| # Object poses |
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|
| Per session, `motions/objects.npz` holds every object instance on the body grid (same `t` / `frame_index` as |
| `smplx.npz` and `markers.npz`, 120 Hz), in the world frame (canonical Z-up metres). |
|
|
| | key | shape | meaning | |
| |---|---|---| |
| | `names` | (n,) | instance: `BigBox0`, `LittleBox3`, `Table0`; vision instances `<Object>#1`, `#2`, ... | |
| | `object_type` | (n,) | object type; meshes and scans in `objects/<Object>/` | |
| | `mesh` | (n,) | mesh path from the release root (`objects/BigBox/bigbox.ply`), empty without a mesh pose | |
| | `pose_frame` | (n,) | `mesh`: pose of the scanned mesh. `rigid_body`: Nokov rigid-body frame (no mesh, e.g. Table, or no marker calibration for that object copy) | |
| | `source` | (n,) | `mocap` (object markers) or `vision` (sessions without object markers) | |
| | `T_world_obj` | (n, T, 4, 4) | pose_frame -> world; NaN where not valid | |
| | `valid` | (n, T) | usable pose | |
| | `quality` | (n, T) | 1 mocap verified (>= 3 markers agree with the pose), 2 mocap unverified (< 3 markers seen, none contradicts), 3 vision tracked, 4 vision rest fit, 5 vision bridged (moved with the hand or previous pose kept) | |
| | `motion` | (n, T) | 0 unknown, 1 resting, 2 moving (centre speed over 0.1 s > 0.05 m/s, dilated 0.25 s) | |
| | `held_by` | (n, T) | 0 none, 1 left, 2 right, 3 both hands (carries detected from the hand markers) | |
| | `T_rb_obj` | (n, 4, 4) | mocap mesh instances: Nokov rigid-body frame -> mesh frame | |
| | `calib_rms_mm` | (n,) | marker-to-mesh calibration residual | |
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| Mesh poses from mocap: each physical object copy has its marker positions in the mesh frame |
| (`objects/<Object>/markers.json`, fitted at rest, upright on the floor), matched to the session's marker layout. |
| `T_world_obj = T_world_rb @ T_rb_obj`. Copies whose marker layout has no reliable calibration ship in the |
| rigid-body frame only (`pose_frame = rigid_body`): position, orientation and motion are measured, but the mesh is |
| not aligned. In this release that includes the `LittleBox1` marker layout (markers on a tilted plane, no unique |
| upright fit), `BigBox2` (too few rest windows), all `OpenBox` and `LowStep` copies, and objects without a mesh |
| (`Table`, `Desk`, `HighRack`). |
|
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| `motions/object_markers.npz` (mocap sessions): raw object marker trajectories in the world frame, `markers_m` |
| (n, T, k, 3) with NaN where unseen, `marker_names`, `template_m` (markers in the rigid-body frame) and `consistent` |
| (marker agrees with the pose). The vendor files are in `raw/mocap/<Object>.{csv,trc}` (millimetres, Y-up). |
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| `motions/objects.json`: per instance source, calibration, valid / verified / moving percentages; `absent` lists |
| mocap rigid bodies with under 1 s of valid pose (defined in the capture software but the object was not in the |
| take), which are left out of the npz files; and how the |
| session's object list was decided (object markers, or for sessions without them the objects recorded in other |
| takes of the same primitive, with hand separation deciding BigBox vs LittleBox where those takes differ). |
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| Vision poses (sessions without object markers) come from model-based tracking in the head front stereo pair, |
| anchored at fitted rest poses, at 30 Hz interpolated onto the body grid. Treat quality 5 as a guess. |
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