Release update 2026-11-05: new sessions, instructions, annotations (part 268)
Browse files- actions/locomanipulation/LM29/session_031/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM30/session_001/annotations.json +28 -0
- actions/locomanipulation/LM30/session_001/cameras/slam.npz +3 -0
- actions/locomanipulation/LM30/session_001/meta.json +116 -2
- actions/locomanipulation/LM30/session_001/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM30/session_001/motions/smplx.npz +2 -2
- actions/locomanipulation/LM30/session_002/annotations.json +28 -0
- actions/locomanipulation/LM30/session_002/cameras/slam.npz +3 -0
- actions/locomanipulation/LM30/session_002/meta.json +116 -2
- actions/locomanipulation/LM30/session_002/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM30/session_002/motions/smplx.npz +2 -2
- actions/locomanipulation/LM30/session_003/annotations.json +28 -0
- actions/locomanipulation/LM30/session_003/cameras/slam.npz +3 -0
- actions/locomanipulation/LM30/session_003/meta.json +116 -2
- actions/locomanipulation/LM30/session_003/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM30/session_003/motions/smplx.npz +2 -2
- actions/locomanipulation/LM30/session_004/annotations.json +28 -0
- actions/locomanipulation/LM30/session_004/cameras/slam.npz +3 -0
- actions/locomanipulation/LM30/session_004/meta.json +116 -2
- actions/locomanipulation/LM30/session_004/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM30/session_004/motions/smplx.npz +2 -2
- actions/locomanipulation/LM30/session_005/annotations.json +28 -0
- actions/locomanipulation/LM30/session_005/cameras/gsi_online_calibration.json +258 -0
- actions/locomanipulation/LM30/session_005/cameras/slam.npz +3 -0
- actions/locomanipulation/LM30/session_005/meta.json +116 -2
- actions/locomanipulation/LM30/session_005/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM30/session_005/motions/smplx.npz +2 -2
- actions/locomanipulation/LM30/session_006/annotations.json +28 -0
- actions/locomanipulation/LM30/session_006/cameras/gsi_online_calibration.json +256 -0
actions/locomanipulation/LM29/session_031/videos/wrist_right.mp4
ADDED
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version https://git-lfs.github.com/spec/v1
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oid sha256:359dc8fcf1c7f737b7126ec7a883d4dbd6fba6a0cf001c8b358f041c1cdf17e2
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size 47504521
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actions/locomanipulation/LM30/session_001/annotations.json
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{
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"schema_version": 1,
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| 3 |
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"source": "vendor annotation.json (schema 2, revision 1)",
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| 4 |
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"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
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| 5 |
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"primitive": "LM30",
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| 6 |
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"instruction": "Carry the box across the soft uneven mat, set it down on the far side, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
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"segments": [
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{
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"id": "segment1",
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| 10 |
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"duration_s": 108.966733,
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| 11 |
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"video": "left_eye",
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| 12 |
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"video_t_start": 0.0390565119254318
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| 13 |
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}
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| 14 |
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],
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| 15 |
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"episodes": [
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{
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"id": "f4985c08-34b5-4094-86a3-81dc2a66d4be",
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| 18 |
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"segment": "segment1",
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| 19 |
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"action": "LM30",
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| 20 |
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"quality": "valid",
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| 21 |
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"start_s": 0,
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| 22 |
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"end_s": 104.377,
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| 23 |
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"t_start": 0.0391,
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| 24 |
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"t_end": 104.4161,
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| 25 |
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"instruction": "Carry the box across the soft uneven mat, set it down on the far side, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
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| 26 |
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}
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| 27 |
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]
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| 28 |
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}
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actions/locomanipulation/LM30/session_001/cameras/slam.npz
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version https://git-lfs.github.com/spec/v1
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+
oid sha256:a7b8f84a6b70e067f5d8e82a7da8f245d20d7e1ddd2ba1592d9c032fef5ce6c2
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size 629683
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actions/locomanipulation/LM30/session_001/meta.json
CHANGED
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@@ -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",
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| 326 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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| 327 |
"hands": {
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| 328 |
-
"observed":
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| 329 |
-
"hand_pose": "
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| 330 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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| 331 |
"hand_marker_offsets_m": {
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| 332 |
"left": {
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@@ -517,10 +517,124 @@
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| 517 |
"generated_by": "scripts/correct_processed_rig.py",
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| 518 |
"remaining_gyro_frame_deg": 0.9274170238275458
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| 519 |
},
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| 520 |
"release": {
|
| 521 |
"release_path": "actions/locomanipulation/LM30/session_001",
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| 522 |
"family": "locomanipulation",
|
| 523 |
"primitive": "LM30",
|
| 524 |
"source_session": "20260909/LM30/20260909_111026_session172"
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| 525 |
}
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| 526 |
}
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| 325 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 326 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 327 |
"hands": {
|
| 328 |
+
"observed": true,
|
| 329 |
+
"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": {
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| 332 |
"left": {
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|
| 517 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 518 |
"remaining_gyro_frame_deg": 0.9274170238275458
|
| 519 |
},
|
| 520 |
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"hands_registration": {
|
| 521 |
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"cameras": {},
|
| 522 |
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"hands": {
|
| 523 |
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"left": {
|
| 524 |
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"offset_deg": 16.02,
|
| 525 |
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"offset_rotvec": [
|
| 526 |
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-0.1621,
|
| 527 |
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0.0104,
|
| 528 |
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0.2277
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| 529 |
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],
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| 530 |
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"dev_deg": {
|
| 531 |
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"median": 9.42,
|
| 532 |
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"p90": 19.03
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| 533 |
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},
|
| 534 |
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"samples": 3245,
|
| 535 |
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"accepted": 3151,
|
| 536 |
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"wrist_pos_err_mm_median": 87.0,
|
| 537 |
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"per_camera": {
|
| 538 |
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"head": {
|
| 539 |
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"samples": 3245,
|
| 540 |
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"accepted": 3151,
|
| 541 |
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"gate_deg": 30.0,
|
| 542 |
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"offset_deg": 16.02,
|
| 543 |
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"tier": "primary",
|
| 544 |
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"dev_deg_median": 9.42,
|
| 545 |
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"wrist_pos_err_mm_median": 87.0
|
| 546 |
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}
|
| 547 |
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},
|
| 548 |
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"frames_by_state": {
|
| 549 |
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"ace_sample": 12647,
|
| 550 |
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"interpolated": 424,
|
| 551 |
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"mean_hand": 5,
|
| 552 |
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"no_body_fit": 8
|
| 553 |
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},
|
| 554 |
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"observed_fraction": 0.999,
|
| 555 |
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"observed_fraction_of_valid": 0.9996,
|
| 556 |
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"palm_axis_vs_markers_deg": {
|
| 557 |
+
"gsi": 14.58,
|
| 558 |
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"smplx": 1.21
|
| 559 |
+
},
|
| 560 |
+
"hand_marker_to_mesh_mm": {
|
| 561 |
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"flat": {
|
| 562 |
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"median": 6.9,
|
| 563 |
+
"p90": 8.8
|
| 564 |
+
},
|
| 565 |
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"registered": {
|
| 566 |
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"median": 6.3,
|
| 567 |
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"p90": 9.6
|
| 568 |
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}
|
| 569 |
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}
|
| 570 |
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},
|
| 571 |
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"right": {
|
| 572 |
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"offset_deg": 11.98,
|
| 573 |
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"offset_rotvec": [
|
| 574 |
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0.1024,
|
| 575 |
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0.115,
|
| 576 |
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-0.1414
|
| 577 |
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],
|
| 578 |
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"dev_deg": {
|
| 579 |
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"median": 5.8,
|
| 580 |
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"p90": 13.42
|
| 581 |
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},
|
| 582 |
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"samples": 3175,
|
| 583 |
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"accepted": 3152,
|
| 584 |
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"wrist_pos_err_mm_median": 89.1,
|
| 585 |
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"per_camera": {
|
| 586 |
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"head": {
|
| 587 |
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"samples": 3175,
|
| 588 |
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"accepted": 3152,
|
| 589 |
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"gate_deg": 30.0,
|
| 590 |
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"offset_deg": 11.98,
|
| 591 |
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"tier": "primary",
|
| 592 |
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"dev_deg_median": 5.8,
|
| 593 |
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"wrist_pos_err_mm_median": 89.1
|
| 594 |
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}
|
| 595 |
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},
|
| 596 |
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"frames_by_state": {
|
| 597 |
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"ace_sample": 12625,
|
| 598 |
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"interpolated": 246,
|
| 599 |
+
"mean_hand": 205,
|
| 600 |
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"no_body_fit": 8
|
| 601 |
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},
|
| 602 |
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"observed_fraction": 0.9837,
|
| 603 |
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"observed_fraction_of_valid": 0.9843,
|
| 604 |
+
"palm_axis_vs_markers_deg": {
|
| 605 |
+
"gsi": 6.56,
|
| 606 |
+
"smplx": 1.01
|
| 607 |
+
},
|
| 608 |
+
"hand_marker_to_mesh_mm": {
|
| 609 |
+
"flat": {
|
| 610 |
+
"median": 9.3,
|
| 611 |
+
"p90": 13.9
|
| 612 |
+
},
|
| 613 |
+
"registered": {
|
| 614 |
+
"median": 9.4,
|
| 615 |
+
"p90": 15.0
|
| 616 |
+
}
|
| 617 |
+
}
|
| 618 |
+
}
|
| 619 |
+
},
|
| 620 |
+
"max_dev_deg": 30.0,
|
| 621 |
+
"max_gap_s": 1.0,
|
| 622 |
+
"cameras_used": [
|
| 623 |
+
"head"
|
| 624 |
+
],
|
| 625 |
+
"generated_at_utc": "2026-11-03T15:34:48.620008+00:00",
|
| 626 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 627 |
+
"conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
|
| 628 |
+
"wrist_flip_suspect": []
|
| 629 |
+
},
|
| 630 |
"release": {
|
| 631 |
"release_path": "actions/locomanipulation/LM30/session_001",
|
| 632 |
"family": "locomanipulation",
|
| 633 |
"primitive": "LM30",
|
| 634 |
"source_session": "20260909/LM30/20260909_111026_session172"
|
| 635 |
+
},
|
| 636 |
+
"task": {
|
| 637 |
+
"primitive": "LM30",
|
| 638 |
+
"instruction": "Carry the box across the soft uneven mat, set it down on the far side, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 639 |
}
|
| 640 |
}
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actions/locomanipulation/LM30/session_001/motions/hands_mano.npz
ADDED
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@@ -0,0 +1,3 @@
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+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:09159ccb83d2270864a839829f2ab56caa9355b32614e3830197d9e3ae0476cd
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| 3 |
+
size 4312957
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actions/locomanipulation/LM30/session_001/motions/smplx.npz
CHANGED
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@@ -1,3 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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-
oid sha256:
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-
size
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| 1 |
version https://git-lfs.github.com/spec/v1
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+
oid sha256:b415229d4f330a866ce1aacf3f15ad4ff43c8dca41cf630b64a4de71bac7407a
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+
size 9392755
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actions/locomanipulation/LM30/session_002/annotations.json
ADDED
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@@ -0,0 +1,28 @@
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+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"source": "vendor annotation.json (schema 2, revision 1)",
|
| 4 |
+
"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
|
| 5 |
+
"primitive": "LM30",
|
| 6 |
+
"instruction": "Carry the box across the soft uneven mat, set it down on the far 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": 108.966667,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.038683742012531
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "b42e1fa5-2d72-4ee0-9e2d-2932cf38a7bf",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM30",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 101,
|
| 23 |
+
"t_start": 0.0387,
|
| 24 |
+
"t_end": 101.0387,
|
| 25 |
+
"instruction": "Carry the box across the soft uneven mat, set it down on the far 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/LM30/session_002/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:35be9cab03d0edfea57a5cfca1d4f0950be33e9611478c50368c5f6063be84c4
|
| 3 |
+
size 629769
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actions/locomanipulation/LM30/session_002/meta.json
CHANGED
|
@@ -325,8 +325,8 @@
|
|
| 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": {
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|
@@ -517,10 +517,124 @@
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|
| 517 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 518 |
"remaining_gyro_frame_deg": 0.8631816892123951
|
| 519 |
},
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| 520 |
"release": {
|
| 521 |
"release_path": "actions/locomanipulation/LM30/session_002",
|
| 522 |
"family": "locomanipulation",
|
| 523 |
"primitive": "LM30",
|
| 524 |
"source_session": "20260909/LM30/20260909_111243_session173"
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|
| 525 |
}
|
| 526 |
}
|
|
|
|
| 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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|
| 517 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 518 |
"remaining_gyro_frame_deg": 0.8631816892123951
|
| 519 |
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|
| 520 |
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"hands_registration": {
|
| 521 |
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"cameras": {},
|
| 522 |
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"hands": {
|
| 523 |
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"left": {
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| 524 |
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"offset_deg": 13.98,
|
| 525 |
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"offset_rotvec": [
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| 526 |
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-0.0994,
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-0.0354,
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0.22
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| 529 |
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],
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"dev_deg": {
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| 531 |
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"median": 9.68,
|
| 532 |
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"p90": 17.21
|
| 533 |
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},
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| 534 |
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"samples": 3223,
|
| 535 |
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"accepted": 3207,
|
| 536 |
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"wrist_pos_err_mm_median": 96.1,
|
| 537 |
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"per_camera": {
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| 538 |
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"head": {
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| 539 |
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"samples": 3223,
|
| 540 |
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"accepted": 3207,
|
| 541 |
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"gate_deg": 30.0,
|
| 542 |
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"offset_deg": 13.98,
|
| 543 |
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"tier": "primary",
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"dev_deg_median": 9.68,
|
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"wrist_pos_err_mm_median": 96.1
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| 546 |
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}
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| 547 |
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},
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| 548 |
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"frames_by_state": {
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| 549 |
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"ace_sample": 12834,
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| 550 |
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"interpolated": 42,
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| 551 |
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"mean_hand": 208,
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| 552 |
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"no_body_fit": 0
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| 553 |
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},
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"observed_fraction": 0.9841,
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"observed_fraction_of_valid": 0.9841,
|
| 556 |
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"palm_axis_vs_markers_deg": {
|
| 557 |
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"gsi": 12.13,
|
| 558 |
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"smplx": 1.33
|
| 559 |
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},
|
| 560 |
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"hand_marker_to_mesh_mm": {
|
| 561 |
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"flat": {
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| 562 |
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"median": 6.8,
|
| 563 |
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"p90": 7.7
|
| 564 |
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},
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| 565 |
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"registered": {
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| 566 |
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"median": 7.0,
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| 567 |
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"p90": 9.7
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| 568 |
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|
| 569 |
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| 570 |
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},
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| 571 |
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"right": {
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"offset_deg": 11.92,
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"offset_rotvec": [
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| 577 |
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"dev_deg": {
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| 579 |
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"median": 5.29,
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| 580 |
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"p90": 10.18
|
| 581 |
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},
|
| 582 |
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"samples": 3088,
|
| 583 |
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"accepted": 3055,
|
| 584 |
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"wrist_pos_err_mm_median": 92.6,
|
| 585 |
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"per_camera": {
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| 586 |
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"head": {
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| 587 |
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"samples": 3088,
|
| 588 |
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"accepted": 3055,
|
| 589 |
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"gate_deg": 30.0,
|
| 590 |
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"offset_deg": 11.92,
|
| 591 |
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"tier": "primary",
|
| 592 |
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"dev_deg_median": 5.29,
|
| 593 |
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"wrist_pos_err_mm_median": 92.6
|
| 594 |
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}
|
| 595 |
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},
|
| 596 |
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"frames_by_state": {
|
| 597 |
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"ace_sample": 12246,
|
| 598 |
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"interpolated": 314,
|
| 599 |
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"mean_hand": 524,
|
| 600 |
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"no_body_fit": 0
|
| 601 |
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},
|
| 602 |
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"observed_fraction": 0.96,
|
| 603 |
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"observed_fraction_of_valid": 0.96,
|
| 604 |
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"palm_axis_vs_markers_deg": {
|
| 605 |
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"gsi": 7.42,
|
| 606 |
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"smplx": 1.42
|
| 607 |
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},
|
| 608 |
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"hand_marker_to_mesh_mm": {
|
| 609 |
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"flat": {
|
| 610 |
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"median": 7.8,
|
| 611 |
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"p90": 11.3
|
| 612 |
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},
|
| 613 |
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"registered": {
|
| 614 |
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"median": 8.1,
|
| 615 |
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"p90": 12.6
|
| 616 |
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}
|
| 617 |
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}
|
| 618 |
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}
|
| 619 |
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},
|
| 620 |
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"max_dev_deg": 30.0,
|
| 621 |
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"max_gap_s": 1.0,
|
| 622 |
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"cameras_used": [
|
| 623 |
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"head"
|
| 624 |
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],
|
| 625 |
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"generated_at_utc": "2026-11-03T15:34:40.721860+00:00",
|
| 626 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 627 |
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"conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
|
| 628 |
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"wrist_flip_suspect": []
|
| 629 |
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},
|
| 630 |
"release": {
|
| 631 |
"release_path": "actions/locomanipulation/LM30/session_002",
|
| 632 |
"family": "locomanipulation",
|
| 633 |
"primitive": "LM30",
|
| 634 |
"source_session": "20260909/LM30/20260909_111243_session173"
|
| 635 |
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},
|
| 636 |
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"task": {
|
| 637 |
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"primitive": "LM30",
|
| 638 |
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"instruction": "Carry the box across the soft uneven mat, set it down on the far side, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 639 |
}
|
| 640 |
}
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actions/locomanipulation/LM30/session_002/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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size 4240600
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actions/locomanipulation/LM30/session_002/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
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|
| 1 |
version https://git-lfs.github.com/spec/v1
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version https://git-lfs.github.com/spec/v1
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size 9315105
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actions/locomanipulation/LM30/session_003/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": "LM30",
|
| 6 |
+
"instruction": "Carry the box across the soft uneven mat, set it down on the far 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 |
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"duration_s": 108.966711,
|
| 11 |
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"video": "left_eye",
|
| 12 |
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"video_t_start": 0.039022553548786476
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| 13 |
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}
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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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{
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| 17 |
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"id": "2ab540dc-ed6c-472d-a775-f16e4ee266cb",
|
| 18 |
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"segment": "segment1",
|
| 19 |
+
"action": "LM30",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
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"end_s": 104.33,
|
| 23 |
+
"t_start": 0.039,
|
| 24 |
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"t_end": 104.369,
|
| 25 |
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"instruction": "Carry the box across the soft uneven mat, set it down on the far 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/LM30/session_003/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
+
size 629628
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actions/locomanipulation/LM30/session_003/meta.json
CHANGED
|
@@ -326,8 +326,8 @@
|
|
| 326 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 327 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 328 |
"hands": {
|
| 329 |
-
"observed":
|
| 330 |
-
"hand_pose": "
|
| 331 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 332 |
"hand_marker_offsets_m": {
|
| 333 |
"left": {
|
|
@@ -523,10 +523,124 @@
|
|
| 523 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 524 |
"remaining_gyro_frame_deg": 0.9499815978025442
|
| 525 |
},
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|
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|
| 526 |
"release": {
|
| 527 |
"release_path": "actions/locomanipulation/LM30/session_003",
|
| 528 |
"family": "locomanipulation",
|
| 529 |
"primitive": "LM30",
|
| 530 |
"source_session": "20260909/LM30/20260909_111452_session174"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 531 |
}
|
| 532 |
}
|
|
|
|
| 326 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 327 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 328 |
"hands": {
|
| 329 |
+
"observed": true,
|
| 330 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 331 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 332 |
"hand_marker_offsets_m": {
|
| 333 |
"left": {
|
|
|
|
| 523 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 524 |
"remaining_gyro_frame_deg": 0.9499815978025442
|
| 525 |
},
|
| 526 |
+
"hands_registration": {
|
| 527 |
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"cameras": {},
|
| 528 |
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"hands": {
|
| 529 |
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"left": {
|
| 530 |
+
"offset_deg": 14.81,
|
| 531 |
+
"offset_rotvec": [
|
| 532 |
+
-0.1774,
|
| 533 |
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0.0113,
|
| 534 |
+
0.1876
|
| 535 |
+
],
|
| 536 |
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"dev_deg": {
|
| 537 |
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"median": 10.05,
|
| 538 |
+
"p90": 18.1
|
| 539 |
+
},
|
| 540 |
+
"samples": 3200,
|
| 541 |
+
"accepted": 3111,
|
| 542 |
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"wrist_pos_err_mm_median": 92.0,
|
| 543 |
+
"per_camera": {
|
| 544 |
+
"head": {
|
| 545 |
+
"samples": 3200,
|
| 546 |
+
"accepted": 3111,
|
| 547 |
+
"gate_deg": 30.0,
|
| 548 |
+
"offset_deg": 14.81,
|
| 549 |
+
"tier": "primary",
|
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|
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|
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|
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|
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"task": {
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"primitive": "LM30",
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|
| 635 |
}
|
| 636 |
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|
actions/locomanipulation/LM30/session_004/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
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|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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size 5292017
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actions/locomanipulation/LM30/session_004/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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-
oid sha256:
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-
size
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| 1 |
version https://git-lfs.github.com/spec/v1
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+
oid sha256:73b88f880c95460a420233b9a7f39eea25281704e98d0ce758e1767ace2b42d5
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| 3 |
+
size 11452035
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actions/locomanipulation/LM30/session_005/annotations.json
ADDED
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@@ -0,0 +1,28 @@
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| 1 |
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{
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| 2 |
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"schema_version": 1,
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| 3 |
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"source": "vendor annotation.json (schema 2, revision 1)",
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| 4 |
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"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
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| 5 |
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"primitive": "LM30",
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| 6 |
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"instruction": "Carry the box across the soft uneven mat, set it down on the far side, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
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| 7 |
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"segments": [
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| 8 |
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{
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| 9 |
+
"id": "segment1",
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| 10 |
+
"duration_s": 148.966656,
|
| 11 |
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"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03882428642099178
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| 13 |
+
}
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| 14 |
+
],
|
| 15 |
+
"episodes": [
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| 16 |
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{
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| 17 |
+
"id": "8026c5ea-f7a6-4a0e-99fe-a1f63702688e",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM30",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1.24,
|
| 22 |
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"end_s": 137.359,
|
| 23 |
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"t_start": 1.2788,
|
| 24 |
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"t_end": 137.3978,
|
| 25 |
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"instruction": "Carry the box across the soft uneven mat, set it down on the far 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 |
+
]
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| 28 |
+
}
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actions/locomanipulation/LM30/session_005/cameras/gsi_online_calibration.json
ADDED
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@@ -0,0 +1,258 @@
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|
| 1 |
+
{
|
| 2 |
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"camera_fit": {
|
| 3 |
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"groups_dropped": [],
|
| 4 |
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"groups_used": 15,
|
| 5 |
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"median_px": 0.384
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| 6 |
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},
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| 7 |
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"cameras": {
|
| 8 |
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"left": {
|
| 9 |
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"accepted": true,
|
| 10 |
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"against": [
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| 11 |
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"left_front",
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| 12 |
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"right_front",
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| 13 |
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"left_eye",
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| 14 |
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"right_eye",
|
| 15 |
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"right"
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| 16 |
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],
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| 17 |
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"delta_deg": 1.665,
|
| 18 |
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"gate_fail": [],
|
| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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"rotvec_deg": [
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| 24 |
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],
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"split_deg": 0.1136,
|
| 29 |
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"usable": true
|
| 30 |
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},
|
| 31 |
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"left_eye": {
|
| 32 |
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"accepted": true,
|
| 33 |
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"against": [
|
| 34 |
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"left_front",
|
| 35 |
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"right_front",
|
| 36 |
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|
| 37 |
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"left",
|
| 38 |
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| 39 |
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],
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| 40 |
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"delta_deg": 1.9217,
|
| 41 |
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"gate_fail": [],
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"position_mm": [
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],
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"split_deg": 0.0403,
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"usable": true
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| 60 |
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},
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"left_front": {
|
| 62 |
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"role": "rig origin"
|
| 63 |
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},
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"right": {
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| 65 |
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"accepted": true,
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"against": [
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| 67 |
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"left_front",
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| 68 |
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| 69 |
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],
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"delta_deg": 1.5734,
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"usable": true
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},
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"right_eye": {
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"accepted": true,
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"against": [
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],
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"position_mm": [
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],
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],
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},
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"code_fingerprint": "711ecf5b3dd408f8",
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"device_id": "e17c9efadb69e7b1",
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"factory_root_name": "e17c9efadb69e7b1",
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"files": {
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"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
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"sha256": "f0ac91f157c73a26fadcbfe51108f4cc07e6d6553c171285b2c8d2b7193ec9e8",
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"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
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"sha256": "83f7d46e436b85018953ffec8db2ac862b91560d19ee41b706d1b1112b3a7cd4",
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"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
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"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
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"input_fingerprint": "e29dc9c2082c446c",
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},
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"runtime": {
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actions/locomanipulation/LM30/session_005/cameras/slam.npz
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CHANGED
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@@ -329,8 +329,8 @@
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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@@ -511,10 +511,124 @@
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| 632 |
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"instruction": "Carry the box across the soft uneven mat, set it down on the far side, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
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| 633 |
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|
| 634 |
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size 5881314
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| 1 |
version https://git-lfs.github.com/spec/v1
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actions/locomanipulation/LM30/session_006/annotations.json
ADDED
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@@ -0,0 +1,28 @@
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| 1 |
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{
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|
| 3 |
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"source": "vendor annotation.json (schema 2, revision 1)",
|
| 4 |
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"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
|
| 5 |
+
"primitive": "LM30",
|
| 6 |
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"instruction": "Carry the box across the soft uneven mat, set it down on the far side, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
|
| 7 |
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"segments": [
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{
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"id": "segment1",
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|
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],
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{
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"segment": "segment1",
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"instruction": "Carry the box across the soft uneven mat, set it down on the far 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/LM30/session_006/cameras/gsi_online_calibration.json
ADDED
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@@ -0,0 +1,256 @@
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