Release update 2026-11-05: new sessions, instructions, annotations (part 258)
Browse files- actions/locomanipulation/LM29/session_009/cameras/gsi_online_calibration.json +255 -0
- actions/locomanipulation/LM29/session_009/cameras/slam.npz +3 -0
- actions/locomanipulation/LM29/session_009/meta.json +116 -2
- actions/locomanipulation/LM29/session_009/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM29/session_009/motions/smplx.npz +2 -2
- actions/locomanipulation/LM29/session_010/annotations.json +28 -0
- actions/locomanipulation/LM29/session_010/cameras/gsi_online_calibration.json +257 -0
- actions/locomanipulation/LM29/session_010/cameras/slam.npz +3 -0
- actions/locomanipulation/LM29/session_010/meta.json +116 -2
- actions/locomanipulation/LM29/session_010/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM29/session_010/motions/smplx.npz +2 -2
- actions/locomanipulation/LM29/session_011/annotations.json +28 -0
actions/locomanipulation/LM29/session_009/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,255 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 14,
|
| 5 |
+
"median_px": 0.347
|
| 6 |
+
},
|
| 7 |
+
"cameras": {
|
| 8 |
+
"left": {
|
| 9 |
+
"accepted": true,
|
| 10 |
+
"against": [
|
| 11 |
+
"left_front",
|
| 12 |
+
"right_front",
|
| 13 |
+
"left_eye",
|
| 14 |
+
"right_eye"
|
| 15 |
+
],
|
| 16 |
+
"delta_deg": 1.1388,
|
| 17 |
+
"gate_fail": [],
|
| 18 |
+
"held_out_px_after": 0.436,
|
| 19 |
+
"held_out_px_before": 5.677,
|
| 20 |
+
"inliers": 2746,
|
| 21 |
+
"position_fitted": false,
|
| 22 |
+
"rotvec_deg": [
|
| 23 |
+
-0.2239,
|
| 24 |
+
-0.4712,
|
| 25 |
+
-1.0123
|
| 26 |
+
],
|
| 27 |
+
"split_deg": 0.0783,
|
| 28 |
+
"usable": true
|
| 29 |
+
},
|
| 30 |
+
"left_eye": {
|
| 31 |
+
"accepted": true,
|
| 32 |
+
"against": [
|
| 33 |
+
"left_front",
|
| 34 |
+
"right_front",
|
| 35 |
+
"right_eye",
|
| 36 |
+
"left",
|
| 37 |
+
"right"
|
| 38 |
+
],
|
| 39 |
+
"delta_deg": 2.6776,
|
| 40 |
+
"gate_fail": [],
|
| 41 |
+
"held_out_px_after": 0.364,
|
| 42 |
+
"held_out_px_before": 8.49,
|
| 43 |
+
"inliers": 4033,
|
| 44 |
+
"position_fitted": true,
|
| 45 |
+
"position_mm": [
|
| 46 |
+
5.5,
|
| 47 |
+
-17.11,
|
| 48 |
+
3.65
|
| 49 |
+
],
|
| 50 |
+
"position_sigma_mm": 0.291,
|
| 51 |
+
"position_split_mm": 2.82,
|
| 52 |
+
"rotvec_deg": [
|
| 53 |
+
0.0074,
|
| 54 |
+
0.8885,
|
| 55 |
+
-2.5259
|
| 56 |
+
],
|
| 57 |
+
"split_deg": 0.0353,
|
| 58 |
+
"usable": true
|
| 59 |
+
},
|
| 60 |
+
"left_front": {
|
| 61 |
+
"role": "rig origin"
|
| 62 |
+
},
|
| 63 |
+
"right": {
|
| 64 |
+
"accepted": true,
|
| 65 |
+
"against": [
|
| 66 |
+
"left_front",
|
| 67 |
+
"right_front",
|
| 68 |
+
"left_eye",
|
| 69 |
+
"right_eye"
|
| 70 |
+
],
|
| 71 |
+
"delta_deg": 2.1822,
|
| 72 |
+
"gate_fail": [],
|
| 73 |
+
"held_out_px_after": 0.787,
|
| 74 |
+
"held_out_px_before": 6.473,
|
| 75 |
+
"inliers": 795,
|
| 76 |
+
"position_fitted": false,
|
| 77 |
+
"rotvec_deg": [
|
| 78 |
+
1.8053,
|
| 79 |
+
-1.1017,
|
| 80 |
+
-0.538
|
| 81 |
+
],
|
| 82 |
+
"split_deg": 0.2864,
|
| 83 |
+
"usable": true
|
| 84 |
+
},
|
| 85 |
+
"right_eye": {
|
| 86 |
+
"accepted": true,
|
| 87 |
+
"against": [
|
| 88 |
+
"left_front",
|
| 89 |
+
"right_front",
|
| 90 |
+
"left_eye",
|
| 91 |
+
"left",
|
| 92 |
+
"right"
|
| 93 |
+
],
|
| 94 |
+
"delta_deg": 1.1825,
|
| 95 |
+
"gate_fail": [],
|
| 96 |
+
"held_out_px_after": 0.335,
|
| 97 |
+
"held_out_px_before": 3.065,
|
| 98 |
+
"inliers": 4669,
|
| 99 |
+
"position_fitted": true,
|
| 100 |
+
"position_mm": [
|
| 101 |
+
5.14,
|
| 102 |
+
-19.76,
|
| 103 |
+
3.29
|
| 104 |
+
],
|
| 105 |
+
"position_sigma_mm": 0.267,
|
| 106 |
+
"position_split_mm": 4.811,
|
| 107 |
+
"rotvec_deg": [
|
| 108 |
+
0.2428,
|
| 109 |
+
-0.2404,
|
| 110 |
+
-1.132
|
| 111 |
+
],
|
| 112 |
+
"split_deg": 0.0701,
|
| 113 |
+
"usable": true
|
| 114 |
+
},
|
| 115 |
+
"right_front": {
|
| 116 |
+
"accepted": true,
|
| 117 |
+
"against": [
|
| 118 |
+
"left_front",
|
| 119 |
+
"left_eye",
|
| 120 |
+
"right_eye",
|
| 121 |
+
"left",
|
| 122 |
+
"right"
|
| 123 |
+
],
|
| 124 |
+
"delta_deg": 2.0397,
|
| 125 |
+
"gate_fail": [],
|
| 126 |
+
"held_out_px_after": 0.32,
|
| 127 |
+
"held_out_px_before": 6.661,
|
| 128 |
+
"inliers": 5046,
|
| 129 |
+
"position_fitted": false,
|
| 130 |
+
"rotvec_deg": [
|
| 131 |
+
-0.2299,
|
| 132 |
+
0.0256,
|
| 133 |
+
-2.0266
|
| 134 |
+
],
|
| 135 |
+
"split_deg": 0.034,
|
| 136 |
+
"usable": true
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"code_fingerprint": "711ecf5b3dd408f8",
|
| 140 |
+
"device_id": "e17c9efadb69e7b1",
|
| 141 |
+
"factory_root_name": "e17c9efadb69e7b1",
|
| 142 |
+
"files": {
|
| 143 |
+
"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 144 |
+
"sha256": "10ff132e2903d038935574e73460f77989b5d0ad8f0fbbc6bf185e18cdffdf06",
|
| 145 |
+
"source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
|
| 146 |
+
},
|
| 147 |
+
"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 148 |
+
"sha256": "21cf203b252062bd196e22c8f9373b30541ccbe1493da9344741713873aa7040",
|
| 149 |
+
"source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
|
| 150 |
+
},
|
| 151 |
+
"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 152 |
+
"sha256": "6d850e03ce139546fda7a09c7d8e6ecd6085825fe01135adbb6a2f8facba0668",
|
| 153 |
+
"source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
|
| 154 |
+
},
|
| 155 |
+
"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 156 |
+
"sha256": "10d083685067b6db3f6fe136cc8653362a2db276619bb2210767d3cc436db5bb",
|
| 157 |
+
"source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
"input_fingerprint": "0326b88e993a191b",
|
| 161 |
+
"kind": "online_calibration",
|
| 162 |
+
"output_sha256": "a595f3e958f4315a783bef719d02175fae1e1c7644d85625a65f6fd6b8f62718",
|
| 163 |
+
"overlap": {
|
| 164 |
+
"left-right": 0.501,
|
| 165 |
+
"left_eye-left": 0.707,
|
| 166 |
+
"left_eye-right": 0.671,
|
| 167 |
+
"left_front-left": 0.478,
|
| 168 |
+
"left_front-left_eye": 0.72,
|
| 169 |
+
"left_front-right": 0.448,
|
| 170 |
+
"left_front-right_eye": 0.732,
|
| 171 |
+
"left_front-right_front": 1.0,
|
| 172 |
+
"right_eye-left": 0.696,
|
| 173 |
+
"right_eye-left_eye": 1.0,
|
| 174 |
+
"right_eye-right": 0.673,
|
| 175 |
+
"right_front-left": 0.464,
|
| 176 |
+
"right_front-left_eye": 0.723,
|
| 177 |
+
"right_front-right": 0.466,
|
| 178 |
+
"right_front-right_eye": 0.734
|
| 179 |
+
},
|
| 180 |
+
"picture_change": {
|
| 181 |
+
"left": 39.344,
|
| 182 |
+
"left_eye": 33.731,
|
| 183 |
+
"left_front": 40.706,
|
| 184 |
+
"right": 38.915,
|
| 185 |
+
"right_eye": 32.013,
|
| 186 |
+
"right_front": 39.191
|
| 187 |
+
},
|
| 188 |
+
"runtime": {
|
| 189 |
+
"numpy": "2.4.6",
|
| 190 |
+
"opencv": "5.0.0",
|
| 191 |
+
"scipy": "1.17.1"
|
| 192 |
+
},
|
| 193 |
+
"segment": 1,
|
| 194 |
+
"selection": {
|
| 195 |
+
"overlap_captures": [
|
| 196 |
+
12203862844111,
|
| 197 |
+
12204862821888,
|
| 198 |
+
12206862833000,
|
| 199 |
+
12207862799666,
|
| 200 |
+
12210862833000,
|
| 201 |
+
12211862966333,
|
| 202 |
+
12216862966333,
|
| 203 |
+
12217862833000,
|
| 204 |
+
12221862821888,
|
| 205 |
+
12222862921888,
|
| 206 |
+
12223862833000,
|
| 207 |
+
12224862833000,
|
| 208 |
+
12229862844111,
|
| 209 |
+
12230862799666,
|
| 210 |
+
12232862821888,
|
| 211 |
+
12233862810777,
|
| 212 |
+
12238862821888,
|
| 213 |
+
12239862921888,
|
| 214 |
+
12245862844111,
|
| 215 |
+
12246862810777,
|
| 216 |
+
12247862810777,
|
| 217 |
+
12250862799666,
|
| 218 |
+
12251862821888,
|
| 219 |
+
12257862833000,
|
| 220 |
+
12258862833000,
|
| 221 |
+
12259862810777,
|
| 222 |
+
12260862799666,
|
| 223 |
+
12265862955222,
|
| 224 |
+
12266862833000,
|
| 225 |
+
12272862966333,
|
| 226 |
+
12273862833000,
|
| 227 |
+
12274862821888,
|
| 228 |
+
12278862821888,
|
| 229 |
+
12279862888555,
|
| 230 |
+
12284862810777,
|
| 231 |
+
12285862844111,
|
| 232 |
+
12290862810777,
|
| 233 |
+
12291862810777,
|
| 234 |
+
12292862888555,
|
| 235 |
+
12297862810777,
|
| 236 |
+
12298862810777,
|
| 237 |
+
12304862844111,
|
| 238 |
+
12305862933000,
|
| 239 |
+
12306862810777,
|
| 240 |
+
12312862955222,
|
| 241 |
+
12313862844111,
|
| 242 |
+
12314862910777,
|
| 243 |
+
12315862821888,
|
| 244 |
+
12319862833000,
|
| 245 |
+
12320862821888,
|
| 246 |
+
12324862921888,
|
| 247 |
+
12325862833000,
|
| 248 |
+
12329862955222,
|
| 249 |
+
12330862866333,
|
| 250 |
+
12334862810777,
|
| 251 |
+
12335862844111
|
| 252 |
+
]
|
| 253 |
+
},
|
| 254 |
+
"version": 1
|
| 255 |
+
}
|
actions/locomanipulation/LM29/session_009/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1b2b09ffbdb1b2c1b76e9f1de16fe892fbe62ffe896eece37fa37a4eb63bdcdf
|
| 3 |
+
size 826292
|
actions/locomanipulation/LM29/session_009/meta.json
CHANGED
|
@@ -341,8 +341,8 @@
|
|
| 341 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 342 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 343 |
"hands": {
|
| 344 |
-
"observed":
|
| 345 |
-
"hand_pose": "
|
| 346 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 347 |
"hand_marker_offsets_m": {
|
| 348 |
"left": {
|
|
@@ -522,10 +522,124 @@
|
|
| 522 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 523 |
"remaining_gyro_frame_deg": 1.5242980469321015
|
| 524 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 525 |
"release": {
|
| 526 |
"release_path": "actions/locomanipulation/LM29/session_009",
|
| 527 |
"family": "locomanipulation",
|
| 528 |
"primitive": "LM29",
|
| 529 |
"source_session": "20261008/LM29/20261008_034504_session46"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 530 |
}
|
| 531 |
}
|
|
|
|
| 341 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 342 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 343 |
"hands": {
|
| 344 |
+
"observed": true,
|
| 345 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 346 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 347 |
"hand_marker_offsets_m": {
|
| 348 |
"left": {
|
|
|
|
| 522 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 523 |
"remaining_gyro_frame_deg": 1.5242980469321015
|
| 524 |
},
|
| 525 |
+
"hands_registration": {
|
| 526 |
+
"cameras": {},
|
| 527 |
+
"hands": {
|
| 528 |
+
"left": {
|
| 529 |
+
"offset_deg": 18.69,
|
| 530 |
+
"offset_rotvec": [
|
| 531 |
+
0.2967,
|
| 532 |
+
0.0835,
|
| 533 |
+
0.1067
|
| 534 |
+
],
|
| 535 |
+
"dev_deg": {
|
| 536 |
+
"median": 16.59,
|
| 537 |
+
"p90": 35.98
|
| 538 |
+
},
|
| 539 |
+
"samples": 3998,
|
| 540 |
+
"accepted": 3442,
|
| 541 |
+
"wrist_pos_err_mm_median": 33.3,
|
| 542 |
+
"per_camera": {
|
| 543 |
+
"head": {
|
| 544 |
+
"samples": 3998,
|
| 545 |
+
"accepted": 3442,
|
| 546 |
+
"gate_deg": 30.0,
|
| 547 |
+
"offset_deg": 18.69,
|
| 548 |
+
"tier": "primary",
|
| 549 |
+
"dev_deg_median": 16.59,
|
| 550 |
+
"wrist_pos_err_mm_median": 33.3
|
| 551 |
+
}
|
| 552 |
+
},
|
| 553 |
+
"frames_by_state": {
|
| 554 |
+
"ace_sample": 13820,
|
| 555 |
+
"interpolated": 1304,
|
| 556 |
+
"mean_hand": 2152,
|
| 557 |
+
"no_body_fit": 8
|
| 558 |
+
},
|
| 559 |
+
"observed_fraction": 0.875,
|
| 560 |
+
"observed_fraction_of_valid": 0.8754,
|
| 561 |
+
"palm_axis_vs_markers_deg": {
|
| 562 |
+
"gsi": 19.25,
|
| 563 |
+
"smplx": 1.59
|
| 564 |
+
},
|
| 565 |
+
"hand_marker_to_mesh_mm": {
|
| 566 |
+
"flat": {
|
| 567 |
+
"median": 9.6,
|
| 568 |
+
"p90": 11.3
|
| 569 |
+
},
|
| 570 |
+
"registered": {
|
| 571 |
+
"median": 10.4,
|
| 572 |
+
"p90": 12.4
|
| 573 |
+
}
|
| 574 |
+
}
|
| 575 |
+
},
|
| 576 |
+
"right": {
|
| 577 |
+
"offset_deg": 9.7,
|
| 578 |
+
"offset_rotvec": [
|
| 579 |
+
0.1223,
|
| 580 |
+
-0.0509,
|
| 581 |
+
-0.1055
|
| 582 |
+
],
|
| 583 |
+
"dev_deg": {
|
| 584 |
+
"median": 13.49,
|
| 585 |
+
"p90": 33.47
|
| 586 |
+
},
|
| 587 |
+
"samples": 3557,
|
| 588 |
+
"accepted": 3116,
|
| 589 |
+
"wrist_pos_err_mm_median": 28.8,
|
| 590 |
+
"per_camera": {
|
| 591 |
+
"head": {
|
| 592 |
+
"samples": 3557,
|
| 593 |
+
"accepted": 3116,
|
| 594 |
+
"gate_deg": 30.0,
|
| 595 |
+
"offset_deg": 9.7,
|
| 596 |
+
"tier": "primary",
|
| 597 |
+
"dev_deg_median": 13.49,
|
| 598 |
+
"wrist_pos_err_mm_median": 28.8
|
| 599 |
+
}
|
| 600 |
+
},
|
| 601 |
+
"frames_by_state": {
|
| 602 |
+
"ace_sample": 12522,
|
| 603 |
+
"interpolated": 1766,
|
| 604 |
+
"mean_hand": 2988,
|
| 605 |
+
"no_body_fit": 8
|
| 606 |
+
},
|
| 607 |
+
"observed_fraction": 0.8267,
|
| 608 |
+
"observed_fraction_of_valid": 0.827,
|
| 609 |
+
"palm_axis_vs_markers_deg": {
|
| 610 |
+
"gsi": 13.38,
|
| 611 |
+
"smplx": 1.53
|
| 612 |
+
},
|
| 613 |
+
"hand_marker_to_mesh_mm": {
|
| 614 |
+
"flat": {
|
| 615 |
+
"median": 7.4,
|
| 616 |
+
"p90": 9.1
|
| 617 |
+
},
|
| 618 |
+
"registered": {
|
| 619 |
+
"median": 5.7,
|
| 620 |
+
"p90": 7.3
|
| 621 |
+
}
|
| 622 |
+
}
|
| 623 |
+
}
|
| 624 |
+
},
|
| 625 |
+
"max_dev_deg": 30.0,
|
| 626 |
+
"max_gap_s": 1.0,
|
| 627 |
+
"cameras_used": [
|
| 628 |
+
"head"
|
| 629 |
+
],
|
| 630 |
+
"generated_at_utc": "2026-11-03T22:20:01.934184+00:00",
|
| 631 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 632 |
+
"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",
|
| 633 |
+
"wrist_flip_suspect": []
|
| 634 |
+
},
|
| 635 |
"release": {
|
| 636 |
"release_path": "actions/locomanipulation/LM29/session_009",
|
| 637 |
"family": "locomanipulation",
|
| 638 |
"primitive": "LM29",
|
| 639 |
"source_session": "20261008/LM29/20261008_034504_session46"
|
| 640 |
+
},
|
| 641 |
+
"task": {
|
| 642 |
+
"primitive": "LM29",
|
| 643 |
+
"instruction": "Carry the box up onto the platform, across it, and down the other side, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 644 |
}
|
| 645 |
}
|
actions/locomanipulation/LM29/session_009/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:cecfa8a677981fcae8512f0cc244b6a6d097d9f94f10068a84b3d42bac9ccd26
|
| 3 |
+
size 5123449
|
actions/locomanipulation/LM29/session_009/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:18f0e4a821b3bed6f6abd6f1caa43a0388ac9dc5dd152c33ef5e0bb9a5a2bc61
|
| 3 |
+
size 11745437
|
actions/locomanipulation/LM29/session_010/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"source": "vendor annotation.json (schema 2, revision 1)",
|
| 4 |
+
"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
|
| 5 |
+
"primitive": "LM29",
|
| 6 |
+
"instruction": "Carry the box up onto the platform, across it, and down the other side, then 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": 148.966633,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.038860961637422475
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "467a1324-33ac-44f7-9dbf-9efc5e9c1df2",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM29",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1,
|
| 22 |
+
"end_s": 139.575,
|
| 23 |
+
"t_start": 1.0389,
|
| 24 |
+
"t_end": 139.6139,
|
| 25 |
+
"instruction": "Carry the box up onto the platform, across it, and down the other side, then 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/LM29/session_010/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,257 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 15,
|
| 5 |
+
"median_px": 0.395
|
| 6 |
+
},
|
| 7 |
+
"cameras": {
|
| 8 |
+
"left": {
|
| 9 |
+
"accepted": true,
|
| 10 |
+
"against": [
|
| 11 |
+
"left_front",
|
| 12 |
+
"right_front",
|
| 13 |
+
"left_eye",
|
| 14 |
+
"right_eye",
|
| 15 |
+
"right"
|
| 16 |
+
],
|
| 17 |
+
"delta_deg": 1.2474,
|
| 18 |
+
"gate_fail": [],
|
| 19 |
+
"held_out_px_after": 0.502,
|
| 20 |
+
"held_out_px_before": 6.055,
|
| 21 |
+
"inliers": 4018,
|
| 22 |
+
"position_fitted": false,
|
| 23 |
+
"rotvec_deg": [
|
| 24 |
+
-0.0981,
|
| 25 |
+
-0.4879,
|
| 26 |
+
-1.1438
|
| 27 |
+
],
|
| 28 |
+
"split_deg": 0.1272,
|
| 29 |
+
"usable": true
|
| 30 |
+
},
|
| 31 |
+
"left_eye": {
|
| 32 |
+
"accepted": true,
|
| 33 |
+
"against": [
|
| 34 |
+
"left_front",
|
| 35 |
+
"right_front",
|
| 36 |
+
"right_eye",
|
| 37 |
+
"left",
|
| 38 |
+
"right"
|
| 39 |
+
],
|
| 40 |
+
"delta_deg": 2.6195,
|
| 41 |
+
"gate_fail": [],
|
| 42 |
+
"held_out_px_after": 0.392,
|
| 43 |
+
"held_out_px_before": 7.119,
|
| 44 |
+
"inliers": 6085,
|
| 45 |
+
"position_fitted": true,
|
| 46 |
+
"position_mm": [
|
| 47 |
+
4.2,
|
| 48 |
+
-14.85,
|
| 49 |
+
6.07
|
| 50 |
+
],
|
| 51 |
+
"position_sigma_mm": 0.325,
|
| 52 |
+
"position_split_mm": 0.793,
|
| 53 |
+
"rotvec_deg": [
|
| 54 |
+
-0.1059,
|
| 55 |
+
0.8728,
|
| 56 |
+
-2.4675
|
| 57 |
+
],
|
| 58 |
+
"split_deg": 0.0652,
|
| 59 |
+
"usable": true
|
| 60 |
+
},
|
| 61 |
+
"left_front": {
|
| 62 |
+
"role": "rig origin"
|
| 63 |
+
},
|
| 64 |
+
"right": {
|
| 65 |
+
"accepted": true,
|
| 66 |
+
"against": [
|
| 67 |
+
"left_front",
|
| 68 |
+
"right_front",
|
| 69 |
+
"left_eye",
|
| 70 |
+
"right_eye",
|
| 71 |
+
"left"
|
| 72 |
+
],
|
| 73 |
+
"delta_deg": 1.7075,
|
| 74 |
+
"gate_fail": [],
|
| 75 |
+
"held_out_px_after": 0.977,
|
| 76 |
+
"held_out_px_before": 6.32,
|
| 77 |
+
"inliers": 1025,
|
| 78 |
+
"position_fitted": false,
|
| 79 |
+
"rotvec_deg": [
|
| 80 |
+
1.5215,
|
| 81 |
+
-0.5381,
|
| 82 |
+
-0.5579
|
| 83 |
+
],
|
| 84 |
+
"split_deg": 0.1367,
|
| 85 |
+
"usable": true
|
| 86 |
+
},
|
| 87 |
+
"right_eye": {
|
| 88 |
+
"accepted": true,
|
| 89 |
+
"against": [
|
| 90 |
+
"left_front",
|
| 91 |
+
"right_front",
|
| 92 |
+
"left_eye",
|
| 93 |
+
"left",
|
| 94 |
+
"right"
|
| 95 |
+
],
|
| 96 |
+
"delta_deg": 1.158,
|
| 97 |
+
"gate_fail": [],
|
| 98 |
+
"held_out_px_after": 0.387,
|
| 99 |
+
"held_out_px_before": 2.766,
|
| 100 |
+
"inliers": 7003,
|
| 101 |
+
"position_fitted": true,
|
| 102 |
+
"position_mm": [
|
| 103 |
+
5.63,
|
| 104 |
+
-17.12,
|
| 105 |
+
6.41
|
| 106 |
+
],
|
| 107 |
+
"position_sigma_mm": 0.296,
|
| 108 |
+
"position_split_mm": 3.208,
|
| 109 |
+
"rotvec_deg": [
|
| 110 |
+
0.1962,
|
| 111 |
+
-0.2859,
|
| 112 |
+
-1.1049
|
| 113 |
+
],
|
| 114 |
+
"split_deg": 0.0687,
|
| 115 |
+
"usable": true
|
| 116 |
+
},
|
| 117 |
+
"right_front": {
|
| 118 |
+
"accepted": true,
|
| 119 |
+
"against": [
|
| 120 |
+
"left_front",
|
| 121 |
+
"left_eye",
|
| 122 |
+
"right_eye",
|
| 123 |
+
"left",
|
| 124 |
+
"right"
|
| 125 |
+
],
|
| 126 |
+
"delta_deg": 2.016,
|
| 127 |
+
"gate_fail": [],
|
| 128 |
+
"held_out_px_after": 0.369,
|
| 129 |
+
"held_out_px_before": 6.077,
|
| 130 |
+
"inliers": 5560,
|
| 131 |
+
"position_fitted": false,
|
| 132 |
+
"rotvec_deg": [
|
| 133 |
+
-0.2828,
|
| 134 |
+
-0.0274,
|
| 135 |
+
-1.9958
|
| 136 |
+
],
|
| 137 |
+
"split_deg": 0.0198,
|
| 138 |
+
"usable": true
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"code_fingerprint": "711ecf5b3dd408f8",
|
| 142 |
+
"device_id": "e17c9efadb69e7b1",
|
| 143 |
+
"factory_root_name": "e17c9efadb69e7b1",
|
| 144 |
+
"files": {
|
| 145 |
+
"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 146 |
+
"sha256": "e29a64a7084c39bb1ec490a6197dba50b673c20bfd6b99541d8baa67c9a5cf8a",
|
| 147 |
+
"source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
|
| 148 |
+
},
|
| 149 |
+
"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 150 |
+
"sha256": "03efe3d58cc259c6785fe3b2b554f83726c0983f6ee914287415161ddb8027b3",
|
| 151 |
+
"source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
|
| 152 |
+
},
|
| 153 |
+
"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 154 |
+
"sha256": "1997565c2b3998df1ebb9a35b663a16b89ed30754162e9ce854ec9407009f55f",
|
| 155 |
+
"source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
|
| 156 |
+
},
|
| 157 |
+
"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 158 |
+
"sha256": "da1df088335592729e6a76894d46f1ffd9a3a197a57968c4b4e75eb08f673187",
|
| 159 |
+
"source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"input_fingerprint": "63b71549799df9f0",
|
| 163 |
+
"kind": "online_calibration",
|
| 164 |
+
"output_sha256": "94a735b15d3937d8160ccb837d86c5ed55d08e4812cc204d3033badef1e522ed",
|
| 165 |
+
"overlap": {
|
| 166 |
+
"left-right": 0.501,
|
| 167 |
+
"left_eye-left": 0.707,
|
| 168 |
+
"left_eye-right": 0.671,
|
| 169 |
+
"left_front-left": 0.478,
|
| 170 |
+
"left_front-left_eye": 0.72,
|
| 171 |
+
"left_front-right": 0.448,
|
| 172 |
+
"left_front-right_eye": 0.732,
|
| 173 |
+
"left_front-right_front": 1.0,
|
| 174 |
+
"right_eye-left": 0.696,
|
| 175 |
+
"right_eye-left_eye": 1.0,
|
| 176 |
+
"right_eye-right": 0.673,
|
| 177 |
+
"right_front-left": 0.464,
|
| 178 |
+
"right_front-left_eye": 0.723,
|
| 179 |
+
"right_front-right": 0.466,
|
| 180 |
+
"right_front-right_eye": 0.734
|
| 181 |
+
},
|
| 182 |
+
"picture_change": {
|
| 183 |
+
"left": 37.615,
|
| 184 |
+
"left_eye": 35.977,
|
| 185 |
+
"left_front": 43.203,
|
| 186 |
+
"right": 41.485,
|
| 187 |
+
"right_eye": 38.843,
|
| 188 |
+
"right_front": 43.66
|
| 189 |
+
},
|
| 190 |
+
"runtime": {
|
| 191 |
+
"numpy": "2.4.6",
|
| 192 |
+
"opencv": "5.0.0",
|
| 193 |
+
"scipy": "1.17.1"
|
| 194 |
+
},
|
| 195 |
+
"segment": 1,
|
| 196 |
+
"selection": {
|
| 197 |
+
"overlap_captures": [
|
| 198 |
+
9718964112111,
|
| 199 |
+
9719964001000,
|
| 200 |
+
9720963967666,
|
| 201 |
+
9728963978777,
|
| 202 |
+
9729963978777,
|
| 203 |
+
9733963967666,
|
| 204 |
+
9734964012111,
|
| 205 |
+
9735963978777,
|
| 206 |
+
9741963967666,
|
| 207 |
+
9742964001000,
|
| 208 |
+
9744964001000,
|
| 209 |
+
9745964012111,
|
| 210 |
+
9748964001000,
|
| 211 |
+
9749964012111,
|
| 212 |
+
9755964145444,
|
| 213 |
+
9756963989888,
|
| 214 |
+
9759963967666,
|
| 215 |
+
9760964001000,
|
| 216 |
+
9763964001000,
|
| 217 |
+
9764963989888,
|
| 218 |
+
9771964001000,
|
| 219 |
+
9772964012111,
|
| 220 |
+
9773963967666,
|
| 221 |
+
9774964101000,
|
| 222 |
+
9780963978777,
|
| 223 |
+
9781964012111,
|
| 224 |
+
9782963978777,
|
| 225 |
+
9790963978777,
|
| 226 |
+
9791963978777,
|
| 227 |
+
9793964023222,
|
| 228 |
+
9794964001000,
|
| 229 |
+
9798963967666,
|
| 230 |
+
9799963978777,
|
| 231 |
+
9804963978777,
|
| 232 |
+
9805963967666,
|
| 233 |
+
9808964001000,
|
| 234 |
+
9809963978777,
|
| 235 |
+
9811963978777,
|
| 236 |
+
9812963978777,
|
| 237 |
+
9815963978777,
|
| 238 |
+
9816964012111,
|
| 239 |
+
9820963967666,
|
| 240 |
+
9821964012111,
|
| 241 |
+
9825963989888,
|
| 242 |
+
9826964012111,
|
| 243 |
+
9832963978777,
|
| 244 |
+
9833964001000,
|
| 245 |
+
9834964001000,
|
| 246 |
+
9835963978777,
|
| 247 |
+
9842964001000,
|
| 248 |
+
9843963967666,
|
| 249 |
+
9844964145444,
|
| 250 |
+
9845963989888,
|
| 251 |
+
9852963967666,
|
| 252 |
+
9853963978777,
|
| 253 |
+
9854963989888
|
| 254 |
+
]
|
| 255 |
+
},
|
| 256 |
+
"version": 1
|
| 257 |
+
}
|
actions/locomanipulation/LM29/session_010/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e689634449e7f65f0c27921f69693bd6afef4ab98b6e0fb08fca25e016a6f837
|
| 3 |
+
size 857850
|
actions/locomanipulation/LM29/session_010/meta.json
CHANGED
|
@@ -342,8 +342,8 @@
|
|
| 342 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 343 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 344 |
"hands": {
|
| 345 |
-
"observed":
|
| 346 |
-
"hand_pose": "
|
| 347 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 348 |
"hand_marker_offsets_m": {
|
| 349 |
"left": {
|
|
@@ -537,10 +537,124 @@
|
|
| 537 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 538 |
"remaining_gyro_frame_deg": 1.4698237858019139
|
| 539 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 540 |
"release": {
|
| 541 |
"release_path": "actions/locomanipulation/LM29/session_010",
|
| 542 |
"family": "locomanipulation",
|
| 543 |
"primitive": "LM29",
|
| 544 |
"source_session": "20261009/LM29/20261009_025520_session40"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 545 |
}
|
| 546 |
}
|
|
|
|
| 342 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 343 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 344 |
"hands": {
|
| 345 |
+
"observed": true,
|
| 346 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 347 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 348 |
"hand_marker_offsets_m": {
|
| 349 |
"left": {
|
|
|
|
| 537 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 538 |
"remaining_gyro_frame_deg": 1.4698237858019139
|
| 539 |
},
|
| 540 |
+
"hands_registration": {
|
| 541 |
+
"cameras": {},
|
| 542 |
+
"hands": {
|
| 543 |
+
"left": {
|
| 544 |
+
"offset_deg": 5.7,
|
| 545 |
+
"offset_rotvec": [
|
| 546 |
+
0.0134,
|
| 547 |
+
0.0562,
|
| 548 |
+
0.081
|
| 549 |
+
],
|
| 550 |
+
"dev_deg": {
|
| 551 |
+
"median": 6.59,
|
| 552 |
+
"p90": 17.11
|
| 553 |
+
},
|
| 554 |
+
"samples": 4411,
|
| 555 |
+
"accepted": 4266,
|
| 556 |
+
"wrist_pos_err_mm_median": 34.6,
|
| 557 |
+
"per_camera": {
|
| 558 |
+
"head": {
|
| 559 |
+
"samples": 4411,
|
| 560 |
+
"accepted": 4266,
|
| 561 |
+
"gate_deg": 30.0,
|
| 562 |
+
"offset_deg": 5.7,
|
| 563 |
+
"tier": "primary",
|
| 564 |
+
"dev_deg_median": 6.59,
|
| 565 |
+
"wrist_pos_err_mm_median": 34.6
|
| 566 |
+
}
|
| 567 |
+
},
|
| 568 |
+
"frames_by_state": {
|
| 569 |
+
"ace_sample": 17066,
|
| 570 |
+
"interpolated": 70,
|
| 571 |
+
"mean_hand": 719,
|
| 572 |
+
"no_body_fit": 29
|
| 573 |
+
},
|
| 574 |
+
"observed_fraction": 0.9582,
|
| 575 |
+
"observed_fraction_of_valid": 0.9597,
|
| 576 |
+
"palm_axis_vs_markers_deg": {
|
| 577 |
+
"gsi": 7.35,
|
| 578 |
+
"smplx": 1.29
|
| 579 |
+
},
|
| 580 |
+
"hand_marker_to_mesh_mm": {
|
| 581 |
+
"flat": {
|
| 582 |
+
"median": 9.6,
|
| 583 |
+
"p90": 13.3
|
| 584 |
+
},
|
| 585 |
+
"registered": {
|
| 586 |
+
"median": 9.7,
|
| 587 |
+
"p90": 13.2
|
| 588 |
+
}
|
| 589 |
+
}
|
| 590 |
+
},
|
| 591 |
+
"right": {
|
| 592 |
+
"offset_deg": 16.49,
|
| 593 |
+
"offset_rotvec": [
|
| 594 |
+
0.2468,
|
| 595 |
+
0.0585,
|
| 596 |
+
0.136
|
| 597 |
+
],
|
| 598 |
+
"dev_deg": {
|
| 599 |
+
"median": 6.94,
|
| 600 |
+
"p90": 11.64
|
| 601 |
+
},
|
| 602 |
+
"samples": 4279,
|
| 603 |
+
"accepted": 4251,
|
| 604 |
+
"wrist_pos_err_mm_median": 32.3,
|
| 605 |
+
"per_camera": {
|
| 606 |
+
"head": {
|
| 607 |
+
"samples": 4279,
|
| 608 |
+
"accepted": 4251,
|
| 609 |
+
"gate_deg": 30.0,
|
| 610 |
+
"offset_deg": 16.49,
|
| 611 |
+
"tier": "primary",
|
| 612 |
+
"dev_deg_median": 6.94,
|
| 613 |
+
"wrist_pos_err_mm_median": 32.3
|
| 614 |
+
}
|
| 615 |
+
},
|
| 616 |
+
"frames_by_state": {
|
| 617 |
+
"ace_sample": 17030,
|
| 618 |
+
"interpolated": 298,
|
| 619 |
+
"mean_hand": 527,
|
| 620 |
+
"no_body_fit": 29
|
| 621 |
+
},
|
| 622 |
+
"observed_fraction": 0.9689,
|
| 623 |
+
"observed_fraction_of_valid": 0.9705,
|
| 624 |
+
"palm_axis_vs_markers_deg": {
|
| 625 |
+
"gsi": 17.17,
|
| 626 |
+
"smplx": 1.04
|
| 627 |
+
},
|
| 628 |
+
"hand_marker_to_mesh_mm": {
|
| 629 |
+
"flat": {
|
| 630 |
+
"median": 14.1,
|
| 631 |
+
"p90": 18.5
|
| 632 |
+
},
|
| 633 |
+
"registered": {
|
| 634 |
+
"median": 15.0,
|
| 635 |
+
"p90": 17.3
|
| 636 |
+
}
|
| 637 |
+
}
|
| 638 |
+
}
|
| 639 |
+
},
|
| 640 |
+
"max_dev_deg": 30.0,
|
| 641 |
+
"max_gap_s": 1.0,
|
| 642 |
+
"cameras_used": [
|
| 643 |
+
"head"
|
| 644 |
+
],
|
| 645 |
+
"generated_at_utc": "2026-11-03T22:16:26.288626+00:00",
|
| 646 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 647 |
+
"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",
|
| 648 |
+
"wrist_flip_suspect": []
|
| 649 |
+
},
|
| 650 |
"release": {
|
| 651 |
"release_path": "actions/locomanipulation/LM29/session_010",
|
| 652 |
"family": "locomanipulation",
|
| 653 |
"primitive": "LM29",
|
| 654 |
"source_session": "20261009/LM29/20261009_025520_session40"
|
| 655 |
+
},
|
| 656 |
+
"task": {
|
| 657 |
+
"primitive": "LM29",
|
| 658 |
+
"instruction": "Carry the box up onto the platform, across it, and down the other side, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 659 |
}
|
| 660 |
}
|
actions/locomanipulation/LM29/session_010/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4230a32a0714e67173c3de3ab20ef4559d61e249f43b9359ed7b81001e07439e
|
| 3 |
+
size 5862022
|
actions/locomanipulation/LM29/session_010/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:652267ff523adcc1be89bffcf1ce69d3888145c008eaf8a814f5e721db80ac7d
|
| 3 |
+
size 12704826
|
actions/locomanipulation/LM29/session_011/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"source": "vendor annotation.json (schema 2, revision 1)",
|
| 4 |
+
"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
|
| 5 |
+
"primitive": "LM29",
|
| 6 |
+
"instruction": "Carry the box up onto the platform, across it, and down the other side, then 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": 153.966656,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03886050793308371
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "f8b64488-bb8f-4561-9b52-c3da5483a09e",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM29",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1,
|
| 22 |
+
"end_s": 148.404,
|
| 23 |
+
"t_start": 1.0389,
|
| 24 |
+
"t_end": 148.4429,
|
| 25 |
+
"instruction": "Carry the box up onto the platform, across it, and down the other side, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|