Release update 2026-11-05: new sessions, instructions, annotations (part 202)
Browse files- actions/locomanipulation/LM25/session_008/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM25/session_008/motions/smplx.npz +2 -2
- actions/locomanipulation/LM25/session_009/annotations.json +28 -0
- actions/locomanipulation/LM25/session_009/cameras/gsi_online_calibration.json +255 -0
- actions/locomanipulation/LM25/session_009/cameras/slam.npz +3 -0
- actions/locomanipulation/LM25/session_009/meta.json +116 -2
- actions/locomanipulation/LM25/session_009/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM25/session_009/motions/smplx.npz +2 -2
- actions/locomanipulation/LM25/session_010/annotations.json +28 -0
- actions/locomanipulation/LM25/session_010/cameras/gsi_online_calibration.json +255 -0
- actions/locomanipulation/LM25/session_010/cameras/slam.npz +3 -0
- actions/locomanipulation/LM25/session_010/meta.json +4 -0
- actions/locomanipulation/LM25/session_010/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM25/session_011/annotations.json +28 -0
- actions/locomanipulation/LM25/session_011/cameras/gsi_online_calibration.json +255 -0
- actions/locomanipulation/LM25/session_011/cameras/slam.npz +3 -0
- actions/locomanipulation/LM25/session_011/meta.json +4 -0
- actions/locomanipulation/LM25/session_011/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM25/session_012/annotations.json +28 -0
- actions/locomanipulation/LM25/session_012/cameras/gsi_online_calibration.json +258 -0
- actions/locomanipulation/LM25/session_012/cameras/slam.npz +3 -0
- actions/locomanipulation/LM25/session_012/meta.json +116 -2
- actions/locomanipulation/LM25/session_012/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM25/session_012/motions/smplx.npz +2 -2
- actions/locomanipulation/LM25/session_013/annotations.json +28 -0
- actions/locomanipulation/LM25/session_013/cameras/slam.npz +3 -0
- actions/locomanipulation/LM25/session_013/meta.json +116 -2
- actions/locomanipulation/LM25/session_013/motions/hands_mano.npz +3 -0
actions/locomanipulation/LM25/session_008/motions/hands_mano.npz
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size 3712142
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actions/locomanipulation/LM25/session_008/motions/smplx.npz
CHANGED
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version https://git-lfs.github.com/spec/v1
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actions/locomanipulation/LM25/session_009/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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"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
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"primitive": "LM25",
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"instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down.",
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"segments": [
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{
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"id": "segment1",
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"episodes": [
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{
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"id": "da9891e5-8dd8-4826-9e2d-cb7a1ed4f40c",
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"segment": "segment1",
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"action": "LM25",
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"quality": "valid",
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"start_s": 0,
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"end_s": 113.137,
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"t_start": 0.0393,
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"t_end": 113.1763,
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"instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down."
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}
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| 27 |
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]
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| 28 |
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}
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actions/locomanipulation/LM25/session_009/cameras/gsi_online_calibration.json
ADDED
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@@ -0,0 +1,255 @@
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{
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@@ -522,10 +522,124 @@
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| 632 |
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| 644 |
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|
| 645 |
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actions/locomanipulation/LM25/session_009/motions/hands_mano.npz
ADDED
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version https://git-lfs.github.com/spec/v1
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size 2759172
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actions/locomanipulation/LM25/session_009/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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size 9807891
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actions/locomanipulation/LM25/session_010/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
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|
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|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
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"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": "LM25",
|
| 6 |
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"instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down.",
|
| 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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| 14 |
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{
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| 17 |
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"id": "8d9651d3-af58-4c8e-98c9-ed5044207693",
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| 24 |
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"t_end": 122.816,
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| 25 |
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"instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down."
|
| 26 |
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}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM25/session_010/cameras/gsi_online_calibration.json
ADDED
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@@ -0,0 +1,255 @@
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actions/locomanipulation/LM25/session_010/cameras/slam.npz
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 741001
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actions/locomanipulation/LM25/session_010/meta.json
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@@ -512,5 +512,9 @@
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|
| 512 |
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| 514 |
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| 514 |
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},
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| 518 |
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"instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down."
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| 519 |
}
|
| 520 |
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|
actions/locomanipulation/LM25/session_010/motions/hands_mano.npz
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 4917095
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actions/locomanipulation/LM25/session_011/annotations.json
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@@ -0,0 +1,28 @@
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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": "LM25",
|
| 6 |
+
"instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 113.966722,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03878466983213391
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "53aa3ee3-ca21-4b44-842e-7a060ea8b629",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM25",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 110.073,
|
| 23 |
+
"t_start": 0.0388,
|
| 24 |
+
"t_end": 110.1118,
|
| 25 |
+
"instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM25/session_011/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,255 @@
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|
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|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 14,
|
| 5 |
+
"median_px": 0.348
|
| 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": 1.0872,
|
| 17 |
+
"gate_fail": [],
|
| 18 |
+
"held_out_px_after": 0.439,
|
| 19 |
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"held_out_px_before": 4.633,
|
| 20 |
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"inliers": 2447,
|
| 21 |
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"position_fitted": false,
|
| 22 |
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"rotvec_deg": [
|
| 23 |
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-0.2025,
|
| 24 |
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-0.4866,
|
| 25 |
+
-0.9509
|
| 26 |
+
],
|
| 27 |
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"split_deg": 0.0292,
|
| 28 |
+
"usable": true
|
| 29 |
+
},
|
| 30 |
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"left_eye": {
|
| 31 |
+
"accepted": true,
|
| 32 |
+
"against": [
|
| 33 |
+
"left_front",
|
| 34 |
+
"right_front",
|
| 35 |
+
"right_eye",
|
| 36 |
+
"left",
|
| 37 |
+
"right"
|
| 38 |
+
],
|
| 39 |
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"delta_deg": 2.2858,
|
| 40 |
+
"gate_fail": [],
|
| 41 |
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"held_out_px_after": 0.38,
|
| 42 |
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"held_out_px_before": 6.408,
|
| 43 |
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"inliers": 3865,
|
| 44 |
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"position_fitted": true,
|
| 45 |
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"position_mm": [
|
| 46 |
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-1.94,
|
| 47 |
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-12.99,
|
| 48 |
+
9.4
|
| 49 |
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],
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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],
|
| 57 |
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"split_deg": 0.0192,
|
| 58 |
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"usable": true
|
| 59 |
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},
|
| 60 |
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"left_front": {
|
| 61 |
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"role": "rig origin"
|
| 62 |
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},
|
| 63 |
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"right": {
|
| 64 |
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"accepted": true,
|
| 65 |
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"against": [
|
| 66 |
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"left_front",
|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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],
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 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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|
| 93 |
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],
|
| 94 |
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|
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|
| 96 |
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|
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|
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|
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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],
|
| 105 |
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|
| 106 |
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|
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|
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|
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|
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],
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|
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|
| 114 |
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},
|
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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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],
|
| 124 |
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|
| 125 |
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|
| 126 |
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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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|
| 137 |
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}
|
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},
|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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"files": {
|
| 143 |
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|
| 144 |
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"sha256": "c3bf9e3ee11f84796167b2cd9875dd6e10565e6ee5fb5dafc1b27a55429f20aa",
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|
| 147 |
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|
| 148 |
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|
| 150 |
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},
|
| 151 |
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"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 152 |
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|
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|
| 156 |
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|
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|
| 160 |
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|
| 161 |
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|
| 162 |
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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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|
| 172 |
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|
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|
| 174 |
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|
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|
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|
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|
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|
| 179 |
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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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actions/locomanipulation/LM25/session_011/cameras/slam.npz
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version https://git-lfs.github.com/spec/v1
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size 655497
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actions/locomanipulation/LM25/session_011/meta.json
CHANGED
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@@ -512,5 +512,9 @@
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|
| 512 |
"family": "locomanipulation",
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| 513 |
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| 514 |
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| 514 |
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|
| 518 |
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"instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down."
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| 519 |
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|
| 520 |
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ADDED
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|
| 5 |
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"primitive": "LM25",
|
| 6 |
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|
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|
| 28 |
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actions/locomanipulation/LM25/session_012/cameras/gsi_online_calibration.json
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{
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|
| 32 |
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|
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|
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|
| 35 |
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|
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|
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| 27 |
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|
| 28 |
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CHANGED
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@@ -327,8 +327,8 @@
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|
| 327 |
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|
| 328 |
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|
| 523 |
"release": {
|
| 524 |
"release_path": "actions/locomanipulation/LM25/session_013",
|
| 525 |
"family": "locomanipulation",
|
| 526 |
"primitive": "LM25",
|
| 527 |
"source_session": "20260922/LM25/20260922_082617_session116"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 528 |
}
|
| 529 |
}
|
|
|
|
| 327 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 328 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 329 |
"hands": {
|
| 330 |
+
"observed": true,
|
| 331 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 332 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 333 |
"hand_marker_offsets_m": {
|
| 334 |
"left": {
|
|
|
|
| 520 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 521 |
"remaining_gyro_frame_deg": 1.4663436996126682
|
| 522 |
},
|
| 523 |
+
"hands_registration": {
|
| 524 |
+
"cameras": {},
|
| 525 |
+
"hands": {
|
| 526 |
+
"left": {
|
| 527 |
+
"offset_deg": 19.43,
|
| 528 |
+
"offset_rotvec": [
|
| 529 |
+
0.3193,
|
| 530 |
+
0.1015,
|
| 531 |
+
0.0528
|
| 532 |
+
],
|
| 533 |
+
"dev_deg": {
|
| 534 |
+
"median": 19.66,
|
| 535 |
+
"p90": 43.74
|
| 536 |
+
},
|
| 537 |
+
"samples": 2998,
|
| 538 |
+
"accepted": 2307,
|
| 539 |
+
"wrist_pos_err_mm_median": 86.1,
|
| 540 |
+
"per_camera": {
|
| 541 |
+
"head": {
|
| 542 |
+
"samples": 2998,
|
| 543 |
+
"accepted": 2307,
|
| 544 |
+
"gate_deg": 30.0,
|
| 545 |
+
"offset_deg": 19.43,
|
| 546 |
+
"tier": "primary",
|
| 547 |
+
"dev_deg_median": 19.66,
|
| 548 |
+
"wrist_pos_err_mm_median": 86.1
|
| 549 |
+
}
|
| 550 |
+
},
|
| 551 |
+
"frames_by_state": {
|
| 552 |
+
"ace_sample": 9320,
|
| 553 |
+
"interpolated": 2052,
|
| 554 |
+
"mean_hand": 1706,
|
| 555 |
+
"no_body_fit": 6
|
| 556 |
+
},
|
| 557 |
+
"observed_fraction": 0.8692,
|
| 558 |
+
"observed_fraction_of_valid": 0.8696,
|
| 559 |
+
"palm_axis_vs_markers_deg": {
|
| 560 |
+
"gsi": 23.06,
|
| 561 |
+
"smplx": 2.05
|
| 562 |
+
},
|
| 563 |
+
"hand_marker_to_mesh_mm": {
|
| 564 |
+
"flat": {
|
| 565 |
+
"median": 10.9,
|
| 566 |
+
"p90": 13.0
|
| 567 |
+
},
|
| 568 |
+
"registered": {
|
| 569 |
+
"median": 11.1,
|
| 570 |
+
"p90": 13.9
|
| 571 |
+
}
|
| 572 |
+
}
|
| 573 |
+
},
|
| 574 |
+
"right": {
|
| 575 |
+
"offset_deg": 7.22,
|
| 576 |
+
"offset_rotvec": [
|
| 577 |
+
0.1145,
|
| 578 |
+
0.0067,
|
| 579 |
+
-0.0524
|
| 580 |
+
],
|
| 581 |
+
"dev_deg": {
|
| 582 |
+
"median": 14.02,
|
| 583 |
+
"p90": 32.03
|
| 584 |
+
},
|
| 585 |
+
"samples": 2910,
|
| 586 |
+
"accepted": 2561,
|
| 587 |
+
"wrist_pos_err_mm_median": 97.9,
|
| 588 |
+
"per_camera": {
|
| 589 |
+
"head": {
|
| 590 |
+
"samples": 2910,
|
| 591 |
+
"accepted": 2561,
|
| 592 |
+
"gate_deg": 30.0,
|
| 593 |
+
"offset_deg": 7.22,
|
| 594 |
+
"tier": "primary",
|
| 595 |
+
"dev_deg_median": 14.02,
|
| 596 |
+
"wrist_pos_err_mm_median": 97.9
|
| 597 |
+
}
|
| 598 |
+
},
|
| 599 |
+
"frames_by_state": {
|
| 600 |
+
"ace_sample": 10396,
|
| 601 |
+
"interpolated": 2416,
|
| 602 |
+
"mean_hand": 266,
|
| 603 |
+
"no_body_fit": 6
|
| 604 |
+
},
|
| 605 |
+
"observed_fraction": 0.9792,
|
| 606 |
+
"observed_fraction_of_valid": 0.9797,
|
| 607 |
+
"palm_axis_vs_markers_deg": {
|
| 608 |
+
"gsi": 14.09,
|
| 609 |
+
"smplx": 2.4
|
| 610 |
+
},
|
| 611 |
+
"hand_marker_to_mesh_mm": {
|
| 612 |
+
"flat": {
|
| 613 |
+
"median": 5.7,
|
| 614 |
+
"p90": 7.0
|
| 615 |
+
},
|
| 616 |
+
"registered": {
|
| 617 |
+
"median": 5.5,
|
| 618 |
+
"p90": 6.7
|
| 619 |
+
}
|
| 620 |
+
}
|
| 621 |
+
}
|
| 622 |
+
},
|
| 623 |
+
"max_dev_deg": 30.0,
|
| 624 |
+
"max_gap_s": 1.0,
|
| 625 |
+
"cameras_used": [
|
| 626 |
+
"head"
|
| 627 |
+
],
|
| 628 |
+
"generated_at_utc": "2026-11-03T22:44:20.812359+00:00",
|
| 629 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 630 |
+
"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",
|
| 631 |
+
"wrist_flip_suspect": []
|
| 632 |
+
},
|
| 633 |
"release": {
|
| 634 |
"release_path": "actions/locomanipulation/LM25/session_013",
|
| 635 |
"family": "locomanipulation",
|
| 636 |
"primitive": "LM25",
|
| 637 |
"source_session": "20260922/LM25/20260922_082617_session116"
|
| 638 |
+
},
|
| 639 |
+
"task": {
|
| 640 |
+
"primitive": "LM25",
|
| 641 |
+
"instruction": "Carry the box across the room, stopping and starting again each time the operator says stop and go. Do not set the box down."
|
| 642 |
}
|
| 643 |
}
|
actions/locomanipulation/LM25/session_013/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ef24431703d80cf61afa12bab100923c123e171e56c9c5c9bf0f11cc37d14599
|
| 3 |
+
size 4012287
|