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100644 index 0000000000000000000000000000000000000000..e9f521ad981b45bf26eb7c4620bc5a3a8a4fed18 --- /dev/null +++ b/actions/locomanipulation/LM14/session_010/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:823dbb4a75caa50dda4407e35c465ec56d6382024454d16ca04567579d7a2415 +size 802356 diff --git a/actions/locomanipulation/LM14/session_010/meta.json b/actions/locomanipulation/LM14/session_010/meta.json index 8018abae6fb7f1fcd8bd53f4847e8b4c09742859..7a3dd367a2c6a0919cda2ad88790385d812087f0 100644 --- a/actions/locomanipulation/LM14/session_010/meta.json +++ b/actions/locomanipulation/LM14/session_010/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI 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Set it down whenever you need to." } } diff --git a/actions/locomanipulation/LM14/session_010/motions/hands_mano.npz b/actions/locomanipulation/LM14/session_010/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..c01eda3d05b622feba2b16a0071994ec121ed0a6 --- /dev/null +++ b/actions/locomanipulation/LM14/session_010/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c6001146c1fe0ddda90773c1c9b01e56aeb10f8ccf27ac1bb2193177370cc1c +size 2656072 diff --git a/actions/locomanipulation/LM14/session_010/motions/smplx.npz b/actions/locomanipulation/LM14/session_010/motions/smplx.npz index d0ab89a83b32ae5598c61d8c29e5326da3fdee16..82e199e253cb6987342e01de9950225a0d6039cd 100644 --- a/actions/locomanipulation/LM14/session_010/motions/smplx.npz +++ b/actions/locomanipulation/LM14/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fac2e843029687b72f581e7332b2ed0c9efeb73f886b5908772713ce6e8b0b78 -size 6437634 +oid sha256:7365d3b4838b95bb222095267a14b396cea263512288b3ec64de28a77b480ef5 +size 9197243 diff --git a/actions/locomanipulation/LM14/session_011/annotations.json b/actions/locomanipulation/LM14/session_011/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..7971fb825d5b6b6c9d4307d17a29f7ab0b18c027 --- /dev/null +++ b/actions/locomanipulation/LM14/session_011/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "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", + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. 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Only carry what is comfortable. Set it down whenever you need to." } } diff --git a/actions/locomanipulation/LM14/session_012/motions/hands_mano.npz b/actions/locomanipulation/LM14/session_012/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..dc0ff0cba95308a4192a5171af2b1b3563f246c6 --- /dev/null +++ b/actions/locomanipulation/LM14/session_012/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2db4eb00ab708efba1eb05dd134f861e3a96ce66e137a2744cefa450dc3abf35 +size 4850661 diff --git a/actions/locomanipulation/LM14/session_013/annotations.json b/actions/locomanipulation/LM14/session_013/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..b99418a3f6530f1e2b681cce08fe113d53263f88 --- /dev/null +++ b/actions/locomanipulation/LM14/session_013/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "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", + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. 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Set it down whenever you need to." + } + ] +} diff --git a/actions/locomanipulation/LM14/session_013/cameras/slam.npz b/actions/locomanipulation/LM14/session_013/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..973287dc7d3b54358199f6e9ab48fa2834c34133 --- /dev/null +++ b/actions/locomanipulation/LM14/session_013/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dad1d5e8c45a21161ce9a7d876152f23b278d037a4898fc9a44fe6ec0b1f101a +size 771799 diff --git a/actions/locomanipulation/LM14/session_013/meta.json b/actions/locomanipulation/LM14/session_013/meta.json index 93a7d3995d69e07f519ab0aaa48920378d1deae2..5222645b56294d1eb7646e48372ac0921252e150 100644 --- a/actions/locomanipulation/LM14/session_013/meta.json +++ b/actions/locomanipulation/LM14/session_013/meta.json @@ -517,5 +517,9 @@ "family": "locomanipulation", "primitive": "LM14", "source_session": "20260920/LM14/20260920_101217_session115" + }, + "task": { + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to." } } diff --git a/actions/locomanipulation/LM14/session_013/motions/hands_mano.npz b/actions/locomanipulation/LM14/session_013/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..c176d0edb676c6bfc087c368833dd71181e8e2d9 --- /dev/null +++ b/actions/locomanipulation/LM14/session_013/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d8f49a1678fa465bbba2fd30f167c7208fc955a14b756edb51a413b95a6bf88 +size 2114194 diff --git a/actions/locomanipulation/LM14/session_014/annotations.json b/actions/locomanipulation/LM14/session_014/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..cbd23258174eedc97568f16570d742c726afde41 --- /dev/null +++ b/actions/locomanipulation/LM14/session_014/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "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", + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to.", + "segments": [ + { + "id": "segment1", + "duration_s": 148.966667, + "video": "left_eye", + "video_t_start": 0.039006469897894025 + } + ], + "episodes": [ + { + "id": "bfe9ded4-2eca-4665-b2c6-dae9a2184065", + "segment": "segment1", + "action": "LM14", + "quality": "valid", + "start_s": 0, + "end_s": 143.339, + "t_start": 0.039, + "t_end": 143.378, + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to." + } + ] +} diff --git a/actions/locomanipulation/LM14/session_014/cameras/slam.npz b/actions/locomanipulation/LM14/session_014/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..4f523d15f77268e0f30cf7335c241a2d4f4bb377 --- /dev/null +++ b/actions/locomanipulation/LM14/session_014/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:595d080d2ae78c92d5874997bb88dbf77cfe5e955a6e94de24d8f50d4ec802e9 +size 857158 diff --git a/actions/locomanipulation/LM14/session_014/meta.json b/actions/locomanipulation/LM14/session_014/meta.json index 1cab2a8ab032830e234eade6938df118a83e03bb..c63185af0908942b6bbc61a00dc7379ed84496f9 100644 --- a/actions/locomanipulation/LM14/session_014/meta.json +++ b/actions/locomanipulation/LM14/session_014/meta.json @@ -521,5 +521,9 @@ "family": "locomanipulation", "primitive": "LM14", "source_session": "20260920/LM14/20260920_101443_session116" + }, + "task": { + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to." } } diff --git a/actions/locomanipulation/LM14/session_014/motions/hands_mano.npz b/actions/locomanipulation/LM14/session_014/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..e1696ff7933361e1bf245c4f5bd861226d360561 --- /dev/null +++ b/actions/locomanipulation/LM14/session_014/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af9f426cd217f63e5077aede50d1ce8033c6d3031cd63b3d22ac75d415ead04e +size 2181292 diff --git a/actions/locomanipulation/LM14/session_015/annotations.json b/actions/locomanipulation/LM14/session_015/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..8fcc3bcd766ef8ed3c23bb81bef82a40071b0d89 --- /dev/null +++ b/actions/locomanipulation/LM14/session_015/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "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", + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to.", + "segments": [ + { + "id": "segment1", + "duration_s": 143.966656, + "video": "left_eye", + "video_t_start": 0.03935492863095558 + } + ], + "episodes": [ + { + "id": "d1f7913d-0f03-4842-8cca-21493ccd7c1f", + "segment": "segment1", + "action": "LM14", + "quality": "valid", + "start_s": 1.544, + "end_s": 138.982, + "t_start": 1.5834, + "t_end": 139.0214, + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to." + } + ] +} diff --git a/actions/locomanipulation/LM14/session_015/cameras/slam.npz b/actions/locomanipulation/LM14/session_015/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..8a9baac5d1f8194147cdec8c4629c14dff78c34d --- /dev/null +++ b/actions/locomanipulation/LM14/session_015/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32e0ae45768a6a58d64e0c31fa35085a6b85c086b91a5de7055d19a1b4bdc26a +size 827779 diff --git a/actions/locomanipulation/LM14/session_015/meta.json b/actions/locomanipulation/LM14/session_015/meta.json index 4e9e41b9e291711768d9d5065708d779fbbc08f7..3fa33a1e43b8c3b7f8c8c1ac59ae8b58b0afb210 100644 --- a/actions/locomanipulation/LM14/session_015/meta.json +++ b/actions/locomanipulation/LM14/session_015/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -513,10 +513,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.58035774155174 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 12.68, + "offset_rotvec": [ + 0.1376, + 0.1005, + -0.1412 + ], + "dev_deg": { + "median": 3.04, + "p90": 6.48 + }, + "samples": 4248, + "accepted": 4220, + "wrist_pos_err_mm_median": 31.9, + "per_camera": { + "head": { + "samples": 4248, + "accepted": 4220, + "gate_deg": 30.0, + "offset_deg": 12.68, + "tier": "primary", + "dev_deg_median": 3.04, + "wrist_pos_err_mm_median": 31.9 + } + }, + "frames_by_state": { + "ace_sample": 16890, + "interpolated": 190, + "mean_hand": 204, + "no_body_fit": 0 + }, + "observed_fraction": 0.9882, + "observed_fraction_of_valid": 0.9882, + "palm_axis_vs_markers_deg": { + "gsi": 12.72, + "smplx": 0.56 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.0, + "p90": 20.9 + }, + "registered": { + "median": 14.6, + "p90": 19.7 + } + } + }, + "right": { + "offset_deg": 17.25, + "offset_rotvec": [ + -0.2483, + 0.1684, + 0.0237 + ], + "dev_deg": { + "median": 4.87, + "p90": 9.33 + }, + "samples": 4214, + "accepted": 4204, + "wrist_pos_err_mm_median": 39.6, + "per_camera": { + "head": { + "samples": 4214, + "accepted": 4204, + "gate_deg": 30.0, + "offset_deg": 17.25, + "tier": "primary", + "dev_deg_median": 4.87, + "wrist_pos_err_mm_median": 39.6 + } + }, + "frames_by_state": { + "ace_sample": 16834, + "interpolated": 230, + "mean_hand": 220, + "no_body_fit": 0 + }, + "observed_fraction": 0.9873, + "observed_fraction_of_valid": 0.9873, + "palm_axis_vs_markers_deg": { + "gsi": 16.22, + "smplx": 0.64 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.9, + "p90": 8.6 + }, + "registered": { + "median": 6.6, + "p90": 7.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:48:36.805691+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM14/session_015", "family": "locomanipulation", "primitive": "LM14", "source_session": "20260921/LM14/20260921_085138_session158" + }, + "task": { + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to." } } diff --git a/actions/locomanipulation/LM14/session_015/motions/hands_mano.npz b/actions/locomanipulation/LM14/session_015/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..ac93e2c1722200c1fc9b3a972a3f0969ab1e382f --- /dev/null +++ b/actions/locomanipulation/LM14/session_015/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf322af84cf3504d0917608561ef5e1ff7c06bdfe0e5efe84d2f4f91a7c533a6 +size 5654961 diff --git a/actions/locomanipulation/LM14/session_015/motions/smplx.npz b/actions/locomanipulation/LM14/session_015/motions/smplx.npz index 10076609ca4aac7d7611c72ad250145dd5cc57b5..025bd9129a43a8e7a8715e691ec63450dbfb83fc 100644 --- a/actions/locomanipulation/LM14/session_015/motions/smplx.npz +++ b/actions/locomanipulation/LM14/session_015/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:deb16105d21530648f6c69c30acf5cd78a995296c83d0a2deee8ce1b47244c22 -size 6636170 +oid sha256:4741e927351c611b040289a3d4348312a97020102a2409bb95f8ab849945adca +size 12376870 diff --git a/actions/locomanipulation/LM14/session_016/annotations.json b/actions/locomanipulation/LM14/session_016/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..59d88bf0316d1182b316f3079672e924675a7a43 --- /dev/null +++ b/actions/locomanipulation/LM14/session_016/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "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", + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to.", + "segments": [ + { + "id": "segment1", + "duration_s": 128.966644, + "video": "left_eye", + "video_t_start": 0.03932963320744065 + } + ], + "episodes": [ + { + "id": "c954067d-b538-4b7b-88e9-379292ff765d", + "segment": "segment1", + "action": "LM14", + "quality": "valid", + "start_s": 0.417, + "end_s": 124.132, + "t_start": 0.4563, + "t_end": 124.1713, + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to." + } + ] +} diff --git a/actions/locomanipulation/LM14/session_016/cameras/slam.npz b/actions/locomanipulation/LM14/session_016/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..f1098406fdfc9037806e1cf663f1243f9f75a98f --- /dev/null +++ b/actions/locomanipulation/LM14/session_016/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9165bed2ee03cc687b89e00e8adc87531a9a8fc28d9e3e95b7036fc4a3b01d28 +size 740416 diff --git a/actions/locomanipulation/LM14/session_016/meta.json b/actions/locomanipulation/LM14/session_016/meta.json index 1cd3267c1cf7109583d70b049f6b08d551e1dcd5..ee887d10e04b20a629124420f338888be2c73bf1 100644 --- a/actions/locomanipulation/LM14/session_016/meta.json +++ b/actions/locomanipulation/LM14/session_016/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -513,10 +513,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.6540346789466474 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.79, + "offset_rotvec": [ + 0.0807, + 0.0969, + -0.14 + ], + "dev_deg": { + "median": 3.9, + "p90": 8.46 + }, + "samples": 3801, + "accepted": 3798, + "wrist_pos_err_mm_median": 27.3, + "per_camera": { + "head": { + "samples": 3801, + "accepted": 3798, + "gate_deg": 30.0, + "offset_deg": 10.79, + "tier": "primary", + "dev_deg_median": 3.9, + "wrist_pos_err_mm_median": 27.3 + } + }, + "frames_by_state": { + "ace_sample": 15198, + "interpolated": 142, + "mean_hand": 144, + "no_body_fit": 0 + }, + "observed_fraction": 0.9907, + "observed_fraction_of_valid": 0.9907, + "palm_axis_vs_markers_deg": { + "gsi": 9.68, + "smplx": 0.52 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.9, + "p90": 20.3 + }, + "registered": { + "median": 13.2, + "p90": 18.7 + } + } + }, + "right": { + "offset_deg": 18.15, + "offset_rotvec": [ + -0.253, + 0.1866, + 0.0384 + ], + "dev_deg": { + "median": 3.77, + "p90": 11.84 + }, + "samples": 3840, + "accepted": 3768, + "wrist_pos_err_mm_median": 51.6, + "per_camera": { + "head": { + "samples": 3840, + "accepted": 3768, + "gate_deg": 30.0, + "offset_deg": 18.15, + "tier": "primary", + "dev_deg_median": 3.77, + "wrist_pos_err_mm_median": 51.6 + } + }, + "frames_by_state": { + "ace_sample": 15080, + "interpolated": 224, + "mean_hand": 180, + "no_body_fit": 0 + }, + "observed_fraction": 0.9884, + "observed_fraction_of_valid": 0.9884, + "palm_axis_vs_markers_deg": { + "gsi": 16.75, + "smplx": 0.44 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.8, + "p90": 10.4 + }, + "registered": { + "median": 8.8, + "p90": 9.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:48:17.910019+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM14/session_016", "family": "locomanipulation", "primitive": "LM14", "source_session": "20260921/LM14/20260921_085414_session159" + }, + "task": { + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to." } } diff --git a/actions/locomanipulation/LM14/session_016/motions/hands_mano.npz b/actions/locomanipulation/LM14/session_016/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..36e4eb9438eef16372c49c2341d70b925e6e25b0 --- /dev/null +++ b/actions/locomanipulation/LM14/session_016/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c47e9c01f7de29d6dcd91cbbb183116ae2fb732918fed0965fa23b3c6b613b93 +size 5101228 diff --git a/actions/locomanipulation/LM14/session_016/motions/smplx.npz b/actions/locomanipulation/LM14/session_016/motions/smplx.npz index 7866bcee399e76a232ca7bb3b447f21ef14aaafd..671f0f18400e33b8a16b4097c705696e79b06d46 100644 --- a/actions/locomanipulation/LM14/session_016/motions/smplx.npz +++ b/actions/locomanipulation/LM14/session_016/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:bda28c5ab0711c2618e7feed5d352e185e453e8f41624c6a1da3ca504c537c76 -size 5934496 +oid sha256:cef8406acff02858e52ba82298634cf7e742d24ba74e39dfcb49ea32ee12a8d6 +size 11084533 diff --git a/actions/locomanipulation/LM14/session_017/annotations.json b/actions/locomanipulation/LM14/session_017/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..e2af523f83ffd4af2bedbc03dc856da4fec9e632 --- /dev/null +++ b/actions/locomanipulation/LM14/session_017/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "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", + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. 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Set it down whenever you need to." + } + ] +} diff --git a/actions/locomanipulation/LM14/session_017/cameras/slam.npz b/actions/locomanipulation/LM14/session_017/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..c338d61ede212d065109a41608faf480e06b626d --- /dev/null +++ b/actions/locomanipulation/LM14/session_017/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ee00bec31af4189d31a169a9784271b68f0c0a29ea8b162b2852debe28a64bf6 +size 771110 diff --git a/actions/locomanipulation/LM14/session_017/meta.json b/actions/locomanipulation/LM14/session_017/meta.json index e4bde5d2b64953cb6839085fa7f78049363dc761..1316cf0c65b630b669178c72ac07dd8312751fab 100644 --- a/actions/locomanipulation/LM14/session_017/meta.json +++ b/actions/locomanipulation/LM14/session_017/meta.json @@ -325,8 +325,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -512,10 +512,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.5523663952010748 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 19.85, + "offset_rotvec": [ + 0.2147, + 0.1916, + -0.193 + ], + "dev_deg": { + "median": 3.71, + "p90": 8.33 + }, + "samples": 3977, + "accepted": 3974, + "wrist_pos_err_mm_median": 33.3, + "per_camera": { + "head": { + "samples": 3977, + "accepted": 3974, + "gate_deg": 30.0, + "offset_deg": 19.85, + "tier": "primary", + "dev_deg_median": 3.71, + "wrist_pos_err_mm_median": 33.3 + } + }, + "frames_by_state": { + "ace_sample": 15894, + "interpolated": 10, + "mean_hand": 180, + "no_body_fit": 0 + }, + "observed_fraction": 0.9888, + "observed_fraction_of_valid": 0.9888, + "palm_axis_vs_markers_deg": { + "gsi": 19.55, + "smplx": 0.8 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 17.5, + "p90": 24.8 + }, + "registered": { + "median": 16.7, + "p90": 23.2 + } + } + }, + "right": { + "offset_deg": 12.13, + "offset_rotvec": [ + 0.1133, + 0.0565, + 0.1697 + ], + "dev_deg": { + "median": 4.1, + "p90": 7.89 + }, + "samples": 3967, + "accepted": 3961, + "wrist_pos_err_mm_median": 55.8, + "per_camera": { + "head": { + "samples": 3967, + "accepted": 3961, + "gate_deg": 30.0, + "offset_deg": 12.13, + "tier": "primary", + "dev_deg_median": 4.1, + "wrist_pos_err_mm_median": 55.8 + } + }, + "frames_by_state": { + "ace_sample": 15856, + "interpolated": 216, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9993, + "observed_fraction_of_valid": 0.9993, + "palm_axis_vs_markers_deg": { + "gsi": 10.1, + "smplx": 0.62 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.6, + "p90": 12.2 + }, + "registered": { + "median": 10.1, + "p90": 14.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:48:18.049979+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM14/session_017", "family": "locomanipulation", "primitive": "LM14", "source_session": "20260921/LM14/20260921_114737_session212" + }, + "task": { + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to." } } diff --git a/actions/locomanipulation/LM14/session_017/motions/hands_mano.npz b/actions/locomanipulation/LM14/session_017/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..334c27d2a8419740b1b4b7d35858ac3af2027f07 --- /dev/null +++ b/actions/locomanipulation/LM14/session_017/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bfa93679305061024153b0ee0e279997f7a131559cf4a3ab366c9ede2563f262 +size 5321186 diff --git a/actions/locomanipulation/LM14/session_017/motions/smplx.npz b/actions/locomanipulation/LM14/session_017/motions/smplx.npz index 5ba9366fe6ecff1c79d2fd69dd4a03d1dbc54d8d..870358f0f43ccdbe9e6aa4b437327267bb019ae1 100644 --- a/actions/locomanipulation/LM14/session_017/motions/smplx.npz +++ b/actions/locomanipulation/LM14/session_017/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:67cf02669e884f66ba567777626a5809e6e5232a69a7f22261549ca2f897e07f -size 6204835 +oid sha256:88a57cb637f83d09c7c67815e9ecbe0574c17b1e0aeb599719850083df7fcafb +size 11583494 diff --git a/actions/locomanipulation/LM14/session_018/annotations.json b/actions/locomanipulation/LM14/session_018/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..2456a75e0616cbbca52a5e3a33b2d7d8a7b4a12a --- /dev/null +++ b/actions/locomanipulation/LM14/session_018/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "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", + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to.", + "segments": [ + { + "id": "segment1", + "duration_s": 123.966622, + "video": "left_eye", + "video_t_start": 0.039111250522760876 + } + ], + "episodes": [ + { + "id": "02ffae50-cd16-4840-8f4d-a9dbc88fa03e", + "segment": "segment1", + "action": "LM14", + "quality": "valid", + "start_s": 1.192, + "end_s": 120.839, + "t_start": 1.2311, + "t_end": 120.8781, + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to." + } + ] +} diff --git a/actions/locomanipulation/LM14/session_018/cameras/slam.npz b/actions/locomanipulation/LM14/session_018/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..091f1b9842d23820438c25e095bc1f098e2b0580 --- /dev/null +++ b/actions/locomanipulation/LM14/session_018/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c53eca5b8add2ca78dc62015a1dcc4d4c1b3caac95b065b2625a4215cc2880a2 +size 714052 diff --git a/actions/locomanipulation/LM14/session_018/meta.json b/actions/locomanipulation/LM14/session_018/meta.json index a080c0ecb7bca8f7f93076e0e5302f1d16f1d19e..ed29467c476599eb9e22fade317a7d751349272c 100644 --- a/actions/locomanipulation/LM14/session_018/meta.json +++ b/actions/locomanipulation/LM14/session_018/meta.json @@ -324,8 +324,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -506,10 +506,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.4144637967766054 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 18.75, + "offset_rotvec": [ + 0.2769, + 0.1742, + -0.0086 + ], + "dev_deg": { + "median": 2.98, + "p90": 5.93 + }, + "samples": 3659, + "accepted": 3633, + "wrist_pos_err_mm_median": 56.6, + "per_camera": { + "head": { + "samples": 3659, + "accepted": 3633, + "gate_deg": 30.0, + "offset_deg": 18.75, + "tier": "primary", + "dev_deg_median": 2.98, + "wrist_pos_err_mm_median": 56.6 + } + }, + "frames_by_state": { + "ace_sample": 14548, + "interpolated": 320, + "mean_hand": 16, + "no_body_fit": 0 + }, + "observed_fraction": 0.9989, + "observed_fraction_of_valid": 0.9989, + "palm_axis_vs_markers_deg": { + "gsi": 18.45, + "smplx": 0.64 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.8, + "p90": 11.3 + }, + "registered": { + "median": 7.7, + "p90": 10.8 + } + } + }, + "right": { + "offset_deg": 11.26, + "offset_rotvec": [ + -0.0888, + -0.1747, + 0.0158 + ], + "dev_deg": { + "median": 4.83, + "p90": 8.05 + }, + "samples": 3684, + "accepted": 3608, + "wrist_pos_err_mm_median": 63.2, + "per_camera": { + "head": { + "samples": 3684, + "accepted": 3608, + "gate_deg": 30.0, + "offset_deg": 11.26, + "tier": "primary", + "dev_deg_median": 4.83, + "wrist_pos_err_mm_median": 63.2 + } + }, + "frames_by_state": { + "ace_sample": 14432, + "interpolated": 32, + "mean_hand": 420, + "no_body_fit": 0 + }, + "observed_fraction": 0.9718, + "observed_fraction_of_valid": 0.9718, + "palm_axis_vs_markers_deg": { + "gsi": 11.68, + "smplx": 0.51 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.7, + "p90": 18.8 + }, + "registered": { + "median": 12.3, + "p90": 17.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:36:51.346248+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM14/session_018", "family": "locomanipulation", "primitive": "LM14", "source_session": "20260924/LM14/20260924_010035_session4" + }, + "task": { + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to." } } diff --git a/actions/locomanipulation/LM14/session_018/motions/hands_mano.npz b/actions/locomanipulation/LM14/session_018/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..563289a434a5cb65d76bf29ef97a653845ec219d --- /dev/null +++ b/actions/locomanipulation/LM14/session_018/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6618ca7df49230374d33b78d17d0723b97f75d39f55a5a6dab493dedeb09bad1 +size 4944606 diff --git a/actions/locomanipulation/LM14/session_018/motions/smplx.npz b/actions/locomanipulation/LM14/session_018/motions/smplx.npz index ed799ccba8effb24bd90d5ece9590c3e545e7771..cd0b691601218ef7b07633208fe23f670f92abbe 100644 --- a/actions/locomanipulation/LM14/session_018/motions/smplx.npz +++ b/actions/locomanipulation/LM14/session_018/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ed6ef8a4d251339aa2a397dd332b74802c4e27363c92318797e1939e6fe43107 -size 5756528 +oid sha256:a5edf93036f8c8f1010a673e57b2c5dba3d7b5175f5b0789d00efcf1067042a9 +size 10670452 diff --git a/actions/locomanipulation/LM14/session_019/annotations.json b/actions/locomanipulation/LM14/session_019/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..60cf7ed2527ec0ac4db71c97c200e4a20c99c37d --- /dev/null +++ b/actions/locomanipulation/LM14/session_019/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "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", + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to.", + "segments": [ + { + "id": "segment1", + "duration_s": 143.966533, + "video": "left_eye", + "video_t_start": 0.039112266414820906 + } + ], + "episodes": [ + { + "id": "c59d4fb9-f809-4d93-9a19-b964a33f0f65", + "segment": "segment1", + "action": "LM14", + "quality": "valid", + "start_s": 0, + "end_s": 136.18, + "t_start": 0.0391, + "t_end": 136.2191, + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to." + } + ] +} diff --git a/actions/locomanipulation/LM14/session_019/cameras/slam.npz b/actions/locomanipulation/LM14/session_019/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..1e5e4ef0d4f729044a33086562ba809b89c13ade --- /dev/null +++ b/actions/locomanipulation/LM14/session_019/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e5da8a51e571e6b7fa4e6166a9b4af0d6f92ce07f119e7c5a175927d4bcbca7 +size 830199 diff --git a/actions/locomanipulation/LM14/session_019/meta.json b/actions/locomanipulation/LM14/session_019/meta.json index c930f0a2a9e6a2a974782914268874f6f7ce30b5..e80817fa716f200e5f7f0257eea011d6998753a3 100644 --- a/actions/locomanipulation/LM14/session_019/meta.json +++ b/actions/locomanipulation/LM14/session_019/meta.json @@ -323,8 +323,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -545,10 +545,124 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 13.5, + "offset_rotvec": [ + 0.182, + -0.0271, + 0.1471 + ], + "dev_deg": { + "median": 45.36, + "p90": 116.48 + }, + "samples": 615, + "accepted": 84, + "wrist_pos_err_mm_median": 255.8, + "per_camera": { + "head": { + "samples": 615, + "accepted": 84, + "gate_deg": 30.0, + "offset_deg": 13.5, + "tier": "primary", + "dev_deg_median": 45.36, + "wrist_pos_err_mm_median": 255.8 + } + }, + "frames_by_state": { + "ace_sample": 314, + "interpolated": 260, + "mean_hand": 16702, + "no_body_fit": 8 + }, + "observed_fraction": 0.0332, + "observed_fraction_of_valid": 0.0332, + "palm_axis_vs_markers_deg": { + "gsi": 52.09, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 30.95, + "offset_rotvec": [ + 0.486, + -0.12, + -0.2032 + ], + "dev_deg": { + "median": 28.69, + "p90": 82.26 + }, + "samples": 608, + "accepted": 312, + "wrist_pos_err_mm_median": 185.6, + "per_camera": { + "head": { + "samples": 608, + "accepted": 312, + "gate_deg": 30.0, + "offset_deg": 30.95, + "tier": "primary", + "dev_deg_median": 28.69, + "wrist_pos_err_mm_median": 185.6 + } + }, + "frames_by_state": { + "ace_sample": 1215, + "interpolated": 866, + "mean_hand": 15195, + "no_body_fit": 8 + }, + "observed_fraction": 0.1204, + "observed_fraction_of_valid": 0.1205, + "palm_axis_vs_markers_deg": { + "gsi": 31.61, + "smplx": 2.26 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.9, + "p90": 11.6 + }, + "registered": { + "median": 7.1, + "p90": 9.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:20:27.855254+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM14/session_019", "family": "locomanipulation", "primitive": "LM14", "source_session": "20261008/LM14/20261008_081110_session114" + }, + "task": { + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to." } } diff --git a/actions/locomanipulation/LM14/session_019/motions/hands_mano.npz b/actions/locomanipulation/LM14/session_019/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..ab8e5a898407a6338b792e1f6db7280b6458b4bb --- /dev/null +++ b/actions/locomanipulation/LM14/session_019/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:036b506d948cd5be46051ebd0e5b7263a25968257a465f6c04f4dd21ed6c7630 +size 1042789 diff --git a/actions/locomanipulation/LM14/session_019/motions/smplx.npz b/actions/locomanipulation/LM14/session_019/motions/smplx.npz index 1333dab2918e115db10730722cbf11013297c21f..b0e6345b5cb8ba05c8ebb95bf635d7d1d734467b 100644 --- a/actions/locomanipulation/LM14/session_019/motions/smplx.npz +++ b/actions/locomanipulation/LM14/session_019/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e6dc33313508b2e4489f1fd2342c53b3f73f993b75547bea8269989967283eeb -size 6645815 +oid sha256:4fd583cbe8e9f4a694acca73787136e454b3af3bbb0a7d100a523a5314b4a269 +size 7327731 diff --git a/actions/locomanipulation/LM14/session_020/annotations.json b/actions/locomanipulation/LM14/session_020/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..d6f6dc573072ea4d67651786297ced5fda25daab --- /dev/null +++ b/actions/locomanipulation/LM14/session_020/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "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", + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to.", + "segments": [ + { + "id": "segment1", + "duration_s": 148.966633, + "video": "left_eye", + "video_t_start": 0.03918531311920703 + } + ], + "episodes": [ + { + "id": "90240c59-cc81-44c9-b4c5-7d2ed8836a61", + "segment": "segment1", + "action": "LM14", + "quality": "valid", + "start_s": 0, + "end_s": 141.669, + "t_start": 0.0392, + "t_end": 141.7082, + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to." + } + ] +} diff --git a/actions/locomanipulation/LM14/session_020/cameras/slam.npz b/actions/locomanipulation/LM14/session_020/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..a8f72fbe50781248ac6c704fdce863bb10eb46e7 --- /dev/null +++ b/actions/locomanipulation/LM14/session_020/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc9d173cef9c411cb407d8b36c669b7a841b1b40f404978a03b8dfede67a42a4 +size 856379 diff --git a/actions/locomanipulation/LM14/session_020/meta.json b/actions/locomanipulation/LM14/session_020/meta.json index e08c019037e21559e7c6147e6d5b00df700e0fdc..5e07f504fb478e695758e1aa4d980388dac74c69 100644 --- a/actions/locomanipulation/LM14/session_020/meta.json +++ b/actions/locomanipulation/LM14/session_020/meta.json @@ -323,8 +323,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -539,10 +539,124 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 52.65, + "offset_rotvec": [ + 0.8095, + 0.2288, + 0.3699 + ], + "dev_deg": { + "median": 20.92, + "p90": 46.09 + }, + "samples": 3035, + "accepted": 2113, + "wrist_pos_err_mm_median": 77.9, + "per_camera": { + "head": { + "samples": 3035, + "accepted": 2113, + "gate_deg": 30.0, + "offset_deg": 52.65, + "tier": "primary", + "dev_deg_median": 20.92, + "wrist_pos_err_mm_median": 77.9 + } + }, + "frames_by_state": { + "ace_sample": 8646, + "interpolated": 2986, + "mean_hand": 6252, + "no_body_fit": 0 + }, + "observed_fraction": 0.6504, + "observed_fraction_of_valid": 0.6504, + "palm_axis_vs_markers_deg": { + "gsi": 42.76, + "smplx": 2.38 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.4, + "p90": 8.6 + }, + "registered": { + "median": 7.8, + "p90": 11.1 + } + } + }, + "right": { + "offset_deg": 63.25, + "offset_rotvec": [ + 1.0642, + -0.2593, + -0.1367 + ], + "dev_deg": { + "median": 20.61, + "p90": 46.92 + }, + "samples": 3057, + "accepted": 2140, + "wrist_pos_err_mm_median": 93.6, + "per_camera": { + "head": { + "samples": 3057, + "accepted": 2140, + "gate_deg": 30.0, + "offset_deg": 63.25, + "tier": "primary", + "dev_deg_median": 20.61, + "wrist_pos_err_mm_median": 93.6 + } + }, + "frames_by_state": { + "ace_sample": 8722, + "interpolated": 3506, + "mean_hand": 5656, + "no_body_fit": 0 + }, + "observed_fraction": 0.6837, + "observed_fraction_of_valid": 0.6837, + "palm_axis_vs_markers_deg": { + "gsi": 58.53, + "smplx": 0.93 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.9, + "p90": 15.7 + }, + "registered": { + "median": 8.7, + "p90": 13.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:20:34.979808+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM14/session_020", "family": "locomanipulation", "primitive": "LM14", "source_session": "20261008/LM14/20261008_081457_session115" + }, + "task": { + "primitive": "LM14", + "instruction": "Carry the heaviest box in both hands in front of you, walking back and forth across the room. Only carry what is comfortable. Set it down whenever you need to." } } diff --git a/actions/locomanipulation/LM14/session_020/motions/hands_mano.npz b/actions/locomanipulation/LM14/session_020/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..d75978726135a59f28c68286eaae0df466a14991 --- /dev/null +++ b/actions/locomanipulation/LM14/session_020/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c28064ca39d70a83ebf9d7aabbf5bfd6b103caf9dc789fd66a14fce1d2a91564 +size 4222298