Release update 2026-11-05: new sessions, instructions, annotations (part 47)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +20 -0
- actions/static_manipulation/SM42/session_011/raw/mocap/Body0.csv +3 -0
- actions/static_manipulation/SM42/session_011/raw/mocap/Body0.trc +3 -0
- actions/static_manipulation/SM42/session_011/raw/mocap/Tracker0.csv +0 -0
- actions/static_manipulation/SM42/session_011/raw/mocap/Tracker0.trc +0 -0
- actions/static_manipulation/SM42/session_011/raw/sensors/robocap_imu_left.db +3 -0
- actions/static_manipulation/SM42/session_011/raw/sensors/robocap_imu_right.db +3 -0
- actions/static_manipulation/SM42/session_011/raw/sensors/robocap_mag_middle.db +3 -0
- actions/static_manipulation/SM42/session_011/raw/sensors/robowrist_imu_left.db +3 -0
- actions/static_manipulation/SM42/session_011/raw/sensors/robowrist_imu_right.db +3 -0
- actions/static_manipulation/SM42/session_011/raw/sensors/robowrist_mag_left.db +3 -0
- actions/static_manipulation/SM42/session_011/raw/sensors/robowrist_mag_right.db +3 -0
- actions/static_manipulation/SM42/session_011/sensors/head_imu.npz +3 -0
- actions/static_manipulation/SM42/session_011/sensors/head_mag.npz +3 -0
- actions/static_manipulation/SM42/session_011/sensors/wrist_imu.npz +3 -0
- actions/static_manipulation/SM42/session_011/sensors/wrist_mag.npz +3 -0
- actions/static_manipulation/SM42/session_011/videos/frame_timestamps.npz +3 -0
- actions/static_manipulation/SM42/session_011/videos/head_left.mp4 +3 -0
- actions/static_manipulation/SM42/session_011/videos/head_left_eye.mp4 +3 -0
- actions/static_manipulation/SM42/session_011/videos/head_left_front.mp4 +3 -0
- actions/static_manipulation/SM42/session_011/videos/head_right.mp4 +3 -0
- actions/static_manipulation/SM42/session_011/videos/head_right_eye.mp4 +3 -0
- actions/static_manipulation/SM42/session_011/videos/head_right_front.mp4 +3 -0
- actions/static_manipulation/SM42/session_011/videos/third_person.mp4 +3 -0
- actions/static_manipulation/SM42/session_011/videos/wrist_left.mp4 +3 -0
- actions/static_manipulation/SM42/session_011/videos/wrist_right.mp4 +3 -0
- actions/static_manipulation/SM43/session_001/annotations.json +28 -0
- actions/static_manipulation/SM43/session_001/cameras/gsi_online_calibration.json +256 -0
- actions/static_manipulation/SM43/session_001/cameras/slam.npz +3 -0
- actions/static_manipulation/SM43/session_001/meta.json +4 -0
- actions/static_manipulation/SM43/session_001/motions/hands_mano.npz +3 -0
- actions/static_manipulation/SM43/session_002/annotations.json +39 -0
- actions/static_manipulation/SM43/session_002/cameras/slam.npz +3 -0
- actions/static_manipulation/SM43/session_002/meta.json +116 -2
- actions/static_manipulation/SM43/session_002/motions/hands_mano.npz +3 -0
- actions/static_manipulation/SM43/session_002/motions/smplx.npz +2 -2
- actions/static_manipulation/SM43/session_003/annotations.json +39 -0
- actions/static_manipulation/SM43/session_003/cameras/gsi_online_calibration.json +254 -0
- actions/static_manipulation/SM43/session_003/cameras/slam.npz +3 -0
- actions/static_manipulation/SM43/session_003/meta.json +116 -2
- actions/static_manipulation/SM43/session_003/motions/hands_mano.npz +3 -0
- actions/static_manipulation/SM43/session_003/motions/smplx.npz +2 -2
- actions/static_manipulation/SM43/session_004/annotations.json +39 -0
- actions/static_manipulation/SM43/session_004/cameras/slam.npz +3 -0
- actions/static_manipulation/SM43/session_004/meta.json +116 -2
- actions/static_manipulation/SM43/session_004/motions/hands_mano.npz +3 -0
- actions/static_manipulation/SM43/session_004/motions/smplx.npz +2 -2
- actions/static_manipulation/SM43/session_005/annotations.json +39 -0
- actions/static_manipulation/SM43/session_005/cameras/gsi_online_calibration.json +259 -0
- actions/static_manipulation/SM43/session_005/cameras/slam.npz +3 -0
.gitattributes
CHANGED
|
@@ -51078,3 +51078,23 @@ actions/static_manipulation/SM42/session_010/raw/sensors/robowrist_imu_left.db f
|
|
| 51078 |
actions/static_manipulation/SM42/session_010/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
|
| 51079 |
actions/static_manipulation/SM42/session_010/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
|
| 51080 |
actions/static_manipulation/SM42/session_010/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 51078 |
actions/static_manipulation/SM42/session_010/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
|
| 51079 |
actions/static_manipulation/SM42/session_010/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
|
| 51080 |
actions/static_manipulation/SM42/session_010/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
|
| 51081 |
+
actions/static_manipulation/SM42/session_011/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
|
| 51082 |
+
actions/static_manipulation/SM42/session_011/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
|
| 51083 |
+
actions/static_manipulation/SM42/session_011/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
|
| 51084 |
+
actions/static_manipulation/SM42/session_011/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
|
| 51085 |
+
actions/static_manipulation/SM42/session_011/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
|
| 51086 |
+
actions/static_manipulation/SM42/session_011/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
|
| 51087 |
+
actions/static_manipulation/SM42/session_011/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
|
| 51088 |
+
actions/static_manipulation/SM42/session_011/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
|
| 51089 |
+
actions/static_manipulation/SM42/session_011/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
|
| 51090 |
+
actions/static_manipulation/SM43/session_009/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
|
| 51091 |
+
actions/static_manipulation/SM43/session_009/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
|
| 51092 |
+
actions/static_manipulation/SM43/session_009/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
|
| 51093 |
+
actions/static_manipulation/SM43/session_009/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
|
| 51094 |
+
actions/static_manipulation/SM43/session_009/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
|
| 51095 |
+
actions/static_manipulation/SM43/session_009/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
|
| 51096 |
+
actions/static_manipulation/SM43/session_009/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
|
| 51097 |
+
actions/static_manipulation/SM43/session_009/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
|
| 51098 |
+
actions/static_manipulation/SM43/session_009/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
|
| 51099 |
+
actions/static_manipulation/SM43/session_010/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
|
| 51100 |
+
actions/static_manipulation/SM43/session_010/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
|
actions/static_manipulation/SM42/session_011/raw/mocap/Body0.csv
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5ce0721ccddfde6dfc2b9b5c31ef9d17e2b41761cdfac64e4e78fb6bc98dd3b4
|
| 3 |
+
size 125254654
|
actions/static_manipulation/SM42/session_011/raw/mocap/Body0.trc
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1f56e80544f0f2fa8ab41274302ff1746ad91c800b937290ba95b3dd06a37586
|
| 3 |
+
size 27142159
|
actions/static_manipulation/SM42/session_011/raw/mocap/Tracker0.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
actions/static_manipulation/SM42/session_011/raw/mocap/Tracker0.trc
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
actions/static_manipulation/SM42/session_011/raw/sensors/robocap_imu_left.db
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8d0d7439099797d13e327361d9a09b50b7b13c2c9b69bb4d8ba3cc6058a2f608
|
| 3 |
+
size 1323008
|
actions/static_manipulation/SM42/session_011/raw/sensors/robocap_imu_right.db
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e91d9a7335d1472b4d19e65eee1c00b8e76d769786bab0b27b41248272191fa8
|
| 3 |
+
size 1282048
|
actions/static_manipulation/SM42/session_011/raw/sensors/robocap_mag_middle.db
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ef15c013599e8d5ca2b960b075348da2073f2d8c3855433b418c08f5412486a0
|
| 3 |
+
size 344064
|
actions/static_manipulation/SM42/session_011/raw/sensors/robowrist_imu_left.db
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5a44d6bc013e6deea768fb62374c38456156a897f5a02b9d959713cf7d2b2d03
|
| 3 |
+
size 1282048
|
actions/static_manipulation/SM42/session_011/raw/sensors/robowrist_imu_right.db
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:016b8ffb5162f9eecb4519449273a7bf513c3391eb0b192733adceadf06a884b
|
| 3 |
+
size 1290240
|
actions/static_manipulation/SM42/session_011/raw/sensors/robowrist_mag_left.db
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7243adb7a4332c4f48c2be2f5b1eb12a37e646fe168a7076b1b4a2e0577c84a5
|
| 3 |
+
size 331776
|
actions/static_manipulation/SM42/session_011/raw/sensors/robowrist_mag_right.db
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:96f177ff5f55c657c95531554ca551715bd4502649d09b9610f69935e8478607
|
| 3 |
+
size 331776
|
actions/static_manipulation/SM42/session_011/sensors/head_imu.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4466d86a37123caed39b10cf20ee15c9164ef91e68f9b525bae40c93c33d1036
|
| 3 |
+
size 1370699
|
actions/static_manipulation/SM42/session_011/sensors/head_mag.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:eee0febf0425b8b29cbe179a13ab855fe5ba270cf760dd2fe2ec24d452b9ee61
|
| 3 |
+
size 157154
|
actions/static_manipulation/SM42/session_011/sensors/wrist_imu.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:72aa96650d3e009a304e261cfa1a6d95837c3deb9291f088847a17259a5c8fad
|
| 3 |
+
size 1473843
|
actions/static_manipulation/SM42/session_011/sensors/wrist_mag.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3dd94a5288bc9f27ab5f715071b21d761f7bae31293e497bded64ba321cf22f4
|
| 3 |
+
size 288761
|
actions/static_manipulation/SM42/session_011/videos/frame_timestamps.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5c1282490526d95f24b4cc7b0eafd36a492a0463788fb6b8b448d2d59fc31d7f
|
| 3 |
+
size 251675
|
actions/static_manipulation/SM42/session_011/videos/head_left.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:baaaf758c4a30a0cd7855addf2a3d096852ba336e4e67b1478227cf7d3af20e1
|
| 3 |
+
size 64138484
|
actions/static_manipulation/SM42/session_011/videos/head_left_eye.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e7800030bc815735705ae4439717f570fe2fe055a8980b8b0a406045c37e75a4
|
| 3 |
+
size 64057454
|
actions/static_manipulation/SM42/session_011/videos/head_left_front.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:100f17ab36983331e515b33fb7fe79a7fb06f19aa5f5a869b98156247582463a
|
| 3 |
+
size 64059213
|
actions/static_manipulation/SM42/session_011/videos/head_right.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e11f04aecd62a61c8554bbad0cbd8897516e87210b8af1c34d6a7547b142b6da
|
| 3 |
+
size 64156735
|
actions/static_manipulation/SM42/session_011/videos/head_right_eye.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5b05cb2e9a58c97c8674489f6f3bb5163450051e0116220b331b880526945178
|
| 3 |
+
size 64057975
|
actions/static_manipulation/SM42/session_011/videos/head_right_front.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b2b48e54b325aac4b781a0fe3dbd3e30d421237e7cbf5926de2674129a4e757b
|
| 3 |
+
size 64168809
|
actions/static_manipulation/SM42/session_011/videos/third_person.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:72209a175600f20002dda2e348022a735e705e729ea38d9a7266fe031d17c6bc
|
| 3 |
+
size 66836700
|
actions/static_manipulation/SM42/session_011/videos/wrist_left.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:25bbb4eb047bac9c9c89fb3542d6a5f194970a3eaf8120298d13fee4cc347d06
|
| 3 |
+
size 59225522
|
actions/static_manipulation/SM42/session_011/videos/wrist_right.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f108388c7fd7a7e98c9a9c9032388a360bb6974816e43189300c84f1153d79e1
|
| 3 |
+
size 59562919
|
actions/static_manipulation/SM43/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": "SM43",
|
| 6 |
+
"instruction": "Move the objects one at a time between the far targets the operator calls, without moving your feet. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 158.966722,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03937759601173774
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "62de6b21-ef98-48d2-934b-ed5ad0f58e13",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "SM43",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0.033,
|
| 22 |
+
"end_s": 152.575,
|
| 23 |
+
"t_start": 0.0724,
|
| 24 |
+
"t_end": 152.6144,
|
| 25 |
+
"instruction": "Move the objects one at a time between the far targets the operator calls, without moving your feet. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/static_manipulation/SM43/session_001/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,256 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 14,
|
| 5 |
+
"median_px": 0.362
|
| 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": 0.9024,
|
| 17 |
+
"gate_fail": [],
|
| 18 |
+
"held_out_px_after": 0.457,
|
| 19 |
+
"held_out_px_before": 5.236,
|
| 20 |
+
"inliers": 4056,
|
| 21 |
+
"position_fitted": false,
|
| 22 |
+
"rotvec_deg": [
|
| 23 |
+
0.4916,
|
| 24 |
+
-0.3275,
|
| 25 |
+
-0.6821
|
| 26 |
+
],
|
| 27 |
+
"split_deg": 0.0598,
|
| 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": 1.9733,
|
| 40 |
+
"gate_fail": [],
|
| 41 |
+
"held_out_px_after": 0.371,
|
| 42 |
+
"held_out_px_before": 7.094,
|
| 43 |
+
"inliers": 5661,
|
| 44 |
+
"position_fitted": true,
|
| 45 |
+
"position_mm": [
|
| 46 |
+
4.57,
|
| 47 |
+
-14.96,
|
| 48 |
+
1.32
|
| 49 |
+
],
|
| 50 |
+
"position_sigma_mm": 0.236,
|
| 51 |
+
"position_split_mm": 2.902,
|
| 52 |
+
"rotvec_deg": [
|
| 53 |
+
0.2049,
|
| 54 |
+
0.611,
|
| 55 |
+
-1.8651
|
| 56 |
+
],
|
| 57 |
+
"split_deg": 0.0431,
|
| 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": 1.197,
|
| 72 |
+
"gate_fail": [],
|
| 73 |
+
"held_out_px_after": 0.867,
|
| 74 |
+
"held_out_px_before": 3.715,
|
| 75 |
+
"inliers": 909,
|
| 76 |
+
"position_fitted": false,
|
| 77 |
+
"rotvec_deg": [
|
| 78 |
+
1.1083,
|
| 79 |
+
-0.4372,
|
| 80 |
+
-0.1155
|
| 81 |
+
],
|
| 82 |
+
"split_deg": 0.2617,
|
| 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": 0.782,
|
| 95 |
+
"gate_fail": [],
|
| 96 |
+
"held_out_px_after": 0.366,
|
| 97 |
+
"held_out_px_before": 3.022,
|
| 98 |
+
"inliers": 5625,
|
| 99 |
+
"position_fitted": true,
|
| 100 |
+
"position_mm": [
|
| 101 |
+
6.42,
|
| 102 |
+
-16.19,
|
| 103 |
+
0.15
|
| 104 |
+
],
|
| 105 |
+
"position_sigma_mm": 0.236,
|
| 106 |
+
"position_split_mm": 3.398,
|
| 107 |
+
"rotvec_deg": [
|
| 108 |
+
0.374,
|
| 109 |
+
-0.4677,
|
| 110 |
+
-0.5028
|
| 111 |
+
],
|
| 112 |
+
"split_deg": 0.0526,
|
| 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": 1.3231,
|
| 125 |
+
"gate_fail": [],
|
| 126 |
+
"held_out_px_after": 0.325,
|
| 127 |
+
"held_out_px_before": 5.879,
|
| 128 |
+
"inliers": 5024,
|
| 129 |
+
"position_fitted": false,
|
| 130 |
+
"rotvec_deg": [
|
| 131 |
+
-0.4719,
|
| 132 |
+
-0.037,
|
| 133 |
+
-1.2355
|
| 134 |
+
],
|
| 135 |
+
"split_deg": 0.0102,
|
| 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": "be20134a3dc2ec911f404a70a6fb9a9310e4781d2f4136609d467753ade974c4",
|
| 145 |
+
"source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
|
| 146 |
+
},
|
| 147 |
+
"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 148 |
+
"sha256": "8a9b5dc8e5305ebb280f655a8bbf8024ee60f00d84f2d169db22fcbfa325bd6d",
|
| 149 |
+
"source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
|
| 150 |
+
},
|
| 151 |
+
"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 152 |
+
"sha256": "bbf873b12cc4ed52c1d95cdab1391dd03dd2fc36caaa86916870cc941c441e0a",
|
| 153 |
+
"source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
|
| 154 |
+
},
|
| 155 |
+
"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 156 |
+
"sha256": "a02c447488e93863884082210392479ecafbff8d67cc3b61ef04c2999b0f8ec9",
|
| 157 |
+
"source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
"input_fingerprint": "0e49a24382355530",
|
| 161 |
+
"kind": "online_calibration",
|
| 162 |
+
"output_sha256": "595ad5efa05619e32e8ab17b2a7caaee64997e4a9119b430e1e6bda067338349",
|
| 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": 41.428,
|
| 182 |
+
"left_eye": 52.904,
|
| 183 |
+
"left_front": 50.598,
|
| 184 |
+
"right": 39.903,
|
| 185 |
+
"right_eye": 53.916,
|
| 186 |
+
"right_front": 52.364
|
| 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 |
+
6912376169555,
|
| 197 |
+
6913376014000,
|
| 198 |
+
6915376047333,
|
| 199 |
+
6916376047333,
|
| 200 |
+
6920376058444,
|
| 201 |
+
6921376036222,
|
| 202 |
+
6925376047333,
|
| 203 |
+
6926376014000,
|
| 204 |
+
6933376014000,
|
| 205 |
+
6934376191777,
|
| 206 |
+
6939376047333,
|
| 207 |
+
6940376047333,
|
| 208 |
+
6941376047333,
|
| 209 |
+
6946376047333,
|
| 210 |
+
6947376036222,
|
| 211 |
+
6953376014000,
|
| 212 |
+
6954376047333,
|
| 213 |
+
6958376102888,
|
| 214 |
+
6959376047333,
|
| 215 |
+
6960376158444,
|
| 216 |
+
6961376169555,
|
| 217 |
+
6967376014000,
|
| 218 |
+
6968376036222,
|
| 219 |
+
6973376025111,
|
| 220 |
+
6974376014000,
|
| 221 |
+
6976376047333,
|
| 222 |
+
6977376014000,
|
| 223 |
+
6983376047333,
|
| 224 |
+
6984376036222,
|
| 225 |
+
6985376047333,
|
| 226 |
+
6986376036222,
|
| 227 |
+
6991376014000,
|
| 228 |
+
6992376014000,
|
| 229 |
+
6996376014000,
|
| 230 |
+
6997376047333,
|
| 231 |
+
7001376014000,
|
| 232 |
+
7002376036222,
|
| 233 |
+
7006376014000,
|
| 234 |
+
7007376036222,
|
| 235 |
+
7011376036222,
|
| 236 |
+
7012376025111,
|
| 237 |
+
7020376047333,
|
| 238 |
+
7021376058444,
|
| 239 |
+
7025376047333,
|
| 240 |
+
7026376014000,
|
| 241 |
+
7027376036222,
|
| 242 |
+
7035376047333,
|
| 243 |
+
7036376014000,
|
| 244 |
+
7037376047333,
|
| 245 |
+
7042376069555,
|
| 246 |
+
7043376036222,
|
| 247 |
+
7049376025111,
|
| 248 |
+
7050376025111,
|
| 249 |
+
7051376025111,
|
| 250 |
+
7052376036222,
|
| 251 |
+
7056376025111,
|
| 252 |
+
7057376014000
|
| 253 |
+
]
|
| 254 |
+
},
|
| 255 |
+
"version": 1
|
| 256 |
+
}
|
actions/static_manipulation/SM43/session_001/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ef4e9243b8edbc5032a788ce1eee27cc87101a97cfe6bf0a4f3fc0501a3cf151
|
| 3 |
+
size 905103
|
actions/static_manipulation/SM43/session_001/meta.json
CHANGED
|
@@ -584,5 +584,9 @@
|
|
| 584 |
"family": "static_manipulation",
|
| 585 |
"primitive": "SM43",
|
| 586 |
"source_session": "20260914/SM43/20260914_022536_session28"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 587 |
}
|
| 588 |
}
|
|
|
|
| 584 |
"family": "static_manipulation",
|
| 585 |
"primitive": "SM43",
|
| 586 |
"source_session": "20260914/SM43/20260914_022536_session28"
|
| 587 |
+
},
|
| 588 |
+
"task": {
|
| 589 |
+
"primitive": "SM43",
|
| 590 |
+
"instruction": "Move the objects one at a time between the far targets the operator calls, without moving your feet. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
| 591 |
}
|
| 592 |
}
|
actions/static_manipulation/SM43/session_001/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f5d8d372b70683b64145ebd35676cb91a93a589878210ec148e8ff08f786f0d6
|
| 3 |
+
size 5997228
|
actions/static_manipulation/SM43/session_002/annotations.json
ADDED
|
@@ -0,0 +1,39 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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": "SM43",
|
| 6 |
+
"instruction": "Move the objects one at a time between the far targets the operator calls, without moving your feet. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 153.966656,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03880357723385508
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "0ba6c118-1c09-4566-aae3-a4439ac7de06",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "SM43",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 74.48,
|
| 23 |
+
"t_start": 0.0388,
|
| 24 |
+
"t_end": 74.5188,
|
| 25 |
+
"instruction": "Move the objects one at a time between the far targets the operator calls, without moving your feet. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"id": "9a5d3b4c-db89-43c9-a3c8-a9c35ccea509",
|
| 29 |
+
"segment": "segment1",
|
| 30 |
+
"action": "SM43",
|
| 31 |
+
"quality": "valid",
|
| 32 |
+
"start_s": 75.323,
|
| 33 |
+
"end_s": 146.646,
|
| 34 |
+
"t_start": 75.3618,
|
| 35 |
+
"t_end": 146.6848,
|
| 36 |
+
"instruction": "Move the objects one at a time between the far targets the operator calls, without moving your feet. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/static_manipulation/SM43/session_002/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e4dffbf08e891d9eb39a4a2b079988b65bde5eca8abb4ff23f0897ef8775f5ed
|
| 3 |
+
size 885510
|
actions/static_manipulation/SM43/session_002/meta.json
CHANGED
|
@@ -328,8 +328,8 @@
|
|
| 328 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 329 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 330 |
"hands": {
|
| 331 |
-
"observed":
|
| 332 |
-
"hand_pose": "
|
| 333 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 334 |
"hand_marker_offsets_m": {
|
| 335 |
"left": {
|
|
@@ -520,10 +520,124 @@
|
|
| 520 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 521 |
"remaining_gyro_frame_deg": 1.1776561593382304
|
| 522 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 523 |
"release": {
|
| 524 |
"release_path": "actions/static_manipulation/SM43/session_002",
|
| 525 |
"family": "static_manipulation",
|
| 526 |
"primitive": "SM43",
|
| 527 |
"source_session": "20260918/SM43/20260918_102153_session83"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 528 |
}
|
| 529 |
}
|
|
|
|
| 328 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 329 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 330 |
"hands": {
|
| 331 |
+
"observed": true,
|
| 332 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 333 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 334 |
"hand_marker_offsets_m": {
|
| 335 |
"left": {
|
|
|
|
| 520 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 521 |
"remaining_gyro_frame_deg": 1.1776561593382304
|
| 522 |
},
|
| 523 |
+
"hands_registration": {
|
| 524 |
+
"cameras": {},
|
| 525 |
+
"hands": {
|
| 526 |
+
"left": {
|
| 527 |
+
"offset_deg": 14.66,
|
| 528 |
+
"offset_rotvec": [
|
| 529 |
+
-0.2207,
|
| 530 |
+
0.1291,
|
| 531 |
+
0.0099
|
| 532 |
+
],
|
| 533 |
+
"dev_deg": {
|
| 534 |
+
"median": 16.02,
|
| 535 |
+
"p90": 34.01
|
| 536 |
+
},
|
| 537 |
+
"samples": 3861,
|
| 538 |
+
"accepted": 3308,
|
| 539 |
+
"wrist_pos_err_mm_median": 152.9,
|
| 540 |
+
"per_camera": {
|
| 541 |
+
"head": {
|
| 542 |
+
"samples": 3861,
|
| 543 |
+
"accepted": 3308,
|
| 544 |
+
"gate_deg": 30.0,
|
| 545 |
+
"offset_deg": 14.66,
|
| 546 |
+
"tier": "primary",
|
| 547 |
+
"dev_deg_median": 16.02,
|
| 548 |
+
"wrist_pos_err_mm_median": 152.9
|
| 549 |
+
}
|
| 550 |
+
},
|
| 551 |
+
"frames_by_state": {
|
| 552 |
+
"ace_sample": 13610,
|
| 553 |
+
"interpolated": 4426,
|
| 554 |
+
"mean_hand": 442,
|
| 555 |
+
"no_body_fit": 6
|
| 556 |
+
},
|
| 557 |
+
"observed_fraction": 0.9758,
|
| 558 |
+
"observed_fraction_of_valid": 0.9761,
|
| 559 |
+
"palm_axis_vs_markers_deg": {
|
| 560 |
+
"gsi": 13.09,
|
| 561 |
+
"smplx": 1.02
|
| 562 |
+
},
|
| 563 |
+
"hand_marker_to_mesh_mm": {
|
| 564 |
+
"flat": {
|
| 565 |
+
"median": 11.1,
|
| 566 |
+
"p90": 17.8
|
| 567 |
+
},
|
| 568 |
+
"registered": {
|
| 569 |
+
"median": 10.5,
|
| 570 |
+
"p90": 17.3
|
| 571 |
+
}
|
| 572 |
+
}
|
| 573 |
+
},
|
| 574 |
+
"right": {
|
| 575 |
+
"offset_deg": 15.35,
|
| 576 |
+
"offset_rotvec": [
|
| 577 |
+
-0.1112,
|
| 578 |
+
-0.1301,
|
| 579 |
+
-0.2061
|
| 580 |
+
],
|
| 581 |
+
"dev_deg": {
|
| 582 |
+
"median": 10.59,
|
| 583 |
+
"p90": 21.59
|
| 584 |
+
},
|
| 585 |
+
"samples": 4404,
|
| 586 |
+
"accepted": 4278,
|
| 587 |
+
"wrist_pos_err_mm_median": 87.4,
|
| 588 |
+
"per_camera": {
|
| 589 |
+
"head": {
|
| 590 |
+
"samples": 4404,
|
| 591 |
+
"accepted": 4278,
|
| 592 |
+
"gate_deg": 30.0,
|
| 593 |
+
"offset_deg": 15.35,
|
| 594 |
+
"tier": "primary",
|
| 595 |
+
"dev_deg_median": 10.59,
|
| 596 |
+
"wrist_pos_err_mm_median": 87.4
|
| 597 |
+
}
|
| 598 |
+
},
|
| 599 |
+
"frames_by_state": {
|
| 600 |
+
"ace_sample": 17236,
|
| 601 |
+
"interpolated": 1236,
|
| 602 |
+
"mean_hand": 6,
|
| 603 |
+
"no_body_fit": 6
|
| 604 |
+
},
|
| 605 |
+
"observed_fraction": 0.9994,
|
| 606 |
+
"observed_fraction_of_valid": 0.9997,
|
| 607 |
+
"palm_axis_vs_markers_deg": {
|
| 608 |
+
"gsi": 14.95,
|
| 609 |
+
"smplx": 1.09
|
| 610 |
+
},
|
| 611 |
+
"hand_marker_to_mesh_mm": {
|
| 612 |
+
"flat": {
|
| 613 |
+
"median": 11.3,
|
| 614 |
+
"p90": 18.3
|
| 615 |
+
},
|
| 616 |
+
"registered": {
|
| 617 |
+
"median": 11.1,
|
| 618 |
+
"p90": 17.8
|
| 619 |
+
}
|
| 620 |
+
}
|
| 621 |
+
}
|
| 622 |
+
},
|
| 623 |
+
"max_dev_deg": 30.0,
|
| 624 |
+
"max_gap_s": 1.0,
|
| 625 |
+
"cameras_used": [
|
| 626 |
+
"head"
|
| 627 |
+
],
|
| 628 |
+
"generated_at_utc": "2026-11-03T22:58:46.037386+00:00",
|
| 629 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 630 |
+
"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",
|
| 631 |
+
"wrist_flip_suspect": []
|
| 632 |
+
},
|
| 633 |
"release": {
|
| 634 |
"release_path": "actions/static_manipulation/SM43/session_002",
|
| 635 |
"family": "static_manipulation",
|
| 636 |
"primitive": "SM43",
|
| 637 |
"source_session": "20260918/SM43/20260918_102153_session83"
|
| 638 |
+
},
|
| 639 |
+
"task": {
|
| 640 |
+
"primitive": "SM43",
|
| 641 |
+
"instruction": "Move the objects one at a time between the far targets the operator calls, without moving your feet. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
| 642 |
}
|
| 643 |
}
|
actions/static_manipulation/SM43/session_002/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c64c620b36cb5541d6a9badcc0318ae4b00faf52d75be157232bf9e6c838bea5
|
| 3 |
+
size 5659287
|
actions/static_manipulation/SM43/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 sha256:0d5d56db3f0e09c0db1a12a31ae5155fa1da10af2098e1cfc1e3ecf4abe4e460
|
| 3 |
+
size 13260413
|
actions/static_manipulation/SM43/session_003/annotations.json
ADDED
|
@@ -0,0 +1,39 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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": "SM43",
|
| 6 |
+
"instruction": "Move the objects one at a time between the far targets the operator calls, without moving your feet. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 128.966667,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.039272398605888936
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "66af64d7-93dc-4831-8632-5c42e124a080",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "SM43",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1.27,
|
| 22 |
+
"end_s": 45.232,
|
| 23 |
+
"t_start": 1.3093,
|
| 24 |
+
"t_end": 45.2713,
|
| 25 |
+
"instruction": "Move the objects one at a time between the far targets the operator calls, without moving your feet. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"id": "45c0ef9c-9526-4c84-b546-53949264b7c3",
|
| 29 |
+
"segment": "segment1",
|
| 30 |
+
"action": "SM43",
|
| 31 |
+
"quality": "valid",
|
| 32 |
+
"start_s": 45.476,
|
| 33 |
+
"end_s": 124.584,
|
| 34 |
+
"t_start": 45.5153,
|
| 35 |
+
"t_end": 124.6233,
|
| 36 |
+
"instruction": "Move the objects one at a time between the far targets the operator calls, without moving your feet. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/static_manipulation/SM43/session_003/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,254 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 14,
|
| 5 |
+
"median_px": 0.388
|
| 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": 1.106,
|
| 17 |
+
"gate_fail": [],
|
| 18 |
+
"held_out_px_after": 0.689,
|
| 19 |
+
"held_out_px_before": 5.472,
|
| 20 |
+
"inliers": 1434,
|
| 21 |
+
"position_fitted": false,
|
| 22 |
+
"rotvec_deg": [
|
| 23 |
+
-0.1235,
|
| 24 |
+
-0.4141,
|
| 25 |
+
-1.0181
|
| 26 |
+
],
|
| 27 |
+
"split_deg": 0.1518,
|
| 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": 2.2637,
|
| 40 |
+
"gate_fail": [],
|
| 41 |
+
"held_out_px_after": 0.403,
|
| 42 |
+
"held_out_px_before": 5.914,
|
| 43 |
+
"inliers": 2623,
|
| 44 |
+
"position_fitted": true,
|
| 45 |
+
"position_mm": [
|
| 46 |
+
7.88,
|
| 47 |
+
-19.51,
|
| 48 |
+
2.88
|
| 49 |
+
],
|
| 50 |
+
"position_sigma_mm": 0.139,
|
| 51 |
+
"position_split_mm": 1.608,
|
| 52 |
+
"rotvec_deg": [
|
| 53 |
+
-0.1962,
|
| 54 |
+
0.7551,
|
| 55 |
+
-2.125
|
| 56 |
+
],
|
| 57 |
+
"split_deg": 0.0797,
|
| 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": 1.4058,
|
| 72 |
+
"gate_fail": [],
|
| 73 |
+
"held_out_px_after": 0.469,
|
| 74 |
+
"held_out_px_before": 5.527,
|
| 75 |
+
"inliers": 1571,
|
| 76 |
+
"position_fitted": false,
|
| 77 |
+
"rotvec_deg": [
|
| 78 |
+
1.3088,
|
| 79 |
+
-0.4067,
|
| 80 |
+
-0.3133
|
| 81 |
+
],
|
| 82 |
+
"split_deg": 0.142,
|
| 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": 0.8615,
|
| 95 |
+
"gate_fail": [],
|
| 96 |
+
"held_out_px_after": 0.396,
|
| 97 |
+
"held_out_px_before": 3.773,
|
| 98 |
+
"inliers": 2395,
|
| 99 |
+
"position_fitted": true,
|
| 100 |
+
"position_mm": [
|
| 101 |
+
7.53,
|
| 102 |
+
-21.87,
|
| 103 |
+
2.89
|
| 104 |
+
],
|
| 105 |
+
"position_sigma_mm": 0.15,
|
| 106 |
+
"position_split_mm": 1.669,
|
| 107 |
+
"rotvec_deg": [
|
| 108 |
+
0.0369,
|
| 109 |
+
-0.3872,
|
| 110 |
+
-0.7686
|
| 111 |
+
],
|
| 112 |
+
"split_deg": 0.0803,
|
| 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": 2.0754,
|
| 125 |
+
"gate_fail": [],
|
| 126 |
+
"held_out_px_after": 0.336,
|
| 127 |
+
"held_out_px_before": 6.942,
|
| 128 |
+
"inliers": 3393,
|
| 129 |
+
"position_fitted": false,
|
| 130 |
+
"rotvec_deg": [
|
| 131 |
+
-0.241,
|
| 132 |
+
-0.1493,
|
| 133 |
+
-2.056
|
| 134 |
+
],
|
| 135 |
+
"split_deg": 0.0177,
|
| 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": "a4dd11532ddc0e6ce1f0d4819c81808856b737295c532a7903ae78b783f5aad1",
|
| 145 |
+
"source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
|
| 146 |
+
},
|
| 147 |
+
"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 148 |
+
"sha256": "456643fdeb7dce76c701615d305bbfb1f2a934e4565c15172887c4543d6fdd42",
|
| 149 |
+
"source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
|
| 150 |
+
},
|
| 151 |
+
"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 152 |
+
"sha256": "fa15a75caed30024bf7e96a807de975c0060cb7ff6cb9d903f377e0a9acb7376",
|
| 153 |
+
"source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
|
| 154 |
+
},
|
| 155 |
+
"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 156 |
+
"sha256": "714c4a70e800baed97bdda2cac7fd1e81e9f774ac62636502dc813e368b34163",
|
| 157 |
+
"source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
"input_fingerprint": "a865918508ee6eb2",
|
| 161 |
+
"kind": "online_calibration",
|
| 162 |
+
"output_sha256": "1e36d1ddce8937e3d0a86f80e607063029bc91eafa6dd50e041082210fee860f",
|
| 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": 43.09,
|
| 182 |
+
"left_eye": 44.714,
|
| 183 |
+
"left_front": 46.288,
|
| 184 |
+
"right": 39.891,
|
| 185 |
+
"right_eye": 43.088,
|
| 186 |
+
"right_front": 46.109
|
| 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 |
+
20988818542666,
|
| 197 |
+
20989818576000,
|
| 198 |
+
20993818642666,
|
| 199 |
+
20994818542666,
|
| 200 |
+
21000818576000,
|
| 201 |
+
21001818698222,
|
| 202 |
+
21004818576000,
|
| 203 |
+
21005818564888,
|
| 204 |
+
21007818576000,
|
| 205 |
+
21008818620444,
|
| 206 |
+
21012818542666,
|
| 207 |
+
21013818620444,
|
| 208 |
+
21015818542666,
|
| 209 |
+
21016818576000,
|
| 210 |
+
21019818542666,
|
| 211 |
+
21020818576000,
|
| 212 |
+
21025818564888,
|
| 213 |
+
21026818564888,
|
| 214 |
+
21027818576000,
|
| 215 |
+
21030818542666,
|
| 216 |
+
21031818542666,
|
| 217 |
+
21038818542666,
|
| 218 |
+
21039818542666,
|
| 219 |
+
21040818542666,
|
| 220 |
+
21043818676000,
|
| 221 |
+
21044818631555,
|
| 222 |
+
21049818542666,
|
| 223 |
+
21050818576000,
|
| 224 |
+
21053818542666,
|
| 225 |
+
21054818553777,
|
| 226 |
+
21058818564888,
|
| 227 |
+
21059818542666,
|
| 228 |
+
21060818564888,
|
| 229 |
+
21066818576000,
|
| 230 |
+
21067818709333,
|
| 231 |
+
21068818553777,
|
| 232 |
+
21069818564888,
|
| 233 |
+
21074818576000,
|
| 234 |
+
21075818576000,
|
| 235 |
+
21078818576000,
|
| 236 |
+
21079818587111,
|
| 237 |
+
21083818542666,
|
| 238 |
+
21084818553777,
|
| 239 |
+
21085818576000,
|
| 240 |
+
21092818542666,
|
| 241 |
+
21093818542666,
|
| 242 |
+
21096818553777,
|
| 243 |
+
21097818564888,
|
| 244 |
+
21100818576000,
|
| 245 |
+
21101818553777,
|
| 246 |
+
21104818609333,
|
| 247 |
+
21105818564888,
|
| 248 |
+
21108818553777,
|
| 249 |
+
21109818553777,
|
| 250 |
+
21110818587111
|
| 251 |
+
]
|
| 252 |
+
},
|
| 253 |
+
"version": 1
|
| 254 |
+
}
|
actions/static_manipulation/SM43/session_003/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7c4762ca9012741e09a721b0a53bd21f142cad72f5d578f0ce1740433adf9ecd
|
| 3 |
+
size 742063
|
actions/static_manipulation/SM43/session_003/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": {
|
|
@@ -547,10 +547,124 @@
|
|
| 547 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 548 |
"remaining_gyro_frame_deg": 0.7830873378726156
|
| 549 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 550 |
"release": {
|
| 551 |
"release_path": "actions/static_manipulation/SM43/session_003",
|
| 552 |
"family": "static_manipulation",
|
| 553 |
"primitive": "SM43",
|
| 554 |
"source_session": "20260924/SM43/20260924_061342_session84"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 555 |
}
|
| 556 |
}
|
|
|
|
| 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": {
|
|
|
|
| 547 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 548 |
"remaining_gyro_frame_deg": 0.7830873378726156
|
| 549 |
},
|
| 550 |
+
"hands_registration": {
|
| 551 |
+
"cameras": {},
|
| 552 |
+
"hands": {
|
| 553 |
+
"left": {
|
| 554 |
+
"offset_deg": 9.38,
|
| 555 |
+
"offset_rotvec": [
|
| 556 |
+
0.0945,
|
| 557 |
+
0.1272,
|
| 558 |
+
-0.041
|
| 559 |
+
],
|
| 560 |
+
"dev_deg": {
|
| 561 |
+
"median": 13.52,
|
| 562 |
+
"p90": 37.07
|
| 563 |
+
},
|
| 564 |
+
"samples": 3049,
|
| 565 |
+
"accepted": 2627,
|
| 566 |
+
"wrist_pos_err_mm_median": 27.9,
|
| 567 |
+
"per_camera": {
|
| 568 |
+
"head": {
|
| 569 |
+
"samples": 3049,
|
| 570 |
+
"accepted": 2627,
|
| 571 |
+
"gate_deg": 30.0,
|
| 572 |
+
"offset_deg": 9.38,
|
| 573 |
+
"tier": "primary",
|
| 574 |
+
"dev_deg_median": 13.52,
|
| 575 |
+
"wrist_pos_err_mm_median": 27.9
|
| 576 |
+
}
|
| 577 |
+
},
|
| 578 |
+
"frames_by_state": {
|
| 579 |
+
"ace_sample": 10546,
|
| 580 |
+
"interpolated": 1694,
|
| 581 |
+
"mean_hand": 3244,
|
| 582 |
+
"no_body_fit": 0
|
| 583 |
+
},
|
| 584 |
+
"observed_fraction": 0.7905,
|
| 585 |
+
"observed_fraction_of_valid": 0.7905,
|
| 586 |
+
"palm_axis_vs_markers_deg": {
|
| 587 |
+
"gsi": 14.06,
|
| 588 |
+
"smplx": 1.71
|
| 589 |
+
},
|
| 590 |
+
"hand_marker_to_mesh_mm": {
|
| 591 |
+
"flat": {
|
| 592 |
+
"median": 9.4,
|
| 593 |
+
"p90": 17.0
|
| 594 |
+
},
|
| 595 |
+
"registered": {
|
| 596 |
+
"median": 9.5,
|
| 597 |
+
"p90": 16.5
|
| 598 |
+
}
|
| 599 |
+
}
|
| 600 |
+
},
|
| 601 |
+
"right": {
|
| 602 |
+
"offset_deg": 9.39,
|
| 603 |
+
"offset_rotvec": [
|
| 604 |
+
0.0082,
|
| 605 |
+
0.1631,
|
| 606 |
+
0.0136
|
| 607 |
+
],
|
| 608 |
+
"dev_deg": {
|
| 609 |
+
"median": 12.28,
|
| 610 |
+
"p90": 42.28
|
| 611 |
+
},
|
| 612 |
+
"samples": 3057,
|
| 613 |
+
"accepted": 2521,
|
| 614 |
+
"wrist_pos_err_mm_median": 38.3,
|
| 615 |
+
"per_camera": {
|
| 616 |
+
"head": {
|
| 617 |
+
"samples": 3057,
|
| 618 |
+
"accepted": 2521,
|
| 619 |
+
"gate_deg": 30.0,
|
| 620 |
+
"offset_deg": 9.39,
|
| 621 |
+
"tier": "primary",
|
| 622 |
+
"dev_deg_median": 12.28,
|
| 623 |
+
"wrist_pos_err_mm_median": 38.3
|
| 624 |
+
}
|
| 625 |
+
},
|
| 626 |
+
"frames_by_state": {
|
| 627 |
+
"ace_sample": 10158,
|
| 628 |
+
"interpolated": 1862,
|
| 629 |
+
"mean_hand": 3464,
|
| 630 |
+
"no_body_fit": 0
|
| 631 |
+
},
|
| 632 |
+
"observed_fraction": 0.7763,
|
| 633 |
+
"observed_fraction_of_valid": 0.7763,
|
| 634 |
+
"palm_axis_vs_markers_deg": {
|
| 635 |
+
"gsi": 11.74,
|
| 636 |
+
"smplx": 1.97
|
| 637 |
+
},
|
| 638 |
+
"hand_marker_to_mesh_mm": {
|
| 639 |
+
"flat": {
|
| 640 |
+
"median": 7.2,
|
| 641 |
+
"p90": 14.8
|
| 642 |
+
},
|
| 643 |
+
"registered": {
|
| 644 |
+
"median": 6.9,
|
| 645 |
+
"p90": 14.2
|
| 646 |
+
}
|
| 647 |
+
}
|
| 648 |
+
}
|
| 649 |
+
},
|
| 650 |
+
"max_dev_deg": 30.0,
|
| 651 |
+
"max_gap_s": 1.0,
|
| 652 |
+
"cameras_used": [
|
| 653 |
+
"head"
|
| 654 |
+
],
|
| 655 |
+
"generated_at_utc": "2026-11-03T22:33:53.663060+00:00",
|
| 656 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 657 |
+
"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",
|
| 658 |
+
"wrist_flip_suspect": []
|
| 659 |
+
},
|
| 660 |
"release": {
|
| 661 |
"release_path": "actions/static_manipulation/SM43/session_003",
|
| 662 |
"family": "static_manipulation",
|
| 663 |
"primitive": "SM43",
|
| 664 |
"source_session": "20260924/SM43/20260924_061342_session84"
|
| 665 |
+
},
|
| 666 |
+
"task": {
|
| 667 |
+
"primitive": "SM43",
|
| 668 |
+
"instruction": "Move the objects one at a time between the far targets the operator calls, without moving your feet. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
| 669 |
}
|
| 670 |
}
|
actions/static_manipulation/SM43/session_003/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:73cddd1c7608390c15bf58e2e4c222547d0960b48ba650b6ea8cbeb37c0ea303
|
| 3 |
+
size 4164925
|
actions/static_manipulation/SM43/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 sha256:1bb827b87893cde639915902b64c96d92ddee845a1c3cb2d42d800dce0e0457c
|
| 3 |
+
size 10237700
|
actions/static_manipulation/SM43/session_004/annotations.json
ADDED
|
@@ -0,0 +1,39 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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": "SM43",
|
| 6 |
+
"instruction": "Move the objects one at a time between the far targets the operator calls, without moving your feet. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 138.966544,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.041641902712228784
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "0aa671e8-1707-4eb9-aa7f-d0e56af22bf4",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "SM43",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 3,
|
| 22 |
+
"end_s": 72.492,
|
| 23 |
+
"t_start": 3.0416,
|
| 24 |
+
"t_end": 72.5336,
|
| 25 |
+
"instruction": "Move the objects one at a time between the far targets the operator calls, without moving your feet. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"id": "164bdf6f-6932-4c8e-96cc-10b5211521e8",
|
| 29 |
+
"segment": "segment1",
|
| 30 |
+
"action": "SM43",
|
| 31 |
+
"quality": "valid",
|
| 32 |
+
"start_s": 72.492,
|
| 33 |
+
"end_s": 133.753,
|
| 34 |
+
"t_start": 72.5336,
|
| 35 |
+
"t_end": 133.7946,
|
| 36 |
+
"instruction": "Move the objects one at a time between the far targets the operator calls, without moving your feet. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/static_manipulation/SM43/session_004/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6d230d21cd6785da540ff97bc90dfb0b728c7a0b2414a8a6c60d8ac83fe83172
|
| 3 |
+
size 798277
|
actions/static_manipulation/SM43/session_004/meta.json
CHANGED
|
@@ -338,8 +338,8 @@
|
|
| 338 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 339 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 340 |
"hands": {
|
| 341 |
-
"observed":
|
| 342 |
-
"hand_pose": "
|
| 343 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 344 |
"hand_marker_offsets_m": {
|
| 345 |
"left": {
|
|
@@ -525,10 +525,124 @@
|
|
| 525 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 526 |
"remaining_gyro_frame_deg": 0.9432648653820103
|
| 527 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 528 |
"release": {
|
| 529 |
"release_path": "actions/static_manipulation/SM43/session_004",
|
| 530 |
"family": "static_manipulation",
|
| 531 |
"primitive": "SM43",
|
| 532 |
"source_session": "20260924/SM43/20260924_122152_session174"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 533 |
}
|
| 534 |
}
|
|
|
|
| 338 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 339 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 340 |
"hands": {
|
| 341 |
+
"observed": true,
|
| 342 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 343 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 344 |
"hand_marker_offsets_m": {
|
| 345 |
"left": {
|
|
|
|
| 525 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 526 |
"remaining_gyro_frame_deg": 0.9432648653820103
|
| 527 |
},
|
| 528 |
+
"hands_registration": {
|
| 529 |
+
"cameras": {},
|
| 530 |
+
"hands": {
|
| 531 |
+
"left": {
|
| 532 |
+
"offset_deg": 11.33,
|
| 533 |
+
"offset_rotvec": [
|
| 534 |
+
0.1261,
|
| 535 |
+
-0.1349,
|
| 536 |
+
0.0707
|
| 537 |
+
],
|
| 538 |
+
"dev_deg": {
|
| 539 |
+
"median": 19.32,
|
| 540 |
+
"p90": 40.28
|
| 541 |
+
},
|
| 542 |
+
"samples": 3807,
|
| 543 |
+
"accepted": 2993,
|
| 544 |
+
"wrist_pos_err_mm_median": 98.4,
|
| 545 |
+
"per_camera": {
|
| 546 |
+
"head": {
|
| 547 |
+
"samples": 3807,
|
| 548 |
+
"accepted": 2993,
|
| 549 |
+
"gate_deg": 30.0,
|
| 550 |
+
"offset_deg": 11.33,
|
| 551 |
+
"tier": "primary",
|
| 552 |
+
"dev_deg_median": 19.32,
|
| 553 |
+
"wrist_pos_err_mm_median": 98.4
|
| 554 |
+
}
|
| 555 |
+
},
|
| 556 |
+
"frames_by_state": {
|
| 557 |
+
"ace_sample": 12130,
|
| 558 |
+
"interpolated": 2634,
|
| 559 |
+
"mean_hand": 1920,
|
| 560 |
+
"no_body_fit": 0
|
| 561 |
+
},
|
| 562 |
+
"observed_fraction": 0.8849,
|
| 563 |
+
"observed_fraction_of_valid": 0.8849,
|
| 564 |
+
"palm_axis_vs_markers_deg": {
|
| 565 |
+
"gsi": 24.49,
|
| 566 |
+
"smplx": 0.55
|
| 567 |
+
},
|
| 568 |
+
"hand_marker_to_mesh_mm": {
|
| 569 |
+
"flat": {
|
| 570 |
+
"median": 10.2,
|
| 571 |
+
"p90": 12.1
|
| 572 |
+
},
|
| 573 |
+
"registered": {
|
| 574 |
+
"median": 9.6,
|
| 575 |
+
"p90": 11.1
|
| 576 |
+
}
|
| 577 |
+
}
|
| 578 |
+
},
|
| 579 |
+
"right": {
|
| 580 |
+
"offset_deg": 11.35,
|
| 581 |
+
"offset_rotvec": [
|
| 582 |
+
0.1846,
|
| 583 |
+
-0.0158,
|
| 584 |
+
-0.0701
|
| 585 |
+
],
|
| 586 |
+
"dev_deg": {
|
| 587 |
+
"median": 19.3,
|
| 588 |
+
"p90": 33.14
|
| 589 |
+
},
|
| 590 |
+
"samples": 3547,
|
| 591 |
+
"accepted": 3064,
|
| 592 |
+
"wrist_pos_err_mm_median": 86.1,
|
| 593 |
+
"per_camera": {
|
| 594 |
+
"head": {
|
| 595 |
+
"samples": 3547,
|
| 596 |
+
"accepted": 3064,
|
| 597 |
+
"gate_deg": 30.0,
|
| 598 |
+
"offset_deg": 11.35,
|
| 599 |
+
"tier": "primary",
|
| 600 |
+
"dev_deg_median": 19.3,
|
| 601 |
+
"wrist_pos_err_mm_median": 86.1
|
| 602 |
+
}
|
| 603 |
+
},
|
| 604 |
+
"frames_by_state": {
|
| 605 |
+
"ace_sample": 12414,
|
| 606 |
+
"interpolated": 2794,
|
| 607 |
+
"mean_hand": 1476,
|
| 608 |
+
"no_body_fit": 0
|
| 609 |
+
},
|
| 610 |
+
"observed_fraction": 0.9115,
|
| 611 |
+
"observed_fraction_of_valid": 0.9115,
|
| 612 |
+
"palm_axis_vs_markers_deg": {
|
| 613 |
+
"gsi": 18.87,
|
| 614 |
+
"smplx": 1.36
|
| 615 |
+
},
|
| 616 |
+
"hand_marker_to_mesh_mm": {
|
| 617 |
+
"flat": {
|
| 618 |
+
"median": 6.5,
|
| 619 |
+
"p90": 7.5
|
| 620 |
+
},
|
| 621 |
+
"registered": {
|
| 622 |
+
"median": 5.0,
|
| 623 |
+
"p90": 6.5
|
| 624 |
+
}
|
| 625 |
+
}
|
| 626 |
+
}
|
| 627 |
+
},
|
| 628 |
+
"max_dev_deg": 30.0,
|
| 629 |
+
"max_gap_s": 1.0,
|
| 630 |
+
"cameras_used": [
|
| 631 |
+
"head"
|
| 632 |
+
],
|
| 633 |
+
"generated_at_utc": "2026-11-03T22:33:53.663114+00:00",
|
| 634 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 635 |
+
"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",
|
| 636 |
+
"wrist_flip_suspect": []
|
| 637 |
+
},
|
| 638 |
"release": {
|
| 639 |
"release_path": "actions/static_manipulation/SM43/session_004",
|
| 640 |
"family": "static_manipulation",
|
| 641 |
"primitive": "SM43",
|
| 642 |
"source_session": "20260924/SM43/20260924_122152_session174"
|
| 643 |
+
},
|
| 644 |
+
"task": {
|
| 645 |
+
"primitive": "SM43",
|
| 646 |
+
"instruction": "Move the objects one at a time between the far targets the operator calls, without moving your feet. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
| 647 |
}
|
| 648 |
}
|
actions/static_manipulation/SM43/session_004/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ebb456c4b4d50077c893d450c67ad4593a7e18cd49a58f2e8b3f5e2f5aa6021f
|
| 3 |
+
size 5029818
|
actions/static_manipulation/SM43/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:a4373700a49d50a56d9d1c33ca7793c1e3fa3ff404b0ab0e1f351f9e2bdc1442
|
| 3 |
+
size 11525710
|
actions/static_manipulation/SM43/session_005/annotations.json
ADDED
|
@@ -0,0 +1,39 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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": "SM43",
|
| 6 |
+
"instruction": "Move the objects one at a time between the far targets the operator calls, without moving your feet. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 110.666589,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03949393843743927
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "7e0f276e-657b-4208-ac90-04a2bf915c9a",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "SM43",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 2.038,
|
| 22 |
+
"end_s": 55.55,
|
| 23 |
+
"t_start": 2.0775,
|
| 24 |
+
"t_end": 55.5895,
|
| 25 |
+
"instruction": "Move the objects one at a time between the far targets the operator calls, without moving your feet. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"id": "801350c2-08e7-4186-9f0b-215722a565ed",
|
| 29 |
+
"segment": "segment1",
|
| 30 |
+
"action": "SM43",
|
| 31 |
+
"quality": "valid",
|
| 32 |
+
"start_s": 55.55,
|
| 33 |
+
"end_s": 102.622,
|
| 34 |
+
"t_start": 55.5895,
|
| 35 |
+
"t_end": 102.6615,
|
| 36 |
+
"instruction": "Move the objects one at a time between the far targets the operator calls, without moving your feet. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/static_manipulation/SM43/session_005/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,259 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 15,
|
| 5 |
+
"median_px": 0.445
|
| 6 |
+
},
|
| 7 |
+
"cameras": {
|
| 8 |
+
"left": {
|
| 9 |
+
"accepted": true,
|
| 10 |
+
"against": [
|
| 11 |
+
"left_front",
|
| 12 |
+
"right_front",
|
| 13 |
+
"left_eye",
|
| 14 |
+
"right_eye",
|
| 15 |
+
"right"
|
| 16 |
+
],
|
| 17 |
+
"delta_deg": 2.3413,
|
| 18 |
+
"gate_fail": [],
|
| 19 |
+
"held_out_px_after": 0.715,
|
| 20 |
+
"held_out_px_before": 12.084,
|
| 21 |
+
"inliers": 2504,
|
| 22 |
+
"position_fitted": false,
|
| 23 |
+
"rotvec_deg": [
|
| 24 |
+
1.6629,
|
| 25 |
+
-1.412,
|
| 26 |
+
0.8502
|
| 27 |
+
],
|
| 28 |
+
"split_deg": 0.0296,
|
| 29 |
+
"usable": true
|
| 30 |
+
},
|
| 31 |
+
"left_eye": {
|
| 32 |
+
"accepted": true,
|
| 33 |
+
"against": [
|
| 34 |
+
"left_front",
|
| 35 |
+
"right_front",
|
| 36 |
+
"right_eye",
|
| 37 |
+
"left",
|
| 38 |
+
"right"
|
| 39 |
+
],
|
| 40 |
+
"delta_deg": 0.6801,
|
| 41 |
+
"gate_fail": [],
|
| 42 |
+
"held_out_px_after": 0.623,
|
| 43 |
+
"held_out_px_before": 4.414,
|
| 44 |
+
"inliers": 3076,
|
| 45 |
+
"position_fitted": true,
|
| 46 |
+
"position_mm": [
|
| 47 |
+
-2.76,
|
| 48 |
+
-18.04,
|
| 49 |
+
3.29
|
| 50 |
+
],
|
| 51 |
+
"position_sigma_mm": 0.167,
|
| 52 |
+
"position_split_mm": 0.613,
|
| 53 |
+
"rotvec_deg": [
|
| 54 |
+
-0.0414,
|
| 55 |
+
-0.1672,
|
| 56 |
+
0.658
|
| 57 |
+
],
|
| 58 |
+
"split_deg": 0.0565,
|
| 59 |
+
"usable": true
|
| 60 |
+
},
|
| 61 |
+
"left_front": {
|
| 62 |
+
"role": "rig origin"
|
| 63 |
+
},
|
| 64 |
+
"right": {
|
| 65 |
+
"accepted": true,
|
| 66 |
+
"against": [
|
| 67 |
+
"left_front",
|
| 68 |
+
"right_front",
|
| 69 |
+
"left_eye",
|
| 70 |
+
"right_eye",
|
| 71 |
+
"left"
|
| 72 |
+
],
|
| 73 |
+
"delta_deg": 3.6535,
|
| 74 |
+
"gate_fail": [],
|
| 75 |
+
"held_out_px_after": 0.773,
|
| 76 |
+
"held_out_px_before": 7.805,
|
| 77 |
+
"inliers": 2269,
|
| 78 |
+
"position_fitted": false,
|
| 79 |
+
"rotvec_deg": [
|
| 80 |
+
2.1476,
|
| 81 |
+
-1.1011,
|
| 82 |
+
2.7429
|
| 83 |
+
],
|
| 84 |
+
"split_deg": 0.0537,
|
| 85 |
+
"usable": true
|
| 86 |
+
},
|
| 87 |
+
"right_eye": {
|
| 88 |
+
"accepted": true,
|
| 89 |
+
"against": [
|
| 90 |
+
"left_front",
|
| 91 |
+
"right_front",
|
| 92 |
+
"left_eye",
|
| 93 |
+
"left",
|
| 94 |
+
"right"
|
| 95 |
+
],
|
| 96 |
+
"delta_deg": 1.8997,
|
| 97 |
+
"gate_fail": [],
|
| 98 |
+
"held_out_px_after": 0.442,
|
| 99 |
+
"held_out_px_before": 5.464,
|
| 100 |
+
"inliers": 4146,
|
| 101 |
+
"position_fitted": true,
|
| 102 |
+
"position_mm": [
|
| 103 |
+
-1.29,
|
| 104 |
+
-15.25,
|
| 105 |
+
3.47
|
| 106 |
+
],
|
| 107 |
+
"position_sigma_mm": 0.138,
|
| 108 |
+
"position_split_mm": 0.806,
|
| 109 |
+
"rotvec_deg": [
|
| 110 |
+
0.3936,
|
| 111 |
+
-0.8531,
|
| 112 |
+
1.6511
|
| 113 |
+
],
|
| 114 |
+
"split_deg": 0.0219,
|
| 115 |
+
"usable": true
|
| 116 |
+
},
|
| 117 |
+
"right_front": {
|
| 118 |
+
"accepted": true,
|
| 119 |
+
"against": [
|
| 120 |
+
"left_front",
|
| 121 |
+
"left_eye",
|
| 122 |
+
"right_eye",
|
| 123 |
+
"left",
|
| 124 |
+
"right"
|
| 125 |
+
],
|
| 126 |
+
"delta_deg": 0.8454,
|
| 127 |
+
"gate_fail": [],
|
| 128 |
+
"held_out_px_after": 0.371,
|
| 129 |
+
"held_out_px_before": 5.555,
|
| 130 |
+
"inliers": 6057,
|
| 131 |
+
"position_fitted": false,
|
| 132 |
+
"rotvec_deg": [
|
| 133 |
+
0.7513,
|
| 134 |
+
-0.3135,
|
| 135 |
+
-0.2278
|
| 136 |
+
],
|
| 137 |
+
"split_deg": 0.0309,
|
| 138 |
+
"usable": true
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"code_fingerprint": "711ecf5b3dd408f8",
|
| 142 |
+
"device_id": "e3296774a321bb51",
|
| 143 |
+
"factory_root_name": "e3296774a321bb51",
|
| 144 |
+
"files": {
|
| 145 |
+
"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 146 |
+
"sha256": "5508dbd5bd9220869a5fbdede604fe6d0c17280b6832a3d444442cc83898be69",
|
| 147 |
+
"source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
|
| 148 |
+
},
|
| 149 |
+
"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 150 |
+
"sha256": "9f69f9dd280e240a2cb784098da7afd1e8c19d87dbd87c56dccf8691bb4f62d1",
|
| 151 |
+
"source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
|
| 152 |
+
},
|
| 153 |
+
"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 154 |
+
"sha256": "aa2bacd2736675ba912420828b57d587ce6504a831c4e878a1b1fdbc673e7c60",
|
| 155 |
+
"source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
|
| 156 |
+
},
|
| 157 |
+
"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 158 |
+
"sha256": "01081f846616f5ef150e95b6c286016ddc71369e77faf7f4c081a84c441b7f19",
|
| 159 |
+
"source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"input_fingerprint": "0cde279bc7e2a967",
|
| 163 |
+
"kind": "online_calibration",
|
| 164 |
+
"output_sha256": "f70ac407a83df7208d4f04b77c9f06b7f9f30c725a214217a3ab846f245afd25",
|
| 165 |
+
"overlap": {
|
| 166 |
+
"left-right": 0.489,
|
| 167 |
+
"left_eye-left": 0.684,
|
| 168 |
+
"left_eye-right": 0.685,
|
| 169 |
+
"left_eye-right_eye": 1.0,
|
| 170 |
+
"left_front-left": 0.466,
|
| 171 |
+
"left_front-left_eye": 0.717,
|
| 172 |
+
"left_front-right": 0.447,
|
| 173 |
+
"left_front-right_eye": 0.72,
|
| 174 |
+
"left_front-right_front": 1.0,
|
| 175 |
+
"right_eye-left": 0.672,
|
| 176 |
+
"right_eye-right": 0.676,
|
| 177 |
+
"right_front-left": 0.469,
|
| 178 |
+
"right_front-left_eye": 0.746,
|
| 179 |
+
"right_front-right": 0.472,
|
| 180 |
+
"right_front-right_eye": 0.74
|
| 181 |
+
},
|
| 182 |
+
"picture_change": {
|
| 183 |
+
"left": 39.932,
|
| 184 |
+
"left_eye": 43.116,
|
| 185 |
+
"left_front": 47.729,
|
| 186 |
+
"right": 41.935,
|
| 187 |
+
"right_eye": 43.977,
|
| 188 |
+
"right_front": 47.153
|
| 189 |
+
},
|
| 190 |
+
"runtime": {
|
| 191 |
+
"numpy": "2.4.6",
|
| 192 |
+
"opencv": "5.0.0",
|
| 193 |
+
"scipy": "1.17.1"
|
| 194 |
+
},
|
| 195 |
+
"segment": 1,
|
| 196 |
+
"selection": {
|
| 197 |
+
"overlap_captures": [
|
| 198 |
+
12875996676111,
|
| 199 |
+
12876996809444,
|
| 200 |
+
12880996698333,
|
| 201 |
+
12881996665000,
|
| 202 |
+
12883996676111,
|
| 203 |
+
12884996665000,
|
| 204 |
+
12887996676111,
|
| 205 |
+
12888996676111,
|
| 206 |
+
12891996687222,
|
| 207 |
+
12892996653888,
|
| 208 |
+
12894996653888,
|
| 209 |
+
12895996665000,
|
| 210 |
+
12898996665000,
|
| 211 |
+
12899996653888,
|
| 212 |
+
12901996687222,
|
| 213 |
+
12902996665000,
|
| 214 |
+
12904996742777,
|
| 215 |
+
12905996731666,
|
| 216 |
+
12910996687222,
|
| 217 |
+
12911996731666,
|
| 218 |
+
12913996809444,
|
| 219 |
+
12914996665000,
|
| 220 |
+
12917996676111,
|
| 221 |
+
12918996731666,
|
| 222 |
+
12920996665000,
|
| 223 |
+
12921996665000,
|
| 224 |
+
12922996665000,
|
| 225 |
+
12923996653888,
|
| 226 |
+
12926996687222,
|
| 227 |
+
12927996665000,
|
| 228 |
+
12931996698333,
|
| 229 |
+
12933996653888,
|
| 230 |
+
12934996720555,
|
| 231 |
+
12937996687222,
|
| 232 |
+
12938996676111,
|
| 233 |
+
12940996665000,
|
| 234 |
+
12941996676111,
|
| 235 |
+
12945996653888,
|
| 236 |
+
12946996687222,
|
| 237 |
+
12948996720555,
|
| 238 |
+
12949996665000,
|
| 239 |
+
12954996676111,
|
| 240 |
+
12955996665000,
|
| 241 |
+
12957996676111,
|
| 242 |
+
12958996676111,
|
| 243 |
+
12959996687222,
|
| 244 |
+
12960996665000,
|
| 245 |
+
12962996731666,
|
| 246 |
+
12963996753888,
|
| 247 |
+
12965996665000,
|
| 248 |
+
12966996653888,
|
| 249 |
+
12972996676111,
|
| 250 |
+
12973996687222,
|
| 251 |
+
12974996653888,
|
| 252 |
+
12977996676111,
|
| 253 |
+
12978996809444,
|
| 254 |
+
12980996665000,
|
| 255 |
+
12981996665000
|
| 256 |
+
]
|
| 257 |
+
},
|
| 258 |
+
"version": 1
|
| 259 |
+
}
|
actions/static_manipulation/SM43/session_005/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8fb2cc871a09ae25fd147bb84de76f4b794d88ad8a2b4f805c83faa31a82a821
|
| 3 |
+
size 637567
|