Release update 2026-11-05: new sessions, instructions, annotations (part 232)
Browse files- actions/locomanipulation/LM27/session_014/motions/smplx.npz +2 -2
- actions/locomanipulation/LM27/session_015/annotations.json +28 -0
- actions/locomanipulation/LM27/session_015/cameras/gsi_online_calibration.json +254 -0
- actions/locomanipulation/LM27/session_015/cameras/slam.npz +3 -0
- actions/locomanipulation/LM27/session_015/meta.json +116 -2
- actions/locomanipulation/LM27/session_015/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM27/session_015/motions/smplx.npz +2 -2
- actions/locomanipulation/LM27/session_016/annotations.json +28 -0
- actions/locomanipulation/LM27/session_016/cameras/slam.npz +3 -0
- actions/locomanipulation/LM27/session_016/meta.json +116 -2
- actions/locomanipulation/LM27/session_016/motions/hands_mano.npz +3 -0
actions/locomanipulation/LM27/session_014/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:f2595991ba977abfda5c32ae2f0beadfb23ccdb873aaec2caae303e96dc09d7e
|
| 3 |
+
size 9766781
|
actions/locomanipulation/LM27/session_015/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"source": "vendor annotation.json (schema 2, revision 1)",
|
| 4 |
+
"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
|
| 5 |
+
"primitive": "LM27",
|
| 6 |
+
"instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 103.9667,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.039025007210607754
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "ad31bdef-fcbe-499d-bf01-02e08c2d86c9",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM27",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 99.63,
|
| 23 |
+
"t_start": 0.039,
|
| 24 |
+
"t_end": 99.669,
|
| 25 |
+
"instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM27/session_015/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,254 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 14,
|
| 5 |
+
"median_px": 0.405
|
| 6 |
+
},
|
| 7 |
+
"cameras": {
|
| 8 |
+
"left": {
|
| 9 |
+
"accepted": true,
|
| 10 |
+
"against": [
|
| 11 |
+
"left_front",
|
| 12 |
+
"right_front",
|
| 13 |
+
"left_eye",
|
| 14 |
+
"right_eye"
|
| 15 |
+
],
|
| 16 |
+
"delta_deg": 1.0432,
|
| 17 |
+
"gate_fail": [],
|
| 18 |
+
"held_out_px_after": 0.602,
|
| 19 |
+
"held_out_px_before": 5.478,
|
| 20 |
+
"inliers": 1695,
|
| 21 |
+
"position_fitted": false,
|
| 22 |
+
"rotvec_deg": [
|
| 23 |
+
-0.4137,
|
| 24 |
+
-0.5288,
|
| 25 |
+
-0.7984
|
| 26 |
+
],
|
| 27 |
+
"split_deg": 0.0699,
|
| 28 |
+
"usable": true
|
| 29 |
+
},
|
| 30 |
+
"left_eye": {
|
| 31 |
+
"accepted": true,
|
| 32 |
+
"against": [
|
| 33 |
+
"left_front",
|
| 34 |
+
"right_front",
|
| 35 |
+
"right_eye",
|
| 36 |
+
"left",
|
| 37 |
+
"right"
|
| 38 |
+
],
|
| 39 |
+
"delta_deg": 2.2401,
|
| 40 |
+
"gate_fail": [],
|
| 41 |
+
"held_out_px_after": 0.41,
|
| 42 |
+
"held_out_px_before": 6.377,
|
| 43 |
+
"inliers": 2492,
|
| 44 |
+
"position_fitted": true,
|
| 45 |
+
"position_mm": [
|
| 46 |
+
6.23,
|
| 47 |
+
-19.46,
|
| 48 |
+
4.31
|
| 49 |
+
],
|
| 50 |
+
"position_sigma_mm": 0.161,
|
| 51 |
+
"position_split_mm": 0.57,
|
| 52 |
+
"rotvec_deg": [
|
| 53 |
+
-0.323,
|
| 54 |
+
0.7804,
|
| 55 |
+
-2.0748
|
| 56 |
+
],
|
| 57 |
+
"split_deg": 0.0302,
|
| 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": 1.2312,
|
| 72 |
+
"gate_fail": [],
|
| 73 |
+
"held_out_px_after": 0.556,
|
| 74 |
+
"held_out_px_before": 4.652,
|
| 75 |
+
"inliers": 1551,
|
| 76 |
+
"position_fitted": false,
|
| 77 |
+
"rotvec_deg": [
|
| 78 |
+
1.0694,
|
| 79 |
+
-0.3912,
|
| 80 |
+
-0.4683
|
| 81 |
+
],
|
| 82 |
+
"split_deg": 0.0513,
|
| 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": 0.8379,
|
| 95 |
+
"gate_fail": [],
|
| 96 |
+
"held_out_px_after": 0.412,
|
| 97 |
+
"held_out_px_before": 3.045,
|
| 98 |
+
"inliers": 2633,
|
| 99 |
+
"position_fitted": true,
|
| 100 |
+
"position_mm": [
|
| 101 |
+
7.22,
|
| 102 |
+
-21.39,
|
| 103 |
+
3.92
|
| 104 |
+
],
|
| 105 |
+
"position_sigma_mm": 0.155,
|
| 106 |
+
"position_split_mm": 0.781,
|
| 107 |
+
"rotvec_deg": [
|
| 108 |
+
-0.0878,
|
| 109 |
+
-0.3838,
|
| 110 |
+
-0.7396
|
| 111 |
+
],
|
| 112 |
+
"split_deg": 0.0495,
|
| 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": 1.9107,
|
| 125 |
+
"gate_fail": [],
|
| 126 |
+
"held_out_px_after": 0.371,
|
| 127 |
+
"held_out_px_before": 6.234,
|
| 128 |
+
"inliers": 3772,
|
| 129 |
+
"position_fitted": false,
|
| 130 |
+
"rotvec_deg": [
|
| 131 |
+
-0.2903,
|
| 132 |
+
-0.1475,
|
| 133 |
+
-1.8828
|
| 134 |
+
],
|
| 135 |
+
"split_deg": 0.0083,
|
| 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": "e67d4eff124fe36a8ca53a7fac43edd4abc747440f3bab8c64db2fd1986f102d",
|
| 145 |
+
"source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
|
| 146 |
+
},
|
| 147 |
+
"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 148 |
+
"sha256": "eb5f973e71ea087bb49ff5a3a6cad85c2b59b88cef253f81b3ff497d69cb3aaa",
|
| 149 |
+
"source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
|
| 150 |
+
},
|
| 151 |
+
"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 152 |
+
"sha256": "e721d0bec80c92825d4718c794c110de94bcca00ee36e129fea64b18c41855ec",
|
| 153 |
+
"source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
|
| 154 |
+
},
|
| 155 |
+
"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 156 |
+
"sha256": "e5ec3739c5f482517f1291f7d587558fdcddcc9e8c24f586a2da42b6f1e24474",
|
| 157 |
+
"source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
"input_fingerprint": "8b077ef421b0b39f",
|
| 161 |
+
"kind": "online_calibration",
|
| 162 |
+
"output_sha256": "2d070a9e8ed03d39ad7892edd176dcbaf2c9f5e03902e8fd1fb1b4b561cf5731",
|
| 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": 37.79,
|
| 182 |
+
"left_eye": 32.69,
|
| 183 |
+
"left_front": 36.362,
|
| 184 |
+
"right": 38.557,
|
| 185 |
+
"right_eye": 30.834,
|
| 186 |
+
"right_front": 35.579
|
| 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 |
+
27911819184111,
|
| 197 |
+
27912819195222,
|
| 198 |
+
27916819184111,
|
| 199 |
+
27917819184111,
|
| 200 |
+
27921819184111,
|
| 201 |
+
27922819228555,
|
| 202 |
+
27924819195222,
|
| 203 |
+
27925819273000,
|
| 204 |
+
27926819228555,
|
| 205 |
+
27930819195222,
|
| 206 |
+
27931819228555,
|
| 207 |
+
27932819228555,
|
| 208 |
+
27935819306333,
|
| 209 |
+
27936819195222,
|
| 210 |
+
27941819184111,
|
| 211 |
+
27942819195222,
|
| 212 |
+
27944819184111,
|
| 213 |
+
27945819195222,
|
| 214 |
+
27947819239666,
|
| 215 |
+
27948819173000,
|
| 216 |
+
27949819195222,
|
| 217 |
+
27952819184111,
|
| 218 |
+
27953819184111,
|
| 219 |
+
27955819250777,
|
| 220 |
+
27956819317444,
|
| 221 |
+
27960819239666,
|
| 222 |
+
27961819195222,
|
| 223 |
+
27962819184111,
|
| 224 |
+
27963819228555,
|
| 225 |
+
27967819195222,
|
| 226 |
+
27968819184111,
|
| 227 |
+
27969819206333,
|
| 228 |
+
27972819295222,
|
| 229 |
+
27973819184111,
|
| 230 |
+
27977819173000,
|
| 231 |
+
27978819206333,
|
| 232 |
+
27980819173000,
|
| 233 |
+
27981819195222,
|
| 234 |
+
27982819228555,
|
| 235 |
+
27985819228555,
|
| 236 |
+
27986819228555,
|
| 237 |
+
27988819239666,
|
| 238 |
+
27989819228555,
|
| 239 |
+
27991819228555,
|
| 240 |
+
27992819373000,
|
| 241 |
+
27996819173000,
|
| 242 |
+
27997819295222,
|
| 243 |
+
28001819184111,
|
| 244 |
+
28002819173000,
|
| 245 |
+
28003819239666,
|
| 246 |
+
28004819228555,
|
| 247 |
+
28005819239666,
|
| 248 |
+
28006819228555,
|
| 249 |
+
28008819306333,
|
| 250 |
+
28009819184111
|
| 251 |
+
]
|
| 252 |
+
},
|
| 253 |
+
"version": 1
|
| 254 |
+
}
|
actions/locomanipulation/LM27/session_015/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d94d8a23ee242465c21beb2323fe4953811eb74afeb2c7c24860833f2197b8b1
|
| 3 |
+
size 599400
|
actions/locomanipulation/LM27/session_015/meta.json
CHANGED
|
@@ -341,8 +341,8 @@
|
|
| 341 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 342 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 343 |
"hands": {
|
| 344 |
-
"observed":
|
| 345 |
-
"hand_pose": "
|
| 346 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 347 |
"hand_marker_offsets_m": {
|
| 348 |
"left": {
|
|
@@ -527,10 +527,124 @@
|
|
| 527 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 528 |
"remaining_gyro_frame_deg": 0.9977213684296621
|
| 529 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 530 |
"release": {
|
| 531 |
"release_path": "actions/locomanipulation/LM27/session_015",
|
| 532 |
"family": "locomanipulation",
|
| 533 |
"primitive": "LM27",
|
| 534 |
"source_session": "20260922/LM27/20260922_092642_session138"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 535 |
}
|
| 536 |
}
|
|
|
|
| 341 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 342 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 343 |
"hands": {
|
| 344 |
+
"observed": true,
|
| 345 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 346 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 347 |
"hand_marker_offsets_m": {
|
| 348 |
"left": {
|
|
|
|
| 527 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 528 |
"remaining_gyro_frame_deg": 0.9977213684296621
|
| 529 |
},
|
| 530 |
+
"hands_registration": {
|
| 531 |
+
"cameras": {},
|
| 532 |
+
"hands": {
|
| 533 |
+
"left": {
|
| 534 |
+
"offset_deg": 5.93,
|
| 535 |
+
"offset_rotvec": [
|
| 536 |
+
0.074,
|
| 537 |
+
0.0681,
|
| 538 |
+
-0.0242
|
| 539 |
+
],
|
| 540 |
+
"dev_deg": {
|
| 541 |
+
"median": 5.67,
|
| 542 |
+
"p90": 17.03
|
| 543 |
+
},
|
| 544 |
+
"samples": 3095,
|
| 545 |
+
"accepted": 2881,
|
| 546 |
+
"wrist_pos_err_mm_median": 25.5,
|
| 547 |
+
"per_camera": {
|
| 548 |
+
"head": {
|
| 549 |
+
"samples": 3095,
|
| 550 |
+
"accepted": 2881,
|
| 551 |
+
"gate_deg": 30.0,
|
| 552 |
+
"offset_deg": 5.93,
|
| 553 |
+
"tier": "primary",
|
| 554 |
+
"dev_deg_median": 5.67,
|
| 555 |
+
"wrist_pos_err_mm_median": 25.5
|
| 556 |
+
}
|
| 557 |
+
},
|
| 558 |
+
"frames_by_state": {
|
| 559 |
+
"ace_sample": 11533,
|
| 560 |
+
"interpolated": 418,
|
| 561 |
+
"mean_hand": 525,
|
| 562 |
+
"no_body_fit": 8
|
| 563 |
+
},
|
| 564 |
+
"observed_fraction": 0.9573,
|
| 565 |
+
"observed_fraction_of_valid": 0.9579,
|
| 566 |
+
"palm_axis_vs_markers_deg": {
|
| 567 |
+
"gsi": 6.66,
|
| 568 |
+
"smplx": 0.57
|
| 569 |
+
},
|
| 570 |
+
"hand_marker_to_mesh_mm": {
|
| 571 |
+
"flat": {
|
| 572 |
+
"median": 8.6,
|
| 573 |
+
"p90": 12.3
|
| 574 |
+
},
|
| 575 |
+
"registered": {
|
| 576 |
+
"median": 9.5,
|
| 577 |
+
"p90": 10.7
|
| 578 |
+
}
|
| 579 |
+
}
|
| 580 |
+
},
|
| 581 |
+
"right": {
|
| 582 |
+
"offset_deg": 9.28,
|
| 583 |
+
"offset_rotvec": [
|
| 584 |
+
-0.0397,
|
| 585 |
+
-0.0141,
|
| 586 |
+
-0.1563
|
| 587 |
+
],
|
| 588 |
+
"dev_deg": {
|
| 589 |
+
"median": 4.24,
|
| 590 |
+
"p90": 14.73
|
| 591 |
+
},
|
| 592 |
+
"samples": 3040,
|
| 593 |
+
"accepted": 2902,
|
| 594 |
+
"wrist_pos_err_mm_median": 38.5,
|
| 595 |
+
"per_camera": {
|
| 596 |
+
"head": {
|
| 597 |
+
"samples": 3040,
|
| 598 |
+
"accepted": 2902,
|
| 599 |
+
"gate_deg": 30.0,
|
| 600 |
+
"offset_deg": 9.28,
|
| 601 |
+
"tier": "primary",
|
| 602 |
+
"dev_deg_median": 4.24,
|
| 603 |
+
"wrist_pos_err_mm_median": 38.5
|
| 604 |
+
}
|
| 605 |
+
},
|
| 606 |
+
"frames_by_state": {
|
| 607 |
+
"ace_sample": 11618,
|
| 608 |
+
"interpolated": 326,
|
| 609 |
+
"mean_hand": 532,
|
| 610 |
+
"no_body_fit": 8
|
| 611 |
+
},
|
| 612 |
+
"observed_fraction": 0.9567,
|
| 613 |
+
"observed_fraction_of_valid": 0.9574,
|
| 614 |
+
"palm_axis_vs_markers_deg": {
|
| 615 |
+
"gsi": 7.73,
|
| 616 |
+
"smplx": 1.43
|
| 617 |
+
},
|
| 618 |
+
"hand_marker_to_mesh_mm": {
|
| 619 |
+
"flat": {
|
| 620 |
+
"median": 4.4,
|
| 621 |
+
"p90": 6.0
|
| 622 |
+
},
|
| 623 |
+
"registered": {
|
| 624 |
+
"median": 5.4,
|
| 625 |
+
"p90": 6.8
|
| 626 |
+
}
|
| 627 |
+
}
|
| 628 |
+
}
|
| 629 |
+
},
|
| 630 |
+
"max_dev_deg": 30.0,
|
| 631 |
+
"max_gap_s": 1.0,
|
| 632 |
+
"cameras_used": [
|
| 633 |
+
"head"
|
| 634 |
+
],
|
| 635 |
+
"generated_at_utc": "2026-11-03T22:43:45.457187+00:00",
|
| 636 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 637 |
+
"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",
|
| 638 |
+
"wrist_flip_suspect": []
|
| 639 |
+
},
|
| 640 |
"release": {
|
| 641 |
"release_path": "actions/locomanipulation/LM27/session_015",
|
| 642 |
"family": "locomanipulation",
|
| 643 |
"primitive": "LM27",
|
| 644 |
"source_session": "20260922/LM27/20260922_092642_session138"
|
| 645 |
+
},
|
| 646 |
+
"task": {
|
| 647 |
+
"primitive": "LM27",
|
| 648 |
+
"instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take."
|
| 649 |
}
|
| 650 |
}
|
actions/locomanipulation/LM27/session_015/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c8001d67889453542672cf88e38b71a05c5acd516d165fce4ec4d0e7202c3a27
|
| 3 |
+
size 4099719
|
actions/locomanipulation/LM27/session_015/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 sha256:363cedbfa4d87bba949714b50123047f3059b9cc18168b7420803b80bd3aa70e
|
| 3 |
+
size 8854998
|
actions/locomanipulation/LM27/session_016/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"source": "vendor annotation.json (schema 2, revision 1)",
|
| 4 |
+
"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
|
| 5 |
+
"primitive": "LM27",
|
| 6 |
+
"instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 118.966667,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.038897888222514165
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "f8acfe19-ebf9-4661-814e-952e280939fe",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM27",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 116.396,
|
| 23 |
+
"t_start": 0.0389,
|
| 24 |
+
"t_end": 116.4349,
|
| 25 |
+
"instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM27/session_016/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8f71cc9092c2da998b9530de9916651862360d7c642437b304ca0632a5e62ab1
|
| 3 |
+
size 684567
|
actions/locomanipulation/LM27/session_016/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": 0.5729281804909528
|
| 514 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 515 |
"release": {
|
| 516 |
"release_path": "actions/locomanipulation/LM27/session_016",
|
| 517 |
"family": "locomanipulation",
|
| 518 |
"primitive": "LM27",
|
| 519 |
"source_session": "20260923/LM27/20260923_011758_session195"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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": 0.5729281804909528
|
| 514 |
},
|
| 515 |
+
"hands_registration": {
|
| 516 |
+
"cameras": {},
|
| 517 |
+
"hands": {
|
| 518 |
+
"left": {
|
| 519 |
+
"offset_deg": 28.59,
|
| 520 |
+
"offset_rotvec": [
|
| 521 |
+
-0.1772,
|
| 522 |
+
0.3719,
|
| 523 |
+
-0.2818
|
| 524 |
+
],
|
| 525 |
+
"dev_deg": {
|
| 526 |
+
"median": 2.97,
|
| 527 |
+
"p90": 6.05
|
| 528 |
+
},
|
| 529 |
+
"samples": 3531,
|
| 530 |
+
"accepted": 3519,
|
| 531 |
+
"wrist_pos_err_mm_median": 47.2,
|
| 532 |
+
"per_camera": {
|
| 533 |
+
"head": {
|
| 534 |
+
"samples": 3531,
|
| 535 |
+
"accepted": 3519,
|
| 536 |
+
"gate_deg": 30.0,
|
| 537 |
+
"offset_deg": 28.59,
|
| 538 |
+
"tier": "primary",
|
| 539 |
+
"dev_deg_median": 2.97,
|
| 540 |
+
"wrist_pos_err_mm_median": 47.2
|
| 541 |
+
}
|
| 542 |
+
},
|
| 543 |
+
"frames_by_state": {
|
| 544 |
+
"ace_sample": 14072,
|
| 545 |
+
"interpolated": 0,
|
| 546 |
+
"mean_hand": 212,
|
| 547 |
+
"no_body_fit": 0
|
| 548 |
+
},
|
| 549 |
+
"observed_fraction": 0.9852,
|
| 550 |
+
"observed_fraction_of_valid": 0.9852,
|
| 551 |
+
"palm_axis_vs_markers_deg": {
|
| 552 |
+
"gsi": 23.58,
|
| 553 |
+
"smplx": 0.78
|
| 554 |
+
},
|
| 555 |
+
"hand_marker_to_mesh_mm": {
|
| 556 |
+
"flat": {
|
| 557 |
+
"median": 11.6,
|
| 558 |
+
"p90": 13.9
|
| 559 |
+
},
|
| 560 |
+
"registered": {
|
| 561 |
+
"median": 11.6,
|
| 562 |
+
"p90": 13.9
|
| 563 |
+
}
|
| 564 |
+
}
|
| 565 |
+
},
|
| 566 |
+
"right": {
|
| 567 |
+
"offset_deg": 26.24,
|
| 568 |
+
"offset_rotvec": [
|
| 569 |
+
0.0351,
|
| 570 |
+
-0.4235,
|
| 571 |
+
0.1706
|
| 572 |
+
],
|
| 573 |
+
"dev_deg": {
|
| 574 |
+
"median": 3.34,
|
| 575 |
+
"p90": 8.97
|
| 576 |
+
},
|
| 577 |
+
"samples": 3539,
|
| 578 |
+
"accepted": 3534,
|
| 579 |
+
"wrist_pos_err_mm_median": 61.4,
|
| 580 |
+
"per_camera": {
|
| 581 |
+
"head": {
|
| 582 |
+
"samples": 3539,
|
| 583 |
+
"accepted": 3534,
|
| 584 |
+
"gate_deg": 30.0,
|
| 585 |
+
"offset_deg": 26.24,
|
| 586 |
+
"tier": "primary",
|
| 587 |
+
"dev_deg_median": 3.34,
|
| 588 |
+
"wrist_pos_err_mm_median": 61.4
|
| 589 |
+
}
|
| 590 |
+
},
|
| 591 |
+
"frames_by_state": {
|
| 592 |
+
"ace_sample": 14146,
|
| 593 |
+
"interpolated": 126,
|
| 594 |
+
"mean_hand": 12,
|
| 595 |
+
"no_body_fit": 0
|
| 596 |
+
},
|
| 597 |
+
"observed_fraction": 0.9992,
|
| 598 |
+
"observed_fraction_of_valid": 0.9992,
|
| 599 |
+
"palm_axis_vs_markers_deg": {
|
| 600 |
+
"gsi": 24.94,
|
| 601 |
+
"smplx": 0.54
|
| 602 |
+
},
|
| 603 |
+
"hand_marker_to_mesh_mm": {
|
| 604 |
+
"flat": {
|
| 605 |
+
"median": 10.2,
|
| 606 |
+
"p90": 10.9
|
| 607 |
+
},
|
| 608 |
+
"registered": {
|
| 609 |
+
"median": 10.3,
|
| 610 |
+
"p90": 11.8
|
| 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": "2026-11-03T22:39:54.116268+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/LM27/session_016",
|
| 627 |
"family": "locomanipulation",
|
| 628 |
"primitive": "LM27",
|
| 629 |
"source_session": "20260923/LM27/20260923_011758_session195"
|
| 630 |
+
},
|
| 631 |
+
"task": {
|
| 632 |
+
"primitive": "LM27",
|
| 633 |
+
"instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take."
|
| 634 |
}
|
| 635 |
}
|
actions/locomanipulation/LM27/session_016/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:09bef223e68c0f1e06e57fa66d01bc5cb0d6e59b89c09e019d160d90a0f38f80
|
| 3 |
+
size 4745560
|