diff --git a/.gitattributes b/.gitattributes index e953ff50444334fad0d51b43052d0d510a6b11f8..311d8077c544d26428fe7169f2c2ce96368e7c1e 100644 --- a/.gitattributes +++ b/.gitattributes @@ -44460,3 +44460,15 @@ actions/locomanipulation/LM13/session_037/raw/sensors/robowrist_imu_left.db filt actions/locomanipulation/LM13/session_037/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text actions/locomanipulation/LM13/session_037/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text actions/locomanipulation/LM13/session_037/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text +actions/locomanipulation/LM14/session_036/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text +actions/locomanipulation/LM14/session_036/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text +actions/locomanipulation/LM14/session_036/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text +actions/locomanipulation/LM14/session_036/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text +actions/locomanipulation/LM14/session_036/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text +actions/locomanipulation/LM14/session_036/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text +actions/locomanipulation/LM14/session_036/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text +actions/locomanipulation/LM14/session_036/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text +actions/locomanipulation/LM14/session_036/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text +actions/locomanipulation/LM14/session_037/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text +actions/locomanipulation/LM14/session_037/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text +actions/locomanipulation/LM14/session_037/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text diff --git a/actions/locomanipulation/LM14/session_034/cameras/slam.npz b/actions/locomanipulation/LM14/session_034/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..177088fdcf796520fd9a41fb6ce21fbc3892c15c --- /dev/null +++ b/actions/locomanipulation/LM14/session_034/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce72fa698a4b928f54543991f0d089bfed097a9cce8e65344ff72255a1428504 +size 670624 diff --git a/actions/locomanipulation/LM14/session_034/meta.json b/actions/locomanipulation/LM14/session_034/meta.json index 80a63f6dfa718dd89984906253ad340307dad117..53aa1db943bd7884a82cadfd34ac3c5a84f8e714 100644 --- a/actions/locomanipulation/LM14/session_034/meta.json +++ b/actions/locomanipulation/LM14/session_034/meta.json @@ -391,8 +391,8 @@ "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": { @@ -533,10 +533,124 @@ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 16.23, + "offset_rotvec": [ + -0.2766, + -0.0613, + 0.0029 + ], + "dev_deg": { + "median": 7.58, + "p90": 15.93 + }, + "samples": 3371, + "accepted": 3286, + "wrist_pos_err_mm_median": 75.3, + "per_camera": { + "head": { + "samples": 3371, + "accepted": 3286, + "gate_deg": 30.0, + "offset_deg": 16.23, + "tier": "primary", + "dev_deg_median": 7.58, + "wrist_pos_err_mm_median": 75.3 + } + }, + "frames_by_state": { + "ace_sample": 13212, + "interpolated": 628, + "mean_hand": 173, + "no_body_fit": 0 + }, + "observed_fraction": 0.9877, + "observed_fraction_of_valid": 0.9877, + "palm_axis_vs_markers_deg": { + "gsi": 15.35, + "smplx": 0.73 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.1, + "p90": 5.6 + }, + "registered": { + "median": 4.5, + "p90": 7.3 + } + } + }, + "right": { + "offset_deg": 12.63, + "offset_rotvec": [ + -0.0996, + -0.1956, + -0.02 + ], + "dev_deg": { + "median": 5.99, + "p90": 10.99 + }, + "samples": 3425, + "accepted": 3391, + "wrist_pos_err_mm_median": 46.4, + "per_camera": { + "head": { + "samples": 3425, + "accepted": 3391, + "gate_deg": 30.0, + "offset_deg": 12.63, + "tier": "primary", + "dev_deg_median": 5.99, + "wrist_pos_err_mm_median": 46.4 + } + }, + "frames_by_state": { + "ace_sample": 13590, + "interpolated": 282, + "mean_hand": 141, + "no_body_fit": 0 + }, + "observed_fraction": 0.9899, + "observed_fraction_of_valid": 0.9899, + "palm_axis_vs_markers_deg": { + "gsi": 13.32, + "smplx": 1.2 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 16.1, + "p90": 26.7 + }, + "registered": { + "median": 15.7, + "p90": 25.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T20:20:44.276682+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_034", "family": "locomanipulation", "primitive": "LM14", "source_session": "20261020/LM14/20261020_101509_session31" + }, + "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_034/motions/hands_mano.npz b/actions/locomanipulation/LM14/session_034/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..bfe8e04bafe5cf88616d8aa251c21925523d91e1 --- /dev/null +++ b/actions/locomanipulation/LM14/session_034/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:103d98ff7bd52bf202cfa2dd4079e72d40d28587b27c15a55b5501f56c1500cc +size 4570667 diff --git a/actions/locomanipulation/LM14/session_034/motions/smplx.npz b/actions/locomanipulation/LM14/session_034/motions/smplx.npz index 3960a975f5d8683ea2f08d93a6fcde77259863b8..2809a4f48b1e5b4017863d039e3e14f690ea966f 100644 --- a/actions/locomanipulation/LM14/session_034/motions/smplx.npz +++ b/actions/locomanipulation/LM14/session_034/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e99671ae1aea210bb320a742f073adedcca538bbd31f6c1deb710302e95dc7e9 -size 5418038 +oid sha256:0f9153d12c00dcdce95ad2149e86ff050ea21b86c2807349e863e20335a84da9 +size 10079215 diff --git a/actions/locomanipulation/LM14/session_035/annotations.json b/actions/locomanipulation/LM14/session_035/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..957c21a019b38feb8bde65e23d74c4f94bfe1bc0 --- /dev/null +++ b/actions/locomanipulation/LM14/session_035/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": 129.766667, + "video": "left_eye", + "video_t_start": 0.03959456920004348 + } + ], + "episodes": [ + { + "id": "13cddcdd-bc4f-44a1-aaf5-28d2f4c153b9", + "segment": "segment1", + "action": "LM14", + "quality": "valid", + "start_s": 1.273, + "end_s": 126.543, + "t_start": 1.3126, + "t_end": 126.5826, + "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_035/cameras/gsi_online_calibration.json b/actions/locomanipulation/LM14/session_035/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..cfde266ddbfb279dcb4c469a99aa71b75862c558 --- /dev/null +++ b/actions/locomanipulation/LM14/session_035/cameras/gsi_online_calibration.json @@ -0,0 +1,220 @@ +{ + "camera_fit": { + "groups_dropped": [ + { + "matches": 57, + "median_px": 3.23, + "pair": [ + "left", + "right" + ] + } + ], + "groups_used": 14, + "median_px": 0.401 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 2.4218, + "gate_fail": [], + "held_out_px_after": 0.535, + "held_out_px_before": 5.251, + "inliers": 1260, + "position_fitted": false, + "rotvec_deg": [ + 1.9879, + -1.307, + 0.4529 + ], + "split_deg": 0.0712, + "usable": true + }, + 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4391068705333, + 4392068672000, + 4393068694222 + ] + }, + "version": 1 +} \ No newline at end of file diff --git a/actions/locomanipulation/LM14/session_035/cameras/slam.npz b/actions/locomanipulation/LM14/session_035/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..1371fb70510b23d98655511b932198d3548aef8c --- /dev/null +++ b/actions/locomanipulation/LM14/session_035/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9fd2926a7f4afa29964386b3a04800c299df5c71a6b1ca49cd9b40994717ca75 +size 744229 diff --git a/actions/locomanipulation/LM14/session_035/meta.json b/actions/locomanipulation/LM14/session_035/meta.json index 75b2289fe0adbc81fb85d3f873bda21a99b5aea6..ee34c08284bdf64e97e215091d2f3b805f74e11f 100644 --- a/actions/locomanipulation/LM14/session_035/meta.json +++ b/actions/locomanipulation/LM14/session_035/meta.json @@ -578,6 +578,10 @@ "primitive": "LM14", "source_session": "20261020/LM14/20261020_101728_session32" }, + "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." + }, "objects": [ { "name": "BigBox", diff --git a/actions/locomanipulation/LM14/session_035/motions/hands_mano.npz b/actions/locomanipulation/LM14/session_035/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..9b8c1b7a2cc3040c4da6b201fce30facc2f48738 --- /dev/null +++ b/actions/locomanipulation/LM14/session_035/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:335991104609d945ac1b27fb8bed01630b02fe9b07e65a611d62a3f59fcd4eec +size 5193205 diff --git a/actions/locomanipulation/LM14/session_036/cameras/poses.npz b/actions/locomanipulation/LM14/session_036/cameras/poses.npz new file mode 100644 index 0000000000000000000000000000000000000000..ecc99c4978b5017e2ee442e9fcb1797b1cfb8fa1 --- /dev/null +++ b/actions/locomanipulation/LM14/session_036/cameras/poses.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:057bd98e8fbd35accae3ad4b39d431b11253a45deb1378d92d71648083f60472 +size 1145529 diff --git a/actions/locomanipulation/LM14/session_036/meta.json b/actions/locomanipulation/LM14/session_036/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bc252afc2b74a7b02388b6fd05868537d6e34cb2 --- /dev/null +++ b/actions/locomanipulation/LM14/session_036/meta.json @@ -0,0 +1,534 @@ +{ + "schema_version": 1, + "session": "EgoMotionActions/20261027/LM14/20261027_031701_session18", + "session_id": "20261027_031701_session18", + "primitive": "LM14", + "batch": "20261027", + "participant": "xiaobo", + "participant_source": "manifest", + "device_ids": { + "main": "e3296774a321bb51", + "left": "75b5984e04d1d236", + "right": "c84bc808cb6b47af" + }, + "generated_at_utc": "2026-10-28T19:48:51.652088+00:00", + "generated_by": "scripts/sync_dataset.py", + "time_base": { + "definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing 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1.14248 +15.2911 82.0128 -56.5698 3.27337 2.45136 167.196 1.97339 3.57607 1.36874 2.8823 5.33554 2.0478 0.926814 2.38418 -0.00777043 0.926814 2.38418 -0.00777043 0.236161 -1.50363 6.02014 122.608 147.675 167.726 10.2998 -17.8029 -72.8039 10.7432 -43.1396 21.9468 0.583284 -4.06249 -1.02681 53.4727 16.6405 30.016 171.026 179.446 -101.699 167.301 -150.491 155.352 1.04735 -13.6903 -9.37243 179.84 179.888 -179.991 6.71892 -21.5717 -0.390355 178.16 171.137 -178.6 167.792 -175.043 -153.682 1.174 -1.79525 1.15444 11.7624 5.12998 -11.2091 179.819 165.086 -178.654 173.556 -162.002 145.003 1.14809 0.0529305 1.14248 +15.3325 81.9454 -57.0482 3.41131 2.37998 166.831 1.98377 3.5527 1.40958 2.89634 5.30056 2.10883 0.926161 2.39167 0.000205017 0.926161 2.39167 0.000205017 0.356279 -1.4968 6.02012 122.592 147.603 167.89 10.2461 -17.7427 -72.8036 10.8512 -43.1299 22.0794 0.516022 -4.05843 -1.0268 53.4247 16.7689 30.1716 171.072 179.329 -101.744 167.311 -150.503 155.452 1.11293 -13.596 -9.32127 179.848 179.888 -179.989 6.74605 -21.5047 0.50054 178.16 171.137 -178.6 167.929 -174.875 -153.269 1.17308 -1.7499 1.15441 11.8538 5.46494 -10.776 179.819 165.078 -178.654 173.612 -161.788 144.865 1.14804 0.0555349 1.14248 +15.368 81.8853 -57.5312 3.49569 2.2982 166.464 1.96192 3.51771 1.45196 2.86245 5.24824 2.17213 0.934377 2.39915 0.00937149 0.934377 2.39915 0.00937149 0.429412 -1.4963 6.02012 122.624 147.528 168.065 10.2043 -17.6954 -72.8046 10.9458 -43.1449 22.1937 0.524561 -4.06349 -1.02681 53.2996 16.907 30.3376 171.125 179.205 -101.797 167.318 -150.494 155.555 1.19122 -13.5006 -9.26502 179.849 179.887 -179.987 6.74607 -21.3996 1.15506 178.16 171.133 -178.599 168.293 -174.915 -152.959 1.17195 -1.6937 1.15438 11.8859 5.77956 -10.3346 179.819 165.067 -178.654 173.671 -161.58 144.728 1.14808 0.0537779 1.14248 +15.3969 81.8361 -58.017 3.50566 2.20496 166.102 1.89381 3.46732 1.49566 2.75979 5.17294 2.23736 0.958679 2.40679 0.0163419 0.958679 2.40679 0.0163419 0.435085 -1.5049 6.02015 122.728 147.46 168.249 10.1593 -17.6557 -72.8159 11.0223 -43.1596 22.3171 0.632081 -4.07477 -1.02683 53.0685 17.0611 30.5261 171.194 179.08 -101.87 167.343 -150.503 155.676 1.28246 -13.4006 -9.20152 179.843 179.881 -179.986 6.68687 -21.2854 1.63571 178.16 171.125 -178.599 168.732 -175.051 -152.735 1.17098 -1.64577 1.15435 11.8398 6.06569 -9.88941 179.819 165.054 -178.654 173.734 -161.378 144.588 1.14816 0.0492929 1.14248 +15.4194 81.7955 -58.5083 3.45587 2.10585 165.745 1.7893 3.40587 1.53912 2.6031 5.08114 2.30219 0.993363 2.41496 0.0246556 0.993363 2.41496 0.0246556 0.384685 -1.52574 6.0202 122.887 147.396 168.443 10.1194 -17.6209 -72.8277 11.0905 -43.1904 22.4194 0.82283 -4.09813 -1.02686 52.7645 17.2142 30.7191 171.256 178.94 -101.946 167.37 -150.494 155.789 1.38973 -13.3046 -9.12765 179.833 179.873 -179.985 6.5689 -21.1685 1.9836 178.16 171.117 -178.599 169.411 -175.352 -152.559 1.16954 -1.57418 1.15431 11.7282 6.33205 -9.44472 179.818 165.039 -178.654 173.801 -161.185 144.449 1.14845 0.0350931 1.14248 +15.4359 81.761 -59.0059 3.35546 1.99712 165.394 1.65362 3.33217 1.57875 2.40036 4.97107 2.36125 1.03715 2.42127 0.0346474 1.03715 2.42127 0.0346474 0.294133 -1.54678 6.02026 123.079 147.339 168.65 10.0777 -17.6064 -72.8458 11.1587 -43.2124 22.5264 1.08155 -4.12623 -1.02689 52.3959 17.372 30.9238 171.328 178.792 -102.027 167.407 -150.5 155.886 1.51502 -13.2073 -9.04398 179.818 179.862 -179.984 6.39859 -21.0605 2.26726 178.16 171.112 -178.599 170.23 -175.827 -152.434 1.16816 -1.50572 1.15427 11.5622 6.57698 -8.99237 179.818 165.022 -178.653 173.872 -160.993 144.305 1.1488 0.0175508 1.14248 +15.4471 81.7317 -59.5115 3.21386 1.88847 165.046 1.49289 3.25119 1.61671 2.16054 4.85016 2.41777 1.08922 2.42778 0.0484703 1.08922 2.42778 0.0484703 0.16881 -1.57154 6.02034 123.302 147.29 168.856 10.0323 -17.597 -72.8595 11.2066 -43.2074 22.6161 1.37401 -4.16484 -1.02694 52.008 17.5177 31.1216 171.406 178.618 -102.107 167.441 -150.51 155.974 1.64666 -13.1175 -8.96073 179.801 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https://git-lfs.github.com/spec/v1 +oid sha256:98dec2cf05c62f8dfa78a55c078d6f35fd0661c3192da4f8f814f9cf6cee8d2b +size 131546404 diff --git a/actions/locomanipulation/LM14/session_036/raw/mocap/Body0.trc b/actions/locomanipulation/LM14/session_036/raw/mocap/Body0.trc new file mode 100644 index 0000000000000000000000000000000000000000..abb38a46b6eb476a547579d4d317b6f1b68ab9e7 --- /dev/null +++ b/actions/locomanipulation/LM14/session_036/raw/mocap/Body0.trc @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:20d2a326b1e684c8540e92db437eeee7f747ccb777a320adfa0898af671977fa +size 29224669 diff --git a/actions/locomanipulation/LM14/session_036/raw/mocap/Table-zi.csv b/actions/locomanipulation/LM14/session_036/raw/mocap/Table-zi.csv new file mode 100644 index 0000000000000000000000000000000000000000..50bedd377dfaad671dd11408679b1c0c166a3061 --- /dev/null +++ b/actions/locomanipulation/LM14/session_036/raw/mocap/Table-zi.csv @@ -0,0 +1,15848 @@ +#Hierarchical Translation and Rotation (.csv) file +[Head] +NumFrames,NumSegments,DataFrameRate,EulerRotationOrder,BoneAxis,TranslationUnits +15836,1,120,ZYX,Y,mm + +[SegmentNames&Hierarchy] +Segment,Parent +Segment1,Global + +[SegmentData] + Frame# ,,Segment1,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, +,Timestamp,XToGlobal1,YToGlobal1,ZToGlobal1,VxToGlobal1,VyToGlobal1,VzToGlobal1,VrToGlobal1,AxToGlobal1,AyToGlobal1,AzToGlobal1,ArToGlobal1,QxToGlobal1,QyToGlobal1,QzToGlobal1,QwToGlobal1,ExToGlobal1,EyToGlobal1,EzToGlobal1,EVxToGlobal1,EVyToGlobal1,EVzToGlobal1,EAxToGlobal1,EAyToGlobal1,EAzToGlobal1,Segmentlength1, +1,1793070616697,61.210720, 1360.609619, -1071.729858, , , , , , , , , -0.145211, -0.028495, -0.014862, 0.988879, -16.670897, -3.478381, -1.212340, , , , , , , 266.732239, +2,0,0.000000, 0.000000, 0.000000, , , , , , , , , 0.000000, 0.000000, 0.000000, 0.000000, -16.670897, -3.478381, -1.212340, , , , , , , 0.000000, +3,0,0.000000, 0.000000, 0.000000, , , , , , , , , 0.000000, 0.000000, 0.000000, 0.000000, 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