Mayur1092 commited on
Commit
e66464e
·
verified ·
1 Parent(s): e894bd0

Release update 2026-11-05: new sessions, instructions, annotations

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. actions/locomanipulation/LM11/session_013/annotations.json +28 -0
  2. actions/locomanipulation/LM11/session_013/cameras/slam.npz +3 -0
  3. actions/locomanipulation/LM11/session_013/meta.json +4 -0
  4. actions/locomanipulation/LM11/session_013/motions/hands_mano.npz +3 -0
  5. actions/locomanipulation/LM11/session_014/annotations.json +28 -0
  6. actions/locomanipulation/LM11/session_014/cameras/slam.npz +3 -0
  7. actions/locomanipulation/LM11/session_014/meta.json +4 -0
  8. actions/locomanipulation/LM11/session_014/motions/hands_mano.npz +3 -0
  9. actions/locomanipulation/LM11/session_015/annotations.json +28 -0
  10. actions/locomanipulation/LM11/session_015/cameras/slam.npz +3 -0
  11. actions/locomanipulation/LM11/session_015/meta.json +116 -2
  12. actions/locomanipulation/LM11/session_015/motions/hands_mano.npz +3 -0
  13. actions/locomanipulation/LM11/session_015/motions/smplx.npz +2 -2
  14. actions/locomanipulation/LM11/session_016/annotations.json +28 -0
  15. actions/locomanipulation/LM11/session_016/cameras/slam.npz +3 -0
  16. actions/locomanipulation/LM11/session_016/meta.json +116 -2
  17. actions/locomanipulation/LM11/session_016/motions/hands_mano.npz +3 -0
  18. actions/locomanipulation/LM11/session_016/motions/smplx.npz +2 -2
  19. actions/locomanipulation/LM11/session_017/annotations.json +28 -0
  20. actions/locomanipulation/LM11/session_017/cameras/slam.npz +3 -0
  21. actions/locomanipulation/LM11/session_017/meta.json +116 -2
  22. actions/locomanipulation/LM11/session_017/motions/hands_mano.npz +3 -0
  23. actions/locomanipulation/LM11/session_017/motions/smplx.npz +2 -2
  24. actions/locomanipulation/LM11/session_018/annotations.json +28 -0
  25. actions/locomanipulation/LM11/session_018/cameras/slam.npz +3 -0
  26. actions/locomanipulation/LM11/session_018/meta.json +116 -2
  27. actions/locomanipulation/LM11/session_018/motions/hands_mano.npz +3 -0
  28. actions/locomanipulation/LM11/session_018/motions/smplx.npz +2 -2
  29. actions/locomanipulation/LM11/session_019/annotations.json +28 -0
  30. actions/locomanipulation/LM11/session_019/cameras/slam.npz +3 -0
  31. actions/locomanipulation/LM11/session_019/meta.json +116 -2
  32. actions/locomanipulation/LM11/session_019/motions/hands_mano.npz +3 -0
  33. actions/locomanipulation/LM11/session_019/motions/smplx.npz +2 -2
  34. actions/locomanipulation/LM11/session_020/annotations.json +28 -0
  35. actions/locomanipulation/LM11/session_020/cameras/slam.npz +3 -0
  36. actions/locomanipulation/LM11/session_020/meta.json +116 -2
  37. actions/locomanipulation/LM11/session_020/motions/hands_mano.npz +3 -0
  38. actions/locomanipulation/LM11/session_020/motions/smplx.npz +2 -2
  39. actions/locomanipulation/LM11/session_021/annotations.json +28 -0
  40. actions/locomanipulation/LM11/session_021/cameras/slam.npz +3 -0
  41. actions/locomanipulation/LM11/session_021/meta.json +116 -2
  42. actions/locomanipulation/LM11/session_021/motions/hands_mano.npz +3 -0
  43. actions/locomanipulation/LM11/session_021/motions/smplx.npz +2 -2
  44. actions/locomanipulation/LM11/session_022/annotations.json +28 -0
  45. actions/locomanipulation/LM11/session_022/cameras/slam.npz +3 -0
  46. actions/locomanipulation/LM11/session_022/meta.json +116 -2
  47. actions/locomanipulation/LM11/session_022/motions/hands_mano.npz +3 -0
  48. actions/locomanipulation/LM11/session_022/motions/smplx.npz +2 -2
  49. actions/locomanipulation/LM11/session_023/annotations.json +28 -0
  50. actions/locomanipulation/LM11/session_023/cameras/gsi_online_calibration.json +254 -0
actions/locomanipulation/LM11/session_013/annotations.json ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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": "LM11",
6
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 143.966667,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.03918381665623816
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "42360a89-0fcf-4abc-917e-dabaaa672eef",
18
+ "segment": "segment1",
19
+ "action": "LM11",
20
+ "quality": "valid",
21
+ "start_s": 0,
22
+ "end_s": 139.814,
23
+ "t_start": 0.0392,
24
+ "t_end": 139.8532,
25
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM11/session_013/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3a7ec4b3b7e8fc431a2e7f4cb1343ce7228ea6e83129bb78c08098c76c5370fa
3
+ size 828967
actions/locomanipulation/LM11/session_013/meta.json CHANGED
@@ -514,5 +514,9 @@
514
  "family": "locomanipulation",
515
  "primitive": "LM11",
516
  "source_session": "20260920/LM11/20260920_091349_session99"
 
 
 
 
517
  }
518
  }
 
514
  "family": "locomanipulation",
515
  "primitive": "LM11",
516
  "source_session": "20260920/LM11/20260920_091349_session99"
517
+ },
518
+ "task": {
519
+ "primitive": "LM11",
520
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
521
  }
522
  }
actions/locomanipulation/LM11/session_013/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:458a5ea308aa8c99d9cc7b47efd6d7b81ea8389a7743e851a0059427e26beaee
3
+ size 5702633
actions/locomanipulation/LM11/session_014/annotations.json ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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": "LM11",
6
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 143.966822,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.03935393729882741
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "b9bf04fd-40ea-46d4-881b-4330f54eab21",
18
+ "segment": "segment1",
19
+ "action": "LM11",
20
+ "quality": "valid",
21
+ "start_s": 0,
22
+ "end_s": 136.13,
23
+ "t_start": 0.0394,
24
+ "t_end": 136.1694,
25
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM11/session_014/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:093968a1861903aaad888a11ae624266d1d63d9913f0b904e68514a03a2e79fd
3
+ size 827751
actions/locomanipulation/LM11/session_014/meta.json CHANGED
@@ -512,5 +512,9 @@
512
  "family": "locomanipulation",
513
  "primitive": "LM11",
514
  "source_session": "20260920/LM11/20260920_091637_session100"
 
 
 
 
515
  }
516
  }
 
512
  "family": "locomanipulation",
513
  "primitive": "LM11",
514
  "source_session": "20260920/LM11/20260920_091637_session100"
515
+ },
516
+ "task": {
517
+ "primitive": "LM11",
518
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
519
  }
520
  }
actions/locomanipulation/LM11/session_014/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c06d29be594771d50b0081a93df077de4ae635d35888f76f30ca5e71a8c5aebf
3
+ size 5655367
actions/locomanipulation/LM11/session_015/annotations.json ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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": "LM11",
6
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 143.966667,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.038989587565984696
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "77bad1e9-3a23-456f-9fed-2fed6bf942c3",
18
+ "segment": "segment1",
19
+ "action": "LM11",
20
+ "quality": "valid",
21
+ "start_s": 0.552,
22
+ "end_s": 135.349,
23
+ "t_start": 0.591,
24
+ "t_end": 135.388,
25
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM11/session_015/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:720ad04b4a052980501beddf22cce0a41aa3f1fb53f6898332da5416856ac652
3
+ size 826797
actions/locomanipulation/LM11/session_015/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": false,
330
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
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": {
@@ -513,10 +513,124 @@
513
  "generated_by": "scripts/correct_processed_rig.py",
514
  "remaining_gyro_frame_deg": 0.741380331572727
515
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
516
  "release": {
517
  "release_path": "actions/locomanipulation/LM11/session_015",
518
  "family": "locomanipulation",
519
  "primitive": "LM11",
520
  "source_session": "20260921/LM11/20260921_091548_session166"
 
 
 
 
521
  }
522
  }
 
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": {
 
513
  "generated_by": "scripts/correct_processed_rig.py",
514
  "remaining_gyro_frame_deg": 0.741380331572727
515
  },
516
+ "hands_registration": {
517
+ "cameras": {},
518
+ "hands": {
519
+ "left": {
520
+ "offset_deg": 9.8,
521
+ "offset_rotvec": [
522
+ 0.0655,
523
+ 0.0826,
524
+ -0.1347
525
+ ],
526
+ "dev_deg": {
527
+ "median": 5.21,
528
+ "p90": 10.79
529
+ },
530
+ "samples": 4266,
531
+ "accepted": 4263,
532
+ "wrist_pos_err_mm_median": 31.5,
533
+ "per_camera": {
534
+ "head": {
535
+ "samples": 4266,
536
+ "accepted": 4263,
537
+ "gate_deg": 30.0,
538
+ "offset_deg": 9.8,
539
+ "tier": "primary",
540
+ "dev_deg_median": 5.21,
541
+ "wrist_pos_err_mm_median": 31.5
542
+ }
543
+ },
544
+ "frames_by_state": {
545
+ "ace_sample": 17051,
546
+ "interpolated": 64,
547
+ "mean_hand": 161,
548
+ "no_body_fit": 8
549
+ },
550
+ "observed_fraction": 0.9902,
551
+ "observed_fraction_of_valid": 0.9907,
552
+ "palm_axis_vs_markers_deg": {
553
+ "gsi": 8.4,
554
+ "smplx": 1.2
555
+ },
556
+ "hand_marker_to_mesh_mm": {
557
+ "flat": {
558
+ "median": 13.5,
559
+ "p90": 20.5
560
+ },
561
+ "registered": {
562
+ "median": 14.1,
563
+ "p90": 18.7
564
+ }
565
+ }
566
+ },
567
+ "right": {
568
+ "offset_deg": 15.11,
569
+ "offset_rotvec": [
570
+ -0.0312,
571
+ 0.2546,
572
+ -0.0612
573
+ ],
574
+ "dev_deg": {
575
+ "median": 7.38,
576
+ "p90": 14.5
577
+ },
578
+ "samples": 4250,
579
+ "accepted": 4216,
580
+ "wrist_pos_err_mm_median": 42.7,
581
+ "per_camera": {
582
+ "head": {
583
+ "samples": 4250,
584
+ "accepted": 4216,
585
+ "gate_deg": 30.0,
586
+ "offset_deg": 15.11,
587
+ "tier": "primary",
588
+ "dev_deg_median": 7.38,
589
+ "wrist_pos_err_mm_median": 42.7
590
+ }
591
+ },
592
+ "frames_by_state": {
593
+ "ace_sample": 16887,
594
+ "interpolated": 244,
595
+ "mean_hand": 145,
596
+ "no_body_fit": 8
597
+ },
598
+ "observed_fraction": 0.9911,
599
+ "observed_fraction_of_valid": 0.9916,
600
+ "palm_axis_vs_markers_deg": {
601
+ "gsi": 16.07,
602
+ "smplx": 1.54
603
+ },
604
+ "hand_marker_to_mesh_mm": {
605
+ "flat": {
606
+ "median": 9.1,
607
+ "p90": 9.7
608
+ },
609
+ "registered": {
610
+ "median": 8.4,
611
+ "p90": 9.3
612
+ }
613
+ }
614
+ }
615
+ },
616
+ "max_dev_deg": 30.0,
617
+ "max_gap_s": 1.0,
618
+ "cameras_used": [
619
+ "head"
620
+ ],
621
+ "generated_at_utc": "2026-11-03T22:48:36.998750+00:00",
622
+ "generated_by": "scripts/register_hands_smplx.py",
623
+ "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",
624
+ "wrist_flip_suspect": []
625
+ },
626
  "release": {
627
  "release_path": "actions/locomanipulation/LM11/session_015",
628
  "family": "locomanipulation",
629
  "primitive": "LM11",
630
  "source_session": "20260921/LM11/20260921_091548_session166"
631
+ },
632
+ "task": {
633
+ "primitive": "LM11",
634
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
635
  }
636
  }
actions/locomanipulation/LM11/session_015/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1a0d516d814f159e57ef2ab2c8cdb284624bf15ade7f6f4f14dd14633227aaa2
3
+ size 5702132
actions/locomanipulation/LM11/session_015/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:97fb6d2f2ecb3081a57fbcc2cbafdf3214528a271bc5aa4e4d34ba576eba0508
3
- size 6628818
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8de74046e5ee935562f21ef498def4e785077077ab01eb488a516d7e1a4e15b5
3
+ size 12389982
actions/locomanipulation/LM11/session_016/annotations.json ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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": "LM11",
6
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 143.966644,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.03909924966186118
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "0fb60384-aaa1-48ef-a184-cc25b866e831",
18
+ "segment": "segment1",
19
+ "action": "LM11",
20
+ "quality": "valid",
21
+ "start_s": 0.907,
22
+ "end_s": 133.448,
23
+ "t_start": 0.9461,
24
+ "t_end": 133.4871,
25
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM11/session_016/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a88a2b9764bba2310ea1587a4402e8a1b11e0b8a1fc6a016195bfa8a52926f1b
3
+ size 825295
actions/locomanipulation/LM11/session_016/meta.json CHANGED
@@ -340,8 +340,8 @@
340
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
341
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
342
  "hands": {
343
- "observed": false,
344
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
345
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
346
  "hand_marker_offsets_m": {
347
  "left": {
@@ -527,10 +527,124 @@
527
  "generated_by": "scripts/correct_processed_rig.py",
528
  "remaining_gyro_frame_deg": 0.5958369532102172
529
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
530
  "release": {
531
  "release_path": "actions/locomanipulation/LM11/session_016",
532
  "family": "locomanipulation",
533
  "primitive": "LM11",
534
  "source_session": "20260921/LM11/20260921_091824_session167"
 
 
 
 
535
  }
536
  }
 
340
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
341
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
342
  "hands": {
343
+ "observed": true,
344
+ "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
345
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
346
  "hand_marker_offsets_m": {
347
  "left": {
 
527
  "generated_by": "scripts/correct_processed_rig.py",
528
  "remaining_gyro_frame_deg": 0.5958369532102172
529
  },
530
+ "hands_registration": {
531
+ "cameras": {},
532
+ "hands": {
533
+ "left": {
534
+ "offset_deg": 7.44,
535
+ "offset_rotvec": [
536
+ 0.0845,
537
+ 0.0437,
538
+ -0.0883
539
+ ],
540
+ "dev_deg": {
541
+ "median": 5.02,
542
+ "p90": 10.22
543
+ },
544
+ "samples": 4217,
545
+ "accepted": 4089,
546
+ "wrist_pos_err_mm_median": 24.4,
547
+ "per_camera": {
548
+ "head": {
549
+ "samples": 4217,
550
+ "accepted": 4089,
551
+ "gate_deg": 30.0,
552
+ "offset_deg": 7.44,
553
+ "tier": "primary",
554
+ "dev_deg_median": 5.02,
555
+ "wrist_pos_err_mm_median": 24.4
556
+ }
557
+ },
558
+ "frames_by_state": {
559
+ "ace_sample": 16360,
560
+ "interpolated": 80,
561
+ "mean_hand": 844,
562
+ "no_body_fit": 0
563
+ },
564
+ "observed_fraction": 0.9512,
565
+ "observed_fraction_of_valid": 0.9512,
566
+ "palm_axis_vs_markers_deg": {
567
+ "gsi": 8.03,
568
+ "smplx": 0.51
569
+ },
570
+ "hand_marker_to_mesh_mm": {
571
+ "flat": {
572
+ "median": 12.1,
573
+ "p90": 20.2
574
+ },
575
+ "registered": {
576
+ "median": 12.4,
577
+ "p90": 18.4
578
+ }
579
+ }
580
+ },
581
+ "right": {
582
+ "offset_deg": 16.9,
583
+ "offset_rotvec": [
584
+ -0.0849,
585
+ 0.282,
586
+ -0.0171
587
+ ],
588
+ "dev_deg": {
589
+ "median": 7.59,
590
+ "p90": 16.45
591
+ },
592
+ "samples": 4268,
593
+ "accepted": 4015,
594
+ "wrist_pos_err_mm_median": 39.3,
595
+ "per_camera": {
596
+ "head": {
597
+ "samples": 4268,
598
+ "accepted": 4015,
599
+ "gate_deg": 30.0,
600
+ "offset_deg": 16.9,
601
+ "tier": "primary",
602
+ "dev_deg_median": 7.59,
603
+ "wrist_pos_err_mm_median": 39.3
604
+ }
605
+ },
606
+ "frames_by_state": {
607
+ "ace_sample": 16078,
608
+ "interpolated": 234,
609
+ "mean_hand": 972,
610
+ "no_body_fit": 0
611
+ },
612
+ "observed_fraction": 0.9438,
613
+ "observed_fraction_of_valid": 0.9438,
614
+ "palm_axis_vs_markers_deg": {
615
+ "gsi": 18.98,
616
+ "smplx": 1.44
617
+ },
618
+ "hand_marker_to_mesh_mm": {
619
+ "flat": {
620
+ "median": 8.7,
621
+ "p90": 9.5
622
+ },
623
+ "registered": {
624
+ "median": 7.2,
625
+ "p90": 8.1
626
+ }
627
+ }
628
+ }
629
+ },
630
+ "max_dev_deg": 30.0,
631
+ "max_gap_s": 1.0,
632
+ "cameras_used": [
633
+ "head"
634
+ ],
635
+ "generated_at_utc": "2026-11-03T22:48:36.783860+00:00",
636
+ "generated_by": "scripts/register_hands_smplx.py",
637
+ "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",
638
+ "wrist_flip_suspect": []
639
+ },
640
  "release": {
641
  "release_path": "actions/locomanipulation/LM11/session_016",
642
  "family": "locomanipulation",
643
  "primitive": "LM11",
644
  "source_session": "20260921/LM11/20260921_091824_session167"
645
+ },
646
+ "task": {
647
+ "primitive": "LM11",
648
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
649
  }
650
  }
actions/locomanipulation/LM11/session_016/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:19cd248bd4b792652032dea4351c6d18c45f87790ceee1ccef94dd6b26bc0d9f
3
+ size 5683269
actions/locomanipulation/LM11/session_016/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:1ece5eff5039b6161b1fdad1f46a11a18866181cc194a78238226bc15319e01b
3
- size 6624811
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3fc87788d6ac2b273b3044cbfe139839c5ac98e39dbad4f43c40f1a5c43ab63f
3
+ size 12163347
actions/locomanipulation/LM11/session_017/annotations.json ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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": "LM11",
6
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 138.966533,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.03906369760186479
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "ddcf3ec3-f667-4073-8052-bd7e6dd9db7c",
18
+ "segment": "segment1",
19
+ "action": "LM11",
20
+ "quality": "valid",
21
+ "start_s": 0.353,
22
+ "end_s": 130.134,
23
+ "t_start": 0.3921,
24
+ "t_end": 130.1731,
25
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM11/session_017/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6107dea760adaed871aeef55155bfd644173994dc2bee347c701c3eab56bc6ec
3
+ size 798118
actions/locomanipulation/LM11/session_017/meta.json CHANGED
@@ -327,8 +327,8 @@
327
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
328
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
329
  "hands": {
330
- "observed": false,
331
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
332
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
333
  "hand_marker_offsets_m": {
334
  "left": {
@@ -514,10 +514,124 @@
514
  "generated_by": "scripts/correct_processed_rig.py",
515
  "remaining_gyro_frame_deg": 0.6488799505693532
516
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
517
  "release": {
518
  "release_path": "actions/locomanipulation/LM11/session_017",
519
  "family": "locomanipulation",
520
  "primitive": "LM11",
521
  "source_session": "20260921/LM11/20260921_092101_session168"
 
 
 
 
522
  }
523
  }
 
327
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
328
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
329
  "hands": {
330
+ "observed": true,
331
+ "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
332
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
333
  "hand_marker_offsets_m": {
334
  "left": {
 
514
  "generated_by": "scripts/correct_processed_rig.py",
515
  "remaining_gyro_frame_deg": 0.6488799505693532
516
  },
517
+ "hands_registration": {
518
+ "cameras": {},
519
+ "hands": {
520
+ "left": {
521
+ "offset_deg": 9.87,
522
+ "offset_rotvec": [
523
+ 0.1307,
524
+ 0.045,
525
+ -0.1027
526
+ ],
527
+ "dev_deg": {
528
+ "median": 4.73,
529
+ "p90": 10.68
530
+ },
531
+ "samples": 4104,
532
+ "accepted": 3952,
533
+ "wrist_pos_err_mm_median": 28.9,
534
+ "per_camera": {
535
+ "head": {
536
+ "samples": 4104,
537
+ "accepted": 3952,
538
+ "gate_deg": 30.0,
539
+ "offset_deg": 9.87,
540
+ "tier": "primary",
541
+ "dev_deg_median": 4.73,
542
+ "wrist_pos_err_mm_median": 28.9
543
+ }
544
+ },
545
+ "frames_by_state": {
546
+ "ace_sample": 15816,
547
+ "interpolated": 268,
548
+ "mean_hand": 600,
549
+ "no_body_fit": 0
550
+ },
551
+ "observed_fraction": 0.964,
552
+ "observed_fraction_of_valid": 0.964,
553
+ "palm_axis_vs_markers_deg": {
554
+ "gsi": 10.6,
555
+ "smplx": 0.6
556
+ },
557
+ "hand_marker_to_mesh_mm": {
558
+ "flat": {
559
+ "median": 13.2,
560
+ "p90": 18.8
561
+ },
562
+ "registered": {
563
+ "median": 12.7,
564
+ "p90": 16.8
565
+ }
566
+ }
567
+ },
568
+ "right": {
569
+ "offset_deg": 16.86,
570
+ "offset_rotvec": [
571
+ -0.1109,
572
+ 0.2652,
573
+ -0.0624
574
+ ],
575
+ "dev_deg": {
576
+ "median": 5.93,
577
+ "p90": 17.51
578
+ },
579
+ "samples": 4105,
580
+ "accepted": 3963,
581
+ "wrist_pos_err_mm_median": 40.9,
582
+ "per_camera": {
583
+ "head": {
584
+ "samples": 4105,
585
+ "accepted": 3963,
586
+ "gate_deg": 30.0,
587
+ "offset_deg": 16.86,
588
+ "tier": "primary",
589
+ "dev_deg_median": 5.93,
590
+ "wrist_pos_err_mm_median": 40.9
591
+ }
592
+ },
593
+ "frames_by_state": {
594
+ "ace_sample": 15884,
595
+ "interpolated": 480,
596
+ "mean_hand": 320,
597
+ "no_body_fit": 0
598
+ },
599
+ "observed_fraction": 0.9808,
600
+ "observed_fraction_of_valid": 0.9808,
601
+ "palm_axis_vs_markers_deg": {
602
+ "gsi": 17.57,
603
+ "smplx": 0.87
604
+ },
605
+ "hand_marker_to_mesh_mm": {
606
+ "flat": {
607
+ "median": 7.4,
608
+ "p90": 7.9
609
+ },
610
+ "registered": {
611
+ "median": 6.1,
612
+ "p90": 6.8
613
+ }
614
+ }
615
+ }
616
+ },
617
+ "max_dev_deg": 30.0,
618
+ "max_gap_s": 1.0,
619
+ "cameras_used": [
620
+ "head"
621
+ ],
622
+ "generated_at_utc": "2026-11-03T22:48:36.790206+00:00",
623
+ "generated_by": "scripts/register_hands_smplx.py",
624
+ "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",
625
+ "wrist_flip_suspect": []
626
+ },
627
  "release": {
628
  "release_path": "actions/locomanipulation/LM11/session_017",
629
  "family": "locomanipulation",
630
  "primitive": "LM11",
631
  "source_session": "20260921/LM11/20260921_092101_session168"
632
+ },
633
+ "task": {
634
+ "primitive": "LM11",
635
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
636
  }
637
  }
actions/locomanipulation/LM11/session_017/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c4cdf831559a8a95bfb071260220bc4916c2af392f78bd40825228846f594ebf
3
+ size 5498778
actions/locomanipulation/LM11/session_017/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:ed59ca817e273ad47cbf3699d420571289e2ded176dc5b3609db2cfef4840400
3
- size 6403063
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ddc1e6fdbc1a7cd528c0bf4e9dcb0644c4b93009937be2a164f698ef84c50040
3
+ size 11876946
actions/locomanipulation/LM11/session_018/annotations.json ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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": "LM11",
6
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 128.966711,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.038948895546659035
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "db4ee36a-2744-4cbe-a454-13fb1be37957",
18
+ "segment": "segment1",
19
+ "action": "LM11",
20
+ "quality": "valid",
21
+ "start_s": 0,
22
+ "end_s": 122.56,
23
+ "t_start": 0.0389,
24
+ "t_end": 122.5989,
25
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM11/session_018/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f572594316ab5bdbcfea46a41493453b58b2749079db9d2ccb03901c07de7295
3
+ size 741929
actions/locomanipulation/LM11/session_018/meta.json CHANGED
@@ -327,8 +327,8 @@
327
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
328
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
329
  "hands": {
330
- "observed": false,
331
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
332
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
333
  "hand_marker_offsets_m": {
334
  "left": {
@@ -513,10 +513,124 @@
513
  "generated_by": "scripts/correct_processed_rig.py",
514
  "remaining_gyro_frame_deg": 1.0228824178168385
515
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
516
  "release": {
517
  "release_path": "actions/locomanipulation/LM11/session_018",
518
  "family": "locomanipulation",
519
  "primitive": "LM11",
520
  "source_session": "20260922/LM11/20260922_090014_session129"
 
 
 
 
521
  }
522
  }
 
327
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
328
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
329
  "hands": {
330
+ "observed": true,
331
+ "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
332
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
333
  "hand_marker_offsets_m": {
334
  "left": {
 
513
  "generated_by": "scripts/correct_processed_rig.py",
514
  "remaining_gyro_frame_deg": 1.0228824178168385
515
  },
516
+ "hands_registration": {
517
+ "cameras": {},
518
+ "hands": {
519
+ "left": {
520
+ "offset_deg": 1.95,
521
+ "offset_rotvec": [
522
+ -0.017,
523
+ -0.0029,
524
+ 0.0294
525
+ ],
526
+ "dev_deg": {
527
+ "median": 4.64,
528
+ "p90": 11.49
529
+ },
530
+ "samples": 3787,
531
+ "accepted": 3674,
532
+ "wrist_pos_err_mm_median": 33.2,
533
+ "per_camera": {
534
+ "head": {
535
+ "samples": 3787,
536
+ "accepted": 3674,
537
+ "gate_deg": 30.0,
538
+ "offset_deg": 1.95,
539
+ "tier": "primary",
540
+ "dev_deg_median": 4.64,
541
+ "wrist_pos_err_mm_median": 33.2
542
+ }
543
+ },
544
+ "frames_by_state": {
545
+ "ace_sample": 14720,
546
+ "interpolated": 388,
547
+ "mean_hand": 376,
548
+ "no_body_fit": 0
549
+ },
550
+ "observed_fraction": 0.9757,
551
+ "observed_fraction_of_valid": 0.9757,
552
+ "palm_axis_vs_markers_deg": {
553
+ "gsi": 3.75,
554
+ "smplx": 0.73
555
+ },
556
+ "hand_marker_to_mesh_mm": {
557
+ "flat": {
558
+ "median": 9.0,
559
+ "p90": 10.6
560
+ },
561
+ "registered": {
562
+ "median": 8.5,
563
+ "p90": 8.9
564
+ }
565
+ }
566
+ },
567
+ "right": {
568
+ "offset_deg": 9.63,
569
+ "offset_rotvec": [
570
+ 0.0832,
571
+ 0.1289,
572
+ -0.069
573
+ ],
574
+ "dev_deg": {
575
+ "median": 6.05,
576
+ "p90": 13.79
577
+ },
578
+ "samples": 3796,
579
+ "accepted": 3658,
580
+ "wrist_pos_err_mm_median": 34.3,
581
+ "per_camera": {
582
+ "head": {
583
+ "samples": 3796,
584
+ "accepted": 3658,
585
+ "gate_deg": 30.0,
586
+ "offset_deg": 9.63,
587
+ "tier": "primary",
588
+ "dev_deg_median": 6.05,
589
+ "wrist_pos_err_mm_median": 34.3
590
+ }
591
+ },
592
+ "frames_by_state": {
593
+ "ace_sample": 14668,
594
+ "interpolated": 480,
595
+ "mean_hand": 336,
596
+ "no_body_fit": 0
597
+ },
598
+ "observed_fraction": 0.9783,
599
+ "observed_fraction_of_valid": 0.9783,
600
+ "palm_axis_vs_markers_deg": {
601
+ "gsi": 9.31,
602
+ "smplx": 0.95
603
+ },
604
+ "hand_marker_to_mesh_mm": {
605
+ "flat": {
606
+ "median": 5.0,
607
+ "p90": 6.2
608
+ },
609
+ "registered": {
610
+ "median": 5.4,
611
+ "p90": 6.2
612
+ }
613
+ }
614
+ }
615
+ },
616
+ "max_dev_deg": 30.0,
617
+ "max_gap_s": 1.0,
618
+ "cameras_used": [
619
+ "head"
620
+ ],
621
+ "generated_at_utc": "2026-11-03T22:45:25.691272+00:00",
622
+ "generated_by": "scripts/register_hands_smplx.py",
623
+ "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",
624
+ "wrist_flip_suspect": []
625
+ },
626
  "release": {
627
  "release_path": "actions/locomanipulation/LM11/session_018",
628
  "family": "locomanipulation",
629
  "primitive": "LM11",
630
  "source_session": "20260922/LM11/20260922_090014_session129"
631
+ },
632
+ "task": {
633
+ "primitive": "LM11",
634
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
635
  }
636
  }
actions/locomanipulation/LM11/session_018/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f706e2e31b4ff58254c948d14e4ae215fc221511613b57428721b0285e7a110f
3
+ size 5083508
actions/locomanipulation/LM11/session_018/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:3c96e34a9c4a34b247f723422f7e0f636ccc86fa271dac342e24df2a223fa6b3
3
- size 5970373
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:646bc8d3d8202487abae52cb47ac0cbe9c2db6bac31191b0f8ca78c1beee4a25
3
+ size 11083591
actions/locomanipulation/LM11/session_019/annotations.json ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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": "LM11",
6
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 138.966678,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.03896354420273762
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "890e00f0-8709-43a8-90a5-341e03e06f30",
18
+ "segment": "segment1",
19
+ "action": "LM11",
20
+ "quality": "valid",
21
+ "start_s": 0,
22
+ "end_s": 134.749,
23
+ "t_start": 0.039,
24
+ "t_end": 134.788,
25
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM11/session_019/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:08b29221682aa3645a1744d75e0a1ec050a982a45d2f3c98d9871dd9257c49c8
3
+ size 802816
actions/locomanipulation/LM11/session_019/meta.json CHANGED
@@ -323,8 +323,8 @@
323
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
324
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
325
  "hands": {
326
- "observed": false,
327
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
328
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
329
  "hand_marker_offsets_m": {
330
  "left": {
@@ -509,10 +509,124 @@
509
  "generated_by": "scripts/correct_processed_rig.py",
510
  "remaining_gyro_frame_deg": 1.3100187244290673
511
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
512
  "release": {
513
  "release_path": "actions/locomanipulation/LM11/session_019",
514
  "family": "locomanipulation",
515
  "primitive": "LM11",
516
  "source_session": "20261008/LM11/20261008_085231_session125"
 
 
 
 
517
  }
518
  }
 
323
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
324
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
325
  "hands": {
326
+ "observed": true,
327
+ "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
328
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
329
  "hand_marker_offsets_m": {
330
  "left": {
 
509
  "generated_by": "scripts/correct_processed_rig.py",
510
  "remaining_gyro_frame_deg": 1.3100187244290673
511
  },
512
+ "hands_registration": {
513
+ "cameras": {},
514
+ "hands": {
515
+ "left": {
516
+ "offset_deg": 16.23,
517
+ "offset_rotvec": [
518
+ 0.1882,
519
+ 0.188,
520
+ -0.0973
521
+ ],
522
+ "dev_deg": {
523
+ "median": 6.84,
524
+ "p90": 20.8
525
+ },
526
+ "samples": 4094,
527
+ "accepted": 3876,
528
+ "wrist_pos_err_mm_median": 38.8,
529
+ "per_camera": {
530
+ "head": {
531
+ "samples": 4094,
532
+ "accepted": 3876,
533
+ "gate_deg": 30.0,
534
+ "offset_deg": 16.23,
535
+ "tier": "primary",
536
+ "dev_deg_median": 6.84,
537
+ "wrist_pos_err_mm_median": 38.8
538
+ }
539
+ },
540
+ "frames_by_state": {
541
+ "ace_sample": 15530,
542
+ "interpolated": 182,
543
+ "mean_hand": 972,
544
+ "no_body_fit": 0
545
+ },
546
+ "observed_fraction": 0.9417,
547
+ "observed_fraction_of_valid": 0.9417,
548
+ "palm_axis_vs_markers_deg": {
549
+ "gsi": 18.67,
550
+ "smplx": 0.88
551
+ },
552
+ "hand_marker_to_mesh_mm": {
553
+ "flat": {
554
+ "median": 6.0,
555
+ "p90": 6.9
556
+ },
557
+ "registered": {
558
+ "median": 3.5,
559
+ "p90": 5.2
560
+ }
561
+ }
562
+ },
563
+ "right": {
564
+ "offset_deg": 10.9,
565
+ "offset_rotvec": [
566
+ 0.0185,
567
+ -0.1866,
568
+ -0.0321
569
+ ],
570
+ "dev_deg": {
571
+ "median": 9.9,
572
+ "p90": 22.27
573
+ },
574
+ "samples": 4067,
575
+ "accepted": 3864,
576
+ "wrist_pos_err_mm_median": 60.1,
577
+ "per_camera": {
578
+ "head": {
579
+ "samples": 4067,
580
+ "accepted": 3864,
581
+ "gate_deg": 30.0,
582
+ "offset_deg": 10.9,
583
+ "tier": "primary",
584
+ "dev_deg_median": 9.9,
585
+ "wrist_pos_err_mm_median": 60.1
586
+ }
587
+ },
588
+ "frames_by_state": {
589
+ "ace_sample": 15502,
590
+ "interpolated": 322,
591
+ "mean_hand": 860,
592
+ "no_body_fit": 0
593
+ },
594
+ "observed_fraction": 0.9485,
595
+ "observed_fraction_of_valid": 0.9485,
596
+ "palm_axis_vs_markers_deg": {
597
+ "gsi": 14.44,
598
+ "smplx": 1.58
599
+ },
600
+ "hand_marker_to_mesh_mm": {
601
+ "flat": {
602
+ "median": 11.3,
603
+ "p90": 20.3
604
+ },
605
+ "registered": {
606
+ "median": 10.0,
607
+ "p90": 18.2
608
+ }
609
+ }
610
+ }
611
+ },
612
+ "max_dev_deg": 30.0,
613
+ "max_gap_s": 1.0,
614
+ "cameras_used": [
615
+ "head"
616
+ ],
617
+ "generated_at_utc": "2026-11-03T22:20:30.260154+00:00",
618
+ "generated_by": "scripts/register_hands_smplx.py",
619
+ "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",
620
+ "wrist_flip_suspect": []
621
+ },
622
  "release": {
623
  "release_path": "actions/locomanipulation/LM11/session_019",
624
  "family": "locomanipulation",
625
  "primitive": "LM11",
626
  "source_session": "20261008/LM11/20261008_085231_session125"
627
+ },
628
+ "task": {
629
+ "primitive": "LM11",
630
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
631
  }
632
  }
actions/locomanipulation/LM11/session_019/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:83448c090235beeb2216c71f99a7a086c42304363120140243751d1bbe09ad17
3
+ size 5488342
actions/locomanipulation/LM11/session_019/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:6aa182a5a84fe090783554a98dd2a78b41794002a689e4bd4a20f148b6de7071
3
- size 6448430
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ed58c63bee728e6daccdea77dda30af447602c7c7215c3ae8d367f6bcda27db3
3
+ size 11778684
actions/locomanipulation/LM11/session_020/annotations.json ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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": "LM11",
6
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 133.966522,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.03913702309553724
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "75ad7e77-3de0-4490-b452-a6092a1068d7",
18
+ "segment": "segment1",
19
+ "action": "LM11",
20
+ "quality": "valid",
21
+ "start_s": 0,
22
+ "end_s": 131.003,
23
+ "t_start": 0.0391,
24
+ "t_end": 131.0421,
25
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM11/session_020/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:156504da1df96e8568de08de90f753d012d9aec79a8ba3452b39999666bf352d
3
+ size 772247
actions/locomanipulation/LM11/session_020/meta.json CHANGED
@@ -323,8 +323,8 @@
323
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
324
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
325
  "hands": {
326
- "observed": false,
327
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
328
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
329
  "hand_marker_offsets_m": {
330
  "left": {
@@ -504,10 +504,124 @@
504
  "generated_by": "scripts/correct_processed_rig.py",
505
  "remaining_gyro_frame_deg": 1.2376022886582578
506
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
507
  "release": {
508
  "release_path": "actions/locomanipulation/LM11/session_020",
509
  "family": "locomanipulation",
510
  "primitive": "LM11",
511
  "source_session": "20261008/LM11/20261008_085556_session127"
 
 
 
 
512
  }
513
  }
 
323
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
324
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
325
  "hands": {
326
+ "observed": true,
327
+ "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
328
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
329
  "hand_marker_offsets_m": {
330
  "left": {
 
504
  "generated_by": "scripts/correct_processed_rig.py",
505
  "remaining_gyro_frame_deg": 1.2376022886582578
506
  },
507
+ "hands_registration": {
508
+ "cameras": {},
509
+ "hands": {
510
+ "left": {
511
+ "offset_deg": 18.49,
512
+ "offset_rotvec": [
513
+ 0.2417,
514
+ 0.2121,
515
+ 0.0268
516
+ ],
517
+ "dev_deg": {
518
+ "median": 16.09,
519
+ "p90": 37.42
520
+ },
521
+ "samples": 3449,
522
+ "accepted": 2841,
523
+ "wrist_pos_err_mm_median": 55.9,
524
+ "per_camera": {
525
+ "head": {
526
+ "samples": 3449,
527
+ "accepted": 2841,
528
+ "gate_deg": 30.0,
529
+ "offset_deg": 18.49,
530
+ "tier": "primary",
531
+ "dev_deg_median": 16.09,
532
+ "wrist_pos_err_mm_median": 55.9
533
+ }
534
+ },
535
+ "frames_by_state": {
536
+ "ace_sample": 11666,
537
+ "interpolated": 3390,
538
+ "mean_hand": 1028,
539
+ "no_body_fit": 0
540
+ },
541
+ "observed_fraction": 0.9361,
542
+ "observed_fraction_of_valid": 0.9361,
543
+ "palm_axis_vs_markers_deg": {
544
+ "gsi": 21.17,
545
+ "smplx": 0.69
546
+ },
547
+ "hand_marker_to_mesh_mm": {
548
+ "flat": {
549
+ "median": 5.5,
550
+ "p90": 6.6
551
+ },
552
+ "registered": {
553
+ "median": 6.5,
554
+ "p90": 7.4
555
+ }
556
+ }
557
+ },
558
+ "right": {
559
+ "offset_deg": 31.93,
560
+ "offset_rotvec": [
561
+ 0.1985,
562
+ -0.3401,
563
+ -0.3944
564
+ ],
565
+ "dev_deg": {
566
+ "median": 22.51,
567
+ "p90": 38.05
568
+ },
569
+ "samples": 3220,
570
+ "accepted": 2449,
571
+ "wrist_pos_err_mm_median": 70.9,
572
+ "per_camera": {
573
+ "head": {
574
+ "samples": 3220,
575
+ "accepted": 2449,
576
+ "gate_deg": 30.0,
577
+ "offset_deg": 31.93,
578
+ "tier": "primary",
579
+ "dev_deg_median": 22.51,
580
+ "wrist_pos_err_mm_median": 70.9
581
+ }
582
+ },
583
+ "frames_by_state": {
584
+ "ace_sample": 10206,
585
+ "interpolated": 5234,
586
+ "mean_hand": 644,
587
+ "no_body_fit": 0
588
+ },
589
+ "observed_fraction": 0.96,
590
+ "observed_fraction_of_valid": 0.96,
591
+ "palm_axis_vs_markers_deg": {
592
+ "gsi": 24.88,
593
+ "smplx": 0.51
594
+ },
595
+ "hand_marker_to_mesh_mm": {
596
+ "flat": {
597
+ "median": 7.3,
598
+ "p90": 8.5
599
+ },
600
+ "registered": {
601
+ "median": 7.5,
602
+ "p90": 10.4
603
+ }
604
+ }
605
+ }
606
+ },
607
+ "max_dev_deg": 30.0,
608
+ "max_gap_s": 1.0,
609
+ "cameras_used": [
610
+ "head"
611
+ ],
612
+ "generated_at_utc": "2026-11-03T22:20:34.977120+00:00",
613
+ "generated_by": "scripts/register_hands_smplx.py",
614
+ "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",
615
+ "wrist_flip_suspect": []
616
+ },
617
  "release": {
618
  "release_path": "actions/locomanipulation/LM11/session_020",
619
  "family": "locomanipulation",
620
  "primitive": "LM11",
621
  "source_session": "20261008/LM11/20261008_085556_session127"
622
+ },
623
+ "task": {
624
+ "primitive": "LM11",
625
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
626
  }
627
  }
actions/locomanipulation/LM11/session_020/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2f688c91839239ddca380198bd0370405a85ff9ee6d8afdaf378d67f8c427ad2
3
+ size 4543787
actions/locomanipulation/LM11/session_020/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:110a281dd9c5fea5193b8b826d79c9e5a5b04ffaacddf3751e96c44525499788
3
- size 6216690
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:576ca73b481e69d0038c657bf6c2d779c622a8a1301143ec2767d0940a8a118f
3
+ size 11389692
actions/locomanipulation/LM11/session_021/annotations.json ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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": "LM11",
6
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 133.966811,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.03879262158540886
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "e1ddf2dc-0880-4286-8a16-760d0225d59e",
18
+ "segment": "segment1",
19
+ "action": "LM11",
20
+ "quality": "valid",
21
+ "start_s": 1,
22
+ "end_s": 125.987,
23
+ "t_start": 1.0388,
24
+ "t_end": 126.0258,
25
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM11/session_021/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:03547f6a171660ea494303ac1b5a67c52748c5c6c82e480fc6d79bc40c327bb5
3
+ size 769034
actions/locomanipulation/LM11/session_021/meta.json CHANGED
@@ -356,8 +356,8 @@
356
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
357
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
358
  "hands": {
359
- "observed": false,
360
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
361
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
362
  "hand_marker_offsets_m": {
363
  "left": {
@@ -508,10 +508,124 @@
508
  "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
509
  }
510
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
511
  "release": {
512
  "release_path": "actions/locomanipulation/LM11/session_021",
513
  "family": "locomanipulation",
514
  "primitive": "LM11",
515
  "source_session": "20261009/LM11/20261009_075738_session63"
 
 
 
 
516
  }
517
  }
 
356
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
357
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
358
  "hands": {
359
+ "observed": true,
360
+ "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
361
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
362
  "hand_marker_offsets_m": {
363
  "left": {
 
508
  "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
509
  }
510
  },
511
+ "hands_registration": {
512
+ "cameras": {},
513
+ "hands": {
514
+ "left": {
515
+ "offset_deg": 29.07,
516
+ "offset_rotvec": [
517
+ 0.2443,
518
+ 0.4115,
519
+ -0.1687
520
+ ],
521
+ "dev_deg": {
522
+ "median": 3.83,
523
+ "p90": 12.78
524
+ },
525
+ "samples": 3989,
526
+ "accepted": 3702,
527
+ "wrist_pos_err_mm_median": 37.9,
528
+ "per_camera": {
529
+ "head": {
530
+ "samples": 3989,
531
+ "accepted": 3702,
532
+ "gate_deg": 30.0,
533
+ "offset_deg": 29.07,
534
+ "tier": "primary",
535
+ "dev_deg_median": 3.83,
536
+ "wrist_pos_err_mm_median": 37.9
537
+ }
538
+ },
539
+ "frames_by_state": {
540
+ "ace_sample": 14804,
541
+ "interpolated": 24,
542
+ "mean_hand": 1256,
543
+ "no_body_fit": 0
544
+ },
545
+ "observed_fraction": 0.9219,
546
+ "observed_fraction_of_valid": 0.9219,
547
+ "palm_axis_vs_markers_deg": {
548
+ "gsi": 29.59,
549
+ "smplx": 0.61
550
+ },
551
+ "hand_marker_to_mesh_mm": {
552
+ "flat": {
553
+ "median": 7.7,
554
+ "p90": 16.2
555
+ },
556
+ "registered": {
557
+ "median": 8.5,
558
+ "p90": 14.5
559
+ }
560
+ }
561
+ },
562
+ "right": {
563
+ "offset_deg": 27.68,
564
+ "offset_rotvec": [
565
+ 0.3222,
566
+ -0.3597,
567
+ 0.0145
568
+ ],
569
+ "dev_deg": {
570
+ "median": 3.4,
571
+ "p90": 9.38
572
+ },
573
+ "samples": 3968,
574
+ "accepted": 3872,
575
+ "wrist_pos_err_mm_median": 73.3,
576
+ "per_camera": {
577
+ "head": {
578
+ "samples": 3968,
579
+ "accepted": 3872,
580
+ "gate_deg": 30.0,
581
+ "offset_deg": 27.68,
582
+ "tier": "primary",
583
+ "dev_deg_median": 3.4,
584
+ "wrist_pos_err_mm_median": 73.3
585
+ }
586
+ },
587
+ "frames_by_state": {
588
+ "ace_sample": 15514,
589
+ "interpolated": 278,
590
+ "mean_hand": 292,
591
+ "no_body_fit": 0
592
+ },
593
+ "observed_fraction": 0.9818,
594
+ "observed_fraction_of_valid": 0.9818,
595
+ "palm_axis_vs_markers_deg": {
596
+ "gsi": 27.97,
597
+ "smplx": 0.48
598
+ },
599
+ "hand_marker_to_mesh_mm": {
600
+ "flat": {
601
+ "median": 16.9,
602
+ "p90": 31.2
603
+ },
604
+ "registered": {
605
+ "median": 16.7,
606
+ "p90": 30.6
607
+ }
608
+ }
609
+ }
610
+ },
611
+ "max_dev_deg": 30.0,
612
+ "max_gap_s": 1.0,
613
+ "cameras_used": [
614
+ "head"
615
+ ],
616
+ "generated_at_utc": "2026-11-03T22:17:57.685929+00:00",
617
+ "generated_by": "scripts/register_hands_smplx.py",
618
+ "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",
619
+ "wrist_flip_suspect": []
620
+ },
621
  "release": {
622
  "release_path": "actions/locomanipulation/LM11/session_021",
623
  "family": "locomanipulation",
624
  "primitive": "LM11",
625
  "source_session": "20261009/LM11/20261009_075738_session63"
626
+ },
627
+ "task": {
628
+ "primitive": "LM11",
629
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
630
  }
631
  }
actions/locomanipulation/LM11/session_021/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:aa93c2d4d7c86cd54a71d6a298ff28f1378f8b91bc58742396117b960722ef23
3
+ size 5360043
actions/locomanipulation/LM11/session_021/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:77e811af583b4e6304e1fe344667b8fe7d35e89e9bf7e5fd2939eab41bd4d367
3
- size 6139372
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3333c8809e31d4e4d4b8811ac6b9dcc623bebb21adc29818eb3c40db7b673b37
3
+ size 11308126
actions/locomanipulation/LM11/session_022/annotations.json ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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": "LM11",
6
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 138.966622,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.039042932585839685
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "8b94dcb5-fe4a-4642-978a-bf8d0dd9dab9",
18
+ "segment": "segment1",
19
+ "action": "LM11",
20
+ "quality": "valid",
21
+ "start_s": 1,
22
+ "end_s": 130.263,
23
+ "t_start": 1.039,
24
+ "t_end": 130.302,
25
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM11/session_022/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f6189c83e9fd02a91442bae14f456ed04e155398c260a8b758c029c6f4d72615
3
+ size 789271
actions/locomanipulation/LM11/session_022/meta.json CHANGED
@@ -339,8 +339,8 @@
339
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
340
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
341
  "hands": {
342
- "observed": false,
343
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
344
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
345
  "hand_marker_offsets_m": {
346
  "left": {
@@ -535,10 +535,124 @@
535
  "generated_by": "scripts/correct_processed_rig.py",
536
  "remaining_gyro_frame_deg": 1.2588349486719768
537
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
538
  "release": {
539
  "release_path": "actions/locomanipulation/LM11/session_022",
540
  "family": "locomanipulation",
541
  "primitive": "LM11",
542
  "source_session": "20261009/LM11/20261009_080242_session65"
 
 
 
 
543
  }
544
  }
 
339
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
340
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
341
  "hands": {
342
+ "observed": true,
343
+ "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
344
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
345
  "hand_marker_offsets_m": {
346
  "left": {
 
535
  "generated_by": "scripts/correct_processed_rig.py",
536
  "remaining_gyro_frame_deg": 1.2588349486719768
537
  },
538
+ "hands_registration": {
539
+ "cameras": {},
540
+ "hands": {
541
+ "left": {
542
+ "offset_deg": 25.41,
543
+ "offset_rotvec": [
544
+ 0.1568,
545
+ 0.3854,
546
+ -0.1532
547
+ ],
548
+ "dev_deg": {
549
+ "median": 3.15,
550
+ "p90": 12.3
551
+ },
552
+ "samples": 4119,
553
+ "accepted": 3795,
554
+ "wrist_pos_err_mm_median": 46.0,
555
+ "per_camera": {
556
+ "head": {
557
+ "samples": 4119,
558
+ "accepted": 3795,
559
+ "gate_deg": 30.0,
560
+ "offset_deg": 25.41,
561
+ "tier": "primary",
562
+ "dev_deg_median": 3.15,
563
+ "wrist_pos_err_mm_median": 46.0
564
+ }
565
+ },
566
+ "frames_by_state": {
567
+ "ace_sample": 15182,
568
+ "interpolated": 22,
569
+ "mean_hand": 1480,
570
+ "no_body_fit": 0
571
+ },
572
+ "observed_fraction": 0.9113,
573
+ "observed_fraction_of_valid": 0.9113,
574
+ "palm_axis_vs_markers_deg": {
575
+ "gsi": 25.87,
576
+ "smplx": 0.41
577
+ },
578
+ "hand_marker_to_mesh_mm": {
579
+ "flat": {
580
+ "median": 9.9,
581
+ "p90": 14.5
582
+ },
583
+ "registered": {
584
+ "median": 9.1,
585
+ "p90": 12.6
586
+ }
587
+ }
588
+ },
589
+ "right": {
590
+ "offset_deg": 26.36,
591
+ "offset_rotvec": [
592
+ 0.256,
593
+ -0.3816,
594
+ 0.0241
595
+ ],
596
+ "dev_deg": {
597
+ "median": 4.09,
598
+ "p90": 10.08
599
+ },
600
+ "samples": 4081,
601
+ "accepted": 3867,
602
+ "wrist_pos_err_mm_median": 67.4,
603
+ "per_camera": {
604
+ "head": {
605
+ "samples": 4081,
606
+ "accepted": 3867,
607
+ "gate_deg": 30.0,
608
+ "offset_deg": 26.36,
609
+ "tier": "primary",
610
+ "dev_deg_median": 4.09,
611
+ "wrist_pos_err_mm_median": 67.4
612
+ }
613
+ },
614
+ "frames_by_state": {
615
+ "ace_sample": 15474,
616
+ "interpolated": 150,
617
+ "mean_hand": 1060,
618
+ "no_body_fit": 0
619
+ },
620
+ "observed_fraction": 0.9365,
621
+ "observed_fraction_of_valid": 0.9365,
622
+ "palm_axis_vs_markers_deg": {
623
+ "gsi": 26.58,
624
+ "smplx": 0.55
625
+ },
626
+ "hand_marker_to_mesh_mm": {
627
+ "flat": {
628
+ "median": 17.5,
629
+ "p90": 30.9
630
+ },
631
+ "registered": {
632
+ "median": 17.2,
633
+ "p90": 30.2
634
+ }
635
+ }
636
+ }
637
+ },
638
+ "max_dev_deg": 30.0,
639
+ "max_gap_s": 1.0,
640
+ "cameras_used": [
641
+ "head"
642
+ ],
643
+ "generated_at_utc": "2026-11-03T22:17:57.679559+00:00",
644
+ "generated_by": "scripts/register_hands_smplx.py",
645
+ "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",
646
+ "wrist_flip_suspect": []
647
+ },
648
  "release": {
649
  "release_path": "actions/locomanipulation/LM11/session_022",
650
  "family": "locomanipulation",
651
  "primitive": "LM11",
652
  "source_session": "20261009/LM11/20261009_080242_session65"
653
+ },
654
+ "task": {
655
+ "primitive": "LM11",
656
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
657
  }
658
  }
actions/locomanipulation/LM11/session_022/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ce789d1eb8574429001691700b4ce3e26643e3169583ea31c59274e1896cf836
3
+ size 5506066
actions/locomanipulation/LM11/session_022/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:cc362fac403c34f31165f129b17148463e1957c4cd31a701aa91b43a4bdbb9ca
3
- size 6365943
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a5a9b45144c7a33bba4e968c480343590fab791f45083f17563ac0ae8e70d14d
3
+ size 11559863
actions/locomanipulation/LM11/session_023/annotations.json ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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": "LM11",
6
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 138.966633,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.03896007951757996
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "f30888cd-1c07-40b7-9bfc-508e0188f636",
18
+ "segment": "segment1",
19
+ "action": "LM11",
20
+ "quality": "valid",
21
+ "start_s": 1,
22
+ "end_s": 134.094,
23
+ "t_start": 1.039,
24
+ "t_end": 134.133,
25
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM11/session_023/cameras/gsi_online_calibration.json ADDED
@@ -0,0 +1,254 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "camera_fit": {
3
+ "groups_dropped": [],
4
+ "groups_used": 14,
5
+ "median_px": 0.411
6
+ },
7
+ "cameras": {
8
+ "left": {
9
+ "accepted": true,
10
+ "against": [
11
+ "left_front",
12
+ "right_front",
13
+ "left_eye",
14
+ "right_eye"
15
+ ],
16
+ "delta_deg": 1.1642,
17
+ "gate_fail": [],
18
+ "held_out_px_after": 0.631,
19
+ "held_out_px_before": 6.032,
20
+ "inliers": 1861,
21
+ "position_fitted": false,
22
+ "rotvec_deg": [
23
+ -0.2153,
24
+ -0.4643,
25
+ -1.0456
26
+ ],
27
+ "split_deg": 0.0693,
28
+ "usable": true
29
+ },
30
+ "left_eye": {
31
+ "accepted": true,
32
+ "against": [
33
+ "left_front",
34
+ "right_front",
35
+ "right_eye",
36
+ "left",
37
+ "right"
38
+ ],
39
+ "delta_deg": 2.5859,
40
+ "gate_fail": [],
41
+ "held_out_px_after": 0.434,
42
+ "held_out_px_before": 7.731,
43
+ "inliers": 3150,
44
+ "position_fitted": true,
45
+ "position_mm": [
46
+ 7.12,
47
+ -19.7,
48
+ 2.73
49
+ ],
50
+ "position_sigma_mm": 0.117,
51
+ "position_split_mm": 0.103,
52
+ "rotvec_deg": [
53
+ -0.3272,
54
+ 0.8929,
55
+ -2.4047
56
+ ],
57
+ "split_deg": 0.0389,
58
+ "usable": true
59
+ },
60
+ "left_front": {
61
+ "role": "rig origin"
62
+ },
63
+ "right": {
64
+ "accepted": true,
65
+ "against": [
66
+ "left_front",
67
+ "right_front",
68
+ "left_eye",
69
+ "right_eye"
70
+ ],
71
+ "delta_deg": 1.4037,
72
+ "gate_fail": [],
73
+ "held_out_px_after": 0.691,
74
+ "held_out_px_before": 5.158,
75
+ "inliers": 897,
76
+ "position_fitted": false,
77
+ "rotvec_deg": [
78
+ 1.227,
79
+ -0.2629,
80
+ -0.6289
81
+ ],
82
+ "split_deg": 0.0693,
83
+ "usable": true
84
+ },
85
+ "right_eye": {
86
+ "accepted": true,
87
+ "against": [
88
+ "left_front",
89
+ "right_front",
90
+ "left_eye",
91
+ "left",
92
+ "right"
93
+ ],
94
+ "delta_deg": 1.0255,
95
+ "gate_fail": [],
96
+ "held_out_px_after": 0.405,
97
+ "held_out_px_before": 3.916,
98
+ "inliers": 3265,
99
+ "position_fitted": true,
100
+ "position_mm": [
101
+ 6.49,
102
+ -22.49,
103
+ 3.31
104
+ ],
105
+ "position_sigma_mm": 0.117,
106
+ "position_split_mm": 0.147,
107
+ "rotvec_deg": [
108
+ -0.0105,
109
+ -0.258,
110
+ -0.9925
111
+ ],
112
+ "split_deg": 0.0236,
113
+ "usable": true
114
+ },
115
+ "right_front": {
116
+ "accepted": true,
117
+ "against": [
118
+ "left_front",
119
+ "left_eye",
120
+ "right_eye",
121
+ "left",
122
+ "right"
123
+ ],
124
+ "delta_deg": 1.9937,
125
+ "gate_fail": [],
126
+ "held_out_px_after": 0.357,
127
+ "held_out_px_before": 6.98,
128
+ "inliers": 4701,
129
+ "position_fitted": false,
130
+ "rotvec_deg": [
131
+ -0.2254,
132
+ 0.0539,
133
+ -1.9802
134
+ ],
135
+ "split_deg": 0.0219,
136
+ "usable": true
137
+ }
138
+ },
139
+ "code_fingerprint": "711ecf5b3dd408f8",
140
+ "device_id": "e17c9efadb69e7b1",
141
+ "factory_root_name": "e17c9efadb69e7b1",
142
+ "files": {
143
+ "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
144
+ "sha256": "135fe5c47c545ae1c51611ef1a21dc99abb014346881b43cf74a774d0397abae",
145
+ "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
146
+ },
147
+ "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
148
+ "sha256": "87f92ddfbd0dbfd1d5c4e5a1aa73290d85d318987fe8c673f1dfb23ecbbce3ea",
149
+ "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
150
+ },
151
+ "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
152
+ "sha256": "28a4293cecfbd363747be10c87eef2ea1290951a69f7001093bc39690631b0ef",
153
+ "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
154
+ },
155
+ "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
156
+ "sha256": "0eee9973744ff0f18fb3f948f4b37253bb50a1f1fda41f445eaf57a19e1c4ba9",
157
+ "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
158
+ }
159
+ },
160
+ "input_fingerprint": "1a43c416e8f32562",
161
+ "kind": "online_calibration",
162
+ "output_sha256": "3a8916284dab05b944b0e2f2867d08ba06771761ede4c4c7b0eee69a12c3971b",
163
+ "overlap": {
164
+ "left-right": 0.501,
165
+ "left_eye-left": 0.707,
166
+ "left_eye-right": 0.671,
167
+ "left_front-left": 0.478,
168
+ "left_front-left_eye": 0.72,
169
+ "left_front-right": 0.448,
170
+ "left_front-right_eye": 0.732,
171
+ "left_front-right_front": 1.0,
172
+ "right_eye-left": 0.696,
173
+ "right_eye-left_eye": 1.0,
174
+ "right_eye-right": 0.673,
175
+ "right_front-left": 0.464,
176
+ "right_front-left_eye": 0.723,
177
+ "right_front-right": 0.466,
178
+ "right_front-right_eye": 0.734
179
+ },
180
+ "picture_change": {
181
+ "left": 41.283,
182
+ "left_eye": 28.478,
183
+ "left_front": 32.575,
184
+ "right": 36.691,
185
+ "right_eye": 27.679,
186
+ "right_front": 30.605
187
+ },
188
+ "runtime": {
189
+ "numpy": "2.4.6",
190
+ "opencv": "5.0.0",
191
+ "scipy": "1.17.1"
192
+ },
193
+ "segment": 1,
194
+ "selection": {
195
+ "overlap_captures": [
196
+ 28633738958444,
197
+ 28634738902888,
198
+ 28642738880666,
199
+ 28643739025111,
200
+ 28645738891777,
201
+ 28646738902888,
202
+ 28649738902888,
203
+ 28650739025111,
204
+ 28652738914000,
205
+ 28653738880666,
206
+ 28657738902888,
207
+ 28658738880666,
208
+ 28661738914000,
209
+ 28662738869555,
210
+ 28666738902888,
211
+ 28667739025111,
212
+ 28673738869555,
213
+ 28674738902888,
214
+ 28675738880666,
215
+ 28682738869555,
216
+ 28683738869555,
217
+ 28684738880666,
218
+ 28690738869555,
219
+ 28691738869555,
220
+ 28692738880666,
221
+ 28693738869555,
222
+ 28698738902888,
223
+ 28699738902888,
224
+ 28702738914000,
225
+ 28703738902888,
226
+ 28706738880666,
227
+ 28707738914000,
228
+ 28714738880666,
229
+ 28715738914000,
230
+ 28716738947333,
231
+ 28723738880666,
232
+ 28724738880666,
233
+ 28725738902888,
234
+ 28731738891777,
235
+ 28732738902888,
236
+ 28733738902888,
237
+ 28734738880666,
238
+ 28739738902888,
239
+ 28740739025111,
240
+ 28743738902888,
241
+ 28744738869555,
242
+ 28748738914000,
243
+ 28749738902888,
244
+ 28755738914000,
245
+ 28756738880666,
246
+ 28757738902888,
247
+ 28760738869555,
248
+ 28761738914000,
249
+ 28766738869555,
250
+ 28767738947333
251
+ ]
252
+ },
253
+ "version": 1
254
+ }