Release update 2026-11-05: new sessions, instructions, annotations (part 189)
Browse files- actions/locomanipulation/LM24/session_004/motions/smplx.npz +2 -2
- actions/locomanipulation/LM24/session_005/annotations.json +28 -0
- actions/locomanipulation/LM24/session_005/cameras/slam.npz +3 -0
- actions/locomanipulation/LM24/session_005/meta.json +116 -2
- actions/locomanipulation/LM24/session_005/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM24/session_005/motions/smplx.npz +2 -2
- actions/locomanipulation/LM24/session_006/annotations.json +28 -0
- actions/locomanipulation/LM24/session_006/cameras/slam.npz +3 -0
- actions/locomanipulation/LM24/session_006/meta.json +116 -2
- actions/locomanipulation/LM24/session_006/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM24/session_006/motions/smplx.npz +2 -2
- actions/locomanipulation/LM24/session_007/annotations.json +28 -0
- actions/locomanipulation/LM24/session_007/cameras/slam.npz +3 -0
- actions/locomanipulation/LM24/session_007/meta.json +116 -2
- actions/locomanipulation/LM24/session_007/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM24/session_007/motions/smplx.npz +2 -2
- actions/locomanipulation/LM24/session_008/annotations.json +28 -0
- actions/locomanipulation/LM24/session_008/cameras/gsi_online_calibration.json +257 -0
- actions/locomanipulation/LM24/session_008/cameras/slam.npz +3 -0
- actions/locomanipulation/LM24/session_008/meta.json +116 -2
- actions/locomanipulation/LM24/session_008/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM24/session_008/motions/smplx.npz +2 -2
- actions/locomanipulation/LM24/session_009/annotations.json +28 -0
- actions/locomanipulation/LM24/session_009/cameras/gsi_online_calibration.json +258 -0
- actions/locomanipulation/LM24/session_009/cameras/slam.npz +3 -0
- actions/locomanipulation/LM24/session_009/meta.json +116 -2
- actions/locomanipulation/LM24/session_009/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM24/session_009/motions/smplx.npz +2 -2
actions/locomanipulation/LM24/session_004/motions/smplx.npz
CHANGED
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actions/locomanipulation/LM24/session_005/annotations.json
ADDED
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{
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"schema_version": 1,
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"source": "vendor annotation.json (schema 2, revision 1)",
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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",
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| 5 |
+
"primitive": "LM24",
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| 6 |
+
"instruction": "Carry the box through the gap between the panels without touching either side, then set it down and bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
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| 7 |
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"segments": [
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{
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| 9 |
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"id": "segment1",
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| 10 |
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"duration_s": 118.966656,
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| 11 |
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"video": "left_eye",
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| 12 |
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"video_t_start": 0.0392524078315053
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| 13 |
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}
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| 14 |
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],
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"episodes": [
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{
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"id": "2a15e5dd-3597-4c6d-91f2-982e4dbe75e8",
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| 18 |
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"segment": "segment1",
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| 19 |
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"action": "LM24",
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| 20 |
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"quality": "valid",
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| 21 |
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"start_s": 0.824,
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| 22 |
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"end_s": 114.828,
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| 23 |
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"t_start": 0.8633,
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| 24 |
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"t_end": 114.8673,
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| 25 |
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"instruction": "Carry the box through the gap between the panels without touching either side, then set it down and bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
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| 26 |
+
}
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| 27 |
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]
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| 28 |
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}
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actions/locomanipulation/LM24/session_005/cameras/slam.npz
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:86ff990b077fe56a8fcc8f184009199c0bfcf9f77f4987c3e754becbca47360c
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| 3 |
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size 686135
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actions/locomanipulation/LM24/session_005/meta.json
CHANGED
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@@ -325,8 +325,8 @@
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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| 326 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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| 327 |
"hands": {
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| 328 |
-
"observed":
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| 329 |
-
"hand_pose": "
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| 330 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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| 331 |
"hand_marker_offsets_m": {
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| 332 |
"left": {
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@@ -517,10 +517,124 @@
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| 517 |
"generated_by": "scripts/correct_processed_rig.py",
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"remaining_gyro_frame_deg": 0.7111729512409083
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| 519 |
},
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"release": {
|
| 521 |
"release_path": "actions/locomanipulation/LM24/session_005",
|
| 522 |
"family": "locomanipulation",
|
| 523 |
"primitive": "LM24",
|
| 524 |
"source_session": "20260924/LM24/20260924_022417_session29"
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| 525 |
}
|
| 526 |
}
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| 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 |
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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",
|
| 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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|
| 517 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 518 |
"remaining_gyro_frame_deg": 0.7111729512409083
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| 519 |
},
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| 520 |
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"hands_registration": {
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"cameras": {},
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"hands": {
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| 523 |
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"left": {
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"offset_deg": 14.96,
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"offset_rotvec": [
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0.1692,
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0.1918,
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-0.0526
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],
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"dev_deg": {
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| 531 |
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"median": 8.42,
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| 532 |
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"p90": 32.92
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| 533 |
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},
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| 534 |
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"samples": 3264,
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| 535 |
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"accepted": 2870,
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| 536 |
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"wrist_pos_err_mm_median": 53.7,
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| 537 |
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"per_camera": {
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| 538 |
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"head": {
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| 539 |
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"samples": 3264,
|
| 540 |
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"accepted": 2870,
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| 541 |
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"gate_deg": 30.0,
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| 542 |
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"offset_deg": 14.96,
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| 543 |
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"tier": "primary",
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| 544 |
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"dev_deg_median": 8.42,
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"wrist_pos_err_mm_median": 53.7
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| 546 |
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}
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},
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| 548 |
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"frames_by_state": {
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| 549 |
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"ace_sample": 11532,
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| 550 |
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"interpolated": 1460,
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| 551 |
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"mean_hand": 1292,
|
| 552 |
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"no_body_fit": 0
|
| 553 |
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},
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| 554 |
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"observed_fraction": 0.9095,
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| 555 |
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"observed_fraction_of_valid": 0.9095,
|
| 556 |
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"palm_axis_vs_markers_deg": {
|
| 557 |
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"gsi": 18.79,
|
| 558 |
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"smplx": 1.6
|
| 559 |
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},
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| 560 |
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"hand_marker_to_mesh_mm": {
|
| 561 |
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"flat": {
|
| 562 |
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"median": 6.4,
|
| 563 |
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"p90": 10.3
|
| 564 |
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},
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| 565 |
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"registered": {
|
| 566 |
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"median": 6.9,
|
| 567 |
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"p90": 9.3
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| 568 |
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}
|
| 569 |
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}
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},
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| 571 |
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"right": {
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0.0533
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],
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"dev_deg": {
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| 579 |
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"median": 7.74,
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"p90": 27.79
|
| 581 |
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},
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| 582 |
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"samples": 3141,
|
| 583 |
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"accepted": 2860,
|
| 584 |
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"wrist_pos_err_mm_median": 89.1,
|
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"per_camera": {
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| 586 |
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"head": {
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"gate_deg": 30.0,
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"offset_deg": 10.22,
|
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"tier": "primary",
|
| 592 |
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"dev_deg_median": 7.74,
|
| 593 |
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"wrist_pos_err_mm_median": 89.1
|
| 594 |
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}
|
| 595 |
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},
|
| 596 |
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"frames_by_state": {
|
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"ace_sample": 11478,
|
| 598 |
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"interpolated": 1190,
|
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"mean_hand": 1616,
|
| 600 |
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"no_body_fit": 0
|
| 601 |
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},
|
| 602 |
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"observed_fraction": 0.8869,
|
| 603 |
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"observed_fraction_of_valid": 0.8869,
|
| 604 |
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"palm_axis_vs_markers_deg": {
|
| 605 |
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"gsi": 10.76,
|
| 606 |
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"smplx": 1.19
|
| 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": 10.6,
|
| 611 |
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"p90": 18.4
|
| 612 |
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},
|
| 613 |
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"registered": {
|
| 614 |
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"median": 10.3,
|
| 615 |
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"p90": 17.6
|
| 616 |
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}
|
| 617 |
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}
|
| 618 |
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}
|
| 619 |
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},
|
| 620 |
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"max_dev_deg": 30.0,
|
| 621 |
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"max_gap_s": 1.0,
|
| 622 |
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"cameras_used": [
|
| 623 |
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"head"
|
| 624 |
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],
|
| 625 |
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"generated_at_utc": "2026-11-03T22:36:32.552534+00:00",
|
| 626 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 627 |
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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",
|
| 628 |
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"wrist_flip_suspect": []
|
| 629 |
+
},
|
| 630 |
"release": {
|
| 631 |
"release_path": "actions/locomanipulation/LM24/session_005",
|
| 632 |
"family": "locomanipulation",
|
| 633 |
"primitive": "LM24",
|
| 634 |
"source_session": "20260924/LM24/20260924_022417_session29"
|
| 635 |
+
},
|
| 636 |
+
"task": {
|
| 637 |
+
"primitive": "LM24",
|
| 638 |
+
"instruction": "Carry the box through the gap between the panels without touching either side, then set it down and bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 639 |
}
|
| 640 |
}
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actions/locomanipulation/LM24/session_005/motions/hands_mano.npz
ADDED
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@@ -0,0 +1,3 @@
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+
version https://git-lfs.github.com/spec/v1
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+
oid sha256:f67aa29c8cf6b7f8bc9b5b8c16b9b45e8743242cafd5dde08b67260e1c1470ba
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| 3 |
+
size 4342481
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actions/locomanipulation/LM24/session_005/motions/smplx.npz
CHANGED
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@@ -1,3 +1,3 @@
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| 1 |
version https://git-lfs.github.com/spec/v1
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-
oid sha256:
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-
size
|
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| 1 |
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:ae39f4726d6b9c91769f035cad55088faeaba0059e0f5669e9cb559223c25db0
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| 3 |
+
size 9937210
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actions/locomanipulation/LM24/session_006/annotations.json
ADDED
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@@ -0,0 +1,28 @@
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+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"source": "vendor annotation.json (schema 2, revision 1)",
|
| 4 |
+
"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
|
| 5 |
+
"primitive": "LM24",
|
| 6 |
+
"instruction": "Carry the box through the gap between the panels without touching either side, then set it down and bring it back. 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": 118.966533,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03953545779175549
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "15db375b-41ce-48b4-8cdf-28cff9130f15",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM24",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0.168,
|
| 22 |
+
"end_s": 114.854,
|
| 23 |
+
"t_start": 0.2075,
|
| 24 |
+
"t_end": 114.8935,
|
| 25 |
+
"instruction": "Carry the box through the gap between the panels without touching either side, then set it down and bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM24/session_006/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:77e2b8d88b83eab42d4a1957136d1d736644cb4340886983e2d1973f933b164f
|
| 3 |
+
size 686320
|
actions/locomanipulation/LM24/session_006/meta.json
CHANGED
|
@@ -326,8 +326,8 @@
|
|
| 326 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 327 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 328 |
"hands": {
|
| 329 |
-
"observed":
|
| 330 |
-
"hand_pose": "
|
| 331 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 332 |
"hand_marker_offsets_m": {
|
| 333 |
"left": {
|
|
@@ -517,10 +517,124 @@
|
|
| 517 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 518 |
"remaining_gyro_frame_deg": 0.7923747493826571
|
| 519 |
},
|
|
|
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|
| 520 |
"release": {
|
| 521 |
"release_path": "actions/locomanipulation/LM24/session_006",
|
| 522 |
"family": "locomanipulation",
|
| 523 |
"primitive": "LM24",
|
| 524 |
"source_session": "20260924/LM24/20260924_022633_session30"
|
|
|
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|
|
|
|
|
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|
|
| 525 |
}
|
| 526 |
}
|
|
|
|
| 326 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 327 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 328 |
"hands": {
|
| 329 |
+
"observed": true,
|
| 330 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 331 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 332 |
"hand_marker_offsets_m": {
|
| 333 |
"left": {
|
|
|
|
| 517 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 518 |
"remaining_gyro_frame_deg": 0.7923747493826571
|
| 519 |
},
|
| 520 |
+
"hands_registration": {
|
| 521 |
+
"cameras": {},
|
| 522 |
+
"hands": {
|
| 523 |
+
"left": {
|
| 524 |
+
"offset_deg": 13.96,
|
| 525 |
+
"offset_rotvec": [
|
| 526 |
+
0.14,
|
| 527 |
+
0.1827,
|
| 528 |
+
-0.0799
|
| 529 |
+
],
|
| 530 |
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"dev_deg": {
|
| 531 |
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"median": 9.47,
|
| 532 |
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"p90": 35.83
|
| 533 |
+
},
|
| 534 |
+
"samples": 3325,
|
| 535 |
+
"accepted": 2779,
|
| 536 |
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"wrist_pos_err_mm_median": 60.7,
|
| 537 |
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"per_camera": {
|
| 538 |
+
"head": {
|
| 539 |
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"samples": 3325,
|
| 540 |
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"accepted": 2779,
|
| 541 |
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"gate_deg": 30.0,
|
| 542 |
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"offset_deg": 13.96,
|
| 543 |
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"tier": "primary",
|
| 544 |
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"dev_deg_median": 9.47,
|
| 545 |
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"wrist_pos_err_mm_median": 60.7
|
| 546 |
+
}
|
| 547 |
+
},
|
| 548 |
+
"frames_by_state": {
|
| 549 |
+
"ace_sample": 11183,
|
| 550 |
+
"interpolated": 1516,
|
| 551 |
+
"mean_hand": 1577,
|
| 552 |
+
"no_body_fit": 8
|
| 553 |
+
},
|
| 554 |
+
"observed_fraction": 0.889,
|
| 555 |
+
"observed_fraction_of_valid": 0.8895,
|
| 556 |
+
"palm_axis_vs_markers_deg": {
|
| 557 |
+
"gsi": 17.48,
|
| 558 |
+
"smplx": 1.66
|
| 559 |
+
},
|
| 560 |
+
"hand_marker_to_mesh_mm": {
|
| 561 |
+
"flat": {
|
| 562 |
+
"median": 8.3,
|
| 563 |
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"p90": 12.0
|
| 564 |
+
},
|
| 565 |
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"registered": {
|
| 566 |
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"median": 7.9,
|
| 567 |
+
"p90": 10.3
|
| 568 |
+
}
|
| 569 |
+
}
|
| 570 |
+
},
|
| 571 |
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"right": {
|
| 572 |
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"offset_deg": 10.7,
|
| 573 |
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"offset_rotvec": [
|
| 574 |
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-0.0957,
|
| 575 |
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-0.1478,
|
| 576 |
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0.0623
|
| 577 |
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],
|
| 578 |
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"dev_deg": {
|
| 579 |
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"median": 8.25,
|
| 580 |
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"p90": 27.97
|
| 581 |
+
},
|
| 582 |
+
"samples": 3323,
|
| 583 |
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"accepted": 3018,
|
| 584 |
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"wrist_pos_err_mm_median": 95.7,
|
| 585 |
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"per_camera": {
|
| 586 |
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"head": {
|
| 587 |
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"samples": 3323,
|
| 588 |
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"accepted": 3018,
|
| 589 |
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"gate_deg": 30.0,
|
| 590 |
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"offset_deg": 10.7,
|
| 591 |
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"tier": "primary",
|
| 592 |
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"dev_deg_median": 8.25,
|
| 593 |
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"wrist_pos_err_mm_median": 95.7
|
| 594 |
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}
|
| 595 |
+
},
|
| 596 |
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"frames_by_state": {
|
| 597 |
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"ace_sample": 12177,
|
| 598 |
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"interpolated": 1526,
|
| 599 |
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"mean_hand": 573,
|
| 600 |
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"no_body_fit": 8
|
| 601 |
+
},
|
| 602 |
+
"observed_fraction": 0.9593,
|
| 603 |
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"observed_fraction_of_valid": 0.9599,
|
| 604 |
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"palm_axis_vs_markers_deg": {
|
| 605 |
+
"gsi": 11.18,
|
| 606 |
+
"smplx": 1.15
|
| 607 |
+
},
|
| 608 |
+
"hand_marker_to_mesh_mm": {
|
| 609 |
+
"flat": {
|
| 610 |
+
"median": 12.6,
|
| 611 |
+
"p90": 17.5
|
| 612 |
+
},
|
| 613 |
+
"registered": {
|
| 614 |
+
"median": 13.0,
|
| 615 |
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"p90": 16.8
|
| 616 |
+
}
|
| 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": "2026-11-03T22:36:25.728327+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/LM24/session_006",
|
| 632 |
"family": "locomanipulation",
|
| 633 |
"primitive": "LM24",
|
| 634 |
"source_session": "20260924/LM24/20260924_022633_session30"
|
| 635 |
+
},
|
| 636 |
+
"task": {
|
| 637 |
+
"primitive": "LM24",
|
| 638 |
+
"instruction": "Carry the box through the gap between the panels without touching either side, then set it down and bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 639 |
}
|
| 640 |
}
|
actions/locomanipulation/LM24/session_006/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:76bbe202afb91d3d4ee03198caf87f2fa6ba0ba358514aaee56808f847ec06e9
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| 3 |
+
size 4497080
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actions/locomanipulation/LM24/session_006/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
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| 2 |
-
oid sha256:
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| 3 |
-
size
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| 1 |
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:5af275d00767db82fc334152cc3d8953b81ec1c0ce3c581ee5ded88463f776f9
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| 3 |
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size 9996429
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actions/locomanipulation/LM24/session_007/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
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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": "LM24",
|
| 6 |
+
"instruction": "Carry the box through the gap between the panels without touching either side, then set it down and bring it back. 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 |
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"duration_s": 113.966622,
|
| 11 |
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"video": "left_eye",
|
| 12 |
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"video_t_start": 0.039510208609827124
|
| 13 |
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}
|
| 14 |
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],
|
| 15 |
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"episodes": [
|
| 16 |
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{
|
| 17 |
+
"id": "cbddb9cb-9aaa-4394-ad5b-7430e1d985b3",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM24",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0.055,
|
| 22 |
+
"end_s": 110.423,
|
| 23 |
+
"t_start": 0.0945,
|
| 24 |
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"t_end": 110.4625,
|
| 25 |
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"instruction": "Carry the box through the gap between the panels without touching either side, then set it down and bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM24/session_007/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:70b9e8c4733ee2241bc302d2eff5f1fad09746503eda5fd910ba97c91771a28c
|
| 3 |
+
size 656973
|
actions/locomanipulation/LM24/session_007/meta.json
CHANGED
|
@@ -326,8 +326,8 @@
|
|
| 326 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 327 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 328 |
"hands": {
|
| 329 |
-
"observed":
|
| 330 |
-
"hand_pose": "
|
| 331 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 332 |
"hand_marker_offsets_m": {
|
| 333 |
"left": {
|
|
@@ -511,10 +511,124 @@
|
|
| 511 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 512 |
"remaining_gyro_frame_deg": 0.781840088523672
|
| 513 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 514 |
"release": {
|
| 515 |
"release_path": "actions/locomanipulation/LM24/session_007",
|
| 516 |
"family": "locomanipulation",
|
| 517 |
"primitive": "LM24",
|
| 518 |
"source_session": "20260924/LM24/20260924_022848_session31"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 519 |
}
|
| 520 |
}
|
|
|
|
| 326 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 327 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 328 |
"hands": {
|
| 329 |
+
"observed": true,
|
| 330 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 331 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 332 |
"hand_marker_offsets_m": {
|
| 333 |
"left": {
|
|
|
|
| 511 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 512 |
"remaining_gyro_frame_deg": 0.781840088523672
|
| 513 |
},
|
| 514 |
+
"hands_registration": {
|
| 515 |
+
"cameras": {},
|
| 516 |
+
"hands": {
|
| 517 |
+
"left": {
|
| 518 |
+
"offset_deg": 11.75,
|
| 519 |
+
"offset_rotvec": [
|
| 520 |
+
0.101,
|
| 521 |
+
0.1639,
|
| 522 |
+
-0.0707
|
| 523 |
+
],
|
| 524 |
+
"dev_deg": {
|
| 525 |
+
"median": 11.23,
|
| 526 |
+
"p90": 36.68
|
| 527 |
+
},
|
| 528 |
+
"samples": 3172,
|
| 529 |
+
"accepted": 2576,
|
| 530 |
+
"wrist_pos_err_mm_median": 64.5,
|
| 531 |
+
"per_camera": {
|
| 532 |
+
"head": {
|
| 533 |
+
"samples": 3172,
|
| 534 |
+
"accepted": 2576,
|
| 535 |
+
"gate_deg": 30.0,
|
| 536 |
+
"offset_deg": 11.75,
|
| 537 |
+
"tier": "primary",
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actions/locomanipulation/LM24/session_008/cameras/gsi_online_calibration.json
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{
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 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": "LM24",
|
| 6 |
+
"instruction": "Carry the box through the gap between the panels without touching either side, then set it down and bring it back. 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": 128.966644,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03883287344354214
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "cf66b387-d141-4edd-aa56-d10d9ad7522d",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM24",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1,
|
| 22 |
+
"end_s": 123.999,
|
| 23 |
+
"t_start": 1.0388,
|
| 24 |
+
"t_end": 124.0378,
|
| 25 |
+
"instruction": "Carry the box through the gap between the panels without touching either side, then set it down and bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM24/session_009/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,258 @@
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|
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|
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|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 15,
|
| 5 |
+
"median_px": 0.374
|
| 6 |
+
},
|
| 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 |
+
"left_eye",
|
| 14 |
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"right_eye",
|
| 15 |
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"right"
|
| 16 |
+
],
|
| 17 |
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"delta_deg": 1.2335,
|
| 18 |
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"gate_fail": [],
|
| 19 |
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"held_out_px_after": 0.454,
|
| 20 |
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"held_out_px_before": 6.004,
|
| 21 |
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"inliers": 3768,
|
| 22 |
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"position_fitted": false,
|
| 23 |
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"rotvec_deg": [
|
| 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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"split_deg": 0.054,
|
| 29 |
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"usable": true
|
| 30 |
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},
|
| 31 |
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"left_eye": {
|
| 32 |
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"accepted": true,
|
| 33 |
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"against": [
|
| 34 |
+
"left_front",
|
| 35 |
+
"right_front",
|
| 36 |
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"right_eye",
|
| 37 |
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"left",
|
| 38 |
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"right"
|
| 39 |
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],
|
| 40 |
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"delta_deg": 2.6584,
|
| 41 |
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"gate_fail": [],
|
| 42 |
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"held_out_px_after": 0.372,
|
| 43 |
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"held_out_px_before": 7.089,
|
| 44 |
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"inliers": 5255,
|
| 45 |
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"position_fitted": true,
|
| 46 |
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"position_mm": [
|
| 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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"position_split_mm": 1.35,
|
| 53 |
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"rotvec_deg": [
|
| 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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"split_deg": 0.0571,
|
| 59 |
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"usable": true
|
| 60 |
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},
|
| 61 |
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"left_front": {
|
| 62 |
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"role": "rig origin"
|
| 63 |
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},
|
| 64 |
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|
| 65 |
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|
| 66 |
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"against": [
|
| 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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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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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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|
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|
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|
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|
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|
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|
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|
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|
| 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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|
| 108 |
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|
| 109 |
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|
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|
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|
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|
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],
|
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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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|
| 122 |
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|
| 123 |
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"left",
|
| 124 |
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"right"
|
| 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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|
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|
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|
| 136 |
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],
|
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|
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|
| 139 |
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}
|
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},
|
| 141 |
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"code_fingerprint": "711ecf5b3dd408f8",
|
| 142 |
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"device_id": "e17c9efadb69e7b1",
|
| 143 |
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"factory_root_name": "e17c9efadb69e7b1",
|
| 144 |
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"files": {
|
| 145 |
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"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 146 |
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"sha256": "9448d1fcba0ba21b8d77d4c517e927add1b39e42b5b14c5aed5bc3d1716447e3",
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| 148 |
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},
|
| 149 |
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"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 150 |
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"sha256": "e5278e2c9e04610dc899788e9c665bebd4331308f1a8d6939246db3800a58f8b",
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|
| 152 |
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},
|
| 153 |
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"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 154 |
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"sha256": "3c7d541b44bf7a7614ee7fbcf25aca6ced0f61a16a2960e7a5f2d0e6e621772c",
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},
|
| 157 |
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"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 158 |
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"sha256": "539b84fb30f24ed4d78e76101e7dd16252fcf330c750381009dcd985c19cda65",
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| 160 |
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}
|
| 161 |
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},
|
| 162 |
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"input_fingerprint": "1255df3f35de966a",
|
| 163 |
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|
| 164 |
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|
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|
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|
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|
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|
| 170 |
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|
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|
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|
| 173 |
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|
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|
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|
| 176 |
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|
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|
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|
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|
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|
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},
|
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|
| 183 |
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|
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|
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|
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|
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actions/locomanipulation/LM24/session_009/cameras/slam.npz
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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actions/locomanipulation/LM24/session_009/meta.json
CHANGED
|
@@ -327,8 +327,8 @@
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|
| 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": {
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| 330 |
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"observed":
|
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"hand_pose": "
|
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"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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"hand_marker_offsets_m": {
|
| 334 |
"left": {
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|
@@ -518,10 +518,124 @@
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"generated_by": "scripts/correct_processed_rig.py",
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| 524 |
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| 526 |
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| 527 |
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|
| 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 |
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"observed": true,
|
| 331 |
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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",
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| 332 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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| 333 |
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"left": {
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"generated_by": "scripts/correct_processed_rig.py",
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"hands": {
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"left": {
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"dev_deg": {
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"median": 10.6,
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"p90": 20.96
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},
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"samples": 3854,
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"accepted": 3759,
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"per_camera": {
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"head": {
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"samples": 3854,
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"accepted": 3759,
|
| 542 |
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"gate_deg": 30.0,
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"offset_deg": 13.56,
|
| 544 |
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"tier": "primary",
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| 545 |
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"dev_deg_median": 10.6,
|
| 546 |
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"wrist_pos_err_mm_median": 50.5
|
| 547 |
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}
|
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},
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"frames_by_state": {
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"smplx": 2.34
|
| 560 |
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},
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| 562 |
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"flat": {
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| 563 |
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"median": 6.4,
|
| 564 |
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|
| 565 |
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},
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| 566 |
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"registered": {
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| 567 |
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"median": 6.6,
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| 568 |
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"p90": 8.5
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"right": {
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],
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"dev_deg": {
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| 580 |
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"median": 8.05,
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| 581 |
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"p90": 14.73
|
| 582 |
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},
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| 583 |
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"samples": 3792,
|
| 584 |
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"accepted": 3703,
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| 585 |
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|
| 586 |
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| 593 |
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|
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|
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|
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},
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|
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|
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| 625 |
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],
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| 626 |
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"generated_at_utc": "2026-11-03T22:16:54.904764+00:00",
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| 627 |
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|
| 628 |
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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",
|
| 629 |
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|
| 630 |
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},
|
| 631 |
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| 634 |
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|
| 635 |
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|
| 636 |
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},
|
| 637 |
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"task": {
|
| 638 |
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"primitive": "LM24",
|
| 639 |
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"instruction": "Carry the box through the gap between the panels without touching either side, then set it down and bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 640 |
}
|
| 641 |
}
|
actions/locomanipulation/LM24/session_009/motions/hands_mano.npz
ADDED
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CHANGED
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@@ -1,3 +1,3 @@
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