Release update 2026-11-05: new sessions, instructions, annotations (part 37)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- actions/locomotion_posture_dynamics/D18/session_013/motions/smplx.npz +2 -2
- actions/locomotion_posture_dynamics/D18/session_014/annotations.json +39 -0
- actions/locomotion_posture_dynamics/D18/session_014/cameras/gsi_online_calibration.json +251 -0
- actions/locomotion_posture_dynamics/D18/session_014/cameras/slam.npz +3 -0
- actions/locomotion_posture_dynamics/D18/session_014/meta.json +116 -2
- actions/locomotion_posture_dynamics/D18/session_014/motions/hands_mano.npz +3 -0
- actions/locomotion_posture_dynamics/D18/session_014/motions/smplx.npz +2 -2
- actions/locomotion_posture_dynamics/D19/session_001/annotations.json +39 -0
- actions/locomotion_posture_dynamics/D19/session_001/cameras/gsi_online_calibration.json +256 -0
- actions/locomotion_posture_dynamics/D19/session_001/cameras/slam.npz +3 -0
- actions/locomotion_posture_dynamics/D19/session_001/meta.json +116 -2
- actions/locomotion_posture_dynamics/D19/session_001/motions/hands_mano.npz +3 -0
- actions/locomotion_posture_dynamics/D19/session_001/motions/smplx.npz +2 -2
- actions/locomotion_posture_dynamics/D19/session_002/annotations.json +39 -0
- actions/locomotion_posture_dynamics/D19/session_002/cameras/gsi_online_calibration.json +250 -0
- actions/locomotion_posture_dynamics/D19/session_002/cameras/slam.npz +3 -0
- actions/locomotion_posture_dynamics/D19/session_002/meta.json +116 -2
- actions/locomotion_posture_dynamics/D19/session_002/motions/hands_mano.npz +3 -0
- actions/locomotion_posture_dynamics/D19/session_002/motions/smplx.npz +2 -2
- actions/locomotion_posture_dynamics/D19/session_003/annotations.json +94 -0
- actions/locomotion_posture_dynamics/D19/session_003/cameras/slam.npz +3 -0
- actions/locomotion_posture_dynamics/D19/session_003/meta.json +116 -2
- actions/locomotion_posture_dynamics/D19/session_003/motions/hands_mano.npz +3 -0
- actions/locomotion_posture_dynamics/D19/session_003/motions/smplx.npz +2 -2
- actions/locomotion_posture_dynamics/D19/session_004/meta.json +4 -0
- actions/locomotion_posture_dynamics/D19/session_005/annotations.json +39 -0
- actions/locomotion_posture_dynamics/D19/session_005/cameras/gsi_online_calibration.json +250 -0
- actions/locomotion_posture_dynamics/D19/session_005/cameras/slam.npz +3 -0
- actions/locomotion_posture_dynamics/D19/session_005/meta.json +116 -2
- actions/locomotion_posture_dynamics/D19/session_005/motions/hands_mano.npz +3 -0
- actions/locomotion_posture_dynamics/D19/session_005/motions/smplx.npz +2 -2
- actions/locomotion_posture_dynamics/D19/session_006/annotations.json +28 -0
- actions/locomotion_posture_dynamics/D19/session_006/cameras/slam.npz +3 -0
- actions/locomotion_posture_dynamics/D19/session_006/meta.json +116 -2
- actions/locomotion_posture_dynamics/D19/session_006/motions/hands_mano.npz +3 -0
- actions/locomotion_posture_dynamics/D19/session_006/motions/smplx.npz +2 -2
- actions/locomotion_posture_dynamics/D19/session_007/annotations.json +39 -0
- actions/locomotion_posture_dynamics/D19/session_007/cameras/slam.npz +3 -0
- actions/locomotion_posture_dynamics/D19/session_007/meta.json +116 -2
- actions/locomotion_posture_dynamics/D19/session_007/motions/hands_mano.npz +3 -0
- actions/locomotion_posture_dynamics/D19/session_007/motions/smplx.npz +2 -2
- actions/locomotion_posture_dynamics/D19/session_008/annotations.json +39 -0
- actions/locomotion_posture_dynamics/D19/session_008/cameras/gsi_online_calibration.json +248 -0
- actions/locomotion_posture_dynamics/D19/session_008/cameras/slam.npz +3 -0
- actions/locomotion_posture_dynamics/D19/session_008/meta.json +116 -2
- actions/locomotion_posture_dynamics/D19/session_008/motions/hands_mano.npz +3 -0
- actions/locomotion_posture_dynamics/D19/session_008/motions/smplx.npz +2 -2
- actions/locomotion_posture_dynamics/D19/session_009/annotations.json +39 -0
- actions/locomotion_posture_dynamics/D19/session_009/cameras/gsi_online_calibration.json +249 -0
- actions/locomotion_posture_dynamics/D19/session_009/cameras/slam.npz +3 -0
actions/locomotion_posture_dynamics/D18/session_013/motions/smplx.npz
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actions/locomotion_posture_dynamics/D18/session_014/annotations.json
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"instruction": "Mime a jump shot with no ball: catch, set, rise and release. Repeat the movement at your own pace until the operator says stop; do not rush."
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"instruction": "Mime a jump shot with no ball: catch, set, rise and release. Repeat the movement at your own pace until the operator says stop; do not rush."
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actions/locomotion_posture_dynamics/D18/session_014/cameras/gsi_online_calibration.json
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actions/locomotion_posture_dynamics/D18/session_014/motions/hands_mano.npz
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| 5 |
+
"primitive": "D19",
|
| 6 |
+
"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 68.966656,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03935210355233587
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "485c9a40-1947-4073-92be-db45e93ea7d0",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "D19",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 29.84,
|
| 23 |
+
"t_start": 0.0394,
|
| 24 |
+
"t_end": 29.8794,
|
| 25 |
+
"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"id": "41d1a891-52da-49c6-b8f8-bde21956b35a",
|
| 29 |
+
"segment": "segment1",
|
| 30 |
+
"action": "D19",
|
| 31 |
+
"quality": "valid",
|
| 32 |
+
"start_s": 31.958,
|
| 33 |
+
"end_s": 63.277,
|
| 34 |
+
"t_start": 31.9974,
|
| 35 |
+
"t_end": 63.3164,
|
| 36 |
+
"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/locomotion_posture_dynamics/D19/session_001/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,256 @@
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
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|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [
|
| 4 |
+
{
|
| 5 |
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"matches": 170,
|
| 6 |
+
"median_px": 557.94,
|
| 7 |
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"pair": [
|
| 8 |
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"left",
|
| 9 |
+
"right"
|
| 10 |
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]
|
| 11 |
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}
|
| 12 |
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],
|
| 13 |
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"groups_used": 14,
|
| 14 |
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"median_px": 0.366
|
| 15 |
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},
|
| 16 |
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"cameras": {
|
| 17 |
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"left": {
|
| 18 |
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"accepted": true,
|
| 19 |
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"against": [
|
| 20 |
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"left_front",
|
| 21 |
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"right_front",
|
| 22 |
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"left_eye",
|
| 23 |
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"right_eye"
|
| 24 |
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],
|
| 25 |
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"delta_deg": 0.9082,
|
| 26 |
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"gate_fail": [],
|
| 27 |
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"held_out_px_after": 0.492,
|
| 28 |
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"held_out_px_before": 7.045,
|
| 29 |
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"inliers": 2093,
|
| 30 |
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"position_fitted": false,
|
| 31 |
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"rotvec_deg": [
|
| 32 |
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|
| 33 |
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0.8656,
|
| 34 |
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0.2669
|
| 35 |
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],
|
| 36 |
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"split_deg": 0.0188,
|
| 37 |
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"usable": true
|
| 38 |
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},
|
| 39 |
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"left_eye": {
|
| 40 |
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"accepted": true,
|
| 41 |
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"against": [
|
| 42 |
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"left_front",
|
| 43 |
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"right_front",
|
| 44 |
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"right_eye",
|
| 45 |
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"left",
|
| 46 |
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"right"
|
| 47 |
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],
|
| 48 |
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"delta_deg": 1.1164,
|
| 49 |
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"gate_fail": [],
|
| 50 |
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"held_out_px_after": 0.371,
|
| 51 |
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"held_out_px_before": 3.904,
|
| 52 |
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"inliers": 3273,
|
| 53 |
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"position_fitted": true,
|
| 54 |
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"position_mm": [
|
| 55 |
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-9.33,
|
| 56 |
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8.0,
|
| 57 |
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|
| 58 |
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],
|
| 59 |
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"position_sigma_mm": 0.298,
|
| 60 |
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"position_split_mm": 1.21,
|
| 61 |
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"rotvec_deg": [
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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],
|
| 66 |
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"split_deg": 0.0041,
|
| 67 |
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"usable": true
|
| 68 |
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},
|
| 69 |
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"left_front": {
|
| 70 |
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"role": "rig origin"
|
| 71 |
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},
|
| 72 |
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"right": {
|
| 73 |
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"accepted": true,
|
| 74 |
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"against": [
|
| 75 |
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"left_front",
|
| 76 |
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"right_front",
|
| 77 |
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"left_eye",
|
| 78 |
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"right_eye"
|
| 79 |
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],
|
| 80 |
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"delta_deg": 0.3033,
|
| 81 |
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"gate_fail": [],
|
| 82 |
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"held_out_px_after": 0.536,
|
| 83 |
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"held_out_px_before": 3.758,
|
| 84 |
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"inliers": 1803,
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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],
|
| 91 |
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|
| 92 |
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|
| 93 |
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},
|
| 94 |
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|
| 95 |
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|
| 96 |
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"against": [
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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],
|
| 103 |
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"delta_deg": 0.7445,
|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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],
|
| 114 |
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"position_sigma_mm": 0.309,
|
| 115 |
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"position_split_mm": 2.476,
|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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],
|
| 121 |
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"split_deg": 0.0306,
|
| 122 |
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"usable": true
|
| 123 |
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},
|
| 124 |
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"right_front": {
|
| 125 |
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"accepted": true,
|
| 126 |
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"against": [
|
| 127 |
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"left_front",
|
| 128 |
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"left_eye",
|
| 129 |
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"right_eye",
|
| 130 |
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"left",
|
| 131 |
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"right"
|
| 132 |
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],
|
| 133 |
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"delta_deg": 1.9948,
|
| 134 |
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"gate_fail": [],
|
| 135 |
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"held_out_px_after": 0.34,
|
| 136 |
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"held_out_px_before": 7.686,
|
| 137 |
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"inliers": 5580,
|
| 138 |
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"position_fitted": false,
|
| 139 |
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"rotvec_deg": [
|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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],
|
| 144 |
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"split_deg": 0.0078,
|
| 145 |
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"usable": true
|
| 146 |
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}
|
| 147 |
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},
|
| 148 |
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"code_fingerprint": "711ecf5b3dd408f8",
|
| 149 |
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"device_id": "850a0e6aafa85fdf",
|
| 150 |
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"factory_root_name": "850a0e6aafa85fdf",
|
| 151 |
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"files": {
|
| 152 |
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"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 153 |
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"sha256": "2138a25a0c2abe638b164f4f2d45ea9145c8b6450181b8366a544e6496d4d20c",
|
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|
| 155 |
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},
|
| 156 |
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"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 157 |
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"sha256": "af1cfae4d2c7c6c3f6aab02042304fa91f302e4c132b1b06c0a5e88d775a1847",
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|
| 159 |
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},
|
| 160 |
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"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 161 |
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"sha256": "24cd6966fd7d9499f00ac2d75b2bcf28eca50ae1326187e713851039323cfa5b",
|
| 162 |
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|
| 163 |
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|
| 164 |
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"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 165 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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"input_fingerprint": "200d2ea80a62eb1a",
|
| 170 |
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"kind": "online_calibration",
|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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"left_front-right_eye": 0.711,
|
| 180 |
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"left_front-right_front": 1.0,
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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"right_front-right_eye": 0.724
|
| 188 |
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},
|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
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|
| 195 |
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|
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
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|
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|
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| 237 |
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|
| 254 |
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|
| 255 |
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"version": 1
|
| 256 |
+
}
|
actions/locomotion_posture_dynamics/D19/session_001/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:db54180ea98dc1e6bebb1e98df47262aa6eb303ab37c04963c399066a91a0576
|
| 3 |
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size 397456
|
actions/locomotion_posture_dynamics/D19/session_001/meta.json
CHANGED
|
@@ -346,8 +346,8 @@
|
|
| 346 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 347 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 348 |
"hands": {
|
| 349 |
-
"observed":
|
| 350 |
-
"hand_pose": "
|
| 351 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 352 |
"hand_marker_offsets_m": {
|
| 353 |
"left": {
|
|
@@ -534,10 +534,124 @@
|
|
| 534 |
"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 535 |
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 536 |
},
|
|
|
|
|
|
|
|
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|
| 537 |
"release": {
|
| 538 |
"release_path": "actions/locomotion_posture_dynamics/D19/session_001",
|
| 539 |
"family": "locomotion_posture_dynamics",
|
| 540 |
"primitive": "D19",
|
| 541 |
"source_session": "20260903/D19/20260903_025105_session29"
|
|
|
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|
|
|
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|
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|
| 542 |
}
|
| 543 |
}
|
|
|
|
| 346 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 347 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 348 |
"hands": {
|
| 349 |
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"observed": true,
|
| 350 |
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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",
|
| 351 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 352 |
"hand_marker_offsets_m": {
|
| 353 |
"left": {
|
|
|
|
| 534 |
"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 535 |
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 536 |
},
|
| 537 |
+
"hands_registration": {
|
| 538 |
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"cameras": {},
|
| 539 |
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"hands": {
|
| 540 |
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"left": {
|
| 541 |
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"offset_deg": 13.86,
|
| 542 |
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"offset_rotvec": [
|
| 543 |
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],
|
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"dev_deg": {
|
| 548 |
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"median": 7.9,
|
| 549 |
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"p90": 17.65
|
| 550 |
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},
|
| 551 |
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"samples": 1933,
|
| 552 |
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"accepted": 1895,
|
| 553 |
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"wrist_pos_err_mm_median": 37.1,
|
| 554 |
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"per_camera": {
|
| 555 |
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"head": {
|
| 556 |
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"samples": 1933,
|
| 557 |
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"accepted": 1895,
|
| 558 |
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"gate_deg": 30.0,
|
| 559 |
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"offset_deg": 13.86,
|
| 560 |
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"tier": "primary",
|
| 561 |
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"dev_deg_median": 7.9,
|
| 562 |
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"wrist_pos_err_mm_median": 37.1
|
| 563 |
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}
|
| 564 |
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},
|
| 565 |
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"frames_by_state": {
|
| 566 |
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"ace_sample": 7681,
|
| 567 |
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"interpolated": 590,
|
| 568 |
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"mean_hand": 5,
|
| 569 |
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"no_body_fit": 8
|
| 570 |
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},
|
| 571 |
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"observed_fraction": 0.9984,
|
| 572 |
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"observed_fraction_of_valid": 0.9994,
|
| 573 |
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"palm_axis_vs_markers_deg": {
|
| 574 |
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"gsi": 13.07,
|
| 575 |
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"smplx": 0.84
|
| 576 |
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},
|
| 577 |
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"hand_marker_to_mesh_mm": {
|
| 578 |
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"flat": {
|
| 579 |
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"median": 6.6,
|
| 580 |
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"p90": 7.7
|
| 581 |
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},
|
| 582 |
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"registered": {
|
| 583 |
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"median": 6.8,
|
| 584 |
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"p90": 7.7
|
| 585 |
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}
|
| 586 |
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}
|
| 587 |
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},
|
| 588 |
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"right": {
|
| 589 |
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"offset_deg": 7.28,
|
| 590 |
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"offset_rotvec": [
|
| 591 |
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|
| 592 |
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-0.0166,
|
| 593 |
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0.1163
|
| 594 |
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],
|
| 595 |
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"dev_deg": {
|
| 596 |
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"median": 13.0,
|
| 597 |
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"p90": 29.79
|
| 598 |
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},
|
| 599 |
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"samples": 1323,
|
| 600 |
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"accepted": 1192,
|
| 601 |
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"wrist_pos_err_mm_median": 78.1,
|
| 602 |
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"per_camera": {
|
| 603 |
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"head": {
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| 604 |
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"samples": 1323,
|
| 605 |
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"accepted": 1192,
|
| 606 |
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"gate_deg": 30.0,
|
| 607 |
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"offset_deg": 7.28,
|
| 608 |
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"tier": "primary",
|
| 609 |
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"dev_deg_median": 13.0,
|
| 610 |
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"wrist_pos_err_mm_median": 78.1
|
| 611 |
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}
|
| 612 |
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},
|
| 613 |
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"frames_by_state": {
|
| 614 |
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"ace_sample": 4847,
|
| 615 |
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"interpolated": 1256,
|
| 616 |
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"mean_hand": 2173,
|
| 617 |
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|
| 618 |
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},
|
| 619 |
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"observed_fraction": 0.7367,
|
| 620 |
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"observed_fraction_of_valid": 0.7374,
|
| 621 |
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|
| 622 |
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"gsi": 11.89,
|
| 623 |
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"smplx": 1.07
|
| 624 |
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},
|
| 625 |
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"hand_marker_to_mesh_mm": {
|
| 626 |
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"flat": {
|
| 627 |
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"median": 9.9,
|
| 628 |
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"p90": 13.5
|
| 629 |
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},
|
| 630 |
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"registered": {
|
| 631 |
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"median": 10.3,
|
| 632 |
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"p90": 13.7
|
| 633 |
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}
|
| 634 |
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}
|
| 635 |
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}
|
| 636 |
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},
|
| 637 |
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"max_dev_deg": 30.0,
|
| 638 |
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"max_gap_s": 1.0,
|
| 639 |
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"cameras_used": [
|
| 640 |
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"head"
|
| 641 |
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],
|
| 642 |
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"generated_at_utc": "2026-11-03T13:24:09.527996+00:00",
|
| 643 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 644 |
+
"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",
|
| 645 |
+
"wrist_flip_suspect": []
|
| 646 |
+
},
|
| 647 |
"release": {
|
| 648 |
"release_path": "actions/locomotion_posture_dynamics/D19/session_001",
|
| 649 |
"family": "locomotion_posture_dynamics",
|
| 650 |
"primitive": "D19",
|
| 651 |
"source_session": "20260903/D19/20260903_025105_session29"
|
| 652 |
+
},
|
| 653 |
+
"task": {
|
| 654 |
+
"primitive": "D19",
|
| 655 |
+
"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 656 |
}
|
| 657 |
}
|
actions/locomotion_posture_dynamics/D19/session_001/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:63b8617964648ed50f6f885ecc8c6eb321ffd2ef6c4d80732c1c5757d061ff05
|
| 3 |
+
size 2260071
|
actions/locomotion_posture_dynamics/D19/session_001/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
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| 2 |
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oid sha256:baa51d7c24d42f08506a6cde2d83c6ddef789d492757aa192270bf9447152ec2
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| 3 |
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size 5734041
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actions/locomotion_posture_dynamics/D19/session_002/annotations.json
ADDED
|
@@ -0,0 +1,39 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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": "D19",
|
| 6 |
+
"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
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"duration_s": 58.966611,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
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|
| 13 |
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}
|
| 14 |
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],
|
| 15 |
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"episodes": [
|
| 16 |
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{
|
| 17 |
+
"id": "61008192-fb5c-4059-896d-8b6ba81b7738",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "D19",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1.8,
|
| 22 |
+
"end_s": 29.653,
|
| 23 |
+
"t_start": 1.8386,
|
| 24 |
+
"t_end": 29.6916,
|
| 25 |
+
"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"id": "d13cb85a-a2a9-4f5c-a4bf-cf11b313f32a",
|
| 29 |
+
"segment": "segment1",
|
| 30 |
+
"action": "D19",
|
| 31 |
+
"quality": "valid",
|
| 32 |
+
"start_s": 34.435,
|
| 33 |
+
"end_s": 53.248,
|
| 34 |
+
"t_start": 34.4736,
|
| 35 |
+
"t_end": 53.2866,
|
| 36 |
+
"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/locomotion_posture_dynamics/D19/session_002/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,250 @@
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|
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|
actions/locomotion_posture_dynamics/D19/session_002/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:2700058e6986cfe9277931fd6dcbd8be841ad43fea1a5075144bfb43ab61cdb3
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| 3 |
+
size 341855
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actions/locomotion_posture_dynamics/D19/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": {
|
|
@@ -523,10 +523,124 @@
|
|
| 523 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 524 |
"remaining_gyro_frame_deg": 0.7859249726000604
|
| 525 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 526 |
"release": {
|
| 527 |
"release_path": "actions/locomotion_posture_dynamics/D19/session_002",
|
| 528 |
"family": "locomotion_posture_dynamics",
|
| 529 |
"primitive": "D19",
|
| 530 |
"source_session": "20260907/D19/20260907_074409_session139"
|
|
|
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|
|
|
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|
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|
|
| 531 |
}
|
| 532 |
}
|
|
|
|
| 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": {
|
|
|
|
| 523 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 524 |
"remaining_gyro_frame_deg": 0.7859249726000604
|
| 525 |
},
|
| 526 |
+
"hands_registration": {
|
| 527 |
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"wrist_flip_suspect": []
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},
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| 639 |
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+
},
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| 642 |
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"task": {
|
| 643 |
+
"primitive": "D19",
|
| 644 |
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"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 645 |
}
|
| 646 |
}
|
actions/locomotion_posture_dynamics/D19/session_002/motions/hands_mano.npz
ADDED
|
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actions/locomotion_posture_dynamics/D19/session_002/motions/smplx.npz
CHANGED
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version https://git-lfs.github.com/spec/v1
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actions/locomotion_posture_dynamics/D19/session_003/annotations.json
ADDED
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@@ -0,0 +1,94 @@
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"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",
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"primitive": "D19",
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"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush."
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},
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"id": "f16f6ebe-0a8c-4e4b-bc40-f06a82ee9ed9",
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"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush."
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|
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|
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"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 59 |
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|
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|
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|
| 69 |
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"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 70 |
+
},
|
| 71 |
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{
|
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"id": "c6a8f157-1da6-4753-8649-437a098fa87c",
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|
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|
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|
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|
| 79 |
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|
| 80 |
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"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 81 |
+
},
|
| 82 |
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{
|
| 83 |
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"id": "480e86cc-c4ad-4c95-90a5-f79a3b2034d5",
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| 84 |
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|
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|
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|
| 89 |
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|
| 90 |
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|
| 91 |
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"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 92 |
+
}
|
| 93 |
+
]
|
| 94 |
+
}
|
actions/locomotion_posture_dynamics/D19/session_003/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:ddb1ed8c213a6eb02f617ab98baede45d043fddb0ddbfdf697594b65a53d4403
|
| 3 |
+
size 284522
|
actions/locomotion_posture_dynamics/D19/session_003/meta.json
CHANGED
|
@@ -342,8 +342,8 @@
|
|
| 342 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 343 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 344 |
"hands": {
|
| 345 |
-
"observed":
|
| 346 |
-
"hand_pose": "
|
| 347 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 348 |
"hand_marker_offsets_m": {
|
| 349 |
"left": {
|
|
@@ -533,10 +533,124 @@
|
|
| 533 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 534 |
"remaining_gyro_frame_deg": 0.8322519456190814
|
| 535 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 536 |
"release": {
|
| 537 |
"release_path": "actions/locomotion_posture_dynamics/D19/session_003",
|
| 538 |
"family": "locomotion_posture_dynamics",
|
| 539 |
"primitive": "D19",
|
| 540 |
"source_session": "20260908/D19/20260908_050848_session18"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 541 |
}
|
| 542 |
}
|
|
|
|
| 342 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 343 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 344 |
"hands": {
|
| 345 |
+
"observed": true,
|
| 346 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 347 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 348 |
"hand_marker_offsets_m": {
|
| 349 |
"left": {
|
|
|
|
| 533 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 534 |
"remaining_gyro_frame_deg": 0.8322519456190814
|
| 535 |
},
|
| 536 |
+
"hands_registration": {
|
| 537 |
+
"cameras": {},
|
| 538 |
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},
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"task": {
|
| 653 |
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"primitive": "D19",
|
| 654 |
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"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 655 |
}
|
| 656 |
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|
actions/locomotion_posture_dynamics/D19/session_003/motions/hands_mano.npz
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actions/locomotion_posture_dynamics/D19/session_003/motions/smplx.npz
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actions/locomotion_posture_dynamics/D19/session_004/meta.json
CHANGED
|
@@ -509,5 +509,9 @@
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|
| 509 |
"family": "locomotion_posture_dynamics",
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"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush."
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| 516 |
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| 517 |
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actions/locomotion_posture_dynamics/D19/session_005/annotations.json
ADDED
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{
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|
| 5 |
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"primitive": "D19",
|
| 6 |
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"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush.",
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"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush."
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| 26 |
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},
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{
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"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/locomotion_posture_dynamics/D19/session_005/cameras/gsi_online_calibration.json
ADDED
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@@ -0,0 +1,250 @@
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| 1 |
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{
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|
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|
| 4 |
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|
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},
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| 7 |
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|
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|
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"accepted": true,
|
| 10 |
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"against": [
|
| 11 |
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"left_front",
|
| 12 |
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|
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"left_eye",
|
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"right_eye"
|
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],
|
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|
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|
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|
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|
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|
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|
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|
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],
|
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|
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|
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},
|
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"left_eye": {
|
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"accepted": true,
|
| 32 |
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"against": [
|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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"left",
|
| 37 |
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"right"
|
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|
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"delta_deg": 1.8312,
|
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"gate_fail": [],
|
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|
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|
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|
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|
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|
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|
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|
| 48 |
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|
| 49 |
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],
|
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|
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|
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|
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|
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"split_deg": 0.0623,
|
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|
| 59 |
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},
|
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"left_front": {
|
| 61 |
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"role": "rig origin"
|
| 62 |
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|
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"right": {
|
| 64 |
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|
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"against": [
|
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@@ -520,10 +520,124 @@
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"generated_at_utc": "2026-11-03T16:54:38.222140+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/locomotion_posture_dynamics/D19/session_005",
|
| 635 |
"family": "locomotion_posture_dynamics",
|
| 636 |
"primitive": "D19",
|
| 637 |
"source_session": "20260912/D19/20260912_061850_session29"
|
| 638 |
+
},
|
| 639 |
+
"task": {
|
| 640 |
+
"primitive": "D19",
|
| 641 |
+
"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 642 |
}
|
| 643 |
}
|
actions/locomotion_posture_dynamics/D19/session_005/motions/hands_mano.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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size 1726482
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actions/locomotion_posture_dynamics/D19/session_005/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
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| 1 |
version https://git-lfs.github.com/spec/v1
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size
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version https://git-lfs.github.com/spec/v1
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size 4720888
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actions/locomotion_posture_dynamics/D19/session_006/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
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|
|
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|
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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": "D19",
|
| 6 |
+
"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
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"duration_s": 58.966711,
|
| 11 |
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"video": "left_eye",
|
| 12 |
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"video_t_start": 0.03907265662127313
|
| 13 |
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}
|
| 14 |
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],
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| 15 |
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"episodes": [
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| 16 |
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{
|
| 17 |
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"id": "897c828f-f690-4494-a3e0-366e97549391",
|
| 18 |
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"segment": "segment1",
|
| 19 |
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"action": "D19",
|
| 20 |
+
"quality": "valid",
|
| 21 |
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"start_s": 0,
|
| 22 |
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"end_s": 52.605,
|
| 23 |
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"t_start": 0.0391,
|
| 24 |
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"t_end": 52.6441,
|
| 25 |
+
"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomotion_posture_dynamics/D19/session_006/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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size 341785
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actions/locomotion_posture_dynamics/D19/session_006/meta.json
CHANGED
|
@@ -324,8 +324,8 @@
|
|
| 324 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 325 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 326 |
"hands": {
|
| 327 |
-
"observed":
|
| 328 |
-
"hand_pose": "
|
| 329 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 330 |
"hand_marker_offsets_m": {
|
| 331 |
"left": {
|
|
@@ -505,10 +505,124 @@
|
|
| 505 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 506 |
"remaining_gyro_frame_deg": 1.195839166598981
|
| 507 |
},
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|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
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|
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|
|
|
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|
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|
|
|
|
|
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|
|
|
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|
|
|
|
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|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 508 |
"release": {
|
| 509 |
"release_path": "actions/locomotion_posture_dynamics/D19/session_006",
|
| 510 |
"family": "locomotion_posture_dynamics",
|
| 511 |
"primitive": "D19",
|
| 512 |
"source_session": "20260914/D19/20260914_072150_session12"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 513 |
}
|
| 514 |
}
|
|
|
|
| 324 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 325 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 326 |
"hands": {
|
| 327 |
+
"observed": true,
|
| 328 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 329 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 330 |
"hand_marker_offsets_m": {
|
| 331 |
"left": {
|
|
|
|
| 505 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 506 |
"remaining_gyro_frame_deg": 1.195839166598981
|
| 507 |
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|
| 508 |
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"hands_registration": {
|
| 509 |
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"cameras": {},
|
| 510 |
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"hands": {
|
| 511 |
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"left": {
|
| 512 |
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|
| 513 |
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|
| 514 |
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|
| 515 |
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0.1142,
|
| 516 |
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|
| 517 |
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],
|
| 518 |
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"dev_deg": {
|
| 519 |
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"median": 11.61,
|
| 520 |
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|
| 521 |
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},
|
| 522 |
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"samples": 1092,
|
| 523 |
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"accepted": 900,
|
| 524 |
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|
| 525 |
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"per_camera": {
|
| 526 |
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"head": {
|
| 527 |
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"samples": 1092,
|
| 528 |
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"accepted": 900,
|
| 529 |
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"gate_deg": 30.0,
|
| 530 |
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"offset_deg": 8.8,
|
| 531 |
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"tier": "primary",
|
| 532 |
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"dev_deg_median": 11.61,
|
| 533 |
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"wrist_pos_err_mm_median": 114.2
|
| 534 |
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}
|
| 535 |
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},
|
| 536 |
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"frames_by_state": {
|
| 537 |
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"ace_sample": 3690,
|
| 538 |
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"interpolated": 2318,
|
| 539 |
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"mean_hand": 1076,
|
| 540 |
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|
| 541 |
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},
|
| 542 |
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"observed_fraction": 0.8481,
|
| 543 |
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"observed_fraction_of_valid": 0.8481,
|
| 544 |
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"palm_axis_vs_markers_deg": {
|
| 545 |
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"gsi": 12.81,
|
| 546 |
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"smplx": 1.19
|
| 547 |
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},
|
| 548 |
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"hand_marker_to_mesh_mm": {
|
| 549 |
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"flat": {
|
| 550 |
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"median": 10.1,
|
| 551 |
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"p90": 17.6
|
| 552 |
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},
|
| 553 |
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"registered": {
|
| 554 |
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"median": 9.2,
|
| 555 |
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"p90": 16.0
|
| 556 |
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}
|
| 557 |
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}
|
| 558 |
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},
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| 559 |
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"right": {
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| 560 |
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|
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|
| 562 |
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-0.0862,
|
| 563 |
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-0.1667,
|
| 564 |
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0.1015
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| 565 |
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],
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| 566 |
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"dev_deg": {
|
| 567 |
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"median": 11.14,
|
| 568 |
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|
| 569 |
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},
|
| 570 |
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"samples": 1127,
|
| 571 |
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|
| 572 |
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"wrist_pos_err_mm_median": 102.1,
|
| 573 |
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|
| 574 |
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| 575 |
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|
| 576 |
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|
| 577 |
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"gate_deg": 30.0,
|
| 578 |
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|
| 579 |
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"tier": "primary",
|
| 580 |
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"dev_deg_median": 11.14,
|
| 581 |
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"wrist_pos_err_mm_median": 102.1
|
| 582 |
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}
|
| 583 |
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},
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| 584 |
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|
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|
| 586 |
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|
| 587 |
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|
| 588 |
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|
| 589 |
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},
|
| 590 |
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"observed_fraction": 0.939,
|
| 591 |
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|
| 592 |
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"palm_axis_vs_markers_deg": {
|
| 593 |
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"gsi": 15.42,
|
| 594 |
+
"smplx": 1.47
|
| 595 |
+
},
|
| 596 |
+
"hand_marker_to_mesh_mm": {
|
| 597 |
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"flat": {
|
| 598 |
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"median": 9.3,
|
| 599 |
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"p90": 11.7
|
| 600 |
+
},
|
| 601 |
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"registered": {
|
| 602 |
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"median": 8.0,
|
| 603 |
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"p90": 10.8
|
| 604 |
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}
|
| 605 |
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}
|
| 606 |
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}
|
| 607 |
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},
|
| 608 |
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"max_dev_deg": 30.0,
|
| 609 |
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"max_gap_s": 1.0,
|
| 610 |
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"cameras_used": [
|
| 611 |
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"head"
|
| 612 |
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],
|
| 613 |
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"generated_at_utc": "2026-11-03T17:47:04.824799+00:00",
|
| 614 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 615 |
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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",
|
| 616 |
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"wrist_flip_suspect": []
|
| 617 |
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},
|
| 618 |
"release": {
|
| 619 |
"release_path": "actions/locomotion_posture_dynamics/D19/session_006",
|
| 620 |
"family": "locomotion_posture_dynamics",
|
| 621 |
"primitive": "D19",
|
| 622 |
"source_session": "20260914/D19/20260914_072150_session12"
|
| 623 |
+
},
|
| 624 |
+
"task": {
|
| 625 |
+
"primitive": "D19",
|
| 626 |
+
"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 627 |
}
|
| 628 |
}
|
actions/locomotion_posture_dynamics/D19/session_006/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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|
| 3 |
+
size 1561059
|
actions/locomotion_posture_dynamics/D19/session_006/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
|
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|
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size 4927617
|
actions/locomotion_posture_dynamics/D19/session_007/annotations.json
ADDED
|
@@ -0,0 +1,39 @@
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
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|
|
|
|
|
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|
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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": "D19",
|
| 6 |
+
"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 68.966656,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.038891007140887
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
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"episodes": [
|
| 16 |
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{
|
| 17 |
+
"id": "b4229308-1e6b-4c38-81b5-b4c3231031e2",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "D19",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1.042,
|
| 22 |
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"end_s": 32.662,
|
| 23 |
+
"t_start": 1.0809,
|
| 24 |
+
"t_end": 32.7009,
|
| 25 |
+
"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"id": "362c1fa8-b9f0-49f6-a7ee-e9d08af9c679",
|
| 29 |
+
"segment": "segment1",
|
| 30 |
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"action": "D19",
|
| 31 |
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"quality": "valid",
|
| 32 |
+
"start_s": 36.094,
|
| 33 |
+
"end_s": 62.609,
|
| 34 |
+
"t_start": 36.1329,
|
| 35 |
+
"t_end": 62.6479,
|
| 36 |
+
"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/locomotion_posture_dynamics/D19/session_007/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:e67b2aa091a7462c97a793c754993ca9a0d0f9ac586261571c09a211471bf196
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| 3 |
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size 399628
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actions/locomotion_posture_dynamics/D19/session_007/meta.json
CHANGED
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@@ -327,8 +327,8 @@
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| 327 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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| 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",
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| 333 |
"hand_marker_offsets_m": {
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| 334 |
"left": {
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@@ -513,10 +513,124 @@
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| 513 |
"generated_by": "scripts/correct_processed_rig.py",
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| 514 |
"remaining_gyro_frame_deg": 1.4781293268396725
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| 515 |
},
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| 516 |
"release": {
|
| 517 |
"release_path": "actions/locomotion_posture_dynamics/D19/session_007",
|
| 518 |
"family": "locomotion_posture_dynamics",
|
| 519 |
"primitive": "D19",
|
| 520 |
"source_session": "20260917/D19/20260917_060004_session97"
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| 521 |
}
|
| 522 |
}
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| 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": {
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|
| 513 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 514 |
"remaining_gyro_frame_deg": 1.4781293268396725
|
| 515 |
},
|
| 516 |
+
"hands_registration": {
|
| 517 |
+
"cameras": {},
|
| 518 |
+
"hands": {
|
| 519 |
+
"left": {
|
| 520 |
+
"offset_deg": 8.68,
|
| 521 |
+
"offset_rotvec": [
|
| 522 |
+
-0.0449,
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| 523 |
+
-0.0181,
|
| 524 |
+
0.1436
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| 525 |
+
],
|
| 526 |
+
"dev_deg": {
|
| 527 |
+
"median": 11.16,
|
| 528 |
+
"p90": 22.35
|
| 529 |
+
},
|
| 530 |
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"samples": 1864,
|
| 531 |
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"accepted": 1812,
|
| 532 |
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"wrist_pos_err_mm_median": 180.0,
|
| 533 |
+
"per_camera": {
|
| 534 |
+
"head": {
|
| 535 |
+
"samples": 1864,
|
| 536 |
+
"accepted": 1812,
|
| 537 |
+
"gate_deg": 30.0,
|
| 538 |
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"offset_deg": 8.68,
|
| 539 |
+
"tier": "primary",
|
| 540 |
+
"dev_deg_median": 11.16,
|
| 541 |
+
"wrist_pos_err_mm_median": 180.0
|
| 542 |
+
}
|
| 543 |
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},
|
| 544 |
+
"frames_by_state": {
|
| 545 |
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"ace_sample": 7339,
|
| 546 |
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"interpolated": 932,
|
| 547 |
+
"mean_hand": 5,
|
| 548 |
+
"no_body_fit": 8
|
| 549 |
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},
|
| 550 |
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"observed_fraction": 0.9984,
|
| 551 |
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"observed_fraction_of_valid": 0.9994,
|
| 552 |
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"palm_axis_vs_markers_deg": {
|
| 553 |
+
"gsi": 10.76,
|
| 554 |
+
"smplx": 0.74
|
| 555 |
+
},
|
| 556 |
+
"hand_marker_to_mesh_mm": {
|
| 557 |
+
"flat": {
|
| 558 |
+
"median": 5.9,
|
| 559 |
+
"p90": 6.9
|
| 560 |
+
},
|
| 561 |
+
"registered": {
|
| 562 |
+
"median": 7.7,
|
| 563 |
+
"p90": 9.1
|
| 564 |
+
}
|
| 565 |
+
}
|
| 566 |
+
},
|
| 567 |
+
"right": {
|
| 568 |
+
"offset_deg": 14.26,
|
| 569 |
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"offset_rotvec": [
|
| 570 |
+
0.0035,
|
| 571 |
+
0.1819,
|
| 572 |
+
-0.1698
|
| 573 |
+
],
|
| 574 |
+
"dev_deg": {
|
| 575 |
+
"median": 17.58,
|
| 576 |
+
"p90": 42.37
|
| 577 |
+
},
|
| 578 |
+
"samples": 829,
|
| 579 |
+
"accepted": 658,
|
| 580 |
+
"wrist_pos_err_mm_median": 126.1,
|
| 581 |
+
"per_camera": {
|
| 582 |
+
"head": {
|
| 583 |
+
"samples": 829,
|
| 584 |
+
"accepted": 658,
|
| 585 |
+
"gate_deg": 30.0,
|
| 586 |
+
"offset_deg": 14.26,
|
| 587 |
+
"tier": "primary",
|
| 588 |
+
"dev_deg_median": 17.58,
|
| 589 |
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"wrist_pos_err_mm_median": 126.1
|
| 590 |
+
}
|
| 591 |
+
},
|
| 592 |
+
"frames_by_state": {
|
| 593 |
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"ace_sample": 2677,
|
| 594 |
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"interpolated": 2218,
|
| 595 |
+
"mean_hand": 3381,
|
| 596 |
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"no_body_fit": 8
|
| 597 |
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},
|
| 598 |
+
"observed_fraction": 0.5909,
|
| 599 |
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"observed_fraction_of_valid": 0.5915,
|
| 600 |
+
"palm_axis_vs_markers_deg": {
|
| 601 |
+
"gsi": 21.74,
|
| 602 |
+
"smplx": 1.36
|
| 603 |
+
},
|
| 604 |
+
"hand_marker_to_mesh_mm": {
|
| 605 |
+
"flat": {
|
| 606 |
+
"median": 7.1,
|
| 607 |
+
"p90": 8.1
|
| 608 |
+
},
|
| 609 |
+
"registered": {
|
| 610 |
+
"median": 6.3,
|
| 611 |
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"p90": 8.3
|
| 612 |
+
}
|
| 613 |
+
}
|
| 614 |
+
}
|
| 615 |
+
},
|
| 616 |
+
"max_dev_deg": 30.0,
|
| 617 |
+
"max_gap_s": 1.0,
|
| 618 |
+
"cameras_used": [
|
| 619 |
+
"head"
|
| 620 |
+
],
|
| 621 |
+
"generated_at_utc": "2026-11-03T23:04:48.463350+00:00",
|
| 622 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 623 |
+
"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",
|
| 624 |
+
"wrist_flip_suspect": []
|
| 625 |
+
},
|
| 626 |
"release": {
|
| 627 |
"release_path": "actions/locomotion_posture_dynamics/D19/session_007",
|
| 628 |
"family": "locomotion_posture_dynamics",
|
| 629 |
"primitive": "D19",
|
| 630 |
"source_session": "20260917/D19/20260917_060004_session97"
|
| 631 |
+
},
|
| 632 |
+
"task": {
|
| 633 |
+
"primitive": "D19",
|
| 634 |
+
"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 635 |
}
|
| 636 |
}
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actions/locomotion_posture_dynamics/D19/session_007/motions/hands_mano.npz
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7641de1493f44d49a436b58e432c274d2f1727ad1888145e16ba887df2234f7c
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| 3 |
+
size 1892916
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actions/locomotion_posture_dynamics/D19/session_007/motions/smplx.npz
CHANGED
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@@ -1,3 +1,3 @@
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| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
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| 3 |
-
size
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|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:88f25754092ba6b50f20698531ed593f548660c732ccbf6274529831a0036bb6
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| 3 |
+
size 5580560
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actions/locomotion_posture_dynamics/D19/session_008/annotations.json
ADDED
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@@ -0,0 +1,39 @@
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| 1 |
+
{
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| 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": "D19",
|
| 6 |
+
"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 58.966667,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.039239891729818455
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "210eefcd-6dfc-4dc5-8848-4e4c61aa9fbb",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "D19",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 30.191,
|
| 23 |
+
"t_start": 0.0392,
|
| 24 |
+
"t_end": 30.2302,
|
| 25 |
+
"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"id": "2998199e-7b8d-4839-84f5-8faae70c38c4",
|
| 29 |
+
"segment": "segment1",
|
| 30 |
+
"action": "D19",
|
| 31 |
+
"quality": "valid",
|
| 32 |
+
"start_s": 30.191,
|
| 33 |
+
"end_s": 53.321,
|
| 34 |
+
"t_start": 30.2302,
|
| 35 |
+
"t_end": 53.3602,
|
| 36 |
+
"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
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actions/locomotion_posture_dynamics/D19/session_008/cameras/gsi_online_calibration.json
ADDED
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@@ -0,0 +1,248 @@
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actions/locomotion_posture_dynamics/D19/session_008/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:883d78ccb8963be11c4b7b99cb8900f21037bef44836849be999ee1075acc6cc
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size 342142
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actions/locomotion_posture_dynamics/D19/session_008/meta.json
CHANGED
|
@@ -330,8 +330,8 @@
|
|
| 330 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 331 |
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|
| 332 |
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| 333 |
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|
| 334 |
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|
| 335 |
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|
| 336 |
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| 337 |
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|
|
@@ -510,10 +510,124 @@
|
|
| 510 |
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|
| 511 |
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|
| 512 |
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|
| 513 |
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|
| 514 |
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|
| 515 |
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|
| 516 |
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|
| 517 |
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 518 |
}
|
| 519 |
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|
|
|
| 330 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 331 |
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|
| 332 |
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|
| 333 |
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"observed": true,
|
| 334 |
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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",
|
| 335 |
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|
| 336 |
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|
| 337 |
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|
|
|
| 510 |
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|
| 511 |
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|
| 512 |
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| 513 |
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| 514 |
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| 515 |
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| 516 |
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|
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|
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|
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| 532 |
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| 534 |
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|
| 536 |
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"tier": "primary",
|
| 537 |
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|
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| 622 |
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| 623 |
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|
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|
| 627 |
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"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush."
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| 632 |
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actions/locomotion_posture_dynamics/D19/session_008/motions/hands_mano.npz
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|
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"primitive": "D19",
|
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"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush."
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"instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 37 |
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}
|
| 38 |
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]
|
| 39 |
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}
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actions/locomotion_posture_dynamics/D19/session_009/cameras/gsi_online_calibration.json
ADDED
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@@ -0,0 +1,249 @@
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{
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|
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|
| 11 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
actions/locomotion_posture_dynamics/D19/session_009/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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size 370222
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