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Only carry what is comfortable. Set it down whenever you need to.", + "segments": [ + { + "id": "segment1", + "duration_s": 133.9666, + "video": "left_eye", + "video_t_start": 0.0391784742238821 + } + ], + "episodes": [ + { + "id": "7843c764-9566-4b8f-9fce-1c3597e8fed2", + "segment": "segment1", + "action": "LM14", + "quality": "valid", + "start_s": 0, + "end_s": 128.424, + "t_start": 0.0392, + "t_end": 128.4632, + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to." + } + ] +} diff --git a/actions/locomanipulation/LM14/session_001/cameras/slam.npz b/actions/locomanipulation/LM14/session_001/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..9701ca44694a2426970b0ec3a2ab79a0152ededc --- /dev/null +++ b/actions/locomanipulation/LM14/session_001/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca758ce07015536960407404f8a9d81590d75f437e96416618820dc75fdfa1ff +size 772605 diff --git a/actions/locomanipulation/LM14/session_001/meta.json b/actions/locomanipulation/LM14/session_001/meta.json index a5bacc258f3acaee9878bac31d7761fc39a7a649..b91daa4c07830db3a2745f2d9acf52d988d28b76 100644 --- a/actions/locomanipulation/LM14/session_001/meta.json +++ b/actions/locomanipulation/LM14/session_001/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -511,10 +511,132 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.3745883973808122 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 23.18, + "offset_rotvec": [ + -0.1602, + -0.3396, + 0.1505 + ], + "dev_deg": { + "median": 19.4, + "p90": 30.37 + }, + "samples": 4004, + "accepted": 3577, + "wrist_pos_err_mm_median": 111.0, + "per_camera": { + "head": { + "samples": 4004, + "accepted": 3577, + "gate_deg": 30.0, + "offset_deg": 23.18, + "tier": "primary", + "dev_deg_median": 19.4, + "wrist_pos_err_mm_median": 111.0 + } + }, + "frames_by_state": { + "ace_sample": 14340, + "interpolated": 536, + "mean_hand": 1208, + "no_body_fit": 0 + }, + "observed_fraction": 0.9249, + "observed_fraction_of_valid": 0.9249, + "palm_axis_vs_markers_deg": { + "gsi": 27.13, + "smplx": 0.57 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.7, + "p90": 8.0 + }, + "registered": { + "median": 4.3, + "p90": 5.3 + } + } + }, + "right": { + "offset_deg": 27.86, + "offset_rotvec": [ + -0.1093, + 0.4315, + 0.1955 + ], + "dev_deg": { + "median": 7.89, + "p90": 21.07 + }, + "samples": 3903, + "accepted": 3867, + "wrist_pos_err_mm_median": 82.8, + "per_camera": { + "head": { + "samples": 3903, + "accepted": 3867, + "gate_deg": 30.0, + "offset_deg": 27.86, + "tier": "primary", + "dev_deg_median": 7.89, + "wrist_pos_err_mm_median": 82.8 + } + }, + "frames_by_state": { + "ace_sample": 15488, + "interpolated": 328, + "mean_hand": 268, + "no_body_fit": 0 + }, + "observed_fraction": 0.9833, + "observed_fraction_of_valid": 0.9833, + "palm_axis_vs_markers_deg": { + "gsi": 22.86, + "smplx": 0.63 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.0, + "p90": 8.1 + }, + "registered": { + "median": 6.9, + "p90": 7.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T15:32:07.430424+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM14/session_001", "family": "locomanipulation", "primitive": "LM14", "source_session": "20260909/LM14/20260909_114822_session182" - } + }, + "task": { + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to." + }, + "objects": [ + { + "name": "BigBox#1", + "object_type": "BigBox", + "source": "vision", + "pose_frame": "mesh" + } + ] } diff --git a/actions/locomanipulation/LM14/session_001/motions/hands_mano.npz b/actions/locomanipulation/LM14/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..c01ee13d0c7101d88e2b88319bfbb34e80faf67a --- /dev/null +++ b/actions/locomanipulation/LM14/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b2f6dba557ab220ae1db705eba178a337a3768c2e7a24977931e9f1f4b7a1f68 +size 5326916 diff --git a/actions/locomanipulation/LM14/session_001/motions/objects.json b/actions/locomanipulation/LM14/session_001/motions/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..2b664b67389dc3f50588849d081b4aa9b35e2691 --- /dev/null +++ b/actions/locomanipulation/LM14/session_001/motions/objects.json @@ -0,0 +1,39 @@ +{ + "session": "20260909/LM14/20260909_114822_session182", + "generated_at_utc": "2026-10-29T12:28:48.780399+00:00", + "generated_by": "scripts/export_objects.py", + "frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)", + "grid": "body grid (smplx.npz t / frame_index)", + "held_by": "from mocap hands", + "instances": [ + { + "name": "BigBox#1", + "object_type": "BigBox", + "source": "vision", + "pose_frame": "mesh", + "mesh": "objects/BigBox/bigbox.ply", + "calibration": null, + "valid_pct": 99.95, + "verified_pct": null, + "moving_pct": 91.2, + "vision_source": "vision (WAPR anchored at fitted pickup / put-down rest poses)" + } + ], + "absent": [], + "object_list": { + "status": "corrected", + "notes": [ + "objects from LM14 mocap takes, declared nothing" + ], + "declared": [], + "listed": [ + { + "name": "BigBox#1", + "object": "BigBox", + "source": "primitive_prior (BigBox in 9/9 LM14 mocap takes)", + "needs_video_check": false + } + ] + }, + "notes": [] +} diff --git a/actions/locomanipulation/LM14/session_001/motions/objects.npz b/actions/locomanipulation/LM14/session_001/motions/objects.npz new file mode 100644 index 0000000000000000000000000000000000000000..b25316ca27117def273084a0bcdccacbdb333f57 --- /dev/null +++ b/actions/locomanipulation/LM14/session_001/motions/objects.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1578ace8fa1a4002fe7eea502e11feb40cea98e3ce71cdd48e6d507e8080412f +size 712864 diff --git a/actions/locomanipulation/LM14/session_001/motions/smplx.npz b/actions/locomanipulation/LM14/session_001/motions/smplx.npz index 47095e530a586da761c133fa5d56379a14287ced..79ac4ff5dc927ac4a9fa582d8b6640a805507537 100644 --- a/actions/locomanipulation/LM14/session_001/motions/smplx.npz +++ b/actions/locomanipulation/LM14/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:013581ac01d7a4591cc14957706397e05e1e4b497dfdbc1da26345c52be97634 -size 6175230 +oid sha256:e9dc2382a15810a9d973bafaa82b9ef6319275b01310d9b563c7c7a6fc9e4ba8 +size 11375630 diff --git a/actions/locomanipulation/LM14/session_002/annotations.json b/actions/locomanipulation/LM14/session_002/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..555a98a0e66ee03c5a2458c1ab2213e7a57b3246 --- /dev/null +++ b/actions/locomanipulation/LM14/session_002/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "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", + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. 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Set it down whenever you need to." + } + ] +} diff --git a/actions/locomanipulation/LM14/session_002/cameras/slam.npz b/actions/locomanipulation/LM14/session_002/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..969d31bf48a0d09005f1eb482743b08feaee7f92 --- /dev/null +++ b/actions/locomanipulation/LM14/session_002/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fea12261bc2f34b2f7d14e120dfed751355c9596424c27f8dde0f0ef3fe34cfb +size 771004 diff --git a/actions/locomanipulation/LM14/session_002/meta.json b/actions/locomanipulation/LM14/session_002/meta.json index 2857ce62bf16b83fd8b9c00861343600f1643ffd..2bd4d118291b315270b32121eaba2d007b67603c 100644 --- a/actions/locomanipulation/LM14/session_002/meta.json +++ b/actions/locomanipulation/LM14/session_002/meta.json @@ -325,8 +325,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -510,10 +510,132 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8945798681028833 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 26.24, + "offset_rotvec": [ + -0.1344, + -0.3957, + 0.1872 + ], + "dev_deg": { + "median": 16.68, + "p90": 27.42 + }, + "samples": 3976, + "accepted": 3728, + "wrist_pos_err_mm_median": 100.8, + "per_camera": { + "head": { + "samples": 3976, + "accepted": 3728, + "gate_deg": 30.0, + "offset_deg": 26.24, + "tier": "primary", + "dev_deg_median": 16.68, + "wrist_pos_err_mm_median": 100.8 + } + }, + "frames_by_state": { + "ace_sample": 15012, + "interpolated": 1060, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9993, + "observed_fraction_of_valid": 0.9993, + "palm_axis_vs_markers_deg": { + "gsi": 29.78, + "smplx": 0.88 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.8, + "p90": 8.0 + }, + "registered": { + "median": 8.5, + "p90": 9.7 + } + } + }, + "right": { + "offset_deg": 25.65, + "offset_rotvec": [ + -0.0886, + 0.4092, + 0.1584 + ], + "dev_deg": { + "median": 11.01, + "p90": 19.54 + }, + "samples": 3868, + "accepted": 3809, + "wrist_pos_err_mm_median": 81.7, + "per_camera": { + "head": { + "samples": 3868, + "accepted": 3809, + "gate_deg": 30.0, + "offset_deg": 25.65, + "tier": "primary", + "dev_deg_median": 11.01, + "wrist_pos_err_mm_median": 81.7 + } + }, + "frames_by_state": { + "ace_sample": 15264, + "interpolated": 416, + "mean_hand": 404, + "no_body_fit": 0 + }, + "observed_fraction": 0.9749, + "observed_fraction_of_valid": 0.9749, + "palm_axis_vs_markers_deg": { + "gsi": 21.96, + "smplx": 0.74 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.2, + "p90": 11.2 + }, + "registered": { + "median": 8.0, + "p90": 10.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T15:34:37.022067+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM14/session_002", "family": "locomanipulation", "primitive": "LM14", "source_session": "20260909/LM14/20260909_115052_session183" - } + }, + "task": { + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to." + }, + "objects": [ + { + "name": "BigBox#1", + "object_type": "BigBox", + "source": "vision", + "pose_frame": "mesh" + } + ] } diff --git a/actions/locomanipulation/LM14/session_002/motions/hands_mano.npz b/actions/locomanipulation/LM14/session_002/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..5c63ff046261a22c9d9b7f3c99d28ff4ce8d7cd9 --- /dev/null +++ b/actions/locomanipulation/LM14/session_002/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb02781720125d84c03cec3bc14ca72df0ae5fa0f1a30cd953401cc57fda62cb +size 5289466 diff --git a/actions/locomanipulation/LM14/session_002/motions/objects.json b/actions/locomanipulation/LM14/session_002/motions/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..e353bc070d07f95e1b5fc9730918eb76fa40640d --- /dev/null +++ b/actions/locomanipulation/LM14/session_002/motions/objects.json @@ -0,0 +1,39 @@ +{ + "session": "20260909/LM14/20260909_115052_session183", + "generated_at_utc": "2026-10-29T12:29:01.403666+00:00", + "generated_by": "scripts/export_objects.py", + "frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)", + "grid": "body grid (smplx.npz t / frame_index)", + "held_by": "from mocap hands", + "instances": [ + { + "name": "BigBox#1", + "object_type": "BigBox", + "source": "vision", + "pose_frame": "mesh", + "mesh": "objects/BigBox/bigbox.ply", + "calibration": null, + "valid_pct": 99.95, + "verified_pct": null, + "moving_pct": 93.7, + "vision_source": "vision (WAPR anchored at fitted pickup / put-down rest poses)" + } + ], + "absent": [], + "object_list": { + "status": "corrected", + "notes": [ + "objects from LM14 mocap takes, declared nothing" + ], + "declared": [], + "listed": [ + { + "name": "BigBox#1", + "object": "BigBox", + "source": "primitive_prior (BigBox in 9/9 LM14 mocap takes)", + "needs_video_check": false + } + ] + }, + "notes": [] +} diff --git a/actions/locomanipulation/LM14/session_002/motions/objects.npz b/actions/locomanipulation/LM14/session_002/motions/objects.npz new file mode 100644 index 0000000000000000000000000000000000000000..01f095a9d3f96c8b6450c0426ff7296e365782d5 --- /dev/null +++ b/actions/locomanipulation/LM14/session_002/motions/objects.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2ddfd26d75bac0812dc2b8257b1abb6a6833050d778c72d77f9d43607386937 +size 729897 diff --git a/actions/locomanipulation/LM14/session_002/motions/smplx.npz b/actions/locomanipulation/LM14/session_002/motions/smplx.npz index 1c2d1671658d14d142e5274c227632e72fba898c..5364cf853178d8067dced41c65f7f1a45ed0fc85 100644 --- a/actions/locomanipulation/LM14/session_002/motions/smplx.npz +++ b/actions/locomanipulation/LM14/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7e7fd5f84ae3e878105f766144a74428f89b45f3e427c1703de5a7996e4247d0 -size 6160774 +oid sha256:c98fff1eb674eb2704912d8b21af9d0ade96ac1d8fec04a2df6b1062292f2c66 +size 11502294 diff --git a/actions/locomanipulation/LM14/session_003/annotations.json b/actions/locomanipulation/LM14/session_003/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..9ff75416732f891e17c5eeb64c6a4ff40cdd08bc --- /dev/null +++ b/actions/locomanipulation/LM14/session_003/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "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", + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. 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new file mode 100644 index 0000000000000000000000000000000000000000..6bf31ea0080db43a849c838d28cf1abdb11eed32 --- /dev/null +++ b/actions/locomanipulation/LM14/session_003/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f8cda97121599991832444ba40e0263c5f70b2c3f9417f548819ba9f31ee4940 +size 769006 diff --git a/actions/locomanipulation/LM14/session_003/meta.json b/actions/locomanipulation/LM14/session_003/meta.json index afb1ab210042a3ca4337ea65a84267e165baed92..8044256fb74f4e7cb09e450d748c1f7d7b327ba2 100644 --- a/actions/locomanipulation/LM14/session_003/meta.json +++ b/actions/locomanipulation/LM14/session_003/meta.json @@ -344,8 +344,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": 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Only carry what is comfortable. Set it down whenever you need to." } } diff --git a/actions/locomanipulation/LM14/session_003/motions/hands_mano.npz b/actions/locomanipulation/LM14/session_003/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..e037beca6e8a5102376006daf4502a5b3bd3cd10 --- /dev/null +++ b/actions/locomanipulation/LM14/session_003/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a66cd245c2290fd1d00b4362b195a18cf18b5c148afbb6a606db1b55585a5026 +size 952299 diff --git a/actions/locomanipulation/LM14/session_003/motions/smplx.npz b/actions/locomanipulation/LM14/session_003/motions/smplx.npz index ca10fd0af0db2563976e27203c2724a1293a1bf0..63740411fde5211dc5c4d187325fa2610b40dd17 100644 --- a/actions/locomanipulation/LM14/session_003/motions/smplx.npz +++ b/actions/locomanipulation/LM14/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a74e76e4c8537c2217f5f77fc79e7830c745342289b5040930afb6a2f2bc77da -size 6185610 +oid sha256:42ecd61cac91c8fa39d5c4533c433765da9040122bcdb2c37b62276bb074477a +size 6840431 diff --git a/actions/locomanipulation/LM14/session_004/annotations.json b/actions/locomanipulation/LM14/session_004/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..3aab7fafbf7f1ec45b64d9971ac3d7a0f5698f38 --- /dev/null +++ b/actions/locomanipulation/LM14/session_004/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "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", + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. 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Set it down whenever you need to." + } + ] +} diff --git a/actions/locomanipulation/LM14/session_004/cameras/slam.npz b/actions/locomanipulation/LM14/session_004/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..80034ca0c37ae9ec0fc774e81c1dc743107c0d39 --- /dev/null +++ b/actions/locomanipulation/LM14/session_004/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e153c17a9834232d9f83910ea41e597e501e8d8332cbd4ffdc12b96a75017eeb +size 742901 diff --git a/actions/locomanipulation/LM14/session_004/meta.json b/actions/locomanipulation/LM14/session_004/meta.json index f4548f32f674ae7f727dacf7991f8273ffbc240b..8e8be67e875c23c1d35bac9eda1851d750aba366 100644 --- a/actions/locomanipulation/LM14/session_004/meta.json +++ b/actions/locomanipulation/LM14/session_004/meta.json @@ -325,8 +325,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -516,10 +516,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8726712185784126 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 13.32, + "offset_rotvec": [ + -0.0801, + -0.0032, + 0.2182 + ], + "dev_deg": { + "median": 4.72, + "p90": 10.38 + }, + "samples": 3848, + "accepted": 3827, + "wrist_pos_err_mm_median": 73.9, + "per_camera": { + "head": { + "samples": 3848, + "accepted": 3827, + "gate_deg": 30.0, + "offset_deg": 13.32, + "tier": "primary", + "dev_deg_median": 4.72, + "wrist_pos_err_mm_median": 73.9 + } + }, + "frames_by_state": { + "ace_sample": 15324, + "interpolated": 88, + "mean_hand": 66, + "no_body_fit": 6 + }, + "observed_fraction": 0.9954, + "observed_fraction_of_valid": 0.9957, + "palm_axis_vs_markers_deg": { + "gsi": 8.43, + "smplx": 1.01 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.2, + "p90": 10.0 + }, + "registered": { + "median": 7.9, + "p90": 8.6 + } + } + }, + "right": { + "offset_deg": 8.47, + "offset_rotvec": [ + -0.03, + 0.1401, + -0.0362 + ], + "dev_deg": { + "median": 7.46, + "p90": 13.55 + }, + "samples": 3824, + "accepted": 3798, + "wrist_pos_err_mm_median": 76.8, + "per_camera": { + "head": { + "samples": 3824, + "accepted": 3798, + "gate_deg": 30.0, + "offset_deg": 8.47, + "tier": "primary", + "dev_deg_median": 7.46, + "wrist_pos_err_mm_median": 76.8 + } + }, + "frames_by_state": { + "ace_sample": 15202, + "interpolated": 154, + "mean_hand": 122, + "no_body_fit": 6 + }, + "observed_fraction": 0.9917, + "observed_fraction_of_valid": 0.9921, + "palm_axis_vs_markers_deg": { + "gsi": 9.25, + "smplx": 0.77 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.0, + "p90": 7.3 + }, + "registered": { + "median": 5.2, + "p90": 6.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T16:04:45.031923+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM14/session_004", "family": "locomanipulation", "primitive": "LM14", "source_session": "20260910/LM14/20260910_075920_session140" + }, + "task": { + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to." } } diff --git a/actions/locomanipulation/LM14/session_004/motions/hands_mano.npz b/actions/locomanipulation/LM14/session_004/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..28d7ce78c0f5c64443fdba66b5b50df00379fc4d --- /dev/null +++ b/actions/locomanipulation/LM14/session_004/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ca0894dec50acb315c3ca0f8b7cb69a84797b6672b286ca45fa21f70485a587 +size 5173944 diff --git a/actions/locomanipulation/LM14/session_004/motions/smplx.npz b/actions/locomanipulation/LM14/session_004/motions/smplx.npz index 590e1c9bfbb36d8610dc0bdf71106fd292ac1061..aa57187e30eaf351bc1e220534e9d63a409ee786 100644 --- a/actions/locomanipulation/LM14/session_004/motions/smplx.npz +++ b/actions/locomanipulation/LM14/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c0505b648ae0022cfa3bf2ec20cb1ac9d46099daa1c7ed7f08a2494c700f28cc -size 5977626 +oid sha256:1c9ece1d22fe17cd3f73503e1c13cfe5a0d6187e9607dd33a499bfd7ed2da6ab +size 11128865 diff --git a/actions/locomanipulation/LM14/session_005/annotations.json b/actions/locomanipulation/LM14/session_005/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..e18ee6fac7885abddf3333dac5cc907a679f4e4e --- /dev/null +++ b/actions/locomanipulation/LM14/session_005/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "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", + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. 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Set it down whenever you need to." + } + ] +} diff --git a/actions/locomanipulation/LM14/session_005/cameras/slam.npz b/actions/locomanipulation/LM14/session_005/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..7ad260c49522c10ae6d2c7d011191b40514ef282 --- /dev/null +++ b/actions/locomanipulation/LM14/session_005/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a2d5746425a273fc1c8a37ffd1e276699ed8d715305eedb2ccf45bfb310531b +size 713378 diff --git a/actions/locomanipulation/LM14/session_005/meta.json b/actions/locomanipulation/LM14/session_005/meta.json index cf163aed019a233b3827fb6aac9f53dc59144415..e842ace48c46ef6caa574496246c8c24ab28b748 100644 --- a/actions/locomanipulation/LM14/session_005/meta.json +++ b/actions/locomanipulation/LM14/session_005/meta.json @@ -325,8 +325,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -516,10 +516,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.7857117854445717 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.12, + "offset_rotvec": [ + -0.0348, + 0.0419, + 0.1679 + ], + "dev_deg": { + "median": 3.74, + "p90": 8.38 + }, + "samples": 3692, + "accepted": 3681, + "wrist_pos_err_mm_median": 71.6, + "per_camera": { + "head": { + "samples": 3692, + "accepted": 3681, + "gate_deg": 30.0, + "offset_deg": 10.12, + "tier": "primary", + "dev_deg_median": 3.74, + "wrist_pos_err_mm_median": 71.6 + } + }, + "frames_by_state": { + "ace_sample": 14735, + "interpolated": 136, + "mean_hand": 5, + "no_body_fit": 8 + }, + "observed_fraction": 0.9991, + "observed_fraction_of_valid": 0.9997, + "palm_axis_vs_markers_deg": { + "gsi": 5.49, + "smplx": 0.76 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.9, + "p90": 7.6 + }, + "registered": { + "median": 7.3, + "p90": 8.8 + } + } + }, + "right": { + "offset_deg": 12.44, + "offset_rotvec": [ + 0.0868, + 0.1299, + -0.1508 + ], + "dev_deg": { + "median": 4.48, + "p90": 8.76 + }, + "samples": 3675, + "accepted": 3668, + "wrist_pos_err_mm_median": 70.2, + "per_camera": { + "head": { + "samples": 3675, + "accepted": 3668, + "gate_deg": 30.0, + "offset_deg": 12.44, + "tier": "primary", + "dev_deg_median": 4.48, + "wrist_pos_err_mm_median": 70.2 + } + }, + "frames_by_state": { + "ace_sample": 14681, + "interpolated": 166, + "mean_hand": 29, + "no_body_fit": 8 + }, + "observed_fraction": 0.9975, + "observed_fraction_of_valid": 0.9981, + "palm_axis_vs_markers_deg": { + "gsi": 9.21, + "smplx": 0.81 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.6, + "p90": 6.6 + }, + "registered": { + "median": 5.5, + "p90": 6.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T16:04:39.329877+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM14/session_005", "family": "locomanipulation", "primitive": "LM14", "source_session": "20260910/LM14/20260910_080200_session141" + }, + "task": { + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to." } } diff --git a/actions/locomanipulation/LM14/session_005/motions/hands_mano.npz b/actions/locomanipulation/LM14/session_005/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..af35cb2bf979aa4c3ced95f759386f4d5645a6b3 --- /dev/null +++ b/actions/locomanipulation/LM14/session_005/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a32d06ad448ad960b7d1c15fe82f957f9c8e8e3d275adc9ad74eb81f1c9c253 +size 4966084 diff --git a/actions/locomanipulation/LM14/session_005/motions/smplx.npz b/actions/locomanipulation/LM14/session_005/motions/smplx.npz index eeb7e7cb9db79c162c8caa073b41ff22f50a54a7..755192183d90516b59dab2b49e1446dd07be8d78 100644 --- a/actions/locomanipulation/LM14/session_005/motions/smplx.npz +++ b/actions/locomanipulation/LM14/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fc422d579edfced7dd9cada57981034db93eff609faa3ee8eecf50e1f38c248f -size 5751547 +oid sha256:a3a003d1cbd039560eb8ad1d2fc6c20f2a61b5d6b04125b79157b30f5e3183ba +size 10724124 diff --git a/actions/locomanipulation/LM14/session_006/annotations.json b/actions/locomanipulation/LM14/session_006/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..2e489fd8602fb2aae613fedc1e1054e2f26fcda8 --- /dev/null +++ b/actions/locomanipulation/LM14/session_006/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "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", + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. 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Set it down whenever you need to." + } + ] +} diff --git a/actions/locomanipulation/LM14/session_006/cameras/slam.npz b/actions/locomanipulation/LM14/session_006/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..3ecdc0611855c55a43f4bbd0db14967322fc094e --- /dev/null +++ b/actions/locomanipulation/LM14/session_006/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:028e7449e75ba84f8164e3370ea4b879242b4cba4734cbf0840d8b5cdbbc9fa6 +size 772256 diff --git a/actions/locomanipulation/LM14/session_006/meta.json b/actions/locomanipulation/LM14/session_006/meta.json index 5c032d783ee34d718f0c205da77124e9696b2cc4..6a11cd120741dfb862b4c67f49d17eac05d3a903 100644 --- a/actions/locomanipulation/LM14/session_006/meta.json +++ b/actions/locomanipulation/LM14/session_006/meta.json @@ -325,8 +325,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -516,10 +516,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8210294776152296 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 11.61, + "offset_rotvec": [ + 0.0466, + 0.0108, + 0.1969 + ], + "dev_deg": { + "median": 4.0, + "p90": 10.49 + }, + "samples": 3945, + "accepted": 3901, + "wrist_pos_err_mm_median": 79.9, + "per_camera": { + "head": { + "samples": 3945, + "accepted": 3901, + "gate_deg": 30.0, + "offset_deg": 11.61, + "tier": "primary", + "dev_deg_median": 4.0, + "wrist_pos_err_mm_median": 79.9 + } + }, + "frames_by_state": { + "ace_sample": 15624, + "interpolated": 448, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9993, + "observed_fraction_of_valid": 0.9993, + "palm_axis_vs_markers_deg": { + "gsi": 3.33, + "smplx": 0.98 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.6, + "p90": 7.1 + }, + "registered": { + "median": 5.1, + "p90": 6.2 + } + } + }, + "right": { + "offset_deg": 15.3, + "offset_rotvec": [ + 0.1829, + 0.1367, + -0.1384 + ], + "dev_deg": { + "median": 5.41, + "p90": 9.82 + }, + "samples": 3951, + "accepted": 3926, + "wrist_pos_err_mm_median": 81.4, + "per_camera": { + "head": { + "samples": 3951, + "accepted": 3926, + "gate_deg": 30.0, + "offset_deg": 15.3, + "tier": "primary", + "dev_deg_median": 5.41, + "wrist_pos_err_mm_median": 81.4 + } + }, + "frames_by_state": { + "ace_sample": 15728, + "interpolated": 308, + "mean_hand": 48, + "no_body_fit": 0 + }, + "observed_fraction": 0.997, + "observed_fraction_of_valid": 0.997, + "palm_axis_vs_markers_deg": { + "gsi": 13.16, + "smplx": 1.09 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.0, + "p90": 7.2 + }, + "registered": { + "median": 5.7, + "p90": 6.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T16:04:48.636809+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM14/session_006", "family": "locomanipulation", "primitive": "LM14", "source_session": "20260910/LM14/20260910_080425_session142" + }, + "task": { + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to." } } diff --git a/actions/locomanipulation/LM14/session_006/motions/hands_mano.npz b/actions/locomanipulation/LM14/session_006/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..4c2357179ad2d89662b67ad123d7a0ae7c19ba9f --- /dev/null +++ b/actions/locomanipulation/LM14/session_006/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:138dd3bbe80f7b2db5cfbe3b1d94b7866267c0a8dcb7ea9665d70cbbb5fc41ad +size 5327631 diff --git a/actions/locomanipulation/LM14/session_006/motions/smplx.npz b/actions/locomanipulation/LM14/session_006/motions/smplx.npz index f83ba0983e7cf59d7a7aa51be1911c26d51a4365..127940a6b6717c4cf8b8d1d0443f7aec494751d9 100644 --- a/actions/locomanipulation/LM14/session_006/motions/smplx.npz +++ b/actions/locomanipulation/LM14/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:480933ba40b6f88e9d4e6a37fc7d36b889c53c050dacea13514cd64ea2f9e5cc -size 6223692 +oid sha256:6349df894f99dcdbc0dd11a3344121b3829b161eed19149124009e240cf6c15e +size 11607410 diff --git a/actions/locomanipulation/LM14/session_007/annotations.json b/actions/locomanipulation/LM14/session_007/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..e82d1f9432bf70184972ecf83b5ffbd02e1a9508 --- /dev/null +++ b/actions/locomanipulation/LM14/session_007/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "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", + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. 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Set it down whenever you need to." + } + ] +} diff --git a/actions/locomanipulation/LM14/session_007/cameras/slam.npz b/actions/locomanipulation/LM14/session_007/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..655efbc722404547405cd5cfb0ef50f04c4b374f --- /dev/null +++ b/actions/locomanipulation/LM14/session_007/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:edcf17b9f208ed2a60b4200e9cb40556b81a009f832985f51f322fb6bcd1c8d5 +size 744551 diff --git a/actions/locomanipulation/LM14/session_007/meta.json b/actions/locomanipulation/LM14/session_007/meta.json index a16ca7e4ebe5053fef9d7d839c0f9420aa5cb483..298b81dfe039d382be6e5357ef119e511beb6fc0 100644 --- a/actions/locomanipulation/LM14/session_007/meta.json +++ b/actions/locomanipulation/LM14/session_007/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -516,10 +516,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.7275711627320459 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 18.68, + "offset_rotvec": [ + 0.0588, + 0.2725, + -0.169 + ], + "dev_deg": { + "median": 4.26, + "p90": 10.33 + }, + "samples": 3840, + "accepted": 3711, + "wrist_pos_err_mm_median": 60.4, + "per_camera": { + "head": { + "samples": 3840, + "accepted": 3711, + "gate_deg": 30.0, + "offset_deg": 18.68, + "tier": "primary", + "dev_deg_median": 4.26, + "wrist_pos_err_mm_median": 60.4 + } + }, + "frames_by_state": { + "ace_sample": 14856, + "interpolated": 292, + "mean_hand": 332, + "no_body_fit": 4 + }, + "observed_fraction": 0.9783, + "observed_fraction_of_valid": 0.9786, + "palm_axis_vs_markers_deg": { + "gsi": 17.89, + "smplx": 0.63 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.2, + "p90": 19.1 + }, + "registered": { + "median": 13.9, + "p90": 17.9 + } + } + }, + "right": { + "offset_deg": 12.93, + "offset_rotvec": [ + 0.2076, + -0.0677, + 0.0573 + ], + "dev_deg": { + "median": 7.2, + "p90": 18.85 + }, + "samples": 3780, + "accepted": 3698, + "wrist_pos_err_mm_median": 60.4, + "per_camera": { + "head": { + "samples": 3780, + "accepted": 3698, + "gate_deg": 30.0, + "offset_deg": 12.93, + "tier": "primary", + "dev_deg_median": 7.2, + "wrist_pos_err_mm_median": 60.4 + } + }, + "frames_by_state": { + "ace_sample": 14806, + "interpolated": 278, + "mean_hand": 396, + "no_body_fit": 4 + }, + "observed_fraction": 0.9742, + "observed_fraction_of_valid": 0.9744, + "palm_axis_vs_markers_deg": { + "gsi": 15.32, + "smplx": 0.8 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.5, + "p90": 18.7 + }, + "registered": { + "median": 12.4, + "p90": 17.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:57:44.750498+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM14/session_007", "family": "locomanipulation", "primitive": "LM14", "source_session": "20260919/LM14/20260919_052726_session80" + }, + "task": { + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to." } } diff --git a/actions/locomanipulation/LM14/session_007/motions/hands_mano.npz b/actions/locomanipulation/LM14/session_007/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..7f64ed592d5ba69ac74de905cc428297ba2df992 --- /dev/null +++ b/actions/locomanipulation/LM14/session_007/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a70f56ddc7aa8b15829118a93cf7d22b9dc075828afcde522d1b9464b198ca5 +size 5141494 diff --git a/actions/locomanipulation/LM14/session_007/motions/smplx.npz b/actions/locomanipulation/LM14/session_007/motions/smplx.npz index 25ab26ac36299ccbba2f93b8c1ce4f17bf5da99c..8f8b56bbc4bbcd7e6f60abb2730208062203a0d6 100644 --- a/actions/locomanipulation/LM14/session_007/motions/smplx.npz +++ b/actions/locomanipulation/LM14/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2a34410c5bec59ee90a672ede74bafc23c4cbed0739ec42f8651c28be583bc59 -size 5974587 +oid sha256:54cdaf8726eb6ab92f970566efdf5a5700849dca5062121ca3f39f11ade2b183 +size 11089545 diff --git a/actions/locomanipulation/LM14/session_008/annotations.json b/actions/locomanipulation/LM14/session_008/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..459c8471e64fc249468e5cc1166c8df6069b096b --- /dev/null +++ b/actions/locomanipulation/LM14/session_008/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "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", + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to.", + "segments": [ + { + "id": "segment1", + "duration_s": 128.966711, + "video": "left_eye", + "video_t_start": 0.038606315690436155 + } + ], + "episodes": [ + { + "id": "1da9ee82-a96e-4afa-b46a-324d90546e6f", + "segment": "segment1", + "action": "LM14", + "quality": "valid", + "start_s": 1.336, + "end_s": 123.173, + "t_start": 1.3746, + "t_end": 123.2116, + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to." + } + ] +} diff --git a/actions/locomanipulation/LM14/session_008/cameras/slam.npz b/actions/locomanipulation/LM14/session_008/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..3496ef5e3f9cfac1ff9162a27267353d6bda232b --- /dev/null +++ b/actions/locomanipulation/LM14/session_008/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f3f5708325199dca14189320ec7ad754dba89be12ed66ea53ca849b120e97bd +size 743067 diff --git a/actions/locomanipulation/LM14/session_008/meta.json b/actions/locomanipulation/LM14/session_008/meta.json index 521130910bb9fd0f305b0f98b2f12d54f160194c..a5a7cfdae9a1e71806c6d944ee5d9e397c74052a 100644 --- a/actions/locomanipulation/LM14/session_008/meta.json +++ b/actions/locomanipulation/LM14/session_008/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -512,10 +512,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.7133748150351811 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 18.38, + "offset_rotvec": [ + 0.0598, + 0.2658, + -0.1694 + ], + "dev_deg": { + "median": 3.59, + "p90": 12.47 + }, + "samples": 3796, + "accepted": 3646, + "wrist_pos_err_mm_median": 52.6, + "per_camera": { + "head": { + "samples": 3796, + "accepted": 3646, + "gate_deg": 30.0, + "offset_deg": 18.38, + "tier": "primary", + "dev_deg_median": 3.59, + "wrist_pos_err_mm_median": 52.6 + } + }, + "frames_by_state": { + "ace_sample": 14623, + "interpolated": 684, + "mean_hand": 176, + "no_body_fit": 1 + }, + "observed_fraction": 0.9886, + "observed_fraction_of_valid": 0.9886, + "palm_axis_vs_markers_deg": { + "gsi": 17.44, + "smplx": 0.64 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 15.5, + "p90": 20.4 + }, + "registered": { + "median": 15.1, + "p90": 19.4 + } + } + }, + "right": { + "offset_deg": 21.47, + "offset_rotvec": [ + 0.3573, + -0.0121, + 0.1121 + ], + "dev_deg": { + "median": 12.62, + "p90": 28.84 + }, + "samples": 3726, + "accepted": 3393, + "wrist_pos_err_mm_median": 55.3, + "per_camera": { + "head": { + "samples": 3726, + "accepted": 3393, + "gate_deg": 30.0, + "offset_deg": 21.47, + "tier": "primary", + "dev_deg_median": 12.62, + "wrist_pos_err_mm_median": 55.3 + } + }, + "frames_by_state": { + "ace_sample": 13627, + "interpolated": 1196, + "mean_hand": 660, + "no_body_fit": 1 + }, + "observed_fraction": 0.9573, + "observed_fraction_of_valid": 0.9574, + "palm_axis_vs_markers_deg": { + "gsi": 19.3, + "smplx": 1.31 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.6, + "p90": 19.6 + }, + "registered": { + "median": 13.3, + "p90": 18.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:57:40.033788+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM14/session_008", "family": "locomanipulation", "primitive": "LM14", "source_session": "20260919/LM14/20260919_052947_session81" + }, + "task": { + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to." } } diff --git a/actions/locomanipulation/LM14/session_008/motions/hands_mano.npz b/actions/locomanipulation/LM14/session_008/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..2de8898a4643f7fc19a33a741c0ea1d5f92bc830 --- /dev/null +++ b/actions/locomanipulation/LM14/session_008/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:95f97ba1da93c2c8e1be5d93c8f9b54b6de1da000e406b6fd8ea2b7a50e94348 +size 5066477 diff --git a/actions/locomanipulation/LM14/session_008/motions/smplx.npz b/actions/locomanipulation/LM14/session_008/motions/smplx.npz index 8b39d8171013fe7bd772ac9d2d27b485148e9b21..9688b2acdd53bf43a38bacb0c96d4f0ac745dbe9 100644 --- a/actions/locomanipulation/LM14/session_008/motions/smplx.npz +++ b/actions/locomanipulation/LM14/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:60e0e0ca7ff3302563651fda78ae1a923923ebb4dde078d90dd9f0f4c42bc274 -size 5968318 +oid sha256:6f844da1cd774056458744b6e13348dc8e92c2f159334ad60d2cea3246ffcc86 +size 11065355 diff --git a/actions/locomanipulation/LM14/session_009/annotations.json b/actions/locomanipulation/LM14/session_009/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..75b3718b88457f28f3ade3d7109bf66f03ef0ec4 --- /dev/null +++ b/actions/locomanipulation/LM14/session_009/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "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", + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to.", + "segments": [ + { + "id": "segment1", + "duration_s": 128.966722, + "video": "left_eye", + "video_t_start": 0.038656077305472714 + } + ], + "episodes": [ + { + "id": "f35ec27d-10cf-42c0-bc62-98beb3e3c011", + "segment": "segment1", + "action": "LM14", + "quality": "valid", + "start_s": 1.293, + "end_s": 126.055, + "t_start": 1.3317, + "t_end": 126.0937, + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to." + } + ] +} diff --git a/actions/locomanipulation/LM14/session_009/cameras/slam.npz b/actions/locomanipulation/LM14/session_009/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..d6d36a73bf138811905e92327d7595cb1b33c28b --- /dev/null +++ b/actions/locomanipulation/LM14/session_009/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a7b51ed1570f3aaa47a42968f0194dcb4d23402563747eacf802e3e6691702df +size 742553 diff --git a/actions/locomanipulation/LM14/session_009/meta.json b/actions/locomanipulation/LM14/session_009/meta.json index 613cdac0df70003ed28ea32c99312e06cf061cea..c47e4c62e264bcc214c1b60ed3104f1a2573c051 100644 --- a/actions/locomanipulation/LM14/session_009/meta.json +++ b/actions/locomanipulation/LM14/session_009/meta.json @@ -329,8 +329,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -514,10 +514,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.5810310287513064 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 23.97, + "offset_rotvec": [ + -0.1422, + 0.3714, + -0.1301 + ], + "dev_deg": { + "median": 8.47, + "p90": 15.65 + }, + "samples": 3805, + "accepted": 3646, + "wrist_pos_err_mm_median": 31.8, + "per_camera": { + "head": { + "samples": 3805, + "accepted": 3646, + "gate_deg": 30.0, + "offset_deg": 23.97, + "tier": "primary", + "dev_deg_median": 8.47, + "wrist_pos_err_mm_median": 31.8 + } + }, + "frames_by_state": { + "ace_sample": 14598, + "interpolated": 452, + "mean_hand": 434, + "no_body_fit": 0 + }, + "observed_fraction": 0.972, + "observed_fraction_of_valid": 0.972, + "palm_axis_vs_markers_deg": { + "gsi": 21.99, + "smplx": 1.17 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 18.0, + "p90": 25.1 + }, + "registered": { + "median": 17.7, + "p90": 24.0 + } + } + }, + "right": { + "offset_deg": 13.44, + "offset_rotvec": [ + 0.2251, + -0.0585, + 0.0306 + ], + "dev_deg": { + "median": 9.86, + "p90": 24.69 + }, + "samples": 3780, + "accepted": 3627, + "wrist_pos_err_mm_median": 45.8, + "per_camera": { + "head": { + "samples": 3780, + "accepted": 3627, + "gate_deg": 30.0, + "offset_deg": 13.44, + "tier": "primary", + "dev_deg_median": 9.86, + "wrist_pos_err_mm_median": 45.8 + } + }, + "frames_by_state": { + "ace_sample": 14540, + "interpolated": 620, + "mean_hand": 324, + "no_body_fit": 0 + }, + "observed_fraction": 0.9791, + "observed_fraction_of_valid": 0.9791, + "palm_axis_vs_markers_deg": { + "gsi": 16.42, + "smplx": 0.95 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.2, + "p90": 19.0 + }, + "registered": { + "median": 11.5, + "p90": 17.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:57:39.943992+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM14/session_009", "family": "locomanipulation", "primitive": "LM14", "source_session": "20260919/LM14/20260919_053207_session82" + }, + "task": { + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to." } } diff --git a/actions/locomanipulation/LM14/session_009/motions/hands_mano.npz b/actions/locomanipulation/LM14/session_009/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..f52f0b19bfdb3cbf14b1011bf0c82054c29fbfd9 --- /dev/null +++ b/actions/locomanipulation/LM14/session_009/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ec3ff51ad554f395617e06021e4c14ced643be6a646931b672f6e2f328dc26b +size 5082955