Release update 2026-11-05: new sessions, instructions, annotations (part 129)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +25 -0
- actions/locomanipulation/LM65/session_014/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM65/session_014/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM65/session_014/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM65/session_014/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM65/session_014/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM65/session_014/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM65/session_014/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM65/session_014/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM65/session_014/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM65/session_014/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM65/session_014/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM65/session_014/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM65/session_014/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM65/session_014/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM65/session_014/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM65/session_014/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM65/session_014/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM65/session_014/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM65/session_014/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM65/session_014/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM65/session_014/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM66/session_001/annotations.json +39 -0
- actions/locomanipulation/LM66/session_001/cameras/gsi_online_calibration.json +258 -0
- actions/locomanipulation/LM66/session_001/cameras/slam.npz +3 -0
- actions/locomanipulation/LM66/session_001/meta.json +116 -2
- actions/locomanipulation/LM66/session_001/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM66/session_001/motions/smplx.npz +2 -2
- actions/locomanipulation/LM66/session_002/annotations.json +28 -0
- actions/locomanipulation/LM66/session_002/cameras/gsi_online_calibration.json +252 -0
- actions/locomanipulation/LM66/session_002/cameras/slam.npz +3 -0
- actions/locomanipulation/LM66/session_002/meta.json +116 -2
- actions/locomanipulation/LM66/session_002/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM66/session_002/motions/smplx.npz +2 -2
- actions/locomanipulation/LM66/session_003/cameras/slam.npz +3 -0
- actions/locomanipulation/LM66/session_003/meta.json +116 -2
- actions/locomanipulation/LM66/session_003/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM66/session_003/motions/smplx.npz +2 -2
- actions/locomanipulation/LM66/session_004/annotations.json +28 -0
- actions/locomanipulation/LM66/session_004/cameras/slam.npz +3 -0
- actions/locomanipulation/LM66/session_004/meta.json +116 -2
- actions/locomanipulation/LM66/session_004/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM66/session_004/motions/smplx.npz +2 -2
- actions/locomanipulation/LM66/session_005/annotations.json +28 -0
- actions/locomanipulation/LM66/session_005/cameras/gsi_online_calibration.json +254 -0
- actions/locomanipulation/LM66/session_005/cameras/slam.npz +3 -0
- actions/locomanipulation/LM66/session_005/meta.json +116 -2
- actions/locomanipulation/LM66/session_005/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM66/session_005/motions/smplx.npz +2 -2
- actions/locomanipulation/LM66/session_006/annotations.json +28 -0
.gitattributes
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{
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"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
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"primitive": "LM66",
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"instruction": "Pick up the next box in the row and carry it to the table. The operator will not tell you how heavy each one is. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
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"segments": [
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|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "8772fe6e-4ef9-42fd-82b3-eaf6c482b2be",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM66",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 76.696,
|
| 23 |
+
"t_start": 0.0395,
|
| 24 |
+
"t_end": 76.7355,
|
| 25 |
+
"instruction": "Pick up the next box in the row and carry it to the table. The operator will not tell you how heavy each one is. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"id": "5d32e8e5-158b-4d2b-b9e0-22b3c02a355c",
|
| 29 |
+
"segment": "segment1",
|
| 30 |
+
"action": "LM66",
|
| 31 |
+
"quality": "valid",
|
| 32 |
+
"start_s": 77.178,
|
| 33 |
+
"end_s": 130.026,
|
| 34 |
+
"t_start": 77.2175,
|
| 35 |
+
"t_end": 130.0655,
|
| 36 |
+
"instruction": "Pick up the next box in the row and carry it to the table. The operator will not tell you how heavy each one is. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/locomanipulation/LM66/session_001/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,258 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 14,
|
| 5 |
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"median_px": 0.363
|
| 6 |
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},
|
| 7 |
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"cameras": {
|
| 8 |
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"left": {
|
| 9 |
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"accepted": true,
|
| 10 |
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"against": [
|
| 11 |
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"left_front",
|
| 12 |
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"right_front",
|
| 13 |
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"left_eye",
|
| 14 |
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"right_eye"
|
| 15 |
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],
|
| 16 |
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"delta_deg": 0.7008,
|
| 17 |
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"gate_fail": [],
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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"position_fitted": false,
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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],
|
| 27 |
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|
| 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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|
| 37 |
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|
| 38 |
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],
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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"inliers": 5497,
|
| 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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|
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|
| 54 |
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|
| 55 |
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|
| 56 |
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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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"left_front",
|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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],
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 81 |
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],
|
| 82 |
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|
| 83 |
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|
| 84 |
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},
|
| 85 |
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|
| 86 |
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|
| 87 |
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| 88 |
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| 89 |
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| 90 |
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| 91 |
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|
| 92 |
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|
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],
|
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|
| 95 |
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|
| 96 |
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|
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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],
|
| 105 |
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|
| 106 |
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|
| 107 |
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|
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|
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|
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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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|
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|
| 119 |
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|
| 120 |
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|
| 121 |
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"left",
|
| 122 |
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"right"
|
| 123 |
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],
|
| 124 |
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|
| 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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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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],
|
| 135 |
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"split_deg": 0.0166,
|
| 136 |
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"usable": true
|
| 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 |
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"factory_root_name": "e17c9efadb69e7b1",
|
| 142 |
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"files": {
|
| 143 |
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"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 144 |
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"sha256": "012da7138f5a23b03ce7b806adf08de9cc66297258272bf923f4ae03161d81af",
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| 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": "34fc42545c19e6e7a2185d109b13abea31b8e898df1cda8c395fa7ee416d39ab",
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| 149 |
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"source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
|
| 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": "2c998f574a11b74039d3d97125fbd796d9067b4e5597a7bc323ead5dc9a3da19",
|
| 153 |
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"source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
|
| 154 |
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},
|
| 155 |
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"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 156 |
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"sha256": "4e317d11a85a2bd0898ac78b2c6ab4610fcdeaac0bc66b8f7da5b1dc33096fce",
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| 158 |
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}
|
| 159 |
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},
|
| 160 |
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"input_fingerprint": "7e7364ff8b62a992",
|
| 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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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
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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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|
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|
| 184 |
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|
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|
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|
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},
|
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3648071572888,
|
| 244 |
+
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|
| 245 |
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|
| 256 |
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|
| 257 |
+
"version": 1
|
| 258 |
+
}
|
actions/locomanipulation/LM66/session_001/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:af87e81c454f13f229a0d3b24d4b00c30423a9df8c19bd9ee5c7a8d43c32bfbf
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size 770399
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actions/locomanipulation/LM66/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 |
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|
| 335 |
"left": {
|
|
@@ -508,10 +508,124 @@
|
|
| 508 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 509 |
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|
| 510 |
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| 511 |
"release": {
|
| 512 |
"release_path": "actions/locomanipulation/LM66/session_001",
|
| 513 |
"family": "locomanipulation",
|
| 514 |
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|
| 515 |
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|
| 516 |
}
|
| 517 |
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|
| 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 |
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"observed": true,
|
| 332 |
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"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 333 |
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|
| 334 |
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| 335 |
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| 508 |
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| 514 |
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},
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"accepted": 2183,
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"accepted": 2183,
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|
| 534 |
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"tier": "primary",
|
| 535 |
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"dev_deg_median": 16.46,
|
| 536 |
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"wrist_pos_err_mm_median": 35.4
|
| 537 |
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}
|
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},
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|
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},
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"observed_fraction": 0.5961,
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"gsi": 10.77,
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"smplx": 3.54
|
| 550 |
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},
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"hand_marker_to_mesh_mm": {
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"flat": {
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"median": 9.1,
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"p90": 11.2
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},
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"registered": {
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"median": 10.0,
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}
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},
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"right": {
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"median": 12.01,
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"p90": 24.73
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| 572 |
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},
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"samples": 2576,
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"accepted": 2406,
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"wrist_pos_err_mm_median": 30.9,
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"per_camera": {
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"tier": "primary",
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],
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| 616 |
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"generated_at_utc": "2026-11-03T16:29:53.128283+00:00",
|
| 617 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 618 |
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"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",
|
| 619 |
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"wrist_flip_suspect": []
|
| 620 |
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|
| 621 |
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|
| 622 |
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|
| 623 |
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|
| 624 |
"primitive": "LM66",
|
| 625 |
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|
| 626 |
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},
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| 627 |
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"task": {
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| 628 |
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"primitive": "LM66",
|
| 629 |
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"instruction": "Pick up the next box in the row and carry it to the table. The operator will not tell you how heavy each one is. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 630 |
}
|
| 631 |
}
|
actions/locomanipulation/LM66/session_001/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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size 3542179
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actions/locomanipulation/LM66/session_001/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
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|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
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size
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| 1 |
version https://git-lfs.github.com/spec/v1
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size 9625168
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actions/locomanipulation/LM66/session_002/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
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|
|
|
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|
|
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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": "LM66",
|
| 6 |
+
"instruction": "Pick up the next box in the row and carry it to the table. The operator will not tell you how heavy each one is. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
|
| 7 |
+
"segments": [
|
| 8 |
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{
|
| 9 |
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"id": "segment1",
|
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|
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"video": "left_eye",
|
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"video_t_start": 0.03913833505852904
|
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}
|
| 14 |
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],
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"episodes": [
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| 16 |
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{
|
| 17 |
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"id": "c0e9be0f-66ab-4d83-afaa-5fe6e097d8fe",
|
| 18 |
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"segment": "segment1",
|
| 19 |
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"action": "LM66",
|
| 20 |
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"quality": "valid",
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| 21 |
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"start_s": 0,
|
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"end_s": 85.714,
|
| 23 |
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"t_start": 0.0391,
|
| 24 |
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"t_end": 85.7531,
|
| 25 |
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"instruction": "Pick up the next box in the row and carry it to the table. The operator will not tell you how heavy each one is. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM66/session_002/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,252 @@
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actions/locomanipulation/LM66/session_002/cameras/slam.npz
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 512406
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CHANGED
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@@ -356,8 +356,8 @@
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| 356 |
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@@ -541,10 +541,124 @@
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| 544 |
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| 549 |
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| 550 |
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|
| 356 |
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|
| 357 |
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|
| 358 |
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CHANGED
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| 631 |
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| 632 |
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|
| 633 |
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|
| 634 |
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|
actions/locomanipulation/LM66/session_003/motions/hands_mano.npz
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"instruction": "Pick up the next box in the row and carry it to the table. The operator will not tell you how heavy each one is. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
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|
| 23 |
+
"t_start": 0.0396,
|
| 24 |
+
"t_end": 95.0396,
|
| 25 |
+
"instruction": "Pick up the next box in the row and carry it to the table. The operator will not tell you how heavy each one is. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM66/session_004/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:eeeb4827a0c110195325625bed86afb5ae4ac79fdaa168b79c8d2f49d811fd5a
|
| 3 |
+
size 570577
|
actions/locomanipulation/LM66/session_004/meta.json
CHANGED
|
@@ -325,8 +325,8 @@
|
|
| 325 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 326 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 327 |
"hands": {
|
| 328 |
-
"observed":
|
| 329 |
-
"hand_pose": "
|
| 330 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 331 |
"hand_marker_offsets_m": {
|
| 332 |
"left": {
|
|
@@ -517,10 +517,124 @@
|
|
| 517 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 518 |
"remaining_gyro_frame_deg": 0.9834918560702481
|
| 519 |
},
|
|
|
|
|
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|
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|
| 520 |
"release": {
|
| 521 |
"release_path": "actions/locomanipulation/LM66/session_004",
|
| 522 |
"family": "locomanipulation",
|
| 523 |
"primitive": "LM66",
|
| 524 |
"source_session": "20260910/LM66/20260910_074632_session135"
|
|
|
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|
|
|
|
|
|
|
|
|
| 525 |
}
|
| 526 |
}
|
|
|
|
| 325 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 326 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 327 |
"hands": {
|
| 328 |
+
"observed": true,
|
| 329 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 330 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 331 |
"hand_marker_offsets_m": {
|
| 332 |
"left": {
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|
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|
| 517 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 518 |
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|
| 519 |
},
|
| 520 |
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"hands_registration": {
|
| 521 |
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"cameras": {},
|
| 522 |
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"hands": {
|
| 523 |
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"left": {
|
| 524 |
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"offset_deg": 11.13,
|
| 525 |
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"offset_rotvec": [
|
| 526 |
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|
| 527 |
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|
| 528 |
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0.1516
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| 529 |
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],
|
| 530 |
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"dev_deg": {
|
| 531 |
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"median": 9.89,
|
| 532 |
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"p90": 29.84
|
| 533 |
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},
|
| 534 |
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"samples": 2691,
|
| 535 |
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"accepted": 2427,
|
| 536 |
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"wrist_pos_err_mm_median": 66.9,
|
| 537 |
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"per_camera": {
|
| 538 |
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"head": {
|
| 539 |
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"samples": 2691,
|
| 540 |
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"accepted": 2427,
|
| 541 |
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"gate_deg": 30.0,
|
| 542 |
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"offset_deg": 11.13,
|
| 543 |
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"tier": "primary",
|
| 544 |
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"dev_deg_median": 9.89,
|
| 545 |
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"wrist_pos_err_mm_median": 66.9
|
| 546 |
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}
|
| 547 |
+
},
|
| 548 |
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"frames_by_state": {
|
| 549 |
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"ace_sample": 9820,
|
| 550 |
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"interpolated": 1800,
|
| 551 |
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"mean_hand": 264,
|
| 552 |
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"no_body_fit": 0
|
| 553 |
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},
|
| 554 |
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"observed_fraction": 0.9778,
|
| 555 |
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"observed_fraction_of_valid": 0.9778,
|
| 556 |
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"palm_axis_vs_markers_deg": {
|
| 557 |
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"gsi": 13.41,
|
| 558 |
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"smplx": 2.45
|
| 559 |
+
},
|
| 560 |
+
"hand_marker_to_mesh_mm": {
|
| 561 |
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"flat": {
|
| 562 |
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"median": 7.6,
|
| 563 |
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"p90": 8.8
|
| 564 |
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},
|
| 565 |
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"registered": {
|
| 566 |
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"median": 7.5,
|
| 567 |
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"p90": 8.8
|
| 568 |
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}
|
| 569 |
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}
|
| 570 |
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},
|
| 571 |
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"right": {
|
| 572 |
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"offset_deg": 8.39,
|
| 573 |
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"offset_rotvec": [
|
| 574 |
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|
| 575 |
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0.0872,
|
| 576 |
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-0.098
|
| 577 |
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],
|
| 578 |
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"dev_deg": {
|
| 579 |
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"median": 11.6,
|
| 580 |
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"p90": 18.53
|
| 581 |
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},
|
| 582 |
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"samples": 2790,
|
| 583 |
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"accepted": 2702,
|
| 584 |
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"wrist_pos_err_mm_median": 84.2,
|
| 585 |
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"per_camera": {
|
| 586 |
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"head": {
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| 587 |
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"samples": 2790,
|
| 588 |
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"accepted": 2702,
|
| 589 |
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"gate_deg": 30.0,
|
| 590 |
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"offset_deg": 8.39,
|
| 591 |
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"tier": "primary",
|
| 592 |
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"dev_deg_median": 11.6,
|
| 593 |
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"wrist_pos_err_mm_median": 84.2
|
| 594 |
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}
|
| 595 |
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},
|
| 596 |
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"frames_by_state": {
|
| 597 |
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"ace_sample": 10858,
|
| 598 |
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"interpolated": 702,
|
| 599 |
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"mean_hand": 324,
|
| 600 |
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"no_body_fit": 0
|
| 601 |
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},
|
| 602 |
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"observed_fraction": 0.9727,
|
| 603 |
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"observed_fraction_of_valid": 0.9727,
|
| 604 |
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"palm_axis_vs_markers_deg": {
|
| 605 |
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"gsi": 8.61,
|
| 606 |
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"smplx": 2.1
|
| 607 |
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},
|
| 608 |
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"hand_marker_to_mesh_mm": {
|
| 609 |
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"flat": {
|
| 610 |
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"median": 10.1,
|
| 611 |
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"p90": 13.1
|
| 612 |
+
},
|
| 613 |
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"registered": {
|
| 614 |
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"median": 9.0,
|
| 615 |
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"p90": 12.4
|
| 616 |
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}
|
| 617 |
+
}
|
| 618 |
+
}
|
| 619 |
+
},
|
| 620 |
+
"max_dev_deg": 30.0,
|
| 621 |
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"max_gap_s": 1.0,
|
| 622 |
+
"cameras_used": [
|
| 623 |
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"head"
|
| 624 |
+
],
|
| 625 |
+
"generated_at_utc": "2026-11-03T16:29:52.419229+00:00",
|
| 626 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 627 |
+
"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",
|
| 628 |
+
"wrist_flip_suspect": []
|
| 629 |
+
},
|
| 630 |
"release": {
|
| 631 |
"release_path": "actions/locomanipulation/LM66/session_004",
|
| 632 |
"family": "locomanipulation",
|
| 633 |
"primitive": "LM66",
|
| 634 |
"source_session": "20260910/LM66/20260910_074632_session135"
|
| 635 |
+
},
|
| 636 |
+
"task": {
|
| 637 |
+
"primitive": "LM66",
|
| 638 |
+
"instruction": "Pick up the next box in the row and carry it to the table. The operator will not tell you how heavy each one is. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 639 |
}
|
| 640 |
}
|
actions/locomanipulation/LM66/session_004/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5490da68db3b99d4593e965b2b9ca6beb5322be1de189c901deaee70c6a5e1cf
|
| 3 |
+
size 3724648
|
actions/locomanipulation/LM66/session_004/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 sha256:612590d5063eee861237a12dcc83020160e17cfd226e5bc2c060da8848dbf949
|
| 3 |
+
size 8469874
|
actions/locomanipulation/LM66/session_005/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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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": "LM66",
|
| 6 |
+
"instruction": "Pick up the next box in the row and carry it to the table. The operator will not tell you how heavy each one is. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 88.966578,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.0391974446722525
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "3b095d42-4542-4fb7-9c91-b9928e60c0fa",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM66",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 83,
|
| 23 |
+
"t_start": 0.0392,
|
| 24 |
+
"t_end": 83.0392,
|
| 25 |
+
"instruction": "Pick up the next box in the row and carry it to the table. The operator will not tell you how heavy each one is. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM66/session_005/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,254 @@
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|
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|
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|
| 628 |
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|
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|
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|
| 631 |
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|
| 632 |
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|
| 634 |
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"primitive": "LM66",
|
| 639 |
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"instruction": "Pick up the next box in the row and carry it to the table. The operator will not tell you how heavy each one is. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 640 |
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|
| 641 |
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actions/locomanipulation/LM66/session_005/motions/hands_mano.npz
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actions/locomanipulation/LM66/session_006/annotations.json
ADDED
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@@ -0,0 +1,28 @@
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{
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|
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|
| 4 |
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"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": "LM66",
|
| 6 |
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"instruction": "Pick up the next box in the row and carry it to the table. The operator will not tell you how heavy each one is. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
|
| 7 |
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"segments": [
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|
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"instruction": "Pick up the next box in the row and carry it to the table. The operator will not tell you how heavy each one is. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
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