Release update 2026-11-05: new sessions, instructions, annotations (part 5)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +27 -0
- actions/locomanipulation/LM38/session_038/raw/mocap/BigBox2.trc +0 -0
- actions/locomanipulation/LM38/session_038/raw/mocap/Body0.bvh +0 -0
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- actions/locomanipulation/LM38/session_038/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM38/session_038/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM38/session_038/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM38/session_038/raw/sensors/robocap_mag_middle.db +3 -0
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- actions/locomanipulation/LM38/session_038/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM38/session_038/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM38/session_038/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM38/session_038/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM38/session_038/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM38/session_038/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM38/session_038/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM38/session_038/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM38/session_038/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM38/session_038/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM38/session_038/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM38/session_038/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM38/session_038/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM38/session_038/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM38/session_038/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM38/session_038/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM38/session_038/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM39/session_001/annotations.json +28 -0
- actions/locomanipulation/LM39/session_001/cameras/slam.npz +3 -0
- actions/locomanipulation/LM39/session_001/meta.json +116 -2
- actions/locomanipulation/LM39/session_001/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM39/session_001/motions/smplx.npz +2 -2
- actions/locomanipulation/LM39/session_002/annotations.json +28 -0
- actions/locomanipulation/LM39/session_002/cameras/slam.npz +3 -0
- actions/locomanipulation/LM39/session_002/meta.json +116 -2
- actions/locomanipulation/LM39/session_002/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM39/session_002/motions/smplx.npz +2 -2
- actions/locomanipulation/LM39/session_003/annotations.json +28 -0
- actions/locomanipulation/LM39/session_003/cameras/slam.npz +3 -0
- actions/locomanipulation/LM39/session_003/meta.json +116 -2
- actions/locomanipulation/LM39/session_003/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM39/session_003/motions/smplx.npz +2 -2
- actions/locomanipulation/LM39/session_004/annotations.json +28 -0
- actions/locomanipulation/LM39/session_004/cameras/slam.npz +3 -0
- actions/locomanipulation/LM39/session_004/meta.json +116 -2
- actions/locomanipulation/LM39/session_004/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM39/session_004/motions/smplx.npz +2 -2
- actions/locomanipulation/LM39/session_005/annotations.json +28 -0
- actions/locomanipulation/LM39/session_005/cameras/slam.npz +3 -0
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@@ -0,0 +1,28 @@
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| 1 |
+
{
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| 2 |
+
"schema_version": 1,
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| 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": "LM39",
|
| 6 |
+
"instruction": "Carry the object and, while walking, turn it over in your hands to look at all sides of it. Keep turning it as you walk.",
|
| 7 |
+
"segments": [
|
| 8 |
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{
|
| 9 |
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"id": "segment1",
|
| 10 |
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"duration_s": 130.266633,
|
| 11 |
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"video": "left_eye",
|
| 12 |
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"video_t_start": 0.03896729551149347
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| 13 |
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}
|
| 14 |
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],
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| 15 |
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"episodes": [
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| 16 |
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{
|
| 17 |
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"id": "0177a2a7-88a2-4d31-9e20-8c4b26e328d9",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
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"action": "LM39",
|
| 20 |
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"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
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"end_s": 122,
|
| 23 |
+
"t_start": 0.039,
|
| 24 |
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"t_end": 122.039,
|
| 25 |
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"instruction": "Carry the object and, while walking, turn it over in your hands to look at all sides of it. Keep turning it as you walk."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
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actions/locomanipulation/LM39/session_001/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:eb4dfd38c22c09b5d4008444f438615791674c848b45f25e7be56caeb828a990
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| 3 |
+
size 742178
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actions/locomanipulation/LM39/session_001/meta.json
CHANGED
|
@@ -325,8 +325,8 @@
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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":
|
| 329 |
-
"hand_pose": "
|
| 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": {
|
|
@@ -512,10 +512,124 @@
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|
| 512 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 513 |
"remaining_gyro_frame_deg": 1.172461014372188
|
| 514 |
},
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|
| 515 |
"release": {
|
| 516 |
"release_path": "actions/locomanipulation/LM39/session_001",
|
| 517 |
"family": "locomanipulation",
|
| 518 |
"primitive": "LM39",
|
| 519 |
"source_session": "20260909/LM39/20260909_112146_session175"
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|
| 520 |
}
|
| 521 |
}
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|
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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 |
+
"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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|
| 512 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 513 |
"remaining_gyro_frame_deg": 1.172461014372188
|
| 514 |
},
|
| 515 |
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"hands_registration": {
|
| 516 |
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"cameras": {},
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| 517 |
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"hands": {
|
| 518 |
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"left": {
|
| 519 |
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"offset_deg": 19.61,
|
| 520 |
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"offset_rotvec": [
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| 521 |
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-0.3061,
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| 522 |
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0.0526,
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| 523 |
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0.1438
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| 524 |
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],
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| 525 |
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"dev_deg": {
|
| 526 |
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"median": 9.97,
|
| 527 |
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"p90": 25.46
|
| 528 |
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},
|
| 529 |
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"samples": 3736,
|
| 530 |
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"accepted": 3526,
|
| 531 |
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"wrist_pos_err_mm_median": 45.7,
|
| 532 |
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"per_camera": {
|
| 533 |
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"head": {
|
| 534 |
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"samples": 3736,
|
| 535 |
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"accepted": 3526,
|
| 536 |
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"gate_deg": 30.0,
|
| 537 |
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"offset_deg": 19.61,
|
| 538 |
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"tier": "primary",
|
| 539 |
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"dev_deg_median": 9.97,
|
| 540 |
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"wrist_pos_err_mm_median": 45.7
|
| 541 |
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}
|
| 542 |
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},
|
| 543 |
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"frames_by_state": {
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| 544 |
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"ace_sample": 14193,
|
| 545 |
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"interpolated": 1314,
|
| 546 |
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"mean_hand": 125,
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| 547 |
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"no_body_fit": 8
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| 548 |
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},
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| 549 |
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"observed_fraction": 0.9915,
|
| 550 |
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"observed_fraction_of_valid": 0.992,
|
| 551 |
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"palm_axis_vs_markers_deg": {
|
| 552 |
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"gsi": 18.88,
|
| 553 |
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"smplx": 1.3
|
| 554 |
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},
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| 555 |
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"hand_marker_to_mesh_mm": {
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| 556 |
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"flat": {
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| 557 |
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"median": 4.9,
|
| 558 |
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"p90": 7.6
|
| 559 |
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},
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| 560 |
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"registered": {
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| 561 |
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"median": 4.8,
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| 562 |
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"p90": 7.3
|
| 563 |
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}
|
| 564 |
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}
|
| 565 |
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},
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| 566 |
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"right": {
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| 567 |
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"offset_deg": 14.77,
|
| 568 |
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"offset_rotvec": [
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| 569 |
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-0.0701,
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| 570 |
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0.2151,
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| 571 |
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| 572 |
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],
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| 573 |
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"dev_deg": {
|
| 574 |
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"median": 10.54,
|
| 575 |
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"p90": 26.13
|
| 576 |
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},
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| 577 |
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"samples": 2926,
|
| 578 |
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"accepted": 2694,
|
| 579 |
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"wrist_pos_err_mm_median": 79.0,
|
| 580 |
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"per_camera": {
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| 581 |
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"head": {
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| 582 |
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"samples": 2926,
|
| 583 |
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"accepted": 2694,
|
| 584 |
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"gate_deg": 30.0,
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| 585 |
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"offset_deg": 14.77,
|
| 586 |
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"tier": "primary",
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| 587 |
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"dev_deg_median": 10.54,
|
| 588 |
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"wrist_pos_err_mm_median": 79.0
|
| 589 |
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}
|
| 590 |
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},
|
| 591 |
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"frames_by_state": {
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| 592 |
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"ace_sample": 10849,
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| 593 |
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"interpolated": 2570,
|
| 594 |
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"mean_hand": 2213,
|
| 595 |
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"no_body_fit": 8
|
| 596 |
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},
|
| 597 |
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"observed_fraction": 0.858,
|
| 598 |
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"observed_fraction_of_valid": 0.8584,
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| 599 |
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"palm_axis_vs_markers_deg": {
|
| 600 |
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"gsi": 15.23,
|
| 601 |
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"smplx": 1.07
|
| 602 |
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},
|
| 603 |
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"hand_marker_to_mesh_mm": {
|
| 604 |
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"flat": {
|
| 605 |
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"median": 11.7,
|
| 606 |
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"p90": 14.1
|
| 607 |
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},
|
| 608 |
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"registered": {
|
| 609 |
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"median": 11.5,
|
| 610 |
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"p90": 14.3
|
| 611 |
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}
|
| 612 |
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}
|
| 613 |
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}
|
| 614 |
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},
|
| 615 |
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"max_dev_deg": 30.0,
|
| 616 |
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"max_gap_s": 1.0,
|
| 617 |
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"cameras_used": [
|
| 618 |
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"head"
|
| 619 |
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],
|
| 620 |
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"generated_at_utc": "2026-11-03T15:37:12.229204+00:00",
|
| 621 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 622 |
+
"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",
|
| 623 |
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"wrist_flip_suspect": []
|
| 624 |
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},
|
| 625 |
"release": {
|
| 626 |
"release_path": "actions/locomanipulation/LM39/session_001",
|
| 627 |
"family": "locomanipulation",
|
| 628 |
"primitive": "LM39",
|
| 629 |
"source_session": "20260909/LM39/20260909_112146_session175"
|
| 630 |
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},
|
| 631 |
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"task": {
|
| 632 |
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"primitive": "LM39",
|
| 633 |
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"instruction": "Carry the object and, while walking, turn it over in your hands to look at all sides of it. Keep turning it as you walk."
|
| 634 |
}
|
| 635 |
}
|
actions/locomanipulation/LM39/session_001/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:d11ab708e7df1e24f9e81497d6e6847e57516e7031ef0ffc07e589af212e3cb6
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| 3 |
+
size 4508837
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actions/locomanipulation/LM39/session_001/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
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|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
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|
| 1 |
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:5bc5e7af43f27276a3e69de28d2bd45278fb3a05ec7de940da61ad20e0fca99a
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| 3 |
+
size 10881009
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actions/locomanipulation/LM39/session_002/annotations.json
ADDED
|
@@ -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": "LM39",
|
| 6 |
+
"instruction": "Carry the object and, while walking, turn it over in your hands to look at all sides of it. Keep turning it as you walk.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 123.966678,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.039325454943259563
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "d8b3a418-b627-44e7-a86f-e709fbf2687f",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
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"action": "LM39",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 119.811,
|
| 23 |
+
"t_start": 0.0393,
|
| 24 |
+
"t_end": 119.8503,
|
| 25 |
+
"instruction": "Carry the object and, while walking, turn it over in your hands to look at all sides of it. Keep turning it as you walk."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM39/session_002/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:cbecc9c3ee98b8cd70cc916815a4094a43e6f83bc9e0e91ec85c53d9744fdbbb
|
| 3 |
+
size 714075
|
actions/locomanipulation/LM39/session_002/meta.json
CHANGED
|
@@ -324,8 +324,8 @@
|
|
| 324 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 325 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 326 |
"hands": {
|
| 327 |
-
"observed":
|
| 328 |
-
"hand_pose": "
|
| 329 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 330 |
"hand_marker_offsets_m": {
|
| 331 |
"left": {
|
|
@@ -511,10 +511,124 @@
|
|
| 511 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 512 |
"remaining_gyro_frame_deg": 0.8608452059961206
|
| 513 |
},
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|
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| 635 |
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"instruction": "Carry the object and, while walking, turn it over in your hands to look at all sides of it. Keep turning it as you walk."
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| 26 |
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|
| 27 |
+
]
|
| 28 |
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}
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actions/locomanipulation/LM39/session_004/cameras/slam.npz
ADDED
|
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actions/locomanipulation/LM39/session_004/meta.json
CHANGED
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@@ -326,8 +326,8 @@
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|
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|
| 327 |
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|
| 328 |
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|
| 329 |
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|
| 330 |
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|
| 331 |
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| 333 |
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|
@@ -508,10 +508,124 @@
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|
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|
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|
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|
| 516 |
}
|
| 517 |
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|
| 326 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 327 |
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|
| 328 |
"hands": {
|
| 329 |
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"observed": true,
|
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|
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|
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|
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| 622 |
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|
| 625 |
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|
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},
|
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"task": {
|
| 628 |
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"primitive": "LM39",
|
| 629 |
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"instruction": "Carry the object and, while walking, turn it over in your hands to look at all sides of it. Keep turning it as you walk."
|
| 630 |
}
|
| 631 |
}
|
actions/locomanipulation/LM39/session_004/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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size 4716124
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actions/locomanipulation/LM39/session_004/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
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|
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size
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actions/locomanipulation/LM39/session_005/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
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{
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|
| 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": "LM39",
|
| 6 |
+
"instruction": "Carry the object and, while walking, turn it over in your hands to look at all sides of it. Keep turning it as you walk.",
|
| 7 |
+
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|
| 8 |
+
{
|
| 9 |
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|
| 10 |
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|
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|
| 12 |
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|
| 14 |
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|
| 17 |
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| 18 |
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"segment": "segment1",
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|
| 20 |
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|
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|
| 24 |
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|
| 25 |
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"instruction": "Carry the object and, while walking, turn it over in your hands to look at all sides of it. Keep turning it as you walk."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM39/session_005/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
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|
|
|
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|
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