Mayur1092 commited on
Commit
6f3a233
·
verified ·
1 Parent(s): 973d1fe

Release update 2026-11-05: 5760 sessions, instructions, annotations (part 26)

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. .gitattributes +9 -0
  2. actions/dynamic_recovery/DR11/session_007/raw/mocap/Body0.csv +3 -0
  3. actions/dynamic_recovery/DR11/session_007/raw/mocap/Body0.trc +3 -0
  4. actions/dynamic_recovery/DR11/session_007/raw/mocap/Cushion.csv +0 -0
  5. actions/dynamic_recovery/DR11/session_007/raw/mocap/Cushion.trc +0 -0
  6. actions/dynamic_recovery/DR11/session_007/raw/mocap/Tracker0.csv +0 -0
  7. actions/dynamic_recovery/DR11/session_007/raw/mocap/Tracker0.trc +0 -0
  8. actions/dynamic_recovery/DR11/session_007/raw/sensors/robocap_imu_left.db +3 -0
  9. actions/dynamic_recovery/DR11/session_007/raw/sensors/robocap_imu_right.db +3 -0
  10. actions/dynamic_recovery/DR11/session_007/raw/sensors/robocap_mag_middle.db +3 -0
  11. actions/dynamic_recovery/DR11/session_007/raw/sensors/robowrist_imu_left.db +3 -0
  12. actions/dynamic_recovery/DR11/session_007/raw/sensors/robowrist_imu_right.db +3 -0
  13. actions/dynamic_recovery/DR11/session_007/raw/sensors/robowrist_mag_left.db +3 -0
  14. actions/dynamic_recovery/DR11/session_007/raw/sensors/robowrist_mag_right.db +3 -0
  15. actions/dynamic_recovery/DR11/session_007/sensors/head_imu.npz +3 -0
  16. actions/dynamic_recovery/DR11/session_007/sensors/head_mag.npz +3 -0
  17. actions/dynamic_recovery/DR11/session_007/sensors/wrist_imu.npz +3 -0
  18. actions/dynamic_recovery/DR11/session_007/sensors/wrist_mag.npz +3 -0
  19. actions/dynamic_recovery/DR11/session_007/videos/frame_timestamps.npz +3 -0
  20. actions/dynamic_recovery/DR11/session_007/videos/head_left.mp4 +3 -0
  21. actions/dynamic_recovery/DR11/session_007/videos/head_left_eye.mp4 +3 -0
  22. actions/dynamic_recovery/DR11/session_007/videos/head_left_front.mp4 +3 -0
  23. actions/dynamic_recovery/DR11/session_007/videos/head_right.mp4 +3 -0
  24. actions/dynamic_recovery/DR11/session_007/videos/head_right_eye.mp4 +3 -0
  25. actions/dynamic_recovery/DR11/session_007/videos/head_right_front.mp4 +3 -0
  26. actions/dynamic_recovery/DR11/session_007/videos/third_person.mp4 +3 -0
  27. actions/dynamic_recovery/DR11/session_007/videos/wrist_left.mp4 +3 -0
  28. actions/dynamic_recovery/DR11/session_007/videos/wrist_right.mp4 +3 -0
  29. actions/dynamic_recovery/DR12/session_001/annotations.json +39 -0
  30. actions/dynamic_recovery/DR12/session_001/cameras/slam.npz +3 -0
  31. actions/dynamic_recovery/DR12/session_001/meta.json +116 -2
  32. actions/dynamic_recovery/DR12/session_001/motions/hands_mano.npz +3 -0
  33. actions/dynamic_recovery/DR12/session_001/motions/smplx.npz +2 -2
  34. actions/dynamic_recovery/DR12/session_002/annotations.json +39 -0
  35. actions/dynamic_recovery/DR12/session_002/cameras/slam.npz +3 -0
  36. actions/dynamic_recovery/DR12/session_002/meta.json +116 -2
  37. actions/dynamic_recovery/DR12/session_002/motions/hands_mano.npz +3 -0
  38. actions/dynamic_recovery/DR12/session_002/motions/smplx.npz +2 -2
  39. actions/dynamic_recovery/DR12/session_003/annotations.json +39 -0
  40. actions/dynamic_recovery/DR12/session_003/cameras/gsi_online_calibration.json +257 -0
  41. actions/dynamic_recovery/DR12/session_003/cameras/slam.npz +3 -0
  42. actions/dynamic_recovery/DR12/session_003/meta.json +116 -2
  43. actions/dynamic_recovery/DR12/session_003/motions/hands_mano.npz +3 -0
  44. actions/dynamic_recovery/DR12/session_003/motions/smplx.npz +2 -2
  45. actions/dynamic_recovery/DR13/session_001/annotations.json +39 -0
  46. actions/dynamic_recovery/DR13/session_001/cameras/slam.npz +3 -0
  47. actions/dynamic_recovery/DR13/session_001/meta.json +116 -2
  48. actions/dynamic_recovery/DR13/session_001/motions/hands_mano.npz +3 -0
  49. actions/dynamic_recovery/DR13/session_001/motions/smplx.npz +2 -2
  50. actions/dynamic_recovery/DR13/session_002/annotations.json +39 -0
.gitattributes CHANGED
@@ -41218,3 +41218,12 @@ actions/dynamic_recovery/DR11/session_006/raw/sensors/robowrist_imu_left.db filt
41218
  actions/dynamic_recovery/DR11/session_006/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
41219
  actions/dynamic_recovery/DR11/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
41220
  actions/dynamic_recovery/DR11/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
 
 
 
 
 
 
 
 
 
 
41218
  actions/dynamic_recovery/DR11/session_006/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
41219
  actions/dynamic_recovery/DR11/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
41220
  actions/dynamic_recovery/DR11/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
41221
+ actions/dynamic_recovery/DR11/session_007/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
41222
+ actions/dynamic_recovery/DR11/session_007/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
41223
+ actions/dynamic_recovery/DR11/session_007/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
41224
+ actions/dynamic_recovery/DR11/session_007/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
41225
+ actions/dynamic_recovery/DR11/session_007/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
41226
+ actions/dynamic_recovery/DR11/session_007/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
41227
+ actions/dynamic_recovery/DR11/session_007/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
41228
+ actions/dynamic_recovery/DR11/session_007/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
41229
+ actions/dynamic_recovery/DR11/session_007/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
actions/dynamic_recovery/DR11/session_007/raw/mocap/Body0.csv ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:586d92f93333610ba7a2bd9cbd53efddf3146fbfbec4f7933a39c562b3a0ab13
3
+ size 140550831
actions/dynamic_recovery/DR11/session_007/raw/mocap/Body0.trc ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:612238d75e4d668028e2f2b1a77ce44a963ff8079bfa6a48b8239ce3adaade3a
3
+ size 31188444
actions/dynamic_recovery/DR11/session_007/raw/mocap/Cushion.csv ADDED
The diff for this file is too large to render. See raw diff
 
actions/dynamic_recovery/DR11/session_007/raw/mocap/Cushion.trc ADDED
The diff for this file is too large to render. See raw diff
 
actions/dynamic_recovery/DR11/session_007/raw/mocap/Tracker0.csv ADDED
The diff for this file is too large to render. See raw diff
 
actions/dynamic_recovery/DR11/session_007/raw/mocap/Tracker0.trc ADDED
The diff for this file is too large to render. See raw diff
 
actions/dynamic_recovery/DR11/session_007/raw/sensors/robocap_imu_left.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:99bb35885a96a0779a119a982b7ea64e087e667646bb4888f49734cb36173cd4
3
+ size 1462272
actions/dynamic_recovery/DR11/session_007/raw/sensors/robocap_imu_right.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:aee86d5384dd5b2efbe44dbd196d9ded42130d3d26494e6cb31a318a5e0bb573
3
+ size 1409024
actions/dynamic_recovery/DR11/session_007/raw/sensors/robocap_mag_middle.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6869e6add94d34b27460979a80466b4b9c6e77c464c689d1cb7662aabcda0a97
3
+ size 376832
actions/dynamic_recovery/DR11/session_007/raw/sensors/robowrist_imu_left.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:595364aa4f0120a97a18f5ebe44e4de7d62c89b1710cbcd88cc071fc5fbe5055
3
+ size 1421312
actions/dynamic_recovery/DR11/session_007/raw/sensors/robowrist_imu_right.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8cee960d37b9779218012081c096b576c01c7ec788823bc1fd7f1e4163d37783
3
+ size 1421312
actions/dynamic_recovery/DR11/session_007/raw/sensors/robowrist_mag_left.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9f87ebc5f197d2a15cc2d4a2bfd3a58b3b27927603686ea61658c53acef274b4
3
+ size 360448
actions/dynamic_recovery/DR11/session_007/raw/sensors/robowrist_mag_right.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a89223023b0effd0effdeb3c983963ac4b7a8efbc4083f3affdde8e259f83789
3
+ size 360448
actions/dynamic_recovery/DR11/session_007/sensors/head_imu.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2c5645fdbed7d525701395094141278971d435f46f2122e40bb6459184703f4f
3
+ size 1473224
actions/dynamic_recovery/DR11/session_007/sensors/head_mag.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6db63adfc2152e6e9075d305c8365531276e977b27e924c7d7753a1cbcb1f26d
3
+ size 172910
actions/dynamic_recovery/DR11/session_007/sensors/wrist_imu.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1c6dbaa93652ca30e04f3e0facde4ee0fc0093e0aaf1604914d5221e4b1e3ac2
3
+ size 1568146
actions/dynamic_recovery/DR11/session_007/sensors/wrist_mag.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c1521b5b13fd4e5dde0551f20e04617a9939fd4e258e82587d011e7fdcfc4740
3
+ size 313441
actions/dynamic_recovery/DR11/session_007/videos/frame_timestamps.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f4e5648c4df1d33973b584f63fc46860444cc65fc62697ebb763e7465a5a8d73
3
+ size 274704
actions/dynamic_recovery/DR11/session_007/videos/head_left.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:de19a1b185307fa0fad0cd01e4ca4099892ff3e0016b768a7efe3238b13a8e99
3
+ size 70603267
actions/dynamic_recovery/DR11/session_007/videos/head_left_eye.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:683b4fa28154daba22dd51c78c5a05478271f7d05a126e5b5bc7176bc06cc6a8
3
+ size 70407648
actions/dynamic_recovery/DR11/session_007/videos/head_left_front.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3d15a92e0218df8e71041d1ddf5a8e2fb234a1a95ba1d8496b5f562750855c8e
3
+ size 70626285
actions/dynamic_recovery/DR11/session_007/videos/head_right.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:517b0bfb2932739656499349a9d26f4cd005f08697a8b8c4bd6b8ced5dead0e4
3
+ size 70737992
actions/dynamic_recovery/DR11/session_007/videos/head_right_eye.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0283c2e173e952e7aa4e06933d56f139d362ae1ec258a25577e23dd8b11f47dc
3
+ size 70580628
actions/dynamic_recovery/DR11/session_007/videos/head_right_front.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dacd2b930b981a7946a5e65556fe9cee1e4ccecbe875076e4830e1281c191834
3
+ size 70739464
actions/dynamic_recovery/DR11/session_007/videos/third_person.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c11f82dc7d4139d37c7e782814328f495b8089ae5f60fe1c7d0292c180f84a3f
3
+ size 71371124
actions/dynamic_recovery/DR11/session_007/videos/wrist_left.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5434c0822b6da9b685e4420650503ce9f84fb6fbafe577e1aca4e65bb6caeb72
3
+ size 64889931
actions/dynamic_recovery/DR11/session_007/videos/wrist_right.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9a9d30c8fbc0b9feb35ce5c6e55abbc6e0de5a5f7ff5bbb137d153509ce7443a
3
+ size 65467978
actions/dynamic_recovery/DR12/session_001/annotations.json ADDED
@@ -0,0 +1,39 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "source": "vendor annotation.json (schema 2, revision 1)",
4
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
5
+ "primitive": "DR12",
6
+ "instruction": "Carry the box in both hands and walk back and forth. The box may be tugged without warning. Hold on if you can and carry on. The operator will do it several times at random moments; do not try to guess when.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 138.966667,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.03885429462840051
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "962f61fd-e481-4b9b-ac85-98d21c839648",
18
+ "segment": "segment1",
19
+ "action": "DR12",
20
+ "quality": "valid",
21
+ "start_s": 0.928,
22
+ "end_s": 67.962,
23
+ "t_start": 0.9669,
24
+ "t_end": 68.0009,
25
+ "instruction": "Carry the box in both hands and walk back and forth. The box may be tugged without warning. Hold on if you can and carry on. The operator will do it several times at random moments; do not try to guess when."
26
+ },
27
+ {
28
+ "id": "9b3d74e4-7b8a-4e18-99b6-4c697dc0bea2",
29
+ "segment": "segment1",
30
+ "action": "DR12",
31
+ "quality": "valid",
32
+ "start_s": 71.529,
33
+ "end_s": 136.069,
34
+ "t_start": 71.5679,
35
+ "t_end": 136.1079,
36
+ "instruction": "Carry the box in both hands and walk back and forth. The box may be tugged without warning. Hold on if you can and carry on. The operator will do it several times at random moments; do not try to guess when."
37
+ }
38
+ ]
39
+ }
actions/dynamic_recovery/DR12/session_001/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:52c6d3fd2ada2af649b4c5c82b47c6d2ce92b9f712ac785f43343af8b011685b
3
+ size 803124
actions/dynamic_recovery/DR12/session_001/meta.json CHANGED
@@ -326,8 +326,8 @@
326
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
327
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
328
  "hands": {
329
- "observed": false,
330
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
331
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
332
  "hand_marker_offsets_m": {
333
  "left": {
@@ -511,10 +511,124 @@
511
  "generated_by": "scripts/correct_processed_rig.py",
512
  "remaining_gyro_frame_deg": 0.8884279792535205
513
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
514
  "release": {
515
  "release_path": "actions/dynamic_recovery/DR12/session_001",
516
  "family": "dynamic_recovery",
517
  "primitive": "DR12",
518
  "source_session": "20260915/DR12/20260915_111132_session139"
 
 
 
 
519
  }
520
  }
 
326
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
327
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
328
  "hands": {
329
+ "observed": true,
330
+ "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
331
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
332
  "hand_marker_offsets_m": {
333
  "left": {
 
511
  "generated_by": "scripts/correct_processed_rig.py",
512
  "remaining_gyro_frame_deg": 0.8884279792535205
513
  },
514
+ "hands_registration": {
515
+ "cameras": {},
516
+ "hands": {
517
+ "left": {
518
+ "offset_deg": 16.69,
519
+ "offset_rotvec": [
520
+ -0.2017,
521
+ 0.1842,
522
+ -0.1013
523
+ ],
524
+ "dev_deg": {
525
+ "median": 8.9,
526
+ "p90": 16.63
527
+ },
528
+ "samples": 3869,
529
+ "accepted": 3842,
530
+ "wrist_pos_err_mm_median": 50.1,
531
+ "per_camera": {
532
+ "head": {
533
+ "samples": 3869,
534
+ "accepted": 3842,
535
+ "gate_deg": 30.0,
536
+ "offset_deg": 16.69,
537
+ "tier": "primary",
538
+ "dev_deg_median": 8.9,
539
+ "wrist_pos_err_mm_median": 50.1
540
+ }
541
+ },
542
+ "frames_by_state": {
543
+ "ace_sample": 15370,
544
+ "interpolated": 38,
545
+ "mean_hand": 197,
546
+ "no_body_fit": 1079
547
+ },
548
+ "observed_fraction": 0.9235,
549
+ "observed_fraction_of_valid": 0.9874,
550
+ "palm_axis_vs_markers_deg": {
551
+ "gsi": 14.69,
552
+ "smplx": 1.82
553
+ },
554
+ "hand_marker_to_mesh_mm": {
555
+ "flat": {
556
+ "median": 10.3,
557
+ "p90": 11.4
558
+ },
559
+ "registered": {
560
+ "median": 9.3,
561
+ "p90": 11.0
562
+ }
563
+ }
564
+ },
565
+ "right": {
566
+ "offset_deg": 10.22,
567
+ "offset_rotvec": [
568
+ -0.1366,
569
+ 0.0806,
570
+ 0.0817
571
+ ],
572
+ "dev_deg": {
573
+ "median": 13.02,
574
+ "p90": 22.49
575
+ },
576
+ "samples": 3733,
577
+ "accepted": 3657,
578
+ "wrist_pos_err_mm_median": 59.9,
579
+ "per_camera": {
580
+ "head": {
581
+ "samples": 3733,
582
+ "accepted": 3657,
583
+ "gate_deg": 30.0,
584
+ "offset_deg": 10.22,
585
+ "tier": "primary",
586
+ "dev_deg_median": 13.02,
587
+ "wrist_pos_err_mm_median": 59.9
588
+ }
589
+ },
590
+ "frames_by_state": {
591
+ "ace_sample": 14688,
592
+ "interpolated": 644,
593
+ "mean_hand": 273,
594
+ "no_body_fit": 1079
595
+ },
596
+ "observed_fraction": 0.919,
597
+ "observed_fraction_of_valid": 0.9825,
598
+ "palm_axis_vs_markers_deg": {
599
+ "gsi": 12.25,
600
+ "smplx": 2.33
601
+ },
602
+ "hand_marker_to_mesh_mm": {
603
+ "flat": {
604
+ "median": 10.0,
605
+ "p90": 12.6
606
+ },
607
+ "registered": {
608
+ "median": 8.7,
609
+ "p90": 10.9
610
+ }
611
+ }
612
+ }
613
+ },
614
+ "max_dev_deg": 30.0,
615
+ "max_gap_s": 1.0,
616
+ "cameras_used": [
617
+ "head"
618
+ ],
619
+ "generated_at_utc": "2026-11-03T20:15:21.121356+00:00",
620
+ "generated_by": "scripts/register_hands_smplx.py",
621
+ "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",
622
+ "wrist_flip_suspect": []
623
+ },
624
  "release": {
625
  "release_path": "actions/dynamic_recovery/DR12/session_001",
626
  "family": "dynamic_recovery",
627
  "primitive": "DR12",
628
  "source_session": "20260915/DR12/20260915_111132_session139"
629
+ },
630
+ "task": {
631
+ "primitive": "DR12",
632
+ "instruction": "Carry the box in both hands and walk back and forth. The box may be tugged without warning. Hold on if you can and carry on. The operator will do it several times at random moments; do not try to guess when."
633
  }
634
  }
actions/dynamic_recovery/DR12/session_001/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:76d2d43a9e52c2a2e451e5f828ed69b8907dc54029795851c7213895d9eb9d53
3
+ size 5439140
actions/dynamic_recovery/DR12/session_001/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:5f04c0c243d7cf816958326c12100709b3b060188bf519f9e85c09240b9204af
3
- size 6034266
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d6f928c412118ede5fa51aa550787b48a8b5e18ca0c3ba615afffaa4a002f948
3
+ size 11219073
actions/dynamic_recovery/DR12/session_002/annotations.json ADDED
@@ -0,0 +1,39 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "source": "vendor annotation.json (schema 2, revision 2)",
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": "DR12",
6
+ "instruction": "Carry the box in both hands and walk back and forth. The box may be tugged without warning. Hold on if you can and carry on. The operator will do it several times at random moments; do not try to guess when.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 138.966689,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.03897290456746472
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "02095490-3d16-4303-be13-1664bb8f12e7",
18
+ "segment": "segment1",
19
+ "action": "DR12",
20
+ "quality": "valid",
21
+ "start_s": 0,
22
+ "end_s": 67.729,
23
+ "t_start": 0.039,
24
+ "t_end": 67.768,
25
+ "instruction": "Carry the box in both hands and walk back and forth. The box may be tugged without warning. Hold on if you can and carry on. The operator will do it several times at random moments; do not try to guess when."
26
+ },
27
+ {
28
+ "id": "655a3821-483b-45c5-8801-deb01ef3477f",
29
+ "segment": "segment1",
30
+ "action": "DR12",
31
+ "quality": "valid",
32
+ "start_s": 70.101,
33
+ "end_s": 132.542,
34
+ "t_start": 70.14,
35
+ "t_end": 132.581,
36
+ "instruction": "Carry the box in both hands and walk back and forth. The box may be tugged without warning. Hold on if you can and carry on. The operator will do it several times at random moments; do not try to guess when."
37
+ }
38
+ ]
39
+ }
actions/dynamic_recovery/DR12/session_002/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fb6ab16fe26890f7c4354a0798e32fb586f4f8dc4a4c38fed6d781c15c3b8090
3
+ size 800070
actions/dynamic_recovery/DR12/session_002/meta.json CHANGED
@@ -325,8 +325,8 @@
325
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
326
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
327
  "hands": {
328
- "observed": false,
329
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
330
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
331
  "hand_marker_offsets_m": {
332
  "left": {
@@ -512,10 +512,124 @@
512
  "generated_by": "scripts/correct_processed_rig.py",
513
  "remaining_gyro_frame_deg": 1.434506031967439
514
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
515
  "release": {
516
  "release_path": "actions/dynamic_recovery/DR12/session_002",
517
  "family": "dynamic_recovery",
518
  "primitive": "DR12",
519
  "source_session": "20260916/DR12/20260916_094513_session153"
 
 
 
 
520
  }
521
  }
 
325
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
326
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
327
  "hands": {
328
+ "observed": true,
329
+ "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
330
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
331
  "hand_marker_offsets_m": {
332
  "left": {
 
512
  "generated_by": "scripts/correct_processed_rig.py",
513
  "remaining_gyro_frame_deg": 1.434506031967439
514
  },
515
+ "hands_registration": {
516
+ "cameras": {},
517
+ "hands": {
518
+ "left": {
519
+ "offset_deg": 12.83,
520
+ "offset_rotvec": [
521
+ -0.1148,
522
+ 0.192,
523
+ 0.0106
524
+ ],
525
+ "dev_deg": {
526
+ "median": 5.31,
527
+ "p90": 11.73
528
+ },
529
+ "samples": 4162,
530
+ "accepted": 4031,
531
+ "wrist_pos_err_mm_median": 88.2,
532
+ "per_camera": {
533
+ "head": {
534
+ "samples": 4162,
535
+ "accepted": 4031,
536
+ "gate_deg": 30.0,
537
+ "offset_deg": 12.83,
538
+ "tier": "primary",
539
+ "dev_deg_median": 5.31,
540
+ "wrist_pos_err_mm_median": 88.2
541
+ }
542
+ },
543
+ "frames_by_state": {
544
+ "ace_sample": 16148,
545
+ "interpolated": 268,
546
+ "mean_hand": 260,
547
+ "no_body_fit": 8
548
+ },
549
+ "observed_fraction": 0.9839,
550
+ "observed_fraction_of_valid": 0.9844,
551
+ "palm_axis_vs_markers_deg": {
552
+ "gsi": 13.1,
553
+ "smplx": 0.81
554
+ },
555
+ "hand_marker_to_mesh_mm": {
556
+ "flat": {
557
+ "median": 6.1,
558
+ "p90": 8.1
559
+ },
560
+ "registered": {
561
+ "median": 7.6,
562
+ "p90": 8.5
563
+ }
564
+ }
565
+ },
566
+ "right": {
567
+ "offset_deg": 7.02,
568
+ "offset_rotvec": [
569
+ -0.0597,
570
+ 0.081,
571
+ -0.0697
572
+ ],
573
+ "dev_deg": {
574
+ "median": 4.18,
575
+ "p90": 8.81
576
+ },
577
+ "samples": 4100,
578
+ "accepted": 4032,
579
+ "wrist_pos_err_mm_median": 81.1,
580
+ "per_camera": {
581
+ "head": {
582
+ "samples": 4100,
583
+ "accepted": 4032,
584
+ "gate_deg": 30.0,
585
+ "offset_deg": 7.02,
586
+ "tier": "primary",
587
+ "dev_deg_median": 4.18,
588
+ "wrist_pos_err_mm_median": 81.1
589
+ }
590
+ },
591
+ "frames_by_state": {
592
+ "ace_sample": 16167,
593
+ "interpolated": 504,
594
+ "mean_hand": 5,
595
+ "no_body_fit": 8
596
+ },
597
+ "observed_fraction": 0.9992,
598
+ "observed_fraction_of_valid": 0.9997,
599
+ "palm_axis_vs_markers_deg": {
600
+ "gsi": 7.15,
601
+ "smplx": 0.45
602
+ },
603
+ "hand_marker_to_mesh_mm": {
604
+ "flat": {
605
+ "median": 8.1,
606
+ "p90": 11.3
607
+ },
608
+ "registered": {
609
+ "median": 6.5,
610
+ "p90": 10.7
611
+ }
612
+ }
613
+ }
614
+ },
615
+ "max_dev_deg": 30.0,
616
+ "max_gap_s": 1.0,
617
+ "cameras_used": [
618
+ "head"
619
+ ],
620
+ "generated_at_utc": "2026-11-03T23:08:01.234768+00:00",
621
+ "generated_by": "scripts/register_hands_smplx.py",
622
+ "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",
623
+ "wrist_flip_suspect": []
624
+ },
625
  "release": {
626
  "release_path": "actions/dynamic_recovery/DR12/session_002",
627
  "family": "dynamic_recovery",
628
  "primitive": "DR12",
629
  "source_session": "20260916/DR12/20260916_094513_session153"
630
+ },
631
+ "task": {
632
+ "primitive": "DR12",
633
+ "instruction": "Carry the box in both hands and walk back and forth. The box may be tugged without warning. Hold on if you can and carry on. The operator will do it several times at random moments; do not try to guess when."
634
  }
635
  }
actions/dynamic_recovery/DR12/session_002/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4d6f45469a398b4063bace7f4ddb32e4f005b015cb5834403eeaed5dfadd3811
3
+ size 5554338
actions/dynamic_recovery/DR12/session_002/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:80bd29aaad3c6ea2687fb1ef54aaec2b65f2487861a35c6f47527937cda282fd
3
- size 6430092
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ec274cb1cb1174c5e3eb603f57c60dfda9afec711b2a12ad95072d7362c540ba
3
+ size 11987659
actions/dynamic_recovery/DR12/session_003/annotations.json ADDED
@@ -0,0 +1,39 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "source": "vendor annotation.json (schema 2, revision 1)",
4
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
5
+ "primitive": "DR12",
6
+ "instruction": "Carry the box in both hands and walk back and forth. The box may be tugged without warning. Hold on if you can and carry on. The operator will do it several times at random moments; do not try to guess when.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 138.966611,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.03909602261637035
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "5930191b-00fa-453a-b644-e2ccf10f1228",
18
+ "segment": "segment1",
19
+ "action": "DR12",
20
+ "quality": "valid",
21
+ "start_s": 0,
22
+ "end_s": 71.692,
23
+ "t_start": 0.0391,
24
+ "t_end": 71.7311,
25
+ "instruction": "Carry the box in both hands and walk back and forth. The box may be tugged without warning. Hold on if you can and carry on. The operator will do it several times at random moments; do not try to guess when."
26
+ },
27
+ {
28
+ "id": "1b4c597c-fbac-442e-8605-cfa4494f95c8",
29
+ "segment": "segment1",
30
+ "action": "DR12",
31
+ "quality": "valid",
32
+ "start_s": 72.464,
33
+ "end_s": 132.382,
34
+ "t_start": 72.5031,
35
+ "t_end": 132.4211,
36
+ "instruction": "Carry the box in both hands and walk back and forth. The box may be tugged without warning. Hold on if you can and carry on. The operator will do it several times at random moments; do not try to guess when."
37
+ }
38
+ ]
39
+ }
actions/dynamic_recovery/DR12/session_003/cameras/gsi_online_calibration.json ADDED
@@ -0,0 +1,257 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "camera_fit": {
3
+ "groups_dropped": [],
4
+ "groups_used": 14,
5
+ "median_px": 0.387
6
+ },
7
+ "cameras": {
8
+ "left": {
9
+ "accepted": true,
10
+ "against": [
11
+ "left_front",
12
+ "right_front",
13
+ "left_eye",
14
+ "right_eye"
15
+ ],
16
+ "delta_deg": 0.9295,
17
+ "gate_fail": [],
18
+ "held_out_px_after": 0.516,
19
+ "held_out_px_before": 4.293,
20
+ "inliers": 2265,
21
+ "position_fitted": false,
22
+ "rotvec_deg": [
23
+ 0.036,
24
+ -0.6824,
25
+ -0.6301
26
+ ],
27
+ "split_deg": 0.2107,
28
+ "usable": true
29
+ },
30
+ "left_eye": {
31
+ "accepted": true,
32
+ "against": [
33
+ "left_front",
34
+ "right_front",
35
+ "right_eye",
36
+ "left",
37
+ "right"
38
+ ],
39
+ "delta_deg": 1.9128,
40
+ "gate_fail": [],
41
+ "held_out_px_after": 0.441,
42
+ "held_out_px_before": 6.327,
43
+ "inliers": 3210,
44
+ "position_fitted": true,
45
+ "position_mm": [
46
+ 6.25,
47
+ -19.39,
48
+ 1.65
49
+ ],
50
+ "position_sigma_mm": 0.135,
51
+ "position_split_mm": 1.448,
52
+ "rotvec_deg": [
53
+ -0.0021,
54
+ 0.5595,
55
+ -1.8292
56
+ ],
57
+ "split_deg": 0.1839,
58
+ "usable": true
59
+ },
60
+ "left_front": {
61
+ "role": "rig origin"
62
+ },
63
+ "right": {
64
+ "accepted": true,
65
+ "against": [
66
+ "left_front",
67
+ "right_front",
68
+ "left_eye",
69
+ "right_eye"
70
+ ],
71
+ "delta_deg": 1.4585,
72
+ "gate_fail": [],
73
+ "held_out_px_after": 0.717,
74
+ "held_out_px_before": 4.543,
75
+ "inliers": 1178,
76
+ "position_fitted": false,
77
+ "rotvec_deg": [
78
+ 1.2406,
79
+ -0.7666,
80
+ 0.0197
81
+ ],
82
+ "split_deg": 0.5021,
83
+ "usable": true
84
+ },
85
+ "right_eye": {
86
+ "accepted": true,
87
+ "against": [
88
+ "left_front",
89
+ "right_front",
90
+ "left_eye",
91
+ "left",
92
+ "right"
93
+ ],
94
+ "delta_deg": 0.7071,
95
+ "gate_fail": [],
96
+ "held_out_px_after": 0.407,
97
+ "held_out_px_before": 3.797,
98
+ "inliers": 3276,
99
+ "position_fitted": true,
100
+ "position_mm": [
101
+ 6.49,
102
+ -20.73,
103
+ 3.76
104
+ ],
105
+ "position_sigma_mm": 0.133,
106
+ "position_split_mm": 1.299,
107
+ "rotvec_deg": [
108
+ 0.173,
109
+ -0.5374,
110
+ -0.4258
111
+ ],
112
+ "split_deg": 0.1684,
113
+ "usable": true
114
+ },
115
+ "right_front": {
116
+ "accepted": true,
117
+ "against": [
118
+ "left_front",
119
+ "left_eye",
120
+ "right_eye",
121
+ "left",
122
+ "right"
123
+ ],
124
+ "delta_deg": 1.3588,
125
+ "gate_fail": [],
126
+ "held_out_px_after": 0.33,
127
+ "held_out_px_before": 5.692,
128
+ "inliers": 4713,
129
+ "position_fitted": false,
130
+ "rotvec_deg": [
131
+ -0.429,
132
+ -0.0314,
133
+ -1.2889
134
+ ],
135
+ "split_deg": 0.0092,
136
+ "usable": true
137
+ }
138
+ },
139
+ "code_fingerprint": "711ecf5b3dd408f8",
140
+ "device_id": "e17c9efadb69e7b1",
141
+ "factory_root_name": "e17c9efadb69e7b1",
142
+ "files": {
143
+ "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
144
+ "sha256": "aaa7aad42ab7f14584aecad896d575b2f7c70efd5a8cb474f39999ad6dffe878",
145
+ "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
146
+ },
147
+ "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
148
+ "sha256": "6ec9fc3db83500a4dabbdaaeddfd11363a674629e32781b7583493f0e7f2f795",
149
+ "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
150
+ },
151
+ "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
152
+ "sha256": "de7782ba7c1c80670c0eb326105c214116a6d8172a3b76a3a8abda137364a236",
153
+ "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
154
+ },
155
+ "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
156
+ "sha256": "508d7c93fecdfc20f6d15d92be8c61278e55f056ac7d7490cccf9c4afc1f9b06",
157
+ "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
158
+ }
159
+ },
160
+ "input_fingerprint": "03f733d4c487ceb6",
161
+ "kind": "online_calibration",
162
+ "output_sha256": "182851aa614976131dddcdd4ed9d1330a04a4f2960f0b3b889222881584317d6",
163
+ "overlap": {
164
+ "left-right": 0.501,
165
+ "left_eye-left": 0.707,
166
+ "left_eye-right": 0.671,
167
+ "left_front-left": 0.478,
168
+ "left_front-left_eye": 0.72,
169
+ "left_front-right": 0.448,
170
+ "left_front-right_eye": 0.732,
171
+ "left_front-right_front": 1.0,
172
+ "right_eye-left": 0.696,
173
+ "right_eye-left_eye": 1.0,
174
+ "right_eye-right": 0.673,
175
+ "right_front-left": 0.464,
176
+ "right_front-left_eye": 0.723,
177
+ "right_front-right": 0.466,
178
+ "right_front-right_eye": 0.734
179
+ },
180
+ "picture_change": {
181
+ "left": 41.841,
182
+ "left_eye": 41.19,
183
+ "left_front": 43.436,
184
+ "right": 35.321,
185
+ "right_eye": 39.9,
186
+ "right_front": 41.794
187
+ },
188
+ "runtime": {
189
+ "numpy": "2.4.6",
190
+ "opencv": "5.0.0",
191
+ "scipy": "1.17.1"
192
+ },
193
+ "segment": 1,
194
+ "selection": {
195
+ "overlap_captures": [
196
+ 7254871267222,
197
+ 7255871267222,
198
+ 7260871278333,
199
+ 7261871267222,
200
+ 7265871278333,
201
+ 7266871278333,
202
+ 7268871267222,
203
+ 7269871289444,
204
+ 7273871278333,
205
+ 7274871267222,
206
+ 7277871311666,
207
+ 7278871311666,
208
+ 7283871267222,
209
+ 7284871278333,
210
+ 7285871333888,
211
+ 7291871267222,
212
+ 7292871322777,
213
+ 7293871311666,
214
+ 7294871289444,
215
+ 7299871289444,
216
+ 7300871267222,
217
+ 7302871278333,
218
+ 7303871278333,
219
+ 7308871311666,
220
+ 7309871278333,
221
+ 7310871267222,
222
+ 7311871322777,
223
+ 7317871322777,
224
+ 7318871267222,
225
+ 7321871322777,
226
+ 7322871322777,
227
+ 7325871267222,
228
+ 7326871267222,
229
+ 7328871333888,
230
+ 7329871289444,
231
+ 7332871322777,
232
+ 7333871322777,
233
+ 7338871289444,
234
+ 7339871289444,
235
+ 7342871311666,
236
+ 7343871411666,
237
+ 7348871267222,
238
+ 7349871289444,
239
+ 7352871311666,
240
+ 7353871267222,
241
+ 7356871267222,
242
+ 7357871278333,
243
+ 7360871333888,
244
+ 7361871267222,
245
+ 7365871300555,
246
+ 7366871322777,
247
+ 7370871322777,
248
+ 7371871267222,
249
+ 7372871311666,
250
+ 7373871278333,
251
+ 7380871256111,
252
+ 7381871267222,
253
+ 7382871411666
254
+ ]
255
+ },
256
+ "version": 1
257
+ }
actions/dynamic_recovery/DR12/session_003/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:67199fe3257050cbecf8a0be0c42c1ce44d8106a04302a686ca2d68f3da4f464
3
+ size 801797
actions/dynamic_recovery/DR12/session_003/meta.json CHANGED
@@ -327,8 +327,8 @@
327
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
328
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
329
  "hands": {
330
- "observed": false,
331
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
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": {
@@ -509,10 +509,124 @@
509
  "generated_by": "scripts/correct_processed_rig.py",
510
  "remaining_gyro_frame_deg": 0.9869696170432755
511
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
512
  "release": {
513
  "release_path": "actions/dynamic_recovery/DR12/session_003",
514
  "family": "dynamic_recovery",
515
  "primitive": "DR12",
516
  "source_session": "20260920/DR12/20260920_045919_session32"
 
 
 
 
517
  }
518
  }
 
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": {
 
509
  "generated_by": "scripts/correct_processed_rig.py",
510
  "remaining_gyro_frame_deg": 0.9869696170432755
511
  },
512
+ "hands_registration": {
513
+ "cameras": {},
514
+ "hands": {
515
+ "left": {
516
+ "offset_deg": 24.8,
517
+ "offset_rotvec": [
518
+ 0.4266,
519
+ 0.0285,
520
+ -0.0674
521
+ ],
522
+ "dev_deg": {
523
+ "median": 13.23,
524
+ "p90": 33.14
525
+ },
526
+ "samples": 2059,
527
+ "accepted": 1786,
528
+ "wrist_pos_err_mm_median": 40.7,
529
+ "per_camera": {
530
+ "head": {
531
+ "samples": 2059,
532
+ "accepted": 1786,
533
+ "gate_deg": 30.0,
534
+ "offset_deg": 24.8,
535
+ "tier": "primary",
536
+ "dev_deg_median": 13.23,
537
+ "wrist_pos_err_mm_median": 40.7
538
+ }
539
+ },
540
+ "frames_by_state": {
541
+ "ace_sample": 7142,
542
+ "interpolated": 1714,
543
+ "mean_hand": 7826,
544
+ "no_body_fit": 2
545
+ },
546
+ "observed_fraction": 0.5308,
547
+ "observed_fraction_of_valid": 0.5309,
548
+ "palm_axis_vs_markers_deg": {
549
+ "gsi": 26.17,
550
+ "smplx": 0.71
551
+ },
552
+ "hand_marker_to_mesh_mm": {
553
+ "flat": {
554
+ "median": 10.8,
555
+ "p90": 16.4
556
+ },
557
+ "registered": {
558
+ "median": 10.5,
559
+ "p90": 15.1
560
+ }
561
+ }
562
+ },
563
+ "right": {
564
+ "offset_deg": 29.46,
565
+ "offset_rotvec": [
566
+ 0.36,
567
+ -0.3445,
568
+ 0.1266
569
+ ],
570
+ "dev_deg": {
571
+ "median": 10.29,
572
+ "p90": 28.1
573
+ },
574
+ "samples": 2845,
575
+ "accepted": 2595,
576
+ "wrist_pos_err_mm_median": 35.2,
577
+ "per_camera": {
578
+ "head": {
579
+ "samples": 2845,
580
+ "accepted": 2595,
581
+ "gate_deg": 30.0,
582
+ "offset_deg": 29.46,
583
+ "tier": "primary",
584
+ "dev_deg_median": 10.29,
585
+ "wrist_pos_err_mm_median": 35.2
586
+ }
587
+ },
588
+ "frames_by_state": {
589
+ "ace_sample": 10394,
590
+ "interpolated": 850,
591
+ "mean_hand": 5438,
592
+ "no_body_fit": 2
593
+ },
594
+ "observed_fraction": 0.6739,
595
+ "observed_fraction_of_valid": 0.674,
596
+ "palm_axis_vs_markers_deg": {
597
+ "gsi": 32.27,
598
+ "smplx": 0.58
599
+ },
600
+ "hand_marker_to_mesh_mm": {
601
+ "flat": {
602
+ "median": 16.7,
603
+ "p90": 26.2
604
+ },
605
+ "registered": {
606
+ "median": 16.3,
607
+ "p90": 25.2
608
+ }
609
+ }
610
+ }
611
+ },
612
+ "max_dev_deg": 30.0,
613
+ "max_gap_s": 1.0,
614
+ "cameras_used": [
615
+ "head"
616
+ ],
617
+ "generated_at_utc": "2026-11-03T22:54:02.515542+00:00",
618
+ "generated_by": "scripts/register_hands_smplx.py",
619
+ "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",
620
+ "wrist_flip_suspect": []
621
+ },
622
  "release": {
623
  "release_path": "actions/dynamic_recovery/DR12/session_003",
624
  "family": "dynamic_recovery",
625
  "primitive": "DR12",
626
  "source_session": "20260920/DR12/20260920_045919_session32"
627
+ },
628
+ "task": {
629
+ "primitive": "DR12",
630
+ "instruction": "Carry the box in both hands and walk back and forth. The box may be tugged without warning. Hold on if you can and carry on. The operator will do it several times at random moments; do not try to guess when."
631
  }
632
  }
actions/dynamic_recovery/DR12/session_003/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b8737f1f64039cbdc2c39d80aa300243771566b43aa4fbf07f2d23fecbfdcf02
3
+ size 3417251
actions/dynamic_recovery/DR12/session_003/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:39a84698f18fe6ff6ca96716761c8d22a6ef056434714d2d11ba98f6dffd8c4b
3
- size 6447901
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0b5bb3d9d9818dbc02fcc727cadc5c98e89cd5e0ce7e3258ab730465be416750
3
+ size 10177675
actions/dynamic_recovery/DR13/session_001/annotations.json ADDED
@@ -0,0 +1,39 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "source": "vendor annotation.json (schema 2, revision 1)",
4
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
5
+ "primitive": "DR13",
6
+ "instruction": "Carry the box in both hands and walk back and forth across the room. The contents may move around. Carry on as best you can.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 143.9667,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.03907827507185724
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "ca6e9ab6-3221-475d-890c-4482611d86af",
18
+ "segment": "segment1",
19
+ "action": "DR13",
20
+ "quality": "valid",
21
+ "start_s": 1.232,
22
+ "end_s": 79.483,
23
+ "t_start": 1.2711,
24
+ "t_end": 79.5221,
25
+ "instruction": "Carry the box in both hands and walk back and forth across the room. The contents may move around. Carry on as best you can."
26
+ },
27
+ {
28
+ "id": "a8691ba1-b04f-4ae3-8ae5-3e66465f2b06",
29
+ "segment": "segment1",
30
+ "action": "DR13",
31
+ "quality": "valid",
32
+ "start_s": 79.483,
33
+ "end_s": 138.222,
34
+ "t_start": 79.5221,
35
+ "t_end": 138.2611,
36
+ "instruction": "Carry the box in both hands and walk back and forth across the room. The contents may move around. Carry on as best you can."
37
+ }
38
+ ]
39
+ }
actions/dynamic_recovery/DR13/session_001/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e1d27ce581c475a14ae6a684775caca700ef5b51aa8ee79155a5c3122456210e
3
+ size 830111
actions/dynamic_recovery/DR13/session_001/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": false,
332
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
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": {
@@ -515,10 +515,124 @@
515
  "generated_by": "scripts/correct_processed_rig.py",
516
  "remaining_gyro_frame_deg": 1.197681890847506
517
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
518
  "release": {
519
  "release_path": "actions/dynamic_recovery/DR13/session_001",
520
  "family": "dynamic_recovery",
521
  "primitive": "DR13",
522
  "source_session": "20260909/DR13/20260909_103022_session167"
 
 
 
 
523
  }
524
  }
 
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": {
 
515
  "generated_by": "scripts/correct_processed_rig.py",
516
  "remaining_gyro_frame_deg": 1.197681890847506
517
  },
518
+ "hands_registration": {
519
+ "cameras": {},
520
+ "hands": {
521
+ "left": {
522
+ "offset_deg": 22.1,
523
+ "offset_rotvec": [
524
+ -0.3008,
525
+ 0.109,
526
+ 0.2154
527
+ ],
528
+ "dev_deg": {
529
+ "median": 12.32,
530
+ "p90": 24.92
531
+ },
532
+ "samples": 4272,
533
+ "accepted": 4122,
534
+ "wrist_pos_err_mm_median": 89.5,
535
+ "per_camera": {
536
+ "head": {
537
+ "samples": 4272,
538
+ "accepted": 4122,
539
+ "gate_deg": 30.0,
540
+ "offset_deg": 22.1,
541
+ "tier": "primary",
542
+ "dev_deg_median": 12.32,
543
+ "wrist_pos_err_mm_median": 89.5
544
+ }
545
+ },
546
+ "frames_by_state": {
547
+ "ace_sample": 16534,
548
+ "interpolated": 490,
549
+ "mean_hand": 260,
550
+ "no_body_fit": 0
551
+ },
552
+ "observed_fraction": 0.985,
553
+ "observed_fraction_of_valid": 0.985,
554
+ "palm_axis_vs_markers_deg": {
555
+ "gsi": 15.73,
556
+ "smplx": 2.1
557
+ },
558
+ "hand_marker_to_mesh_mm": {
559
+ "flat": {
560
+ "median": 12.1,
561
+ "p90": 14.2
562
+ },
563
+ "registered": {
564
+ "median": 13.4,
565
+ "p90": 15.2
566
+ }
567
+ }
568
+ },
569
+ "right": {
570
+ "offset_deg": 11.01,
571
+ "offset_rotvec": [
572
+ -0.0437,
573
+ 0.1606,
574
+ -0.0962
575
+ ],
576
+ "dev_deg": {
577
+ "median": 10.8,
578
+ "p90": 25.79
579
+ },
580
+ "samples": 4212,
581
+ "accepted": 3998,
582
+ "wrist_pos_err_mm_median": 89.5,
583
+ "per_camera": {
584
+ "head": {
585
+ "samples": 4212,
586
+ "accepted": 3998,
587
+ "gate_deg": 30.0,
588
+ "offset_deg": 11.01,
589
+ "tier": "primary",
590
+ "dev_deg_median": 10.8,
591
+ "wrist_pos_err_mm_median": 89.5
592
+ }
593
+ },
594
+ "frames_by_state": {
595
+ "ace_sample": 16064,
596
+ "interpolated": 592,
597
+ "mean_hand": 628,
598
+ "no_body_fit": 0
599
+ },
600
+ "observed_fraction": 0.9637,
601
+ "observed_fraction_of_valid": 0.9637,
602
+ "palm_axis_vs_markers_deg": {
603
+ "gsi": 11.41,
604
+ "smplx": 0.7
605
+ },
606
+ "hand_marker_to_mesh_mm": {
607
+ "flat": {
608
+ "median": 8.3,
609
+ "p90": 12.4
610
+ },
611
+ "registered": {
612
+ "median": 8.4,
613
+ "p90": 11.4
614
+ }
615
+ }
616
+ }
617
+ },
618
+ "max_dev_deg": 30.0,
619
+ "max_gap_s": 1.0,
620
+ "cameras_used": [
621
+ "head"
622
+ ],
623
+ "generated_at_utc": "2026-11-03T15:29:25.436237+00:00",
624
+ "generated_by": "scripts/register_hands_smplx.py",
625
+ "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",
626
+ "wrist_flip_suspect": []
627
+ },
628
  "release": {
629
  "release_path": "actions/dynamic_recovery/DR13/session_001",
630
  "family": "dynamic_recovery",
631
  "primitive": "DR13",
632
  "source_session": "20260909/DR13/20260909_103022_session167"
633
+ },
634
+ "task": {
635
+ "primitive": "DR13",
636
+ "instruction": "Carry the box in both hands and walk back and forth across the room. The contents may move around. Carry on as best you can."
637
  }
638
  }
actions/dynamic_recovery/DR13/session_001/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:36f615687d646c9cd7c2eb76ebe57940beef4b01f3acbd98c871fb07da8645d0
3
+ size 5703729
actions/dynamic_recovery/DR13/session_001/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:929c52a34725935f6541096bc594ce977c112cb0926c567ae96deed92641d0d1
3
- size 6634847
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ff7935e7c909cabccea0e2ecaf5b22019b11a054c502c797366121b948964b40
3
+ size 12318931
actions/dynamic_recovery/DR13/session_002/annotations.json ADDED
@@ -0,0 +1,39 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "source": "vendor annotation.json (schema 2, revision 1)",
4
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
5
+ "primitive": "DR13",
6
+ "instruction": "Carry the box in both hands and walk back and forth across the room. The contents may move around. Carry on as best you can.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 138.966656,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.03899862982837865
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "af96792e-6ff3-40d9-bcbc-fbbaaf0aab5b",
18
+ "segment": "segment1",
19
+ "action": "DR13",
20
+ "quality": "valid",
21
+ "start_s": 0,
22
+ "end_s": 67.143,
23
+ "t_start": 0.039,
24
+ "t_end": 67.182,
25
+ "instruction": "Carry the box in both hands and walk back and forth across the room. The contents may move around. Carry on as best you can."
26
+ },
27
+ {
28
+ "id": "d8bccad7-b0bf-4cef-a074-2ff7587c4439",
29
+ "segment": "segment1",
30
+ "action": "DR13",
31
+ "quality": "valid",
32
+ "start_s": 67.436,
33
+ "end_s": 134.511,
34
+ "t_start": 67.475,
35
+ "t_end": 134.55,
36
+ "instruction": "Carry the box in both hands and walk back and forth across the room. The contents may move around. Carry on as best you can."
37
+ }
38
+ ]
39
+ }