Release update 2026-11-05: 5760 sessions, instructions, annotations (part 26)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +9 -0
- actions/dynamic_recovery/DR11/session_007/raw/mocap/Body0.csv +3 -0
- actions/dynamic_recovery/DR11/session_007/raw/mocap/Body0.trc +3 -0
- actions/dynamic_recovery/DR11/session_007/raw/mocap/Cushion.csv +0 -0
- actions/dynamic_recovery/DR11/session_007/raw/mocap/Cushion.trc +0 -0
- actions/dynamic_recovery/DR11/session_007/raw/mocap/Tracker0.csv +0 -0
- actions/dynamic_recovery/DR11/session_007/raw/mocap/Tracker0.trc +0 -0
- actions/dynamic_recovery/DR11/session_007/raw/sensors/robocap_imu_left.db +3 -0
- actions/dynamic_recovery/DR11/session_007/raw/sensors/robocap_imu_right.db +3 -0
- actions/dynamic_recovery/DR11/session_007/raw/sensors/robocap_mag_middle.db +3 -0
- actions/dynamic_recovery/DR11/session_007/raw/sensors/robowrist_imu_left.db +3 -0
- actions/dynamic_recovery/DR11/session_007/raw/sensors/robowrist_imu_right.db +3 -0
- actions/dynamic_recovery/DR11/session_007/raw/sensors/robowrist_mag_left.db +3 -0
- actions/dynamic_recovery/DR11/session_007/raw/sensors/robowrist_mag_right.db +3 -0
- actions/dynamic_recovery/DR11/session_007/sensors/head_imu.npz +3 -0
- actions/dynamic_recovery/DR11/session_007/sensors/head_mag.npz +3 -0
- actions/dynamic_recovery/DR11/session_007/sensors/wrist_imu.npz +3 -0
- actions/dynamic_recovery/DR11/session_007/sensors/wrist_mag.npz +3 -0
- actions/dynamic_recovery/DR11/session_007/videos/frame_timestamps.npz +3 -0
- actions/dynamic_recovery/DR11/session_007/videos/head_left.mp4 +3 -0
- actions/dynamic_recovery/DR11/session_007/videos/head_left_eye.mp4 +3 -0
- actions/dynamic_recovery/DR11/session_007/videos/head_left_front.mp4 +3 -0
- actions/dynamic_recovery/DR11/session_007/videos/head_right.mp4 +3 -0
- actions/dynamic_recovery/DR11/session_007/videos/head_right_eye.mp4 +3 -0
- actions/dynamic_recovery/DR11/session_007/videos/head_right_front.mp4 +3 -0
- actions/dynamic_recovery/DR11/session_007/videos/third_person.mp4 +3 -0
- actions/dynamic_recovery/DR11/session_007/videos/wrist_left.mp4 +3 -0
- actions/dynamic_recovery/DR11/session_007/videos/wrist_right.mp4 +3 -0
- actions/dynamic_recovery/DR12/session_001/annotations.json +39 -0
- actions/dynamic_recovery/DR12/session_001/cameras/slam.npz +3 -0
- actions/dynamic_recovery/DR12/session_001/meta.json +116 -2
- actions/dynamic_recovery/DR12/session_001/motions/hands_mano.npz +3 -0
- actions/dynamic_recovery/DR12/session_001/motions/smplx.npz +2 -2
- actions/dynamic_recovery/DR12/session_002/annotations.json +39 -0
- actions/dynamic_recovery/DR12/session_002/cameras/slam.npz +3 -0
- actions/dynamic_recovery/DR12/session_002/meta.json +116 -2
- actions/dynamic_recovery/DR12/session_002/motions/hands_mano.npz +3 -0
- actions/dynamic_recovery/DR12/session_002/motions/smplx.npz +2 -2
- actions/dynamic_recovery/DR12/session_003/annotations.json +39 -0
- actions/dynamic_recovery/DR12/session_003/cameras/gsi_online_calibration.json +257 -0
- actions/dynamic_recovery/DR12/session_003/cameras/slam.npz +3 -0
- actions/dynamic_recovery/DR12/session_003/meta.json +116 -2
- actions/dynamic_recovery/DR12/session_003/motions/hands_mano.npz +3 -0
- actions/dynamic_recovery/DR12/session_003/motions/smplx.npz +2 -2
- actions/dynamic_recovery/DR13/session_001/annotations.json +39 -0
- actions/dynamic_recovery/DR13/session_001/cameras/slam.npz +3 -0
- actions/dynamic_recovery/DR13/session_001/meta.json +116 -2
- actions/dynamic_recovery/DR13/session_001/motions/hands_mano.npz +3 -0
- actions/dynamic_recovery/DR13/session_001/motions/smplx.npz +2 -2
- actions/dynamic_recovery/DR13/session_002/annotations.json +39 -0
.gitattributes
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{
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"source": "vendor annotation.json (schema 2, revision 1)",
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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": "DR12",
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"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.",
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"segments": [
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{
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{
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"t_end": 68.0009,
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"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."
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},
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{
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"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":
|
| 330 |
-
"hand_pose": "
|
| 331 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 332 |
"hand_marker_offsets_m": {
|
| 333 |
"left": {
|
|
@@ -511,10 +511,124 @@
|
|
| 511 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 512 |
"remaining_gyro_frame_deg": 0.8884279792535205
|
| 513 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
| 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 |
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"offset_rotvec": [
|
| 520 |
+
-0.2017,
|
| 521 |
+
0.1842,
|
| 522 |
+
-0.1013
|
| 523 |
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],
|
| 524 |
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"dev_deg": {
|
| 525 |
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"median": 8.9,
|
| 526 |
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"p90": 16.63
|
| 527 |
+
},
|
| 528 |
+
"samples": 3869,
|
| 529 |
+
"accepted": 3842,
|
| 530 |
+
"wrist_pos_err_mm_median": 50.1,
|
| 531 |
+
"per_camera": {
|
| 532 |
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"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 |
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"offset_deg": 10.22,
|
| 567 |
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"offset_rotvec": [
|
| 568 |
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-0.1366,
|
| 569 |
+
0.0806,
|
| 570 |
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0.0817
|
| 571 |
+
],
|
| 572 |
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"dev_deg": {
|
| 573 |
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"median": 13.02,
|
| 574 |
+
"p90": 22.49
|
| 575 |
+
},
|
| 576 |
+
"samples": 3733,
|
| 577 |
+
"accepted": 3657,
|
| 578 |
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"wrist_pos_err_mm_median": 59.9,
|
| 579 |
+
"per_camera": {
|
| 580 |
+
"head": {
|
| 581 |
+
"samples": 3733,
|
| 582 |
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"accepted": 3657,
|
| 583 |
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"gate_deg": 30.0,
|
| 584 |
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"offset_deg": 10.22,
|
| 585 |
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"tier": "primary",
|
| 586 |
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"dev_deg_median": 13.02,
|
| 587 |
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"wrist_pos_err_mm_median": 59.9
|
| 588 |
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}
|
| 589 |
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},
|
| 590 |
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"frames_by_state": {
|
| 591 |
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"ace_sample": 14688,
|
| 592 |
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"interpolated": 644,
|
| 593 |
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"mean_hand": 273,
|
| 594 |
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"no_body_fit": 1079
|
| 595 |
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},
|
| 596 |
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"observed_fraction": 0.919,
|
| 597 |
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"observed_fraction_of_valid": 0.9825,
|
| 598 |
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"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:
|
| 3 |
-
size
|
|
|
|
| 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 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
| 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":
|
| 329 |
-
"hand_pose": "
|
| 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 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
| 515 |
"release": {
|
| 516 |
"release_path": "actions/dynamic_recovery/DR12/session_002",
|
| 517 |
"family": "dynamic_recovery",
|
| 518 |
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| 519 |
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|
| 520 |
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|
| 521 |
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|
| 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 |
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|
| 328 |
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"observed": true,
|
| 329 |
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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",
|
| 330 |
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|
| 331 |
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|
| 332 |
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|
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"generated_at_utc": "2026-11-03T23:08:01.234768+00:00",
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"generated_by": "scripts/register_hands_smplx.py",
|
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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",
|
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"wrist_flip_suspect": []
|
| 624 |
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},
|
| 625 |
"release": {
|
| 626 |
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|
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"family": "dynamic_recovery",
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| 628 |
"primitive": "DR12",
|
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"task": {
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| 632 |
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"primitive": "DR12",
|
| 633 |
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"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 |
}
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actions/dynamic_recovery/DR12/session_002/motions/hands_mano.npz
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actions/dynamic_recovery/DR12/session_002/motions/smplx.npz
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|
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"source": "vendor annotation.json (schema 2, revision 1)",
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|
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"primitive": "DR12",
|
| 6 |
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"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.",
|
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"segments": [
|
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|
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"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."
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| 26 |
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{
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"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 |
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]
|
| 39 |
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}
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actions/dynamic_recovery/DR12/session_003/cameras/gsi_online_calibration.json
ADDED
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@@ -0,0 +1,257 @@
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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},
|
| 7 |
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"cameras": {
|
| 8 |
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"left": {
|
| 9 |
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"accepted": true,
|
| 10 |
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"against": [
|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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],
|
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|
| 17 |
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|
| 18 |
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|
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
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|
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|
| 26 |
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],
|
| 27 |
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"split_deg": 0.2107,
|
| 28 |
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"usable": true
|
| 29 |
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},
|
| 30 |
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"left_eye": {
|
| 31 |
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"accepted": true,
|
| 32 |
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"against": [
|
| 33 |
+
"left_front",
|
| 34 |
+
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|
| 35 |
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|
| 36 |
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"left",
|
| 37 |
+
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|
| 38 |
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],
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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],
|
| 50 |
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"position_sigma_mm": 0.135,
|
| 51 |
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|
| 52 |
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"rotvec_deg": [
|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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"split_deg": 0.1839,
|
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@@ -509,10 +509,124 @@
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|
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|
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|
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|
| 626 |
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|
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|
| 628 |
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|
| 629 |
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"primitive": "DR12",
|
| 630 |
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"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 @@
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actions/dynamic_recovery/DR12/session_003/motions/smplx.npz
CHANGED
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version https://git-lfs.github.com/spec/v1
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actions/dynamic_recovery/DR13/session_001/annotations.json
ADDED
|
@@ -0,0 +1,39 @@
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|
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{
|
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|
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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": "DR13",
|
| 6 |
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"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.",
|
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|
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{
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| 9 |
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| 19 |
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|
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"t_start": 1.2711,
|
| 24 |
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|
| 25 |
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"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."
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| 26 |
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},
|
| 27 |
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{
|
| 28 |
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"id": "a8691ba1-b04f-4ae3-8ae5-3e66465f2b06",
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| 29 |
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"segment": "segment1",
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"action": "DR13",
|
| 31 |
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"quality": "valid",
|
| 32 |
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|
| 33 |
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|
| 34 |
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"t_start": 79.5221,
|
| 35 |
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"t_end": 138.2611,
|
| 36 |
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"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 @@
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 830111
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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 |
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"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": {
|
|
@@ -515,10 +515,124 @@
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|
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"generated_by": "scripts/correct_processed_rig.py",
|
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|
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|
| 518 |
"release": {
|
| 519 |
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|
| 520 |
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|
| 521 |
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|
| 522 |
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|
|
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|
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|
| 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 |
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"observed": true,
|
| 332 |
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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",
|
| 333 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 334 |
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|
| 335 |
"left": {
|
|
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|
| 515 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 516 |
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|
| 517 |
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|
| 518 |
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|
| 519 |
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"cameras": {},
|
| 520 |
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|
| 521 |
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| 522 |
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|
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],
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|
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|
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|
| 531 |
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},
|
| 532 |
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|
| 533 |
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|
| 534 |
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|
| 535 |
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|
| 536 |
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| 537 |
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"samples": 4272,
|
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"accepted": 4122,
|
| 539 |
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|
| 540 |
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|
| 541 |
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"tier": "primary",
|
| 542 |
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"dev_deg_median": 12.32,
|
| 543 |
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|
| 544 |
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}
|
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},
|
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|
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|
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|
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|
| 551 |
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},
|
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|
| 553 |
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|
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|
| 555 |
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"gsi": 15.73,
|
| 556 |
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|
| 557 |
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},
|
| 558 |
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"hand_marker_to_mesh_mm": {
|
| 559 |
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"flat": {
|
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|
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|
| 562 |
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},
|
| 563 |
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| 564 |
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|
| 565 |
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|
| 566 |
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},
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| 569 |
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"right": {
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|
| 571 |
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|
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"median": 10.8,
|
| 578 |
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|
| 579 |
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},
|
| 580 |
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"samples": 4212,
|
| 581 |
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"accepted": 3998,
|
| 582 |
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| 583 |
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|
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|
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|
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|
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|
| 591 |
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|
| 592 |
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}
|
| 593 |
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},
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| 594 |
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|
| 595 |
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|
| 596 |
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|
| 597 |
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|
| 598 |
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|
| 599 |
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},
|
| 600 |
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|
| 601 |
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|
| 602 |
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|
| 603 |
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"gsi": 11.41,
|
| 604 |
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"smplx": 0.7
|
| 605 |
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},
|
| 606 |
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"hand_marker_to_mesh_mm": {
|
| 607 |
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"flat": {
|
| 608 |
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|
| 609 |
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|
| 610 |
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},
|
| 611 |
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"registered": {
|
| 612 |
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|
| 613 |
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|
| 614 |
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}
|
| 615 |
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}
|
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}
|
| 617 |
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},
|
| 618 |
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"max_dev_deg": 30.0,
|
| 619 |
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|
| 620 |
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|
| 621 |
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"head"
|
| 622 |
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],
|
| 623 |
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"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
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| 2 |
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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:
|
| 3 |
-
size
|
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|
| 1 |
version https://git-lfs.github.com/spec/v1
|
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size 12318931
|
actions/dynamic_recovery/DR13/session_002/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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|
|
|
|
|
|
|
|
|
| 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 |
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"video_t_start": 0.03899862982837865
|
| 13 |
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}
|
| 14 |
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],
|
| 15 |
+
"episodes": [
|
| 16 |
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{
|
| 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 |
+
}
|