Release update 2026-11-05: new sessions, instructions, annotations (part 337)
Browse files- .gitattributes +9 -0
- actions/locomanipulation/LM34/session_033/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM34/session_033/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM34/session_033/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM34/session_033/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM34/session_033/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM34/session_033/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM34/session_033/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM34/session_033/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM34/session_033/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM34/session_034/cameras/poses.npz +3 -0
- actions/locomanipulation/LM34/session_034/meta.json +629 -0
- actions/locomanipulation/LM34/session_034/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM34/session_034/motions/markers.npz +3 -0
- actions/locomanipulation/LM34/session_034/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM34/session_034/motions/smplx.npz +3 -0
- actions/locomanipulation/LM34/session_034/raw/audio.wav +3 -0
- actions/locomanipulation/LM34/session_034/raw/manifest.json +263 -0
- actions/locomanipulation/LM34/session_034/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM34/session_034/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM34/session_034/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM34/session_034/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM34/session_034/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM34/session_034/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM34/session_034/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM34/session_034/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM34/session_034/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM34/session_034/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM34/session_034/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM34/session_034/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM34/session_034/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM34/session_034/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM34/session_034/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM34/session_034/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM34/session_034/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM34/session_034/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM34/session_034/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM34/session_034/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM34/session_034/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM34/session_034/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM34/session_034/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM34/session_034/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM34/session_034/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM34/session_034/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM35/session_001/annotations.json +28 -0
- actions/locomanipulation/LM35/session_001/cameras/slam.npz +3 -0
- actions/locomanipulation/LM35/session_001/meta.json +116 -2
- actions/locomanipulation/LM35/session_001/motions/hands_mano.npz +3 -0
.gitattributes
CHANGED
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261028/LM34/20261028_100632_session110",
|
| 4 |
+
"session_id": "20261028_100632_session110",
|
| 5 |
+
"primitive": "LM34",
|
| 6 |
+
"batch": "20261028",
|
| 7 |
+
"participant": "xiaobo",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e3296774a321bb51",
|
| 11 |
+
"left": "39042f5fb5da3b12",
|
| 12 |
+
"right": "65a3481473d6e2a0"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-28T20:03:50.072844+00:00",
|
| 15 |
+
"generated_by": "scripts/sync_dataset.py",
|
| 16 |
+
"time_base": {
|
| 17 |
+
"definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
|
| 18 |
+
"mocap_rate_hz": 120.0,
|
| 19 |
+
"mocap_rate_fix": null,
|
| 20 |
+
"first_solved_frame": 0,
|
| 21 |
+
"duration_s": 126.225,
|
| 22 |
+
"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 23 |
+
},
|
| 24 |
+
"alignment": {
|
| 25 |
+
"reference_imu": "imu_head_right",
|
| 26 |
+
"model": "offset (median of windows)",
|
| 27 |
+
"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 28 |
+
"offset_s": -0.083125,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.085,
|
| 31 |
+
"peak_corr": 0.9972,
|
| 32 |
+
"reference_imu_first_sample_s": 33689.894689773,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 11,
|
| 35 |
+
"window_corr_median": 0.9975520620578147,
|
| 36 |
+
"drift_ppm": -5.252951288960018,
|
| 37 |
+
"drift_se_ppm": 2.0506547432574296,
|
| 38 |
+
"drift_ms_over_take": -0.6630100018549037,
|
| 39 |
+
"lag_scatter_ms": 0.1945421904996388,
|
| 40 |
+
"lag_range_ms": 0.8298754563333122
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"units": {
|
| 44 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
+
"y_up_to_z_up": [
|
| 46 |
+
[
|
| 47 |
+
1.0,
|
| 48 |
+
0.0,
|
| 49 |
+
0.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
0.0,
|
| 53 |
+
0.0,
|
| 54 |
+
-1.0
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.0,
|
| 58 |
+
1.0,
|
| 59 |
+
0.0
|
| 60 |
+
]
|
| 61 |
+
],
|
| 62 |
+
"acc": "m/s^2 (8192 LSB/g)",
|
| 63 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 64 |
+
"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 65 |
+
"quaternions": "xyzw, Nokov global"
|
| 66 |
+
},
|
| 67 |
+
"calibration": {
|
| 68 |
+
"device": "e3296774a321bb51",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 25490,
|
| 76 |
+
"n_gyro": 25483,
|
| 77 |
+
"t_start": -0.09959408616254097,
|
| 78 |
+
"t_end": 126.41942237383643
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 25368,
|
| 82 |
+
"n_gyro": 25362,
|
| 83 |
+
"t_start": 0.008648022833368837,
|
| 84 |
+
"t_end": 126.58688999083694
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 25499,
|
| 88 |
+
"n_gyro": 25513,
|
| 89 |
+
"t_start": -0.6897446231682248,
|
| 90 |
+
"t_end": 125.00330293783787
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 25415,
|
| 94 |
+
"n_gyro": 25416,
|
| 95 |
+
"t_start": -0.9464393931643268,
|
| 96 |
+
"t_end": 124.99901971383821
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 12667,
|
| 100 |
+
"t_start": 0.09269737283335543,
|
| 101 |
+
"t_end": 126.75269689183784
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 12569,
|
| 105 |
+
"t_start": -0.6818019981669191,
|
| 106 |
+
"t_end": 124.99850226983705
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 12594,
|
| 110 |
+
"t_start": -0.9346401511660939,
|
| 111 |
+
"t_end": 124.9956335208322
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 33690.015193,
|
| 118 |
+
"frames": 3786,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0025546514432425653,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.0399327942782851,
|
| 124 |
+
"t_end": 126.20665479428004,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 33690.015175,
|
| 131 |
+
"frames": 3786,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.002366886077403108,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.03972702890911149,
|
| 137 |
+
"t_end": 126.20641602890697,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 33690.015187,
|
| 144 |
+
"frames": 3786,
|
| 145 |
+
"pts_gaps": 0,
|
| 146 |
+
"timing": "pts",
|
| 147 |
+
"timeshift_cam_imu_s": 0.0026728712083183277,
|
| 148 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
+
"t_start": 0.04004501404284509,
|
| 150 |
+
"t_end": 126.20675601404088,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
},
|
| 154 |
+
"right_front": {
|
| 155 |
+
"fps": 30.0,
|
| 156 |
+
"start_device_s": 33690.015199,
|
| 157 |
+
"frames": 3786,
|
| 158 |
+
"pts_gaps": 0,
|
| 159 |
+
"timing": "pts",
|
| 160 |
+
"timeshift_cam_imu_s": 0.002595594493655556,
|
| 161 |
+
"file": "robocap_segment1_video_right_front.mp4",
|
| 162 |
+
"t_start": 0.039979737330724116,
|
| 163 |
+
"t_end": 126.20671273732893,
|
| 164 |
+
"clock": "device",
|
| 165 |
+
"calibrated": true
|
| 166 |
+
},
|
| 167 |
+
"left_eye": {
|
| 168 |
+
"fps": 60.0,
|
| 169 |
+
"start_device_s": 33690.015181,
|
| 170 |
+
"frames": 3785,
|
| 171 |
+
"pts_gaps": 3784,
|
| 172 |
+
"timing": "pts (gap undecided)",
|
| 173 |
+
"timeshift_cam_imu_s": 0.002394386090989767,
|
| 174 |
+
"gap_test": {
|
| 175 |
+
"pts": {
|
| 176 |
+
"offset_ms": -6.9,
|
| 177 |
+
"corr": 0.799,
|
| 178 |
+
"err_ms": 9.3
|
| 179 |
+
},
|
| 180 |
+
"nominal": {
|
| 181 |
+
"offset_ms": 150.0,
|
| 182 |
+
"corr": 0.029,
|
| 183 |
+
"err_ms": 147.6
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"file": "robocap_segment1_video_left_eye.mp4",
|
| 187 |
+
"t_start": 0.039760528931366376,
|
| 188 |
+
"t_end": 126.22314952892935,
|
| 189 |
+
"clock": "device",
|
| 190 |
+
"calibrated": true
|
| 191 |
+
},
|
| 192 |
+
"right_eye": {
|
| 193 |
+
"fps": 30.0,
|
| 194 |
+
"start_device_s": 33690.015166,
|
| 195 |
+
"frames": 3786,
|
| 196 |
+
"pts_gaps": 0,
|
| 197 |
+
"timing": "pts",
|
| 198 |
+
"timeshift_cam_imu_s": 0.002315656053021164,
|
| 199 |
+
"file": "robocap_segment1_video_right_eye.mp4",
|
| 200 |
+
"t_start": 0.039666798888503205,
|
| 201 |
+
"t_end": 126.20634479888992,
|
| 202 |
+
"clock": "device",
|
| 203 |
+
"calibrated": true
|
| 204 |
+
},
|
| 205 |
+
"wrist_left": {
|
| 206 |
+
"fps": 30.0,
|
| 207 |
+
"start_device_s": 33689.022785,
|
| 208 |
+
"frames": 3778,
|
| 209 |
+
"pts_gaps": 0,
|
| 210 |
+
"timing": "pts",
|
| 211 |
+
"timeshift_cam_imu_s": null,
|
| 212 |
+
"file": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
|
| 213 |
+
"t_start": -0.9550298571643349,
|
| 214 |
+
"t_end": 124.94523014283783,
|
| 215 |
+
"clock": "device",
|
| 216 |
+
"calibrated": false
|
| 217 |
+
},
|
| 218 |
+
"wrist_right": {
|
| 219 |
+
"fps": 30.0,
|
| 220 |
+
"start_device_s": 33689.284687,
|
| 221 |
+
"frames": 3770,
|
| 222 |
+
"pts_gaps": 0,
|
| 223 |
+
"timing": "pts",
|
| 224 |
+
"timeshift_cam_imu_s": null,
|
| 225 |
+
"file": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
|
| 226 |
+
"t_start": -0.6931278571659628,
|
| 227 |
+
"t_end": 124.94053114283321,
|
| 228 |
+
"clock": "device",
|
| 229 |
+
"calibrated": false
|
| 230 |
+
},
|
| 231 |
+
"third_person": {
|
| 232 |
+
"file": "mocap/mocap-LM34-S03-xiaobo-01p3-1.mp4",
|
| 233 |
+
"frames": 3787,
|
| 234 |
+
"fps": 30.0,
|
| 235 |
+
"clock": "nokov (frame index)",
|
| 236 |
+
"t_start": 0.0,
|
| 237 |
+
"t_end": 126.2
|
| 238 |
+
}
|
| 239 |
+
}
|
| 240 |
+
},
|
| 241 |
+
"flags": [],
|
| 242 |
+
"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
|
| 243 |
+
"rig_tracker": {
|
| 244 |
+
"definition": "e3296774a321bb51/20261028-afternoon/labels-235140/session-f2ea2f54bf138842",
|
| 245 |
+
"R_tracker0_imu0": [
|
| 246 |
+
[
|
| 247 |
+
-0.67910874,
|
| 248 |
+
0.31223493,
|
| 249 |
+
-0.6643197
|
| 250 |
+
],
|
| 251 |
+
[
|
| 252 |
+
0.73312747,
|
| 253 |
+
0.33356755,
|
| 254 |
+
-0.59266922
|
| 255 |
+
],
|
| 256 |
+
[
|
| 257 |
+
0.03654346,
|
| 258 |
+
-0.88951787,
|
| 259 |
+
-0.45543664
|
| 260 |
+
]
|
| 261 |
+
],
|
| 262 |
+
"p_tracker0_imu0_m": [
|
| 263 |
+
-0.1771736123425625,
|
| 264 |
+
-0.0029541033666247093,
|
| 265 |
+
-0.048360844322372726
|
| 266 |
+
],
|
| 267 |
+
"rig_check": {
|
| 268 |
+
"gyro_samples": 3969,
|
| 269 |
+
"gyro_max_deg": 2.5,
|
| 270 |
+
"status": "video_solve",
|
| 271 |
+
"dropped_marker": null,
|
| 272 |
+
"gyro_deg": 0.549,
|
| 273 |
+
"video_solve": {
|
| 274 |
+
"status": "ok",
|
| 275 |
+
"reason": "",
|
| 276 |
+
"reprojection_px": 3.273,
|
| 277 |
+
"n_assoc": 325,
|
| 278 |
+
"gyro_deg": 0.549
|
| 279 |
+
}
|
| 280 |
+
},
|
| 281 |
+
"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 282 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 283 |
+
},
|
| 284 |
+
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| 1 |
+
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| 2 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 13 |
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| 14 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 32 |
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| 33 |
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|
| 525 |
"release": {
|
| 526 |
"release_path": "actions/locomanipulation/LM35/session_001",
|
| 527 |
"family": "locomanipulation",
|
| 528 |
"primitive": "LM35",
|
| 529 |
"source_session": "20260910/LM35/20260910_052651_session98"
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|
|
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|
|
|
|
|
|
|
| 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": 0.8505038294187348
|
| 524 |
},
|
| 525 |
+
"hands_registration": {
|
| 526 |
+
"cameras": {},
|
| 527 |
+
"hands": {
|
| 528 |
+
"left": {
|
| 529 |
+
"offset_deg": 3.32,
|
| 530 |
+
"offset_rotvec": [
|
| 531 |
+
0.027,
|
| 532 |
+
-0.0016,
|
| 533 |
+
0.0513
|
| 534 |
+
],
|
| 535 |
+
"dev_deg": {
|
| 536 |
+
"median": 13.34,
|
| 537 |
+
"p90": 29.19
|
| 538 |
+
},
|
| 539 |
+
"samples": 2163,
|
| 540 |
+
"accepted": 1958,
|
| 541 |
+
"wrist_pos_err_mm_median": 96.8,
|
| 542 |
+
"per_camera": {
|
| 543 |
+
"head": {
|
| 544 |
+
"samples": 2163,
|
| 545 |
+
"accepted": 1958,
|
| 546 |
+
"gate_deg": 30.0,
|
| 547 |
+
"offset_deg": 3.32,
|
| 548 |
+
"tier": "primary",
|
| 549 |
+
"dev_deg_median": 13.34,
|
| 550 |
+
"wrist_pos_err_mm_median": 96.8
|
| 551 |
+
}
|
| 552 |
+
},
|
| 553 |
+
"frames_by_state": {
|
| 554 |
+
"ace_sample": 7825,
|
| 555 |
+
"interpolated": 754,
|
| 556 |
+
"mean_hand": 4677,
|
| 557 |
+
"no_body_fit": 428
|
| 558 |
+
},
|
| 559 |
+
"observed_fraction": 0.6269,
|
| 560 |
+
"observed_fraction_of_valid": 0.6472,
|
| 561 |
+
"palm_axis_vs_markers_deg": {
|
| 562 |
+
"gsi": 9.93,
|
| 563 |
+
"smplx": 2.63
|
| 564 |
+
},
|
| 565 |
+
"hand_marker_to_mesh_mm": {
|
| 566 |
+
"flat": {
|
| 567 |
+
"median": 8.5,
|
| 568 |
+
"p90": 10.4
|
| 569 |
+
},
|
| 570 |
+
"registered": {
|
| 571 |
+
"median": 8.7,
|
| 572 |
+
"p90": 11.0
|
| 573 |
+
}
|
| 574 |
+
}
|
| 575 |
+
},
|
| 576 |
+
"right": {
|
| 577 |
+
"offset_deg": 15.49,
|
| 578 |
+
"offset_rotvec": [
|
| 579 |
+
-0.1001,
|
| 580 |
+
0.0278,
|
| 581 |
+
0.2496
|
| 582 |
+
],
|
| 583 |
+
"dev_deg": {
|
| 584 |
+
"median": 12.47,
|
| 585 |
+
"p90": 40.67
|
| 586 |
+
},
|
| 587 |
+
"samples": 2304,
|
| 588 |
+
"accepted": 1959,
|
| 589 |
+
"wrist_pos_err_mm_median": 109.0,
|
| 590 |
+
"per_camera": {
|
| 591 |
+
"head": {
|
| 592 |
+
"samples": 2304,
|
| 593 |
+
"accepted": 1959,
|
| 594 |
+
"gate_deg": 30.0,
|
| 595 |
+
"offset_deg": 15.49,
|
| 596 |
+
"tier": "primary",
|
| 597 |
+
"dev_deg_median": 12.47,
|
| 598 |
+
"wrist_pos_err_mm_median": 109.0
|
| 599 |
+
}
|
| 600 |
+
},
|
| 601 |
+
"frames_by_state": {
|
| 602 |
+
"ace_sample": 7811,
|
| 603 |
+
"interpolated": 292,
|
| 604 |
+
"mean_hand": 5153,
|
| 605 |
+
"no_body_fit": 428
|
| 606 |
+
},
|
| 607 |
+
"observed_fraction": 0.5922,
|
| 608 |
+
"observed_fraction_of_valid": 0.6113,
|
| 609 |
+
"palm_axis_vs_markers_deg": {
|
| 610 |
+
"gsi": 8.44,
|
| 611 |
+
"smplx": 2.49
|
| 612 |
+
},
|
| 613 |
+
"hand_marker_to_mesh_mm": {
|
| 614 |
+
"flat": {
|
| 615 |
+
"median": 8.3,
|
| 616 |
+
"p90": 9.2
|
| 617 |
+
},
|
| 618 |
+
"registered": {
|
| 619 |
+
"median": 8.2,
|
| 620 |
+
"p90": 9.5
|
| 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": "2026-11-03T16:25:00.827531+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/LM35/session_001",
|
| 637 |
"family": "locomanipulation",
|
| 638 |
"primitive": "LM35",
|
| 639 |
"source_session": "20260910/LM35/20260910_052651_session98"
|
| 640 |
+
},
|
| 641 |
+
"task": {
|
| 642 |
+
"primitive": "LM35",
|
| 643 |
+
"instruction": "Carry the box and, while walking, shift it to a different hold: front, then hip, then shoulder, then back to front. Do not stop walking."
|
| 644 |
}
|
| 645 |
}
|
actions/locomanipulation/LM35/session_001/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:403d15bfce55a7de6ce11fa94c295e4b67310687a4b50a2f7e919cab32589392
|
| 3 |
+
size 3239933
|