Release update 2026-11-05: 5760 sessions, instructions, annotations (part 70)
Browse files- .gitattributes +7 -0
- actions/environment_coupled_wholebody/EC06/session_032/raw/mocap/CcYellow.csv +0 -0
- actions/environment_coupled_wholebody/EC06/session_032/raw/mocap/CcYellow.trc +0 -0
- actions/environment_coupled_wholebody/EC06/session_032/raw/mocap/Tracker0.csv +0 -0
- actions/environment_coupled_wholebody/EC06/session_032/raw/mocap/Tracker0.trc +0 -0
- actions/environment_coupled_wholebody/EC06/session_032/raw/sensors/robocap_imu_left.db +3 -0
- actions/environment_coupled_wholebody/EC06/session_032/raw/sensors/robocap_imu_right.db +3 -0
- actions/environment_coupled_wholebody/EC06/session_032/raw/sensors/robocap_mag_middle.db +3 -0
- actions/environment_coupled_wholebody/EC06/session_032/raw/sensors/robowrist_imu_left.db +3 -0
- actions/environment_coupled_wholebody/EC06/session_032/raw/sensors/robowrist_imu_right.db +3 -0
- actions/environment_coupled_wholebody/EC06/session_032/raw/sensors/robowrist_mag_left.db +3 -0
- actions/environment_coupled_wholebody/EC06/session_032/raw/sensors/robowrist_mag_right.db +3 -0
- actions/environment_coupled_wholebody/EC06/session_032/sensors/head_imu.npz +3 -0
- actions/environment_coupled_wholebody/EC06/session_032/sensors/head_mag.npz +3 -0
- actions/environment_coupled_wholebody/EC06/session_032/sensors/wrist_imu.npz +3 -0
- actions/environment_coupled_wholebody/EC06/session_032/sensors/wrist_mag.npz +3 -0
- actions/environment_coupled_wholebody/EC06/session_032/videos/frame_timestamps.npz +3 -0
- actions/environment_coupled_wholebody/EC06/session_032/videos/head_left.mp4 +3 -0
- actions/environment_coupled_wholebody/EC06/session_032/videos/head_left_eye.mp4 +3 -0
- actions/environment_coupled_wholebody/EC06/session_032/videos/head_left_front.mp4 +3 -0
- actions/environment_coupled_wholebody/EC06/session_032/videos/head_right.mp4 +3 -0
- actions/environment_coupled_wholebody/EC06/session_032/videos/head_right_eye.mp4 +3 -0
- actions/environment_coupled_wholebody/EC06/session_032/videos/head_right_front.mp4 +3 -0
- actions/environment_coupled_wholebody/EC06/session_032/videos/third_person.mp4 +3 -0
- actions/environment_coupled_wholebody/EC06/session_032/videos/wrist_left.mp4 +3 -0
- actions/environment_coupled_wholebody/EC06/session_032/videos/wrist_right.mp4 +3 -0
- actions/environment_coupled_wholebody/EC07/session_001/annotations.json +28 -0
- actions/environment_coupled_wholebody/EC07/session_001/cameras/slam.npz +3 -0
- actions/environment_coupled_wholebody/EC07/session_001/meta.json +4 -0
- actions/environment_coupled_wholebody/EC07/session_001/motions/hands_mano.npz +3 -0
- actions/environment_coupled_wholebody/EC07/session_002/annotations.json +28 -0
- actions/environment_coupled_wholebody/EC07/session_002/cameras/slam.npz +3 -0
- actions/environment_coupled_wholebody/EC07/session_002/meta.json +4 -0
- actions/environment_coupled_wholebody/EC07/session_002/motions/hands_mano.npz +3 -0
- actions/environment_coupled_wholebody/EC07/session_003/annotations.json +28 -0
- actions/environment_coupled_wholebody/EC07/session_003/cameras/slam.npz +3 -0
- actions/environment_coupled_wholebody/EC07/session_003/meta.json +116 -2
- actions/environment_coupled_wholebody/EC07/session_003/motions/hands_mano.npz +3 -0
- actions/environment_coupled_wholebody/EC07/session_003/motions/smplx.npz +2 -2
- actions/environment_coupled_wholebody/EC07/session_004/annotations.json +28 -0
- actions/environment_coupled_wholebody/EC07/session_004/cameras/slam.npz +3 -0
- actions/environment_coupled_wholebody/EC07/session_004/meta.json +116 -2
- actions/environment_coupled_wholebody/EC07/session_004/motions/hands_mano.npz +3 -0
- actions/environment_coupled_wholebody/EC07/session_004/motions/smplx.npz +2 -2
- actions/environment_coupled_wholebody/EC07/session_005/annotations.json +28 -0
- actions/environment_coupled_wholebody/EC07/session_005/cameras/gsi_online_calibration.json +220 -0
- actions/environment_coupled_wholebody/EC07/session_005/cameras/slam.npz +3 -0
- actions/environment_coupled_wholebody/EC07/session_005/meta.json +116 -2
- actions/environment_coupled_wholebody/EC07/session_005/motions/hands_mano.npz +3 -0
- actions/environment_coupled_wholebody/EC07/session_005/motions/smplx.npz +2 -2
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"family": "environment_coupled_wholebody",
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| 537 |
}
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actions/environment_coupled_wholebody/EC07/session_001/motions/hands_mano.npz
ADDED
|
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size 5996915
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actions/environment_coupled_wholebody/EC07/session_002/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
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|
|
|
|
|
| 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": "EC07",
|
| 6 |
+
"instruction": "Push the cart across the room using only the hand the operator calls. Keep your other arm at your side.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
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{
|
| 17 |
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"id": "07c622a1-7321-4368-8086-0bfd7647c2ca",
|
| 18 |
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"segment": "segment1",
|
| 19 |
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"action": "EC07",
|
| 20 |
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"quality": "valid",
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| 21 |
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|
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|
| 23 |
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| 24 |
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|
| 25 |
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"instruction": "Push the cart across the room using only the hand the operator calls. Keep your other arm at your side."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/environment_coupled_wholebody/EC07/session_002/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 3 |
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size 916935
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actions/environment_coupled_wholebody/EC07/session_002/meta.json
CHANGED
|
@@ -551,5 +551,9 @@
|
|
| 551 |
"family": "environment_coupled_wholebody",
|
| 552 |
"primitive": "EC07",
|
| 553 |
"source_session": "20260914/EC07/20260914_044539_session69"
|
|
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|
|
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|
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|
| 554 |
}
|
| 555 |
}
|
|
|
|
| 551 |
"family": "environment_coupled_wholebody",
|
| 552 |
"primitive": "EC07",
|
| 553 |
"source_session": "20260914/EC07/20260914_044539_session69"
|
| 554 |
+
},
|
| 555 |
+
"task": {
|
| 556 |
+
"primitive": "EC07",
|
| 557 |
+
"instruction": "Push the cart across the room using only the hand the operator calls. Keep your other arm at your side."
|
| 558 |
}
|
| 559 |
}
|
actions/environment_coupled_wholebody/EC07/session_002/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
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|
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 3 |
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size 6314712
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actions/environment_coupled_wholebody/EC07/session_003/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
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|
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|
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|
| 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": "EC07",
|
| 6 |
+
"instruction": "Push the cart across the room using only the hand the operator calls. Keep your other arm at your side.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
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"duration_s": 98.966644,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
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|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
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"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "b9ef801d-0231-4a88-a468-91b4eb2b629f",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "EC07",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
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"end_s": 91.838,
|
| 23 |
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|
| 24 |
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"t_end": 91.877,
|
| 25 |
+
"instruction": "Push the cart across the room using only the hand the operator calls. Keep your other arm at your side."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/environment_coupled_wholebody/EC07/session_003/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 3 |
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size 572143
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actions/environment_coupled_wholebody/EC07/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": {
|
|
@@ -508,10 +508,124 @@
|
|
| 508 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 509 |
"remaining_gyro_frame_deg": 0.6273770386736562
|
| 510 |
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|
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|
|
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|
| 511 |
"release": {
|
| 512 |
"release_path": "actions/environment_coupled_wholebody/EC07/session_003",
|
| 513 |
"family": "environment_coupled_wholebody",
|
| 514 |
"primitive": "EC07",
|
| 515 |
"source_session": "20260915/EC07/20260915_120057_session151"
|
|
|
|
|
|
|
|
|
|
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|
|
| 516 |
}
|
| 517 |
}
|
|
|
|
| 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": {
|
|
|
|
| 508 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 509 |
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|
| 510 |
},
|
| 511 |
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|
| 512 |
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"cameras": {},
|
| 513 |
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"hands": {
|
| 514 |
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"left": {
|
| 515 |
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"offset_deg": 42.78,
|
| 516 |
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|
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|
| 518 |
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|
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],
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"dev_deg": {
|
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"median": 11.66,
|
| 523 |
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"p90": 40.21
|
| 524 |
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},
|
| 525 |
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"samples": 2882,
|
| 526 |
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"accepted": 2433,
|
| 527 |
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"wrist_pos_err_mm_median": 38.7,
|
| 528 |
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"per_camera": {
|
| 529 |
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"head": {
|
| 530 |
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"samples": 2882,
|
| 531 |
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"accepted": 2433,
|
| 532 |
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"gate_deg": 30.0,
|
| 533 |
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"offset_deg": 42.78,
|
| 534 |
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"tier": "primary",
|
| 535 |
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"dev_deg_median": 11.66,
|
| 536 |
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"wrist_pos_err_mm_median": 38.7
|
| 537 |
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}
|
| 538 |
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},
|
| 539 |
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"frames_by_state": {
|
| 540 |
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"ace_sample": 9730,
|
| 541 |
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"interpolated": 118,
|
| 542 |
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|
| 543 |
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|
| 544 |
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},
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"observed_fraction": 0.8287,
|
| 546 |
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|
| 547 |
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"palm_axis_vs_markers_deg": {
|
| 548 |
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"gsi": 32.09,
|
| 549 |
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"smplx": 1.37
|
| 550 |
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},
|
| 551 |
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"hand_marker_to_mesh_mm": {
|
| 552 |
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"flat": {
|
| 553 |
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"median": 9.5,
|
| 554 |
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|
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},
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"registered": {
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| 557 |
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"median": 8.3,
|
| 558 |
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"p90": 11.1
|
| 559 |
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}
|
| 560 |
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}
|
| 561 |
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},
|
| 562 |
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"right": {
|
| 563 |
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"offset_deg": 14.15,
|
| 564 |
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"offset_rotvec": [
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| 565 |
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-0.0259,
|
| 566 |
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0.0746,
|
| 567 |
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0.234
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| 568 |
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],
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| 569 |
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"dev_deg": {
|
| 570 |
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"median": 9.46,
|
| 571 |
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"p90": 21.8
|
| 572 |
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},
|
| 573 |
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"samples": 2762,
|
| 574 |
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|
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|
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| 578 |
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| 579 |
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|
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|
| 581 |
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|
| 582 |
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|
| 583 |
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|
| 584 |
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|
| 585 |
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}
|
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},
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|
| 588 |
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|
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|
| 590 |
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|
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|
| 592 |
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},
|
| 593 |
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|
| 594 |
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|
| 595 |
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|
| 596 |
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"gsi": 7.39,
|
| 597 |
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|
| 598 |
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},
|
| 599 |
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"hand_marker_to_mesh_mm": {
|
| 600 |
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|
| 601 |
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"median": 6.3,
|
| 602 |
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|
| 603 |
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},
|
| 604 |
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"registered": {
|
| 605 |
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"median": 5.5,
|
| 606 |
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"p90": 6.5
|
| 607 |
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}
|
| 608 |
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}
|
| 609 |
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}
|
| 610 |
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},
|
| 611 |
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"max_dev_deg": 30.0,
|
| 612 |
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|
| 613 |
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"cameras_used": [
|
| 614 |
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"head"
|
| 615 |
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],
|
| 616 |
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"generated_at_utc": "2026-11-03T19:33:18.300237+00:00",
|
| 617 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 618 |
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"conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
|
| 619 |
+
"wrist_flip_suspect": []
|
| 620 |
+
},
|
| 621 |
"release": {
|
| 622 |
"release_path": "actions/environment_coupled_wholebody/EC07/session_003",
|
| 623 |
"family": "environment_coupled_wholebody",
|
| 624 |
"primitive": "EC07",
|
| 625 |
"source_session": "20260915/EC07/20260915_120057_session151"
|
| 626 |
+
},
|
| 627 |
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"task": {
|
| 628 |
+
"primitive": "EC07",
|
| 629 |
+
"instruction": "Push the cart across the room using only the hand the operator calls. Keep your other arm at your side."
|
| 630 |
}
|
| 631 |
}
|
actions/environment_coupled_wholebody/EC07/session_003/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:7eb36fb1ef6eb027a5ab8f76036e36bfedb2e2f37392313d89744b714808c639
|
| 3 |
+
size 3814659
|
actions/environment_coupled_wholebody/EC07/session_003/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
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|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b4b316227692f4b83ad97859593e1a383d4514645597c65f92b3519779490fe0
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| 3 |
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size 8177780
|
actions/environment_coupled_wholebody/EC07/session_004/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
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|
|
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|
| 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": "EC07",
|
| 6 |
+
"instruction": "Push the cart across the room using only the hand the operator calls. Keep your other arm at your side.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 83.966678,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03879072424995855
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "250c333c-eaaa-4d6b-ad9a-0ad6fb010e80",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "EC07",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 76.037,
|
| 23 |
+
"t_start": 0.0388,
|
| 24 |
+
"t_end": 76.0758,
|
| 25 |
+
"instruction": "Push the cart across the room using only the hand the operator calls. Keep your other arm at your side."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/environment_coupled_wholebody/EC07/session_004/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:38bb653a88b6b55e4ba869b270d5d33b41430f6eacc9ffcb92b756651e11015e
|
| 3 |
+
size 485905
|
actions/environment_coupled_wholebody/EC07/session_004/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": {
|
|
@@ -507,10 +507,124 @@
|
|
| 507 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 508 |
"remaining_gyro_frame_deg": 0.743858358335108
|
| 509 |
},
|
|
|
|
|
|
|
|
|
|
|
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|
| 510 |
"release": {
|
| 511 |
"release_path": "actions/environment_coupled_wholebody/EC07/session_004",
|
| 512 |
"family": "environment_coupled_wholebody",
|
| 513 |
"primitive": "EC07",
|
| 514 |
"source_session": "20260915/EC07/20260915_120253_session152"
|
|
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|
|
|
|
|
|
|
|
|
| 515 |
}
|
| 516 |
}
|
|
|
|
| 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": {
|
|
|
|
| 507 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 508 |
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|
| 509 |
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|
| 510 |
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"hands_registration": {
|
| 511 |
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"cameras": {},
|
| 512 |
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"hands": {
|
| 513 |
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"left": {
|
| 514 |
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"offset_deg": 9.48,
|
| 515 |
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"offset_rotvec": [
|
| 516 |
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|
| 517 |
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|
| 518 |
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|
| 519 |
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],
|
| 520 |
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"dev_deg": {
|
| 521 |
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"median": 15.41,
|
| 522 |
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"p90": 24.41
|
| 523 |
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},
|
| 524 |
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"samples": 2248,
|
| 525 |
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"accepted": 2107,
|
| 526 |
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"wrist_pos_err_mm_median": 117.7,
|
| 527 |
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"per_camera": {
|
| 528 |
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"head": {
|
| 529 |
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"samples": 2248,
|
| 530 |
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"accepted": 2107,
|
| 531 |
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"gate_deg": 30.0,
|
| 532 |
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"offset_deg": 9.48,
|
| 533 |
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"tier": "primary",
|
| 534 |
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"dev_deg_median": 15.41,
|
| 535 |
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"wrist_pos_err_mm_median": 117.7
|
| 536 |
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}
|
| 537 |
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},
|
| 538 |
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"frames_by_state": {
|
| 539 |
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"ace_sample": 8507,
|
| 540 |
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"interpolated": 1308,
|
| 541 |
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"mean_hand": 261,
|
| 542 |
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|
| 543 |
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},
|
| 544 |
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"observed_fraction": 0.9733,
|
| 545 |
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"observed_fraction_of_valid": 0.9741,
|
| 546 |
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"palm_axis_vs_markers_deg": {
|
| 547 |
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"gsi": 11.97,
|
| 548 |
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"smplx": 1.55
|
| 549 |
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},
|
| 550 |
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"hand_marker_to_mesh_mm": {
|
| 551 |
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"flat": {
|
| 552 |
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"median": 9.1,
|
| 553 |
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"p90": 15.2
|
| 554 |
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},
|
| 555 |
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"registered": {
|
| 556 |
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"median": 9.0,
|
| 557 |
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"p90": 12.2
|
| 558 |
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}
|
| 559 |
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}
|
| 560 |
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},
|
| 561 |
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"right": {
|
| 562 |
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"offset_deg": 22.94,
|
| 563 |
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"offset_rotvec": [
|
| 564 |
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-0.1357,
|
| 565 |
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-0.1819,
|
| 566 |
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0.3299
|
| 567 |
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],
|
| 568 |
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"dev_deg": {
|
| 569 |
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"median": 10.02,
|
| 570 |
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"p90": 25.28
|
| 571 |
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},
|
| 572 |
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"samples": 2468,
|
| 573 |
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"accepted": 2332,
|
| 574 |
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"wrist_pos_err_mm_median": 68.6,
|
| 575 |
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"per_camera": {
|
| 576 |
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"head": {
|
| 577 |
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"samples": 2468,
|
| 578 |
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"accepted": 2332,
|
| 579 |
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"gate_deg": 30.0,
|
| 580 |
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"offset_deg": 22.94,
|
| 581 |
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"tier": "primary",
|
| 582 |
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"dev_deg_median": 10.02,
|
| 583 |
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"wrist_pos_err_mm_median": 68.6
|
| 584 |
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}
|
| 585 |
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},
|
| 586 |
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"frames_by_state": {
|
| 587 |
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"ace_sample": 9350,
|
| 588 |
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"interpolated": 482,
|
| 589 |
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"mean_hand": 244,
|
| 590 |
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|
| 591 |
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},
|
| 592 |
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"observed_fraction": 0.975,
|
| 593 |
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"observed_fraction_of_valid": 0.9758,
|
| 594 |
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"palm_axis_vs_markers_deg": {
|
| 595 |
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"gsi": 11.94,
|
| 596 |
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"smplx": 1.38
|
| 597 |
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},
|
| 598 |
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"hand_marker_to_mesh_mm": {
|
| 599 |
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"flat": {
|
| 600 |
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"median": 11.2,
|
| 601 |
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"p90": 16.3
|
| 602 |
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},
|
| 603 |
+
"registered": {
|
| 604 |
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"median": 10.8,
|
| 605 |
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"p90": 13.5
|
| 606 |
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}
|
| 607 |
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}
|
| 608 |
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}
|
| 609 |
+
},
|
| 610 |
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"max_dev_deg": 30.0,
|
| 611 |
+
"max_gap_s": 1.0,
|
| 612 |
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"cameras_used": [
|
| 613 |
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"head"
|
| 614 |
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],
|
| 615 |
+
"generated_at_utc": "2026-11-03T12:15:16.830543+00:00",
|
| 616 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 617 |
+
"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",
|
| 618 |
+
"wrist_flip_suspect": []
|
| 619 |
+
},
|
| 620 |
"release": {
|
| 621 |
"release_path": "actions/environment_coupled_wholebody/EC07/session_004",
|
| 622 |
"family": "environment_coupled_wholebody",
|
| 623 |
"primitive": "EC07",
|
| 624 |
"source_session": "20260915/EC07/20260915_120253_session152"
|
| 625 |
+
},
|
| 626 |
+
"task": {
|
| 627 |
+
"primitive": "EC07",
|
| 628 |
+
"instruction": "Push the cart across the room using only the hand the operator calls. Keep your other arm at your side."
|
| 629 |
}
|
| 630 |
}
|
actions/environment_coupled_wholebody/EC07/session_004/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ac1c756c7e61002ce8fe52a07eb2192db72b3f62f909956983393e53b7992b2b
|
| 3 |
+
size 3188131
|
actions/environment_coupled_wholebody/EC07/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 sha256:15d5e27fcf08b78f47e1b7a879a1fd07381724b3379b07fc1083fa2fcaa29746
|
| 3 |
+
size 7204357
|
actions/environment_coupled_wholebody/EC07/session_005/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
| 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": "EC07",
|
| 6 |
+
"instruction": "Push the cart across the room using only the hand the operator calls. Keep your other arm at your side.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 145.899944,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.039482602650458096
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "4a31590f-b578-4cd9-a7ff-c5784128af24",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "EC07",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1.063,
|
| 22 |
+
"end_s": 143.275,
|
| 23 |
+
"t_start": 1.1025,
|
| 24 |
+
"t_end": 143.3145,
|
| 25 |
+
"instruction": "Push the cart across the room using only the hand the operator calls. Keep your other arm at your side."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/environment_coupled_wholebody/EC07/session_005/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,220 @@
|
|
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actions/environment_coupled_wholebody/EC07/session_005/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:9bdf28bf3036ebf7a001ca9645452d0979e395dc72d363908b7b30009d09e2d1
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| 3 |
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size 839810
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actions/environment_coupled_wholebody/EC07/session_005/meta.json
CHANGED
|
@@ -381,8 +381,8 @@
|
|
| 381 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 382 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 383 |
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|
| 384 |
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|
| 385 |
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|
| 386 |
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|
| 387 |
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|
| 388 |
"left": {
|
|
@@ -521,12 +521,126 @@
|
|
| 521 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 522 |
}
|
| 523 |
},
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 524 |
"release": {
|
| 525 |
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|
| 526 |
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|
| 527 |
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| 528 |
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|
| 529 |
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|
| 530 |
"objects": [
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| 531 |
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| 532 |
"name": "LittleBox1",
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|
|
|
| 381 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 382 |
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|
| 383 |
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| 384 |
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"observed": true,
|
| 385 |
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"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 386 |
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|
| 387 |
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|
| 388 |
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|
|
|
| 521 |
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|
| 522 |
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|
| 523 |
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|
| 524 |
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|
| 525 |
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|
| 526 |
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| 527 |
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|
| 537 |
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},
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| 538 |
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|
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|
| 540 |
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|
| 541 |
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|
| 542 |
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"head": {
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| 543 |
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|
| 544 |
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"accepted": 2061,
|
| 545 |
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|
| 546 |
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|
| 547 |
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"tier": "primary",
|
| 548 |
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"dev_deg_median": 14.98,
|
| 549 |
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|
| 550 |
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}
|
| 551 |
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},
|
| 552 |
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|
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|
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"gsi": 18.48,
|
| 562 |
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"smplx": 1.41
|
| 563 |
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},
|
| 564 |
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"hand_marker_to_mesh_mm": {
|
| 565 |
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"flat": {
|
| 566 |
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"median": 14.0,
|
| 567 |
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"p90": 19.8
|
| 568 |
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},
|
| 569 |
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"registered": {
|
| 570 |
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"median": 13.1,
|
| 571 |
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"p90": 18.2
|
| 572 |
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}
|
| 573 |
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}
|
| 574 |
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},
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| 575 |
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"right": {
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| 576 |
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|
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| 578 |
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0.0038,
|
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|
| 581 |
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| 582 |
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|
| 583 |
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"median": 12.91,
|
| 584 |
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|
| 585 |
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},
|
| 586 |
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"samples": 2544,
|
| 587 |
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|
| 588 |
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|
| 589 |
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"per_camera": {
|
| 590 |
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"head": {
|
| 591 |
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"samples": 2544,
|
| 592 |
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|
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|
| 594 |
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|
| 595 |
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"tier": "primary",
|
| 596 |
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|
| 597 |
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|
| 598 |
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}
|
| 599 |
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},
|
| 600 |
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|
| 601 |
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|
| 602 |
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"interpolated": 326,
|
| 603 |
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"mean_hand": 8754,
|
| 604 |
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"no_body_fit": 8
|
| 605 |
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},
|
| 606 |
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"observed_fraction": 0.4998,
|
| 607 |
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"observed_fraction_of_valid": 0.5,
|
| 608 |
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"palm_axis_vs_markers_deg": {
|
| 609 |
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|
| 610 |
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"smplx": 2.54
|
| 611 |
+
},
|
| 612 |
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"hand_marker_to_mesh_mm": {
|
| 613 |
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"flat": {
|
| 614 |
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"median": 10.7,
|
| 615 |
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"p90": 13.8
|
| 616 |
+
},
|
| 617 |
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"registered": {
|
| 618 |
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"median": 9.7,
|
| 619 |
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"p90": 11.6
|
| 620 |
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}
|
| 621 |
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}
|
| 622 |
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}
|
| 623 |
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},
|
| 624 |
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|
| 625 |
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|
| 626 |
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"cameras_used": [
|
| 627 |
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"head"
|
| 628 |
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],
|
| 629 |
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"generated_at_utc": "2026-11-03T21:49:21.838613+00:00",
|
| 630 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 631 |
+
"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",
|
| 632 |
+
"wrist_flip_suspect": []
|
| 633 |
+
},
|
| 634 |
"release": {
|
| 635 |
"release_path": "actions/environment_coupled_wholebody/EC07/session_005",
|
| 636 |
"family": "environment_coupled_wholebody",
|
| 637 |
"primitive": "EC07",
|
| 638 |
"source_session": "20261016/EC07/20261016_075434_session101"
|
| 639 |
},
|
| 640 |
+
"task": {
|
| 641 |
+
"primitive": "EC07",
|
| 642 |
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"instruction": "Push the cart across the room using only the hand the operator calls. Keep your other arm at your side."
|
| 643 |
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},
|
| 644 |
"objects": [
|
| 645 |
{
|
| 646 |
"name": "LittleBox1",
|
actions/environment_coupled_wholebody/EC07/session_005/motions/hands_mano.npz
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|
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CHANGED
|
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