Release update 2026-11-05: new sessions, instructions, annotations (part 20)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +16 -0
- actions/locomanipulation/LM81/session_039/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM81/session_039/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM81/session_039/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM81/session_039/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM81/session_039/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM81/session_039/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM81/session_039/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM81/session_039/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM81/session_039/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM81/session_039/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM81/session_039/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM81/session_039/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM81/session_039/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM81/session_039/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM81/session_039/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM81/session_039/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM81/session_039/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM81/session_039/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM81/session_039/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM81/session_039/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM81/session_039/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM81/session_039/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM82/session_001/annotations.json +28 -0
- actions/locomanipulation/LM82/session_001/cameras/slam.npz +3 -0
- actions/locomanipulation/LM82/session_001/meta.json +116 -2
- actions/locomanipulation/LM82/session_001/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM82/session_001/motions/smplx.npz +2 -2
- actions/locomanipulation/LM82/session_002/annotations.json +28 -0
- actions/locomanipulation/LM82/session_002/cameras/slam.npz +3 -0
- actions/locomanipulation/LM82/session_002/meta.json +116 -2
- actions/locomanipulation/LM82/session_002/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM82/session_002/motions/smplx.npz +2 -2
- actions/locomanipulation/LM82/session_003/annotations.json +28 -0
- actions/locomanipulation/LM82/session_003/cameras/slam.npz +3 -0
- actions/locomanipulation/LM82/session_003/meta.json +116 -2
- actions/locomanipulation/LM82/session_003/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM82/session_003/motions/smplx.npz +2 -2
- actions/locomanipulation/LM82/session_004/annotations.json +28 -0
- actions/locomanipulation/LM82/session_004/cameras/slam.npz +3 -0
- actions/locomanipulation/LM82/session_004/meta.json +116 -2
- actions/locomanipulation/LM82/session_004/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM82/session_004/motions/smplx.npz +2 -2
- actions/locomanipulation/LM82/session_005/annotations.json +28 -0
- actions/locomanipulation/LM82/session_005/cameras/slam.npz +3 -0
- actions/locomanipulation/LM82/session_005/meta.json +116 -2
- actions/locomanipulation/LM82/session_005/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM82/session_005/motions/smplx.npz +2 -2
- actions/locomanipulation/LM82/session_006/annotations.json +28 -0
- actions/locomanipulation/LM82/session_006/cameras/slam.npz +3 -0
.gitattributes
CHANGED
|
@@ -48240,3 +48240,19 @@ actions/locomanipulation/LM81/session_038/raw/sensors/robowrist_mag_left.db filt
|
|
| 48240 |
actions/locomanipulation/LM81/session_038/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
|
| 48241 |
actions/locomanipulation/LM81/session_039/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
|
| 48242 |
actions/locomanipulation/LM81/session_039/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 48240 |
actions/locomanipulation/LM81/session_038/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
|
| 48241 |
actions/locomanipulation/LM81/session_039/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
|
| 48242 |
actions/locomanipulation/LM81/session_039/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
|
| 48243 |
+
actions/locomanipulation/LM81/session_039/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
|
| 48244 |
+
actions/locomanipulation/LM81/session_039/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
|
| 48245 |
+
actions/locomanipulation/LM81/session_039/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
|
| 48246 |
+
actions/locomanipulation/LM81/session_039/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
|
| 48247 |
+
actions/locomanipulation/LM81/session_039/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
|
| 48248 |
+
actions/locomanipulation/LM81/session_039/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
|
| 48249 |
+
actions/locomanipulation/LM81/session_039/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
|
| 48250 |
+
actions/locomanipulation/LM82/session_038/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
|
| 48251 |
+
actions/locomanipulation/LM82/session_038/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
|
| 48252 |
+
actions/locomanipulation/LM82/session_038/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
|
| 48253 |
+
actions/locomanipulation/LM82/session_038/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
|
| 48254 |
+
actions/locomanipulation/LM82/session_038/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
|
| 48255 |
+
actions/locomanipulation/LM82/session_038/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
|
| 48256 |
+
actions/locomanipulation/LM82/session_038/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
|
| 48257 |
+
actions/locomanipulation/LM82/session_038/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
|
| 48258 |
+
actions/locomanipulation/LM82/session_038/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
|
actions/locomanipulation/LM81/session_039/raw/mocap/Tracker0.trc
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
actions/locomanipulation/LM81/session_039/raw/sensors/robocap_imu_left.db
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:11a0ff713ce12954d7e19ed7015f5e5fe48133c7d3be73714aa5d5a83fb79dba
|
| 3 |
+
size 1384448
|
actions/locomanipulation/LM81/session_039/raw/sensors/robocap_imu_right.db
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c7769ff449b5359dabcf517275abd8e69536844f78977359c761f6e42959e5cd
|
| 3 |
+
size 1339392
|
actions/locomanipulation/LM81/session_039/raw/sensors/robocap_mag_middle.db
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e2d334e9a74f36031211385a2adcd4b6109cac020e48f6ca41ed6b3e3901432f
|
| 3 |
+
size 360448
|
actions/locomanipulation/LM81/session_039/raw/sensors/robowrist_imu_left.db
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:da875d60349d088cea5242e407ee0d83bf27b070e8713f0b16cbef6390ce3720
|
| 3 |
+
size 1306624
|
actions/locomanipulation/LM81/session_039/raw/sensors/robowrist_imu_right.db
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4bb61e9708d8d3a60395d5d9bcea4bb69c4e1a6cd51fa649d184ced491086e05
|
| 3 |
+
size 1306624
|
actions/locomanipulation/LM81/session_039/raw/sensors/robowrist_mag_left.db
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4ebcd41657a5f11ea3ed675564d09481e4a758b8ed68adf4df77e4e79c069d4a
|
| 3 |
+
size 344064
|
actions/locomanipulation/LM81/session_039/raw/sensors/robowrist_mag_right.db
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:060d1a2338b9016b0c3648ba20621bd8f3b99e6e75227acb72647e13ebfe8d23
|
| 3 |
+
size 344064
|
actions/locomanipulation/LM81/session_039/sensors/head_imu.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e587ef4c24f94dd8af783f55801b6c118f30c0bfe39100e5ff95d207d827fa59
|
| 3 |
+
size 1353518
|
actions/locomanipulation/LM81/session_039/sensors/head_mag.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1203a39371ded61d3880089bf67b75b576444837f4b04872ae8a18b9171c7a5c
|
| 3 |
+
size 164259
|
actions/locomanipulation/LM81/session_039/sensors/wrist_imu.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5b5e8bcec9e6ff8ca302a87e33b18ead4d0ccb464fbf7ebfab0f1a0ccfcf731b
|
| 3 |
+
size 1337941
|
actions/locomanipulation/LM81/session_039/sensors/wrist_mag.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4699ebff5b6e0820e212eb92cdd168e840a3cedf307d03394fb4fe91f04edb2d
|
| 3 |
+
size 285942
|
actions/locomanipulation/LM81/session_039/videos/frame_timestamps.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4ad13d38b903a89eef09f5c216515d92700f5461ef75971c69315eb9b58c1f81
|
| 3 |
+
size 256975
|
actions/locomanipulation/LM81/session_039/videos/head_left.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0c58e01425794006ccc6659c7422e477a30762731dd08a48a999f6a19a50c4b8
|
| 3 |
+
size 66931214
|
actions/locomanipulation/LM81/session_039/videos/head_left_eye.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5c890533b0a2d9b1dd96c47e3ca10b56e4a65f9459a4ac4f72b6b6333d943705
|
| 3 |
+
size 66904075
|
actions/locomanipulation/LM81/session_039/videos/head_left_front.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1cdfb330addc5987fbac98d0367c1b149fb9f5ec6efca7a9c8a4d37357cb11cf
|
| 3 |
+
size 66955186
|
actions/locomanipulation/LM81/session_039/videos/head_right.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:03e00af976262fc316abf255a34aa7dddcb62b93feb903fdcb591d3899067704
|
| 3 |
+
size 66963438
|
actions/locomanipulation/LM81/session_039/videos/head_right_eye.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3188118ea651fed6deafb277b1ef5cd2c90b596eb7f79248ad9314d964a24968
|
| 3 |
+
size 66941423
|
actions/locomanipulation/LM81/session_039/videos/head_right_front.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:01ecc03c18a0b2d536fca516f6e4db258ad91aa49a569980e338ab4bff65e3b9
|
| 3 |
+
size 66987925
|
actions/locomanipulation/LM81/session_039/videos/third_person.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:563eb5fdfcf3d9c593b453f7778342fda0f20629b13611008decea54173d5ecb
|
| 3 |
+
size 47587898
|
actions/locomanipulation/LM81/session_039/videos/wrist_left.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d8b41f2b65877e4d7231c3ab0d2a487fb4eca22570f910eb7d81b7a0b6782e3c
|
| 3 |
+
size 35915968
|
actions/locomanipulation/LM81/session_039/videos/wrist_right.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ecdb6387aeb6735694360da6d539ba6ce5501c7a7948332979c6ac2da0fd2240
|
| 3 |
+
size 34118980
|
actions/locomanipulation/LM82/session_001/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": "LM82",
|
| 6 |
+
"instruction": "Carry the stack of boxes across the room without letting it fall over, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 113.966667,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.039245003252041055
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "d5d7dd54-8a3a-4784-8f11-c742fa92894a",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM82",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 106.532,
|
| 23 |
+
"t_start": 0.0392,
|
| 24 |
+
"t_end": 106.5712,
|
| 25 |
+
"instruction": "Carry the stack of boxes across the room without letting it fall over, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM82/session_001/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c2c6205b31af5b391e257fb48994487e62b02a4d36e397febfb742a8b5fd0623
|
| 3 |
+
size 654571
|
actions/locomanipulation/LM82/session_001/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":
|
| 331 |
-
"hand_pose": "
|
| 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": {
|
|
@@ -519,10 +519,124 @@
|
|
| 519 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 520 |
"remaining_gyro_frame_deg": 0.9566147914710157
|
| 521 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 522 |
"release": {
|
| 523 |
"release_path": "actions/locomanipulation/LM82/session_001",
|
| 524 |
"family": "locomanipulation",
|
| 525 |
"primitive": "LM82",
|
| 526 |
"source_session": "20260909/LM82/20260909_101551_session164"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 527 |
}
|
| 528 |
}
|
|
|
|
| 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": {
|
|
|
|
| 519 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 520 |
"remaining_gyro_frame_deg": 0.9566147914710157
|
| 521 |
},
|
| 522 |
+
"hands_registration": {
|
| 523 |
+
"cameras": {},
|
| 524 |
+
"hands": {
|
| 525 |
+
"left": {
|
| 526 |
+
"offset_deg": 24.24,
|
| 527 |
+
"offset_rotvec": [
|
| 528 |
+
-0.3823,
|
| 529 |
+
0.052,
|
| 530 |
+
0.1735
|
| 531 |
+
],
|
| 532 |
+
"dev_deg": {
|
| 533 |
+
"median": 9.17,
|
| 534 |
+
"p90": 31.74
|
| 535 |
+
},
|
| 536 |
+
"samples": 3196,
|
| 537 |
+
"accepted": 2861,
|
| 538 |
+
"wrist_pos_err_mm_median": 91.9,
|
| 539 |
+
"per_camera": {
|
| 540 |
+
"head": {
|
| 541 |
+
"samples": 3196,
|
| 542 |
+
"accepted": 2861,
|
| 543 |
+
"gate_deg": 30.0,
|
| 544 |
+
"offset_deg": 24.24,
|
| 545 |
+
"tier": "primary",
|
| 546 |
+
"dev_deg_median": 9.17,
|
| 547 |
+
"wrist_pos_err_mm_median": 91.9
|
| 548 |
+
}
|
| 549 |
+
},
|
| 550 |
+
"frames_by_state": {
|
| 551 |
+
"ace_sample": 11492,
|
| 552 |
+
"interpolated": 1112,
|
| 553 |
+
"mean_hand": 1080,
|
| 554 |
+
"no_body_fit": 0
|
| 555 |
+
},
|
| 556 |
+
"observed_fraction": 0.9211,
|
| 557 |
+
"observed_fraction_of_valid": 0.9211,
|
| 558 |
+
"palm_axis_vs_markers_deg": {
|
| 559 |
+
"gsi": 21.65,
|
| 560 |
+
"smplx": 2.15
|
| 561 |
+
},
|
| 562 |
+
"hand_marker_to_mesh_mm": {
|
| 563 |
+
"flat": {
|
| 564 |
+
"median": 4.1,
|
| 565 |
+
"p90": 6.3
|
| 566 |
+
},
|
| 567 |
+
"registered": {
|
| 568 |
+
"median": 4.5,
|
| 569 |
+
"p90": 7.1
|
| 570 |
+
}
|
| 571 |
+
}
|
| 572 |
+
},
|
| 573 |
+
"right": {
|
| 574 |
+
"offset_deg": 11.17,
|
| 575 |
+
"offset_rotvec": [
|
| 576 |
+
-0.047,
|
| 577 |
+
0.1236,
|
| 578 |
+
-0.1432
|
| 579 |
+
],
|
| 580 |
+
"dev_deg": {
|
| 581 |
+
"median": 8.22,
|
| 582 |
+
"p90": 17.3
|
| 583 |
+
},
|
| 584 |
+
"samples": 3260,
|
| 585 |
+
"accepted": 3145,
|
| 586 |
+
"wrist_pos_err_mm_median": 88.2,
|
| 587 |
+
"per_camera": {
|
| 588 |
+
"head": {
|
| 589 |
+
"samples": 3260,
|
| 590 |
+
"accepted": 3145,
|
| 591 |
+
"gate_deg": 30.0,
|
| 592 |
+
"offset_deg": 11.17,
|
| 593 |
+
"tier": "primary",
|
| 594 |
+
"dev_deg_median": 8.22,
|
| 595 |
+
"wrist_pos_err_mm_median": 88.2
|
| 596 |
+
}
|
| 597 |
+
},
|
| 598 |
+
"frames_by_state": {
|
| 599 |
+
"ace_sample": 12618,
|
| 600 |
+
"interpolated": 346,
|
| 601 |
+
"mean_hand": 720,
|
| 602 |
+
"no_body_fit": 0
|
| 603 |
+
},
|
| 604 |
+
"observed_fraction": 0.9474,
|
| 605 |
+
"observed_fraction_of_valid": 0.9474,
|
| 606 |
+
"palm_axis_vs_markers_deg": {
|
| 607 |
+
"gsi": 10.3,
|
| 608 |
+
"smplx": 1.04
|
| 609 |
+
},
|
| 610 |
+
"hand_marker_to_mesh_mm": {
|
| 611 |
+
"flat": {
|
| 612 |
+
"median": 9.1,
|
| 613 |
+
"p90": 11.0
|
| 614 |
+
},
|
| 615 |
+
"registered": {
|
| 616 |
+
"median": 8.7,
|
| 617 |
+
"p90": 9.9
|
| 618 |
+
}
|
| 619 |
+
}
|
| 620 |
+
}
|
| 621 |
+
},
|
| 622 |
+
"max_dev_deg": 30.0,
|
| 623 |
+
"max_gap_s": 1.0,
|
| 624 |
+
"cameras_used": [
|
| 625 |
+
"head"
|
| 626 |
+
],
|
| 627 |
+
"generated_at_utc": "2026-11-03T15:37:27.619856+00:00",
|
| 628 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 629 |
+
"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",
|
| 630 |
+
"wrist_flip_suspect": []
|
| 631 |
+
},
|
| 632 |
"release": {
|
| 633 |
"release_path": "actions/locomanipulation/LM82/session_001",
|
| 634 |
"family": "locomanipulation",
|
| 635 |
"primitive": "LM82",
|
| 636 |
"source_session": "20260909/LM82/20260909_101551_session164"
|
| 637 |
+
},
|
| 638 |
+
"task": {
|
| 639 |
+
"primitive": "LM82",
|
| 640 |
+
"instruction": "Carry the stack of boxes across the room without letting it fall over, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 641 |
}
|
| 642 |
}
|
actions/locomanipulation/LM82/session_001/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8f40b8918c7802e3743a407d9ba3f537a09640ce99157351ea441e9971157c68
|
| 3 |
+
size 4358264
|
actions/locomanipulation/LM82/session_001/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bc2e405bee6c7567a8005979b2e90ac8b33d6d58c38428b713466f537f02b65e
|
| 3 |
+
size 9534953
|
actions/locomanipulation/LM82/session_002/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": "LM82",
|
| 6 |
+
"instruction": "Carry the stack of boxes across the room without letting it fall over, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 108.966633,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.039064305436798286
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "a02b7785-2b19-4109-b5bd-b8c2a5f277a0",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM82",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 103,
|
| 23 |
+
"t_start": 0.0391,
|
| 24 |
+
"t_end": 103.0391,
|
| 25 |
+
"instruction": "Carry the stack of boxes across the room without letting it fall over, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM82/session_002/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f5011ed9ae8e5b4523905e670d8696b72891fec7a2a25a2dba8a6e73131da4be
|
| 3 |
+
size 627220
|
actions/locomanipulation/LM82/session_002/meta.json
CHANGED
|
@@ -326,8 +326,8 @@
|
|
| 326 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 327 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 328 |
"hands": {
|
| 329 |
-
"observed":
|
| 330 |
-
"hand_pose": "
|
| 331 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 332 |
"hand_marker_offsets_m": {
|
| 333 |
"left": {
|
|
@@ -518,10 +518,124 @@
|
|
| 518 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 519 |
"remaining_gyro_frame_deg": 0.9626891534942211
|
| 520 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 521 |
"release": {
|
| 522 |
"release_path": "actions/locomanipulation/LM82/session_002",
|
| 523 |
"family": "locomanipulation",
|
| 524 |
"primitive": "LM82",
|
| 525 |
"source_session": "20260909/LM82/20260909_101805_session165"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 526 |
}
|
| 527 |
}
|
|
|
|
| 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": {
|
|
|
|
| 518 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 519 |
"remaining_gyro_frame_deg": 0.9626891534942211
|
| 520 |
},
|
| 521 |
+
"hands_registration": {
|
| 522 |
+
"cameras": {},
|
| 523 |
+
"hands": {
|
| 524 |
+
"left": {
|
| 525 |
+
"offset_deg": 22.76,
|
| 526 |
+
"offset_rotvec": [
|
| 527 |
+
-0.3617,
|
| 528 |
+
0.0502,
|
| 529 |
+
0.1562
|
| 530 |
+
],
|
| 531 |
+
"dev_deg": {
|
| 532 |
+
"median": 12.71,
|
| 533 |
+
"p90": 34.38
|
| 534 |
+
},
|
| 535 |
+
"samples": 3060,
|
| 536 |
+
"accepted": 2673,
|
| 537 |
+
"wrist_pos_err_mm_median": 86.2,
|
| 538 |
+
"per_camera": {
|
| 539 |
+
"head": {
|
| 540 |
+
"samples": 3060,
|
| 541 |
+
"accepted": 2673,
|
| 542 |
+
"gate_deg": 30.0,
|
| 543 |
+
"offset_deg": 22.76,
|
| 544 |
+
"tier": "primary",
|
| 545 |
+
"dev_deg_median": 12.71,
|
| 546 |
+
"wrist_pos_err_mm_median": 86.2
|
| 547 |
+
}
|
| 548 |
+
},
|
| 549 |
+
"frames_by_state": {
|
| 550 |
+
"ace_sample": 10744,
|
| 551 |
+
"interpolated": 1380,
|
| 552 |
+
"mean_hand": 952,
|
| 553 |
+
"no_body_fit": 8
|
| 554 |
+
},
|
| 555 |
+
"observed_fraction": 0.9266,
|
| 556 |
+
"observed_fraction_of_valid": 0.9272,
|
| 557 |
+
"palm_axis_vs_markers_deg": {
|
| 558 |
+
"gsi": 19.35,
|
| 559 |
+
"smplx": 2.01
|
| 560 |
+
},
|
| 561 |
+
"hand_marker_to_mesh_mm": {
|
| 562 |
+
"flat": {
|
| 563 |
+
"median": 11.0,
|
| 564 |
+
"p90": 13.4
|
| 565 |
+
},
|
| 566 |
+
"registered": {
|
| 567 |
+
"median": 14.6,
|
| 568 |
+
"p90": 17.0
|
| 569 |
+
}
|
| 570 |
+
}
|
| 571 |
+
},
|
| 572 |
+
"right": {
|
| 573 |
+
"offset_deg": 10.09,
|
| 574 |
+
"offset_rotvec": [
|
| 575 |
+
-0.0308,
|
| 576 |
+
0.1344,
|
| 577 |
+
-0.1095
|
| 578 |
+
],
|
| 579 |
+
"dev_deg": {
|
| 580 |
+
"median": 9.36,
|
| 581 |
+
"p90": 18.75
|
| 582 |
+
},
|
| 583 |
+
"samples": 3124,
|
| 584 |
+
"accepted": 3028,
|
| 585 |
+
"wrist_pos_err_mm_median": 91.3,
|
| 586 |
+
"per_camera": {
|
| 587 |
+
"head": {
|
| 588 |
+
"samples": 3124,
|
| 589 |
+
"accepted": 3028,
|
| 590 |
+
"gate_deg": 30.0,
|
| 591 |
+
"offset_deg": 10.09,
|
| 592 |
+
"tier": "primary",
|
| 593 |
+
"dev_deg_median": 9.36,
|
| 594 |
+
"wrist_pos_err_mm_median": 91.3
|
| 595 |
+
}
|
| 596 |
+
},
|
| 597 |
+
"frames_by_state": {
|
| 598 |
+
"ace_sample": 12165,
|
| 599 |
+
"interpolated": 586,
|
| 600 |
+
"mean_hand": 325,
|
| 601 |
+
"no_body_fit": 8
|
| 602 |
+
},
|
| 603 |
+
"observed_fraction": 0.9745,
|
| 604 |
+
"observed_fraction_of_valid": 0.9751,
|
| 605 |
+
"palm_axis_vs_markers_deg": {
|
| 606 |
+
"gsi": 10.21,
|
| 607 |
+
"smplx": 1.47
|
| 608 |
+
},
|
| 609 |
+
"hand_marker_to_mesh_mm": {
|
| 610 |
+
"flat": {
|
| 611 |
+
"median": 9.3,
|
| 612 |
+
"p90": 10.4
|
| 613 |
+
},
|
| 614 |
+
"registered": {
|
| 615 |
+
"median": 8.1,
|
| 616 |
+
"p90": 11.7
|
| 617 |
+
}
|
| 618 |
+
}
|
| 619 |
+
}
|
| 620 |
+
},
|
| 621 |
+
"max_dev_deg": 30.0,
|
| 622 |
+
"max_gap_s": 1.0,
|
| 623 |
+
"cameras_used": [
|
| 624 |
+
"head"
|
| 625 |
+
],
|
| 626 |
+
"generated_at_utc": "2026-11-03T15:37:18.722373+00:00",
|
| 627 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 628 |
+
"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",
|
| 629 |
+
"wrist_flip_suspect": []
|
| 630 |
+
},
|
| 631 |
"release": {
|
| 632 |
"release_path": "actions/locomanipulation/LM82/session_002",
|
| 633 |
"family": "locomanipulation",
|
| 634 |
"primitive": "LM82",
|
| 635 |
"source_session": "20260909/LM82/20260909_101805_session165"
|
| 636 |
+
},
|
| 637 |
+
"task": {
|
| 638 |
+
"primitive": "LM82",
|
| 639 |
+
"instruction": "Carry the stack of boxes across the room without letting it fall over, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 640 |
}
|
| 641 |
}
|
actions/locomanipulation/LM82/session_002/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b83a4b5e7f57f3d12a6e49acbf8fbd7ed7c89022c4a11dcab6d087ca955cb0d6
|
| 3 |
+
size 4181065
|
actions/locomanipulation/LM82/session_002/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2a9e580958b02d83a9188b54c587eb4e884bb538569d5947f11323d36785c638
|
| 3 |
+
size 9222568
|
actions/locomanipulation/LM82/session_003/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": "LM82",
|
| 6 |
+
"instruction": "Carry the stack of boxes across the room without letting it fall over, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 118.966678,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.039355619085639004
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "3a71b134-7198-4b97-8137-a5028e5d6f58",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM82",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 112,
|
| 23 |
+
"t_start": 0.0394,
|
| 24 |
+
"t_end": 112.0394,
|
| 25 |
+
"instruction": "Carry the stack of boxes across the room without letting it fall over, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM82/session_003/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e2db3e1fbeaf4bacff58e0b152ae1d4268390a8973820c638930edf76902d064
|
| 3 |
+
size 685936
|
actions/locomanipulation/LM82/session_003/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":
|
| 331 |
-
"hand_pose": "
|
| 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": {
|
|
@@ -519,10 +519,124 @@
|
|
| 519 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 520 |
"remaining_gyro_frame_deg": 1.0054566425675115
|
| 521 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 522 |
"release": {
|
| 523 |
"release_path": "actions/locomanipulation/LM82/session_003",
|
| 524 |
"family": "locomanipulation",
|
| 525 |
"primitive": "LM82",
|
| 526 |
"source_session": "20260909/LM82/20260909_102243_session166"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 527 |
}
|
| 528 |
}
|
|
|
|
| 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": {
|
|
|
|
| 519 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 520 |
"remaining_gyro_frame_deg": 1.0054566425675115
|
| 521 |
},
|
| 522 |
+
"hands_registration": {
|
| 523 |
+
"cameras": {},
|
| 524 |
+
"hands": {
|
| 525 |
+
"left": {
|
| 526 |
+
"offset_deg": 20.48,
|
| 527 |
+
"offset_rotvec": [
|
| 528 |
+
-0.3031,
|
| 529 |
+
0.0861,
|
| 530 |
+
0.1687
|
| 531 |
+
],
|
| 532 |
+
"dev_deg": {
|
| 533 |
+
"median": 13.5,
|
| 534 |
+
"p90": 35.6
|
| 535 |
+
},
|
| 536 |
+
"samples": 3269,
|
| 537 |
+
"accepted": 2813,
|
| 538 |
+
"wrist_pos_err_mm_median": 106.3,
|
| 539 |
+
"per_camera": {
|
| 540 |
+
"head": {
|
| 541 |
+
"samples": 3269,
|
| 542 |
+
"accepted": 2813,
|
| 543 |
+
"gate_deg": 30.0,
|
| 544 |
+
"offset_deg": 20.48,
|
| 545 |
+
"tier": "primary",
|
| 546 |
+
"dev_deg_median": 13.5,
|
| 547 |
+
"wrist_pos_err_mm_median": 106.3
|
| 548 |
+
}
|
| 549 |
+
},
|
| 550 |
+
"frames_by_state": {
|
| 551 |
+
"ace_sample": 11324,
|
| 552 |
+
"interpolated": 1576,
|
| 553 |
+
"mean_hand": 1376,
|
| 554 |
+
"no_body_fit": 8
|
| 555 |
+
},
|
| 556 |
+
"observed_fraction": 0.9031,
|
| 557 |
+
"observed_fraction_of_valid": 0.9036,
|
| 558 |
+
"palm_axis_vs_markers_deg": {
|
| 559 |
+
"gsi": 14.74,
|
| 560 |
+
"smplx": 2.01
|
| 561 |
+
},
|
| 562 |
+
"hand_marker_to_mesh_mm": {
|
| 563 |
+
"flat": {
|
| 564 |
+
"median": 5.6,
|
| 565 |
+
"p90": 7.4
|
| 566 |
+
},
|
| 567 |
+
"registered": {
|
| 568 |
+
"median": 3.8,
|
| 569 |
+
"p90": 7.6
|
| 570 |
+
}
|
| 571 |
+
}
|
| 572 |
+
},
|
| 573 |
+
"right": {
|
| 574 |
+
"offset_deg": 8.88,
|
| 575 |
+
"offset_rotvec": [
|
| 576 |
+
0.0069,
|
| 577 |
+
0.1388,
|
| 578 |
+
-0.0684
|
| 579 |
+
],
|
| 580 |
+
"dev_deg": {
|
| 581 |
+
"median": 7.76,
|
| 582 |
+
"p90": 16.1
|
| 583 |
+
},
|
| 584 |
+
"samples": 3468,
|
| 585 |
+
"accepted": 3441,
|
| 586 |
+
"wrist_pos_err_mm_median": 98.2,
|
| 587 |
+
"per_camera": {
|
| 588 |
+
"head": {
|
| 589 |
+
"samples": 3468,
|
| 590 |
+
"accepted": 3441,
|
| 591 |
+
"gate_deg": 30.0,
|
| 592 |
+
"offset_deg": 8.88,
|
| 593 |
+
"tier": "primary",
|
| 594 |
+
"dev_deg_median": 7.76,
|
| 595 |
+
"wrist_pos_err_mm_median": 98.2
|
| 596 |
+
}
|
| 597 |
+
},
|
| 598 |
+
"frames_by_state": {
|
| 599 |
+
"ace_sample": 13791,
|
| 600 |
+
"interpolated": 188,
|
| 601 |
+
"mean_hand": 297,
|
| 602 |
+
"no_body_fit": 8
|
| 603 |
+
},
|
| 604 |
+
"observed_fraction": 0.9786,
|
| 605 |
+
"observed_fraction_of_valid": 0.9792,
|
| 606 |
+
"palm_axis_vs_markers_deg": {
|
| 607 |
+
"gsi": 10.21,
|
| 608 |
+
"smplx": 1.19
|
| 609 |
+
},
|
| 610 |
+
"hand_marker_to_mesh_mm": {
|
| 611 |
+
"flat": {
|
| 612 |
+
"median": 8.9,
|
| 613 |
+
"p90": 10.5
|
| 614 |
+
},
|
| 615 |
+
"registered": {
|
| 616 |
+
"median": 8.3,
|
| 617 |
+
"p90": 10.1
|
| 618 |
+
}
|
| 619 |
+
}
|
| 620 |
+
}
|
| 621 |
+
},
|
| 622 |
+
"max_dev_deg": 30.0,
|
| 623 |
+
"max_gap_s": 1.0,
|
| 624 |
+
"cameras_used": [
|
| 625 |
+
"head"
|
| 626 |
+
],
|
| 627 |
+
"generated_at_utc": "2026-11-03T15:39:15.325571+00:00",
|
| 628 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 629 |
+
"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",
|
| 630 |
+
"wrist_flip_suspect": []
|
| 631 |
+
},
|
| 632 |
"release": {
|
| 633 |
"release_path": "actions/locomanipulation/LM82/session_003",
|
| 634 |
"family": "locomanipulation",
|
| 635 |
"primitive": "LM82",
|
| 636 |
"source_session": "20260909/LM82/20260909_102243_session166"
|
| 637 |
+
},
|
| 638 |
+
"task": {
|
| 639 |
+
"primitive": "LM82",
|
| 640 |
+
"instruction": "Carry the stack of boxes across the room without letting it fall over, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 641 |
}
|
| 642 |
}
|
actions/locomanipulation/LM82/session_003/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6fa3de3ab4ff765b5fc4670152b78040dc8d785b6b85da0113ee4368ceb3862d
|
| 3 |
+
size 4553395
|
actions/locomanipulation/LM82/session_003/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:739e1a0212c87ac6cbcfae61804a1f1b668757e21e69990b39871d5a938c5096
|
| 3 |
+
size 10020245
|
actions/locomanipulation/LM82/session_004/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": "LM82",
|
| 6 |
+
"instruction": "Carry the stack of boxes across the room without letting it fall over, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 103.966567,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03915108130139089
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "5da8e0ad-d7b3-495d-ba86-289d544f8ba4",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM82",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 100.659,
|
| 23 |
+
"t_start": 0.0392,
|
| 24 |
+
"t_end": 100.6982,
|
| 25 |
+
"instruction": "Carry the stack of boxes across the room without letting it fall over, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM82/session_004/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:731dd049ec2173e72af19be33fd3029b1d7a3ad6c521305869bb289c48fc02b9
|
| 3 |
+
size 597915
|
actions/locomanipulation/LM82/session_004/meta.json
CHANGED
|
@@ -325,8 +325,8 @@
|
|
| 325 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 326 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 327 |
"hands": {
|
| 328 |
-
"observed":
|
| 329 |
-
"hand_pose": "
|
| 330 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 331 |
"hand_marker_offsets_m": {
|
| 332 |
"left": {
|
|
@@ -518,10 +518,124 @@
|
|
| 518 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 519 |
"remaining_gyro_frame_deg": 0.9967701133871373
|
| 520 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 521 |
"release": {
|
| 522 |
"release_path": "actions/locomanipulation/LM82/session_004",
|
| 523 |
"family": "locomanipulation",
|
| 524 |
"primitive": "LM82",
|
| 525 |
"source_session": "20260910/LM82/20260910_073240_session130"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 526 |
}
|
| 527 |
}
|
|
|
|
| 325 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 326 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 327 |
"hands": {
|
| 328 |
+
"observed": true,
|
| 329 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 330 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 331 |
"hand_marker_offsets_m": {
|
| 332 |
"left": {
|
|
|
|
| 518 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 519 |
"remaining_gyro_frame_deg": 0.9967701133871373
|
| 520 |
},
|
| 521 |
+
"hands_registration": {
|
| 522 |
+
"cameras": {},
|
| 523 |
+
"hands": {
|
| 524 |
+
"left": {
|
| 525 |
+
"offset_deg": 14.5,
|
| 526 |
+
"offset_rotvec": [
|
| 527 |
+
-0.1897,
|
| 528 |
+
0.0746,
|
| 529 |
+
0.1498
|
| 530 |
+
],
|
| 531 |
+
"dev_deg": {
|
| 532 |
+
"median": 12.45,
|
| 533 |
+
"p90": 40.49
|
| 534 |
+
},
|
| 535 |
+
"samples": 2516,
|
| 536 |
+
"accepted": 2035,
|
| 537 |
+
"wrist_pos_err_mm_median": 103.2,
|
| 538 |
+
"per_camera": {
|
| 539 |
+
"head": {
|
| 540 |
+
"samples": 2516,
|
| 541 |
+
"accepted": 2035,
|
| 542 |
+
"gate_deg": 30.0,
|
| 543 |
+
"offset_deg": 14.5,
|
| 544 |
+
"tier": "primary",
|
| 545 |
+
"dev_deg_median": 12.45,
|
| 546 |
+
"wrist_pos_err_mm_median": 103.2
|
| 547 |
+
}
|
| 548 |
+
},
|
| 549 |
+
"frames_by_state": {
|
| 550 |
+
"ace_sample": 8251,
|
| 551 |
+
"interpolated": 1960,
|
| 552 |
+
"mean_hand": 2265,
|
| 553 |
+
"no_body_fit": 8
|
| 554 |
+
},
|
| 555 |
+
"observed_fraction": 0.8179,
|
| 556 |
+
"observed_fraction_of_valid": 0.8185,
|
| 557 |
+
"palm_axis_vs_markers_deg": {
|
| 558 |
+
"gsi": 16.08,
|
| 559 |
+
"smplx": 3.32
|
| 560 |
+
},
|
| 561 |
+
"hand_marker_to_mesh_mm": {
|
| 562 |
+
"flat": {
|
| 563 |
+
"median": 8.4,
|
| 564 |
+
"p90": 12.0
|
| 565 |
+
},
|
| 566 |
+
"registered": {
|
| 567 |
+
"median": 7.7,
|
| 568 |
+
"p90": 10.3
|
| 569 |
+
}
|
| 570 |
+
}
|
| 571 |
+
},
|
| 572 |
+
"right": {
|
| 573 |
+
"offset_deg": 9.4,
|
| 574 |
+
"offset_rotvec": [
|
| 575 |
+
-0.0012,
|
| 576 |
+
0.1556,
|
| 577 |
+
-0.0523
|
| 578 |
+
],
|
| 579 |
+
"dev_deg": {
|
| 580 |
+
"median": 11.77,
|
| 581 |
+
"p90": 38.12
|
| 582 |
+
},
|
| 583 |
+
"samples": 2868,
|
| 584 |
+
"accepted": 2386,
|
| 585 |
+
"wrist_pos_err_mm_median": 88.5,
|
| 586 |
+
"per_camera": {
|
| 587 |
+
"head": {
|
| 588 |
+
"samples": 2868,
|
| 589 |
+
"accepted": 2386,
|
| 590 |
+
"gate_deg": 30.0,
|
| 591 |
+
"offset_deg": 9.4,
|
| 592 |
+
"tier": "primary",
|
| 593 |
+
"dev_deg_median": 11.77,
|
| 594 |
+
"wrist_pos_err_mm_median": 88.5
|
| 595 |
+
}
|
| 596 |
+
},
|
| 597 |
+
"frames_by_state": {
|
| 598 |
+
"ace_sample": 9626,
|
| 599 |
+
"interpolated": 1348,
|
| 600 |
+
"mean_hand": 1502,
|
| 601 |
+
"no_body_fit": 8
|
| 602 |
+
},
|
| 603 |
+
"observed_fraction": 0.879,
|
| 604 |
+
"observed_fraction_of_valid": 0.8796,
|
| 605 |
+
"palm_axis_vs_markers_deg": {
|
| 606 |
+
"gsi": 10.74,
|
| 607 |
+
"smplx": 2.81
|
| 608 |
+
},
|
| 609 |
+
"hand_marker_to_mesh_mm": {
|
| 610 |
+
"flat": {
|
| 611 |
+
"median": 6.6,
|
| 612 |
+
"p90": 8.7
|
| 613 |
+
},
|
| 614 |
+
"registered": {
|
| 615 |
+
"median": 6.9,
|
| 616 |
+
"p90": 7.8
|
| 617 |
+
}
|
| 618 |
+
}
|
| 619 |
+
}
|
| 620 |
+
},
|
| 621 |
+
"max_dev_deg": 30.0,
|
| 622 |
+
"max_gap_s": 1.0,
|
| 623 |
+
"cameras_used": [
|
| 624 |
+
"head"
|
| 625 |
+
],
|
| 626 |
+
"generated_at_utc": "2026-11-03T16:38:27.232669+00:00",
|
| 627 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 628 |
+
"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",
|
| 629 |
+
"wrist_flip_suspect": []
|
| 630 |
+
},
|
| 631 |
"release": {
|
| 632 |
"release_path": "actions/locomanipulation/LM82/session_004",
|
| 633 |
"family": "locomanipulation",
|
| 634 |
"primitive": "LM82",
|
| 635 |
"source_session": "20260910/LM82/20260910_073240_session130"
|
| 636 |
+
},
|
| 637 |
+
"task": {
|
| 638 |
+
"primitive": "LM82",
|
| 639 |
+
"instruction": "Carry the stack of boxes across the room without letting it fall over, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 640 |
}
|
| 641 |
}
|
actions/locomanipulation/LM82/session_004/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9dd5c12adbf09a6152d2882b4d8f892c84b7d2c41bdd2b2c542b2cf656fefd3e
|
| 3 |
+
size 3665867
|
actions/locomanipulation/LM82/session_004/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:532201c7f03fc57a92fdccb2e6c38ec3842760129ea16d6bfa3a2d9baa042909
|
| 3 |
+
size 8450754
|
actions/locomanipulation/LM82/session_005/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": "LM82",
|
| 6 |
+
"instruction": "Carry the stack of boxes across the room without letting it fall over, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 98.966633,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03905527236080575
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "3d7f4cb7-87bd-4e0b-9324-f2a4b7f7db98",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM82",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 92,
|
| 23 |
+
"t_start": 0.0391,
|
| 24 |
+
"t_end": 92.0391,
|
| 25 |
+
"instruction": "Carry the stack of boxes across the room without letting it fall over, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM82/session_005/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6b4dec1b540cd9af09bed953b6813aa1c5e039fbf8bd5836703824112ed586e8
|
| 3 |
+
size 568522
|
actions/locomanipulation/LM82/session_005/meta.json
CHANGED
|
@@ -325,8 +325,8 @@
|
|
| 325 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 326 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 327 |
"hands": {
|
| 328 |
-
"observed":
|
| 329 |
-
"hand_pose": "
|
| 330 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 331 |
"hand_marker_offsets_m": {
|
| 332 |
"left": {
|
|
@@ -518,10 +518,124 @@
|
|
| 518 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 519 |
"remaining_gyro_frame_deg": 0.9731191477126753
|
| 520 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 521 |
"release": {
|
| 522 |
"release_path": "actions/locomanipulation/LM82/session_005",
|
| 523 |
"family": "locomanipulation",
|
| 524 |
"primitive": "LM82",
|
| 525 |
"source_session": "20260910/LM82/20260910_073456_session131"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 526 |
}
|
| 527 |
}
|
|
|
|
| 325 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 326 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 327 |
"hands": {
|
| 328 |
+
"observed": true,
|
| 329 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 330 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 331 |
"hand_marker_offsets_m": {
|
| 332 |
"left": {
|
|
|
|
| 518 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 519 |
"remaining_gyro_frame_deg": 0.9731191477126753
|
| 520 |
},
|
| 521 |
+
"hands_registration": {
|
| 522 |
+
"cameras": {},
|
| 523 |
+
"hands": {
|
| 524 |
+
"left": {
|
| 525 |
+
"offset_deg": 14.18,
|
| 526 |
+
"offset_rotvec": [
|
| 527 |
+
-0.1155,
|
| 528 |
+
0.0369,
|
| 529 |
+
0.2158
|
| 530 |
+
],
|
| 531 |
+
"dev_deg": {
|
| 532 |
+
"median": 10.93,
|
| 533 |
+
"p90": 26.42
|
| 534 |
+
},
|
| 535 |
+
"samples": 2739,
|
| 536 |
+
"accepted": 2533,
|
| 537 |
+
"wrist_pos_err_mm_median": 72.4,
|
| 538 |
+
"per_camera": {
|
| 539 |
+
"head": {
|
| 540 |
+
"samples": 2739,
|
| 541 |
+
"accepted": 2533,
|
| 542 |
+
"gate_deg": 30.0,
|
| 543 |
+
"offset_deg": 14.18,
|
| 544 |
+
"tier": "primary",
|
| 545 |
+
"dev_deg_median": 10.93,
|
| 546 |
+
"wrist_pos_err_mm_median": 72.4
|
| 547 |
+
}
|
| 548 |
+
},
|
| 549 |
+
"frames_by_state": {
|
| 550 |
+
"ace_sample": 10244,
|
| 551 |
+
"interpolated": 1476,
|
| 552 |
+
"mean_hand": 164,
|
| 553 |
+
"no_body_fit": 0
|
| 554 |
+
},
|
| 555 |
+
"observed_fraction": 0.9862,
|
| 556 |
+
"observed_fraction_of_valid": 0.9862,
|
| 557 |
+
"palm_axis_vs_markers_deg": {
|
| 558 |
+
"gsi": 15.04,
|
| 559 |
+
"smplx": 2.51
|
| 560 |
+
},
|
| 561 |
+
"hand_marker_to_mesh_mm": {
|
| 562 |
+
"flat": {
|
| 563 |
+
"median": 7.8,
|
| 564 |
+
"p90": 11.4
|
| 565 |
+
},
|
| 566 |
+
"registered": {
|
| 567 |
+
"median": 7.7,
|
| 568 |
+
"p90": 12.7
|
| 569 |
+
}
|
| 570 |
+
}
|
| 571 |
+
},
|
| 572 |
+
"right": {
|
| 573 |
+
"offset_deg": 10.25,
|
| 574 |
+
"offset_rotvec": [
|
| 575 |
+
-0.0143,
|
| 576 |
+
0.1361,
|
| 577 |
+
-0.1151
|
| 578 |
+
],
|
| 579 |
+
"dev_deg": {
|
| 580 |
+
"median": 9.63,
|
| 581 |
+
"p90": 21.71
|
| 582 |
+
},
|
| 583 |
+
"samples": 2822,
|
| 584 |
+
"accepted": 2615,
|
| 585 |
+
"wrist_pos_err_mm_median": 79.7,
|
| 586 |
+
"per_camera": {
|
| 587 |
+
"head": {
|
| 588 |
+
"samples": 2822,
|
| 589 |
+
"accepted": 2615,
|
| 590 |
+
"gate_deg": 30.0,
|
| 591 |
+
"offset_deg": 10.25,
|
| 592 |
+
"tier": "primary",
|
| 593 |
+
"dev_deg_median": 9.63,
|
| 594 |
+
"wrist_pos_err_mm_median": 79.7
|
| 595 |
+
}
|
| 596 |
+
},
|
| 597 |
+
"frames_by_state": {
|
| 598 |
+
"ace_sample": 10502,
|
| 599 |
+
"interpolated": 482,
|
| 600 |
+
"mean_hand": 900,
|
| 601 |
+
"no_body_fit": 0
|
| 602 |
+
},
|
| 603 |
+
"observed_fraction": 0.9243,
|
| 604 |
+
"observed_fraction_of_valid": 0.9243,
|
| 605 |
+
"palm_axis_vs_markers_deg": {
|
| 606 |
+
"gsi": 9.94,
|
| 607 |
+
"smplx": 1.84
|
| 608 |
+
},
|
| 609 |
+
"hand_marker_to_mesh_mm": {
|
| 610 |
+
"flat": {
|
| 611 |
+
"median": 7.3,
|
| 612 |
+
"p90": 9.5
|
| 613 |
+
},
|
| 614 |
+
"registered": {
|
| 615 |
+
"median": 6.8,
|
| 616 |
+
"p90": 8.8
|
| 617 |
+
}
|
| 618 |
+
}
|
| 619 |
+
}
|
| 620 |
+
},
|
| 621 |
+
"max_dev_deg": 30.0,
|
| 622 |
+
"max_gap_s": 1.0,
|
| 623 |
+
"cameras_used": [
|
| 624 |
+
"head"
|
| 625 |
+
],
|
| 626 |
+
"generated_at_utc": "2026-11-03T16:38:20.628254+00:00",
|
| 627 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 628 |
+
"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",
|
| 629 |
+
"wrist_flip_suspect": []
|
| 630 |
+
},
|
| 631 |
"release": {
|
| 632 |
"release_path": "actions/locomanipulation/LM82/session_005",
|
| 633 |
"family": "locomanipulation",
|
| 634 |
"primitive": "LM82",
|
| 635 |
"source_session": "20260910/LM82/20260910_073456_session131"
|
| 636 |
+
},
|
| 637 |
+
"task": {
|
| 638 |
+
"primitive": "LM82",
|
| 639 |
+
"instruction": "Carry the stack of boxes across the room without letting it fall over, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 640 |
}
|
| 641 |
}
|
actions/locomanipulation/LM82/session_005/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:86cc544d392a15cdd1a3beece9b48726b3e74f2ff8a3b08a31c563ff50ac1b7e
|
| 3 |
+
size 3767277
|
actions/locomanipulation/LM82/session_005/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d16c867f785c10fca4b94b0535dd45c0b46fe67375ded68420ab5d93e09b5c38
|
| 3 |
+
size 8420792
|
actions/locomanipulation/LM82/session_006/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": "LM82",
|
| 6 |
+
"instruction": "Carry the stack of boxes across the room without letting it fall over, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 93.966544,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03916861537776417
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "64d290b9-e650-44dd-832c-bb65eec06387",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM82",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 90,
|
| 23 |
+
"t_start": 0.0392,
|
| 24 |
+
"t_end": 90.0392,
|
| 25 |
+
"instruction": "Carry the stack of boxes across the room without letting it fall over, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM82/session_006/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1264f1de01d127020600c0d5181144d307530e57251100653f25b325531384a9
|
| 3 |
+
size 542147
|