| 28 |
+
"split_deg": 0.0648,
|
| 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": 1.795,
|
| 41 |
+
"gate_fail": [],
|
| 42 |
+
"held_out_px_after": 0.323,
|
| 43 |
+
"held_out_px_before": 7.003,
|
| 44 |
+
"inliers": 6819,
|
| 45 |
+
"position_fitted": true,
|
| 46 |
+
"position_mm": [
|
| 47 |
+
-3.33,
|
| 48 |
+
-7.43,
|
| 49 |
+
5.56
|
| 50 |
+
],
|
| 51 |
+
"position_sigma_mm": 0.265,
|
| 52 |
+
"position_split_mm": 3.11,
|
| 53 |
+
"rotvec_deg": [
|
| 54 |
+
0.4083,
|
| 55 |
+
0.6375,
|
| 56 |
+
-1.6275
|
| 57 |
+
],
|
| 58 |
+
"split_deg": 0.0327,
|
| 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": 1.3387,
|
| 74 |
+
"gate_fail": [],
|
| 75 |
+
"held_out_px_after": 0.656,
|
| 76 |
+
"held_out_px_before": 4.121,
|
| 77 |
+
"inliers": 877,
|
| 78 |
+
"position_fitted": false,
|
| 79 |
+
"rotvec_deg": [
|
| 80 |
+
1.152,
|
| 81 |
+
-0.3999,
|
| 82 |
+
0.5524
|
| 83 |
+
],
|
| 84 |
+
"split_deg": 0.1418,
|
| 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": 0.7476,
|
| 97 |
+
"gate_fail": [],
|
| 98 |
+
"held_out_px_after": 0.31,
|
| 99 |
+
"held_out_px_before": 2.523,
|
| 100 |
+
"inliers": 7587,
|
| 101 |
+
"position_fitted": true,
|
| 102 |
+
"position_mm": [
|
| 103 |
+
2.01,
|
| 104 |
+
-7.46,
|
| 105 |
+
5.61
|
| 106 |
+
],
|
| 107 |
+
"position_sigma_mm": 0.318,
|
| 108 |
+
"position_split_mm": 2.509,
|
| 109 |
+
"rotvec_deg": [
|
| 110 |
+
0.5189,
|
| 111 |
+
-0.454,
|
| 112 |
+
-0.2889
|
| 113 |
+
],
|
| 114 |
+
"split_deg": 0.0232,
|
| 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": 1.0769,
|
| 127 |
+
"gate_fail": [],
|
| 128 |
+
"held_out_px_after": 0.276,
|
| 129 |
+
"held_out_px_before": 5.155,
|
| 130 |
+
"inliers": 7009,
|
| 131 |
+
"position_fitted": false,
|
| 132 |
+
"rotvec_deg": [
|
| 133 |
+
-0.4046,
|
| 134 |
+
-0.0446,
|
| 135 |
+
-0.997
|
| 136 |
+
],
|
| 137 |
+
"split_deg": 0.0074,
|
| 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": "754652d1d123bf9b37049a46cf186ed83cc8dc7382f40344ac69e080672b58bf",
|
| 147 |
+
"source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
|
| 148 |
+
},
|
| 149 |
+
"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 150 |
+
"sha256": "caf71b05b1c5657bb6a4ae76e5b1e1f292bc26d754ffed23f117c7ecf5c56aaf",
|
| 151 |
+
"source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
|
| 152 |
+
},
|
| 153 |
+
"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 154 |
+
"sha256": "68d54c751941a22dc2b76b51b9d3c97bf254921ccb04b3dc5cf514c703df152f",
|
| 155 |
+
"source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
|
| 156 |
+
},
|
| 157 |
+
"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 158 |
+
"sha256": "7c3a26b556c9ac96b83e0f21f715c5acdafbe2a0ed06adf70cc96f4c35439350",
|
| 159 |
+
"source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"input_fingerprint": "b9ca9e60c6785a77",
|
| 163 |
+
"kind": "online_calibration",
|
| 164 |
+
"output_sha256": "1dc539796d82f05494e9395e73f6339067ee8f0312535b81831bec1a33232e2c",
|
| 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": 35.696,
|
| 184 |
+
"left_eye": 29.735,
|
| 185 |
+
"left_front": 42.461,
|
| 186 |
+
"right": 35.394,
|
| 187 |
+
"right_eye": 28.347,
|
| 188 |
+
"right_front": 42.827
|
| 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 |
+
7910308805222,
|
| 199 |
+
7911308805222,
|
| 200 |
+
7916308805222,
|
| 201 |
+
7917308938555,
|
| 202 |
+
7919308805222,
|
| 203 |
+
7920308794111,
|
| 204 |
+
7924308905222,
|
| 205 |
+
7925308794111,
|
| 206 |
+
7927308794111,
|
| 207 |
+
7928308816333,
|
| 208 |
+
7929308794111,
|
| 209 |
+
7930308794111,
|
| 210 |
+
7934308794111,
|
| 211 |
+
7935308794111,
|
| 212 |
+
7936308794111,
|
| 213 |
+
7937308927444,
|
| 214 |
+
7941308805222,
|
| 215 |
+
7942308794111,
|
| 216 |
+
7945308794111,
|
| 217 |
+
7946308794111,
|
| 218 |
+
7947308916333,
|
| 219 |
+
7949308805222,
|
| 220 |
+
7950308794111,
|
| 221 |
+
7955308905222,
|
| 222 |
+
7956308805222,
|
| 223 |
+
7957308805222,
|
| 224 |
+
7960308805222,
|
| 225 |
+
7961308805222,
|
| 226 |
+
7966308805222,
|
| 227 |
+
7967308816333,
|
| 228 |
+
7969308783000,
|
| 229 |
+
7970308805222,
|
| 230 |
+
7972308794111,
|
| 231 |
+
7973308794111,
|
| 232 |
+
7977308927444,
|
| 233 |
+
7978308794111,
|
| 234 |
+
7979308916333,
|
| 235 |
+
7984308805222,
|
| 236 |
+
7985308905222,
|
| 237 |
+
7987308783000,
|
| 238 |
+
7988308794111,
|
| 239 |
+
7991308816333,
|
| 240 |
+
7992308783000,
|
| 241 |
+
7994308794111,
|
| 242 |
+
7995308794111,
|
| 243 |
+
7997308794111,
|
| 244 |
+
7998308805222,
|
| 245 |
+
8001308905222,
|
| 246 |
+
8002308805222,
|
| 247 |
+
8003308805222,
|
| 248 |
+
8004308794111,
|
| 249 |
+
8007308871888,
|
| 250 |
+
8008308860777,
|
| 251 |
+
8009308805222,
|
| 252 |
+
8010308794111,
|
| 253 |
+
8013308938555,
|
| 254 |
+
8014308794111
|
| 255 |
+
]
|
| 256 |
+
},
|
| 257 |
+
"version": 1
|
| 258 |
+
}
|
actions/locomanipulation/LM80/session_003/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1a8b0098a472cec1131913fd32455bbf3f2a336dc3c0085efd5ff91eb9466d19
|
| 3 |
+
size 626642
|
actions/locomanipulation/LM80/session_003/meta.json
CHANGED
|
@@ -327,8 +327,8 @@
|
|
| 327 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 328 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 329 |
"hands": {
|
| 330 |
-
"observed":
|
| 331 |
-
"hand_pose": "
|
| 332 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 333 |
"hand_marker_offsets_m": {
|
| 334 |
"left": {
|
|
@@ -512,10 +512,124 @@
|
|
| 512 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 513 |
"remaining_gyro_frame_deg": 1.0833341410731048
|
| 514 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 515 |
"release": {
|
| 516 |
"release_path": "actions/locomanipulation/LM80/session_003",
|
| 517 |
"family": "locomanipulation",
|
| 518 |
"primitive": "LM80",
|
| 519 |
"source_session": "20260910/LM80/20260910_023627_session43"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 520 |
}
|
| 521 |
}
|
|
|
|
| 327 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 328 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 329 |
"hands": {
|
| 330 |
+
"observed": true,
|
| 331 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 332 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 333 |
"hand_marker_offsets_m": {
|
| 334 |
"left": {
|
|
|
|
| 512 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 513 |
"remaining_gyro_frame_deg": 1.0833341410731048
|
| 514 |
},
|
| 515 |
+
"hands_registration": {
|
| 516 |
+
"cameras": {},
|
| 517 |
+
"hands": {
|
| 518 |
+
"left": {
|
| 519 |
+
"offset_deg": 55.97,
|
| 520 |
+
"offset_rotvec": [
|
| 521 |
+
0.8396,
|
| 522 |
+
-0.4341,
|
| 523 |
+
0.2471
|
| 524 |
+
],
|
| 525 |
+
"dev_deg": {
|
| 526 |
+
"median": 12.67,
|
| 527 |
+
"p90": 18.1
|
| 528 |
+
},
|
| 529 |
+
"samples": 13,
|
| 530 |
+
"accepted": 13,
|
| 531 |
+
"wrist_pos_err_mm_median": 457.9,
|
| 532 |
+
"per_camera": {
|
| 533 |
+
"head": {
|
| 534 |
+
"samples": 13,
|
| 535 |
+
"accepted": 13,
|
| 536 |
+
"gate_deg": 30.0,
|
| 537 |
+
"offset_deg": 55.97,
|
| 538 |
+
"tier": "primary",
|
| 539 |
+
"dev_deg_median": 12.67,
|
| 540 |
+
"wrist_pos_err_mm_median": 457.9
|
| 541 |
+
}
|
| 542 |
+
},
|
| 543 |
+
"frames_by_state": {
|
| 544 |
+
"ace_sample": 40,
|
| 545 |
+
"interpolated": 232,
|
| 546 |
+
"mean_hand": 12804,
|
| 547 |
+
"no_body_fit": 8
|
| 548 |
+
},
|
| 549 |
+
"observed_fraction": 0.0208,
|
| 550 |
+
"observed_fraction_of_valid": 0.0208,
|
| 551 |
+
"palm_axis_vs_markers_deg": {
|
| 552 |
+
"gsi": 48.97,
|
| 553 |
+
"smplx": 0.85
|
| 554 |
+
},
|
| 555 |
+
"hand_marker_to_mesh_mm": {
|
| 556 |
+
"flat": {
|
| 557 |
+
"median": 7.0,
|
| 558 |
+
"p90": 8.6
|
| 559 |
+
},
|
| 560 |
+
"registered": {
|
| 561 |
+
"median": 8.8,
|
| 562 |
+
"p90": 10.0
|
| 563 |
+
}
|
| 564 |
+
}
|
| 565 |
+
},
|
| 566 |
+
"right": {
|
| 567 |
+
"offset_deg": 30.07,
|
| 568 |
+
"offset_rotvec": [
|
| 569 |
+
0.3077,
|
| 570 |
+
0.4216,
|
| 571 |
+
0.0557
|
| 572 |
+
],
|
| 573 |
+
"dev_deg": {
|
| 574 |
+
"median": 21.07,
|
| 575 |
+
"p90": 38.2
|
| 576 |
+
},
|
| 577 |
+
"samples": 2936,
|
| 578 |
+
"accepted": 2272,
|
| 579 |
+
"wrist_pos_err_mm_median": 103.0,
|
| 580 |
+
"per_camera": {
|
| 581 |
+
"head": {
|
| 582 |
+
"samples": 2936,
|
| 583 |
+
"accepted": 2272,
|
| 584 |
+
"gate_deg": 30.0,
|
| 585 |
+
"offset_deg": 30.07,
|
| 586 |
+
"tier": "primary",
|
| 587 |
+
"dev_deg_median": 21.07,
|
| 588 |
+
"wrist_pos_err_mm_median": 103.0
|
| 589 |
+
}
|
| 590 |
+
},
|
| 591 |
+
"frames_by_state": {
|
| 592 |
+
"ace_sample": 9380,
|
| 593 |
+
"interpolated": 2672,
|
| 594 |
+
"mean_hand": 1024,
|
| 595 |
+
"no_body_fit": 8
|
| 596 |
+
},
|
| 597 |
+
"observed_fraction": 0.9211,
|
| 598 |
+
"observed_fraction_of_valid": 0.9217,
|
| 599 |
+
"palm_axis_vs_markers_deg": {
|
| 600 |
+
"gsi": 23.8,
|
| 601 |
+
"smplx": 0.7
|
| 602 |
+
},
|
| 603 |
+
"hand_marker_to_mesh_mm": {
|
| 604 |
+
"flat": {
|
| 605 |
+
"median": 5.6,
|
| 606 |
+
"p90": 7.1
|
| 607 |
+
},
|
| 608 |
+
"registered": {
|
| 609 |
+
"median": 5.5,
|
| 610 |
+
"p90": 7.1
|
| 611 |
+
}
|
| 612 |
+
}
|
| 613 |
+
}
|
| 614 |
+
},
|
| 615 |
+
"max_dev_deg": 30.0,
|
| 616 |
+
"max_gap_s": 1.0,
|
| 617 |
+
"cameras_used": [
|
| 618 |
+
"head"
|
| 619 |
+
],
|
| 620 |
+
"generated_at_utc": "2026-11-03T16:34:19.531546+00:00",
|
| 621 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 622 |
+
"conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
|
| 623 |
+
"wrist_flip_suspect": []
|
| 624 |
+
},
|
| 625 |
"release": {
|
| 626 |
"release_path": "actions/locomanipulation/LM80/session_003",
|
| 627 |
"family": "locomanipulation",
|
| 628 |
"primitive": "LM80",
|
| 629 |
"source_session": "20260910/LM80/20260910_023627_session43"
|
| 630 |
+
},
|
| 631 |
+
"task": {
|
| 632 |
+
"primitive": "LM80",
|
| 633 |
+
"instruction": "Put the soft bag up onto your shoulder and carry it across the room, back and forth."
|
| 634 |
}
|
| 635 |
}
|
actions/locomanipulation/LM80/session_003/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:04887f69c773b49a41cc766c432c30d35e7a67975f11f958cd321c2621336d81
|
| 3 |
+
size 2102322
|
actions/locomanipulation/LM80/session_003/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 sha256:78dee7a0b655f6da045762512db4d8dc0aa6c7dde0131075af3acec1747e610f
|
| 3 |
+
size 7192150
|