Release update 2026-11-05: new sessions, instructions, annotations (part 28)
Browse files- actions/locomanipulation/LM15/session_025/cameras/slam.npz +3 -0
- actions/locomanipulation/LM15/session_025/meta.json +116 -2
- actions/locomanipulation/LM15/session_025/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM15/session_025/motions/smplx.npz +2 -2
- actions/locomanipulation/LM15/session_026/annotations.json +28 -0
- actions/locomanipulation/LM15/session_026/cameras/slam.npz +3 -0
- actions/locomanipulation/LM15/session_026/meta.json +116 -2
- actions/locomanipulation/LM15/session_026/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM15/session_026/motions/smplx.npz +2 -2
- actions/locomanipulation/LM15/session_027/annotations.json +28 -0
- actions/locomanipulation/LM15/session_027/cameras/slam.npz +3 -0
actions/locomanipulation/LM15/session_025/cameras/slam.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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oid sha256:d290094f92a6e10f674920a5abd1ca30515ba3ed5f151572640a4d973d287332
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| 3 |
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size 599765
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actions/locomanipulation/LM15/session_025/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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@@ -516,10 +516,124 @@
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| 516 |
"generated_by": "scripts/correct_processed_rig.py",
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| 517 |
"remaining_gyro_frame_deg": 1.4008175187133165
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| 518 |
},
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| 519 |
"release": {
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| 520 |
"release_path": "actions/locomanipulation/LM15/session_025",
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| 521 |
"family": "locomanipulation",
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| 522 |
"primitive": "LM15",
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| 523 |
"source_session": "20260925/LM15/20260925_100103_session124"
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| 524 |
}
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| 525 |
}
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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)",
|
| 327 |
"hands": {
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| 328 |
+
"observed": true,
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| 329 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
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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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| 516 |
"generated_by": "scripts/correct_processed_rig.py",
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| 517 |
"remaining_gyro_frame_deg": 1.4008175187133165
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| 518 |
},
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| 519 |
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"hands_registration": {
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| 520 |
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"cameras": {},
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| 521 |
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"hands": {
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| 522 |
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"left": {
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| 523 |
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"offset_deg": 43.78,
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| 524 |
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"offset_rotvec": [
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0.5768,
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-0.4602,
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-0.1982
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],
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| 529 |
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"dev_deg": {
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| 530 |
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"median": 13.56,
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| 531 |
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"p90": 26.3
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| 532 |
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},
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| 533 |
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"samples": 2295,
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| 534 |
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"accepted": 2156,
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| 535 |
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"wrist_pos_err_mm_median": 157.4,
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| 536 |
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"per_camera": {
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| 537 |
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"head": {
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| 538 |
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"samples": 2295,
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| 539 |
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"accepted": 2156,
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| 540 |
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"gate_deg": 30.0,
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| 541 |
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"offset_deg": 43.78,
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| 542 |
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"tier": "primary",
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| 543 |
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"dev_deg_median": 13.56,
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| 544 |
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"wrist_pos_err_mm_median": 157.4
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| 545 |
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}
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| 546 |
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},
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| 547 |
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"frames_by_state": {
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| 548 |
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"ace_sample": 8899,
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| 549 |
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"interpolated": 3440,
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| 550 |
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"mean_hand": 137,
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| 551 |
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"no_body_fit": 8
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| 552 |
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},
|
| 553 |
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"observed_fraction": 0.9884,
|
| 554 |
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"observed_fraction_of_valid": 0.989,
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| 555 |
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"palm_axis_vs_markers_deg": {
|
| 556 |
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"gsi": 46.74,
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| 557 |
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"smplx": 0.49
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| 558 |
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},
|
| 559 |
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"hand_marker_to_mesh_mm": {
|
| 560 |
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"flat": {
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| 561 |
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"median": 9.3,
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| 562 |
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"p90": 12.2
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| 563 |
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},
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| 564 |
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"registered": {
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| 565 |
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"median": 9.2,
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| 566 |
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"p90": 11.6
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}
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}
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},
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| 570 |
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"right": {
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| 571 |
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"offset_deg": 40.19,
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"offset_rotvec": [
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-0.2696,
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0.2357
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],
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"dev_deg": {
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"median": 17.28,
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"p90": 50.53
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},
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| 581 |
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"samples": 1744,
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| 582 |
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"accepted": 1367,
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| 583 |
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"wrist_pos_err_mm_median": 84.3,
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| 584 |
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"per_camera": {
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| 585 |
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"head": {
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| 586 |
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"samples": 1744,
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| 587 |
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"accepted": 1367,
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| 588 |
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"gate_deg": 30.0,
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| 589 |
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"offset_deg": 40.19,
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| 590 |
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"tier": "primary",
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| 591 |
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"dev_deg_median": 17.28,
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| 592 |
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"wrist_pos_err_mm_median": 84.3
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| 593 |
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}
|
| 594 |
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},
|
| 595 |
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"frames_by_state": {
|
| 596 |
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"ace_sample": 5429,
|
| 597 |
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"interpolated": 1350,
|
| 598 |
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"mean_hand": 5697,
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| 599 |
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"no_body_fit": 8
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| 600 |
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},
|
| 601 |
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"observed_fraction": 0.543,
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| 602 |
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"observed_fraction_of_valid": 0.5434,
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| 603 |
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"palm_axis_vs_markers_deg": {
|
| 604 |
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"gsi": 44.08,
|
| 605 |
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"smplx": 1.92
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| 606 |
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},
|
| 607 |
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"hand_marker_to_mesh_mm": {
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| 608 |
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"flat": {
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| 609 |
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"median": 15.9,
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| 610 |
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"p90": 29.2
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| 611 |
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},
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| 612 |
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"registered": {
|
| 613 |
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"median": 15.3,
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| 614 |
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"p90": 28.2
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| 615 |
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}
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| 616 |
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}
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| 617 |
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}
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| 618 |
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},
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| 619 |
+
"max_dev_deg": 30.0,
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| 620 |
+
"max_gap_s": 1.0,
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| 621 |
+
"cameras_used": [
|
| 622 |
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"head"
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| 623 |
+
],
|
| 624 |
+
"generated_at_utc": "2026-11-03T22:33:05.564370+00:00",
|
| 625 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 626 |
+
"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",
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| 627 |
+
"wrist_flip_suspect": []
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| 628 |
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},
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| 629 |
"release": {
|
| 630 |
"release_path": "actions/locomanipulation/LM15/session_025",
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| 631 |
"family": "locomanipulation",
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| 632 |
"primitive": "LM15",
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| 633 |
"source_session": "20260925/LM15/20260925_100103_session124"
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| 634 |
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},
|
| 635 |
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"task": {
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| 636 |
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"primitive": "LM15",
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| 637 |
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"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
|
| 638 |
}
|
| 639 |
}
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actions/locomanipulation/LM15/session_025/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 |
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oid sha256:e4f5a352d4ca326a367337debd952568f5f52330c51491471efeff4e24ed1736
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| 3 |
+
size 2821443
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actions/locomanipulation/LM15/session_025/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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version https://git-lfs.github.com/spec/v1
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oid sha256:2228faa56a6394dab535a97bd2912b6a9f9c29d28a535b421f5deca36586acd6
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size 8334532
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actions/locomanipulation/LM15/session_026/annotations.json
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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 |
+
"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",
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| 5 |
+
"primitive": "LM15",
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| 6 |
+
"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room.",
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| 7 |
+
"segments": [
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| 8 |
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{
|
| 9 |
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"id": "segment1",
|
| 10 |
+
"duration_s": 108.966733,
|
| 11 |
+
"video": "left_eye",
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| 12 |
+
"video_t_start": 0.03902824872466537
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| 13 |
+
}
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| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "d7def84f-aa75-46a0-a697-65eaafba828b",
|
| 18 |
+
"segment": "segment1",
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| 19 |
+
"action": "LM15",
|
| 20 |
+
"quality": "valid",
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| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 104.514,
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| 23 |
+
"t_start": 0.039,
|
| 24 |
+
"t_end": 104.553,
|
| 25 |
+
"instruction": "Carry the object in the hand the operator calls, down at your side, walking back and forth across the room."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
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}
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actions/locomanipulation/LM15/session_026/cameras/slam.npz
ADDED
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+
version https://git-lfs.github.com/spec/v1
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+
oid sha256:88f2528d6a24af27a3af6436f0baa0d48d55d4390b11c6c9e45bdae771f77adb
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| 3 |
+
size 629211
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actions/locomanipulation/LM15/session_026/meta.json
CHANGED
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@@ -324,8 +324,8 @@
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|
| 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": {
|
|
@@ -519,10 +519,124 @@
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|
| 519 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 520 |
"remaining_gyro_frame_deg": 1.5057336164271693
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| 521 |
},
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|
| 522 |
"release": {
|
| 523 |
"release_path": "actions/locomanipulation/LM15/session_026",
|
| 524 |
"family": "locomanipulation",
|
| 525 |
"primitive": "LM15",
|
| 526 |
"source_session": "20260925/LM15/20260925_100301_session125"
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| 527 |
}
|
| 528 |
}
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|
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|
| 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": true,
|
| 328 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 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": {
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|
|
| 519 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 520 |
"remaining_gyro_frame_deg": 1.5057336164271693
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