retargetingkit assets

.gitattributes

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+*.7z filter=lfs diff=lfs merge=lfs -text
+*.arrow filter=lfs diff=lfs merge=lfs -text
+*.avro filter=lfs diff=lfs merge=lfs -text
+*.bin filter=lfs diff=lfs merge=lfs -text
+*.bz2 filter=lfs diff=lfs merge=lfs -text
+*.ckpt filter=lfs diff=lfs merge=lfs -text
+*.ftz filter=lfs diff=lfs merge=lfs -text
+*.gz filter=lfs diff=lfs merge=lfs -text
+*.h5 filter=lfs diff=lfs merge=lfs -text
+*.joblib filter=lfs diff=lfs merge=lfs -text
+*.lfs.* filter=lfs diff=lfs merge=lfs -text
+*.lz4 filter=lfs diff=lfs merge=lfs -text
+*.mds filter=lfs diff=lfs merge=lfs -text
+*.mlmodel filter=lfs diff=lfs merge=lfs -text
+*.model filter=lfs diff=lfs merge=lfs -text
+*.msgpack filter=lfs diff=lfs merge=lfs -text
+*.npy filter=lfs diff=lfs merge=lfs -text
+*.npz filter=lfs diff=lfs merge=lfs -text
+*.onnx filter=lfs diff=lfs merge=lfs -text
+*.ot filter=lfs diff=lfs merge=lfs -text
+*.parquet filter=lfs diff=lfs merge=lfs -text
+*.pb filter=lfs diff=lfs merge=lfs -text
+*.pickle filter=lfs diff=lfs merge=lfs -text
+*.pkl filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.pth filter=lfs diff=lfs merge=lfs -text
+*.rar filter=lfs diff=lfs merge=lfs -text
+*.safetensors filter=lfs diff=lfs merge=lfs -text
+saved_model/**/* filter=lfs diff=lfs merge=lfs -text
+*.tar.* filter=lfs diff=lfs merge=lfs -text
+*.tar filter=lfs diff=lfs merge=lfs -text
+*.tflite filter=lfs diff=lfs merge=lfs -text
+*.tgz filter=lfs diff=lfs merge=lfs -text
+*.wasm filter=lfs diff=lfs merge=lfs -text
+*.xz filter=lfs diff=lfs merge=lfs -text
+*.zip filter=lfs diff=lfs merge=lfs -text
+*.zst filter=lfs diff=lfs merge=lfs -text
+*tfevents* filter=lfs diff=lfs merge=lfs -text
+# Audio files - uncompressed
+*.pcm filter=lfs diff=lfs merge=lfs -text
+*.sam filter=lfs diff=lfs merge=lfs -text
+*.raw filter=lfs diff=lfs merge=lfs -text
+# Audio files - compressed
+*.aac filter=lfs diff=lfs merge=lfs -text
+*.flac filter=lfs diff=lfs merge=lfs -text
+*.mp3 filter=lfs diff=lfs merge=lfs -text
+*.ogg filter=lfs diff=lfs merge=lfs -text
+*.wav filter=lfs diff=lfs merge=lfs -text
+# Image files - uncompressed
+*.bmp filter=lfs diff=lfs merge=lfs -text
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.tiff filter=lfs diff=lfs merge=lfs -text
+# Image files - compressed
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.jpeg filter=lfs diff=lfs merge=lfs -text
+*.webp filter=lfs diff=lfs merge=lfs -text
+# Video files - compressed
+*.mp4 filter=lfs diff=lfs merge=lfs -text
+*.webm filter=lfs diff=lfs merge=lfs -text

LICENSES.md

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+# Asset licenses
+
+Assets are under their own licenses. This inventory is not redistribution clearance.
+
+| Folder | Source | Terms |
+| --- | --- | --- |
+| [data/dexmachina_hoi](data/dexmachina_hoi/README.md) | ARCTIC clips selected by DexMachina | Subject to the [ARCTIC](https://arctic.is.tue.mpg.de/) terms, which restrict redistribution. Not relicensed here. |
+| [data/oakink2_hoi](data/oakink2_hoi/README.md) | [OakInk2](https://huggingface.co/datasets/kelvin34501/OakInk-v2) | CC BY-SA 4.0 |
+| data/sample_bvh | Not recorded | No license located. Confirm the source. |
+| data/neural_hand/human/mano | MANO-format hand poses | Confirm the [MANO](https://mano.is.tue.mpg.de/) terms. |
+| data/calib_data, data/example_data, data/neural_hand, models/ik_model | RetargetingKit | No license located. |

README.md

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+---
+license: other
+tags:
+  - robotics
+  - retargeting
+---
+
+# retargetingkit assets
+
+Recordings, calibration data, and neural hand checkpoints for
+[RetargetingKit](https://github.com/openrobokit/retargetingkit). Robot models and shared datasets live in
+[`openrobokit/robokit`](https://huggingface.co/datasets/openrobokit/robokit).
+
+## Layout
+
+```
+data/
+  calib_data/      # Manus calibration
+  dexmachina_hoi/  # ARCTIC-derived hand-object clips
+  example_data/    # Manus and Vision Pro hand recordings
+  neural_hand/     # neural hand training data
+  oakink2_hoi/     # OakInk2 hand-object clips
+  sample_bvh/      # sample full-body motion
+models/
+  ik_model/        # neural hand checkpoints
+```
+
+## Consuming
+
+RetargetingKit reads these files through `retargetingkit.assets`, pinned to a dataset commit and cached under
+`~/.retargetingkit/assets/<revision>/`.
+
+## Licenses
+
+See [LICENSES.md](LICENSES.md).

data/calib_data/manus/calib.npz

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data/dexmachina_hoi/README.md

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+# dexmachina_hoi
+
+Seven canonical bimanual hand-object clips from the ARCTIC ranges selected by DexMachina.
+Each NPZ stores synchronized wrist-local MANO-21 keypoints, wrist and object poses, object
+meshes, and object-local contacts. `manifest.json` records clip order and provenance.
+
+The source data remains subject to its original terms. This bundle does not relicense it.
+
+- DexMachina: https://project-dexmachina.github.io/
+- ARCTIC: https://arctic.is.tue.mpg.de/
+
+## Wrist coordinate convention
+
+- palm forward: `-y`
+- four fingers toward fingertips: `-x`
+- pose: `[x, y, z, qw, qx, qy, qz]` in meters

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data/dexmachina_hoi/manifest.json

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+  "name": "dexmachina_hoi",
+  "version": 2,
+  "source": "dexmachina",
+  "clips": [
+    {
+      "id": "dexmachina_ketchup_use_01_0030_0130",
+      "label": "DexMachina \u00b7 ketchup (short)",
+      "source": "dexmachina",
+      "source_clip": "s01/ketchup_use_01[30:130]",
+      "path": "dexmachina_ketchup_use_01_0030_0130.npz"
+    },
+    {
+      "id": "dexmachina_box_use_01_0030_0230",
+      "label": "DexMachina \u00b7 box (short)",
+      "source": "dexmachina",
+      "source_clip": "s01/box_use_01[30:230]",
+      "path": "dexmachina_box_use_01_0030_0230.npz"
+    },
+    {
+      "id": "dexmachina_mixer_use_01_0030_0200",
+      "label": "DexMachina \u00b7 mixer (short)",
+      "source": "dexmachina",
+      "source_clip": "s01/mixer_use_01[30:200]",
+      "path": "dexmachina_mixer_use_01_0030_0200.npz"
+    },
+    {
+      "id": "dexmachina_ketchup_use_02_0040_0340",
+      "label": "DexMachina \u00b7 ketchup (long)",
+      "source": "dexmachina",
+      "source_clip": "s01/ketchup_use_02[40:340]",
+      "path": "dexmachina_ketchup_use_02_0040_0340.npz"
+    },
+    {
+      "id": "dexmachina_mixer_use_01_0040_0340",
+      "label": "DexMachina \u00b7 mixer (long)",
+      "source": "dexmachina",
+      "source_clip": "s01/mixer_use_01[40:340]",
+      "path": "dexmachina_mixer_use_01_0040_0340.npz"
+    },
+    {
+      "id": "dexmachina_notebook_use_02_0040_0340",
+      "label": "DexMachina \u00b7 notebook (long)",
+      "source": "dexmachina",
+      "source_clip": "s02/notebook_use_02[40:340]",
+      "path": "dexmachina_notebook_use_02_0040_0340.npz"
+    },
+    {
+      "id": "dexmachina_waffleiron_use_01_0040_0340",
+      "label": "DexMachina \u00b7 waffle iron (long)",
+      "source": "dexmachina",
+      "source_clip": "s01/waffleiron_use_01[40:340]",
+      "path": "dexmachina_waffleiron_use_01_0040_0340.npz"
+    }
+  ],
+  "wrist_coordinate": {
+    "pose": "[x, y, z, qw, qx, qy, qz]",
+    "palm_forward_axis": "-y",
+    "four_fingers_up_axis": "-x"
+  }
+}

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data/oakink2_hoi/README.md

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+---
+license: cc-by-sa-4.0
+---
+# OakInk2 hand-object clips
+
+Four 30 Hz clips converted from the OakInk2 preview annotations into the RetargetingKit canonical hand-object NPZ format. Contacts are derived from the five MANO fingertips with a 5 mm distance threshold.
+
+Source: [kelvin34501/OakInk-v2](https://huggingface.co/datasets/kelvin34501/OakInk-v2)
+
+OakInk2 is licensed under [CC BY-SA 4.0](https://creativecommons.org/licenses/by-sa/4.0/).

data/oakink2_hoi/manifest.json

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+  "name": "oakink2_hoi",
+  "version": 1,
+  "source": "OakInk2",
+  "source_repo": "kelvin34501/OakInk-v2",
+  "license": "CC BY-SA 4.0",
+  "clips": [
+    {
+      "id": "oakink2_pour_0944_3234_s4",
+      "label": "OakInk2 · pour",
+      "source": "oakink2",
+      "source_clip": "scene_01__A003++seq__8bb23fd4e4bc153096ec__2023-04-16-10-46-51[944:3234:4]",
+      "path": "oakink2_pour_0944_3234_s4.npz"
+    },
+    {
+      "id": "oakink2_remove_lid_1454_3595_s4",
+      "label": "OakInk2 · remove lid",
+      "source": "oakink2",
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+    },
+    {
+      "id": "oakink2_put_on_lid_5324_6849_s4",
+      "label": "OakInk2 · put on lid",
+      "source": "oakink2",
+      "source_clip": "scene_02__A001++seq__0f4a778adc8edfb1d3e4__2023-04-15-19-06-20[5324:6849:4]",
+      "path": "oakink2_put_on_lid_5324_6849_s4.npz"
+    },
+    {
+      "id": "oakink2_close_book_1635_3884_s4",
+      "label": "OakInk2 · close book",
+      "source": "oakink2",
+      "source_clip": "scene_02__A001++seq__4b2fa05a5d0df71c5601__2023-04-18-14-32-02[1635:3884:4]",
+      "path": "oakink2_close_book_1635_3884_s4.npz"
+    }
+  ],
+  "contact": {
+    "links": "five MANO fingertips",
+    "distance_threshold_m": 0.005
+  },
+  "wrist_coordinate": {
+    "pose": "[x, y, z, qw, qx, qy, qz]",
+    "palm_forward_axis": "-y",
+    "four_fingers_up_axis": "-x"
+  }
+}

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data/oakink2_hoi/oakink2_remove_lid_1454_3595_s4.npz

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models/ik_model/allegro_motion_alignment/manifest.yaml

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+format_version: 2
+hand: allegro
+joint_names:
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+- joint_1.0
+- joint_2.0
+- joint_3.0
+- joint_4.0
+- joint_5.0
+- joint_6.0
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+- joint_11.0
+- joint_12.0
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+- joint_14.0
+- joint_15.0
+finger_joint_names:
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+  - joint_1.0
+  - joint_2.0
+  - joint_3.0
+- - joint_4.0
+  - joint_5.0
+  - joint_6.0
+  - joint_7.0
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+  - joint_10.0
+  - joint_11.0
+- - joint_12.0
+  - joint_13.0
+  - joint_14.0
+  - joint_15.0
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models/ik_model/allegro_motion_alignment/train.yaml

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+hand: allegro
+output: ik_model/allegro_motion_alignment
+data:
+  unsupervised:
+  - mano_alex
+  pair:
+  - asset: allegro_open
+    source_weight: 6.0
+    finger_mask:
+    - - 1
+      - 1
+      - 1
+      - 1
+  - asset: allegro_open_motion
+    source_weight: 4.0
+    finger_mask:
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+      - 1
+      - 1
+      - 0
+  - asset: allegro_index_motion
+    source_weight: 0.2
+    finger_mask:
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+  - asset: allegro_pinch
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+    finger_mask:
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+  - asset: allegro_index_pinch_motion
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+    finger_mask:
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+      - 0
+      - 0
+      - 0
+  - asset: allegro_middle_pinch_motion
+    source_weight: 2.0
+    finger_mask:
+    - - 0
+      - 1
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+      - 0
+  - asset: allegro_ring_pinch_motion
+    source_weight: 2.0
+    finger_mask:
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+      - 0
+      - 1
+      - 0
+  - asset: allegro_rest
+    source_weight: 1.0
+    finger_mask:
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+      - 1
+      - 1
+      - 1
+  geo: []
+  training_samples: 20000
+  voxel_size_m: 0.003
+workspace:
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+objective:
+  pair: 40.0
+  pair_position: 5000.0
+  geo: 0.0
+  motion:
+    formula: motion_alignment
+    weight: 50.0
+    directions: 64
+    temperature: 0.05
+    perturb_min_m: 0.001
+    perturb_max_m: 0.011
+  conformal: 0.0
+  chamfer: 0.0
+  curvature:
+    weight: 1000000.0
+    step_m: 0.002
+  pinch:
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+    threshold_m: 0.015
+  interfinger:
+    weight: 100.0
+    margin_scale: 0.3
+    min_margin_m: 0.001
+  collision:
+    weight: 0.0
+    margin_m: 0.0
+optimization:
+  epochs: 500
+  batch_size: 2048
+  learning_rate: 0.0002
+  schedule: cosine
+  warmup_epochs: 10
+  ema_decay: 0.995
+  seed: 7
+provenance:
+  assets_revision: main
+  asset_sha256:
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+    data/neural_hand/pairs/allegro/index_pinch_motion.npz: 21823434c6eccfd556adde55a173ad80791f66c10cf7135ccfc1a9441df24da6
+    data/neural_hand/pairs/allegro/middle_pinch_motion.npz: 1e2dec03e5c5b7a7592b0f1aa2bf3e46525f5c6e40628b370d29cb476389ff09
+    data/neural_hand/pairs/allegro/ring_pinch_motion.npz: b81cb9b083e603600066d80a6f17bb9ad98b598a656a7bf2a485ab20a2671d8c
+    data/neural_hand/pairs/allegro/rest.npz: a36b10dc441a1921abe8d789a29a1d308a4a4fbfca2bf7f5e53ce46a0446504a
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