Release update 2026-11-05: new sessions, instructions, annotations (part 66)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- actions/locomotion_primitives/P36/session_014/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P36/session_015/annotations.json +28 -0
- actions/locomotion_primitives/P36/session_015/cameras/gsi_online_calibration.json +258 -0
- actions/locomotion_primitives/P36/session_015/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P36/session_015/meta.json +116 -2
- actions/locomotion_primitives/P36/session_015/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P36/session_015/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P36/session_016/annotations.json +28 -0
- actions/locomotion_primitives/P36/session_016/cameras/gsi_online_calibration.json +258 -0
- actions/locomotion_primitives/P36/session_016/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P36/session_016/meta.json +116 -2
- actions/locomotion_primitives/P36/session_016/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P36/session_016/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P36/session_017/annotations.json +28 -0
- actions/locomotion_primitives/P36/session_017/cameras/gsi_online_calibration.json +258 -0
- actions/locomotion_primitives/P36/session_017/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P36/session_017/meta.json +116 -2
- actions/locomotion_primitives/P36/session_017/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P36/session_017/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P36/session_018/annotations.json +28 -0
- actions/locomotion_primitives/P36/session_018/cameras/gsi_online_calibration.json +254 -0
- actions/locomotion_primitives/P36/session_018/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P36/session_018/meta.json +116 -2
- actions/locomotion_primitives/P36/session_018/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P36/session_018/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P36/session_019/annotations.json +28 -0
- actions/locomotion_primitives/P36/session_019/cameras/gsi_online_calibration.json +253 -0
- actions/locomotion_primitives/P36/session_019/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P36/session_019/meta.json +116 -2
- actions/locomotion_primitives/P36/session_019/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P36/session_019/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P36/session_020/annotations.json +28 -0
- actions/locomotion_primitives/P36/session_020/cameras/gsi_online_calibration.json +256 -0
- actions/locomotion_primitives/P36/session_020/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P36/session_020/meta.json +116 -2
- actions/locomotion_primitives/P36/session_020/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P36/session_020/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P36/session_021/annotations.json +28 -0
- actions/locomotion_primitives/P36/session_021/cameras/gsi_online_calibration.json +255 -0
- actions/locomotion_primitives/P36/session_021/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P36/session_021/meta.json +116 -2
- actions/locomotion_primitives/P36/session_021/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P36/session_021/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P36/session_022/annotations.json +28 -0
- actions/locomotion_primitives/P36/session_022/cameras/gsi_online_calibration.json +260 -0
- actions/locomotion_primitives/P36/session_022/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P36/session_022/meta.json +116 -2
- actions/locomotion_primitives/P36/session_022/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P36/session_022/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P36/session_023/annotations.json +28 -0
actions/locomotion_primitives/P36/session_014/motions/smplx.npz
CHANGED
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actions/locomotion_primitives/P36/session_015/annotations.json
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{
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"schema_version": 1,
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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": "P36",
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"segment": "segment1",
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"action": "P36",
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"quality": "valid",
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"start_s": 1.267,
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"instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop."
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}
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]
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}
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actions/locomotion_primitives/P36/session_015/cameras/gsi_online_calibration.json
ADDED
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{
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},
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"device_id": "e17c9efadb69e7b1",
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"factory_root_name": "e17c9efadb69e7b1",
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"files": {
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| 21 |
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"start_s": 1.018,
|
| 22 |
+
"end_s": 125.548,
|
| 23 |
+
"t_start": 1.0574,
|
| 24 |
+
"t_end": 125.5874,
|
| 25 |
+
"instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomotion_primitives/P36/session_016/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,258 @@
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|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 14,
|
| 5 |
+
"median_px": 0.335
|
| 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": 0.912,
|
| 17 |
+
"gate_fail": [],
|
| 18 |
+
"held_out_px_after": 0.427,
|
| 19 |
+
"held_out_px_before": 4.4,
|
| 20 |
+
"inliers": 3363,
|
| 21 |
+
"position_fitted": false,
|
| 22 |
+
"rotvec_deg": [
|
| 23 |
+
0.5949,
|
| 24 |
+
-0.3817,
|
| 25 |
+
-0.5764
|
| 26 |
+
],
|
| 27 |
+
"split_deg": 0.0698,
|
| 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": 1.7409,
|
| 40 |
+
"gate_fail": [],
|
| 41 |
+
"held_out_px_after": 0.352,
|
| 42 |
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"held_out_px_before": 6.368,
|
| 43 |
+
"inliers": 5285,
|
| 44 |
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"position_fitted": true,
|
| 45 |
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"position_mm": [
|
| 46 |
+
-0.26,
|
| 47 |
+
-12.04,
|
| 48 |
+
7.69
|
| 49 |
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],
|
| 50 |
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"position_sigma_mm": 0.298,
|
| 51 |
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"position_split_mm": 2.688,
|
| 52 |
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"rotvec_deg": [
|
| 53 |
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|
| 54 |
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|
| 55 |
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-1.6042
|
| 56 |
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],
|
| 57 |
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"split_deg": 0.0644,
|
| 58 |
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"usable": true
|
| 59 |
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},
|
| 60 |
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"left_front": {
|
| 61 |
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"role": "rig origin"
|
| 62 |
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},
|
| 63 |
+
"right": {
|
| 64 |
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"accepted": true,
|
| 65 |
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"against": [
|
| 66 |
+
"left_front",
|
| 67 |
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"right_front",
|
| 68 |
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"left_eye",
|
| 69 |
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"right_eye"
|
| 70 |
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],
|
| 71 |
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"delta_deg": 1.4224,
|
| 72 |
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"gate_fail": [],
|
| 73 |
+
"held_out_px_after": 0.586,
|
| 74 |
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"held_out_px_before": 4.815,
|
| 75 |
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"inliers": 1125,
|
| 76 |
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"position_fitted": false,
|
| 77 |
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|
| 78 |
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1.2107,
|
| 79 |
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|
| 80 |
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0.5221
|
| 81 |
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],
|
| 82 |
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"split_deg": 0.0592,
|
| 83 |
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"usable": true
|
| 84 |
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},
|
| 85 |
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"right_eye": {
|
| 86 |
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"accepted": true,
|
| 87 |
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"against": [
|
| 88 |
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"left_front",
|
| 89 |
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"right_front",
|
| 90 |
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"left_eye",
|
| 91 |
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"left",
|
| 92 |
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"right"
|
| 93 |
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],
|
| 94 |
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"delta_deg": 0.7415,
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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"position_mm": [
|
| 101 |
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5.13,
|
| 102 |
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-8.08,
|
| 103 |
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7.66
|
| 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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},
|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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"left_front",
|
| 119 |
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"left_eye",
|
| 120 |
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"right_eye",
|
| 121 |
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"left",
|
| 122 |
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"right"
|
| 123 |
+
],
|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
+
-0.3178,
|
| 132 |
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|
| 133 |
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-1.0082
|
| 134 |
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],
|
| 135 |
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|
| 136 |
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|
| 137 |
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}
|
| 138 |
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},
|
| 139 |
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"code_fingerprint": "711ecf5b3dd408f8",
|
| 140 |
+
"device_id": "e17c9efadb69e7b1",
|
| 141 |
+
"factory_root_name": "e17c9efadb69e7b1",
|
| 142 |
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"files": {
|
| 143 |
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"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 144 |
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"sha256": "b48851727623f5a5711bc36216739c965398ad3e5c1ce94021e81a77ffa684eb",
|
| 145 |
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|
| 146 |
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},
|
| 147 |
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"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 148 |
+
"sha256": "79cf0f560797ccf39629b30013cf110a88e773debfd7dbbea3fb48d3fd438330",
|
| 149 |
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|
| 150 |
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},
|
| 151 |
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"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 152 |
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"sha256": "267c9ead4346013641dc583142b749f77a55ecf3d9f23b57dd5299d8ba20f6f8",
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| 153 |
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| 154 |
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},
|
| 155 |
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"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 156 |
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| 157 |
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| 158 |
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}
|
| 159 |
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},
|
| 160 |
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"input_fingerprint": "61bce98eed8068a9",
|
| 161 |
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"kind": "online_calibration",
|
| 162 |
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| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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| 170 |
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| 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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},
|
| 180 |
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|
| 181 |
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| 183 |
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},
|
| 257 |
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"version": 1
|
| 258 |
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}
|
actions/locomotion_primitives/P36/session_016/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1f3de5b2e530f68b4812f4e91b907ef9f49e34330f8d42ab8e91ad3befe66323
|
| 3 |
+
size 744789
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actions/locomotion_primitives/P36/session_016/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":
|
| 331 |
-
"hand_pose": "
|
| 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": {
|
|
@@ -529,10 +529,124 @@
|
|
| 529 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 530 |
"remaining_gyro_frame_deg": 1.3811564386404218
|
| 531 |
},
|
|
|
|
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|
| 532 |
"release": {
|
| 533 |
"release_path": "actions/locomotion_primitives/P36/session_016",
|
| 534 |
"family": "locomotion_primitives",
|
| 535 |
"primitive": "P36",
|
| 536 |
"source_session": "20260909/P36/20260909_082758_session139"
|
|
|
|
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|
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|
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|
|
| 537 |
}
|
| 538 |
}
|
|
|
|
| 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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|
| 529 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 530 |
"remaining_gyro_frame_deg": 1.3811564386404218
|
| 531 |
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|
| 532 |
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"hands_registration": {
|
| 533 |
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|
| 534 |
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"hands": {
|
| 535 |
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"left": {
|
| 536 |
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"offset_deg": 17.29,
|
| 537 |
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"offset_rotvec": [
|
| 538 |
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|
| 539 |
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|
| 540 |
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|
| 541 |
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],
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| 542 |
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"dev_deg": {
|
| 543 |
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"median": 13.22,
|
| 544 |
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"p90": 31.25
|
| 545 |
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},
|
| 546 |
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"samples": 2239,
|
| 547 |
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"accepted": 1977,
|
| 548 |
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"wrist_pos_err_mm_median": 73.0,
|
| 549 |
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"per_camera": {
|
| 550 |
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"head": {
|
| 551 |
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"samples": 2239,
|
| 552 |
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"accepted": 1977,
|
| 553 |
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"gate_deg": 30.0,
|
| 554 |
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"offset_deg": 17.29,
|
| 555 |
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"tier": "primary",
|
| 556 |
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"dev_deg_median": 13.22,
|
| 557 |
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"wrist_pos_err_mm_median": 73.0
|
| 558 |
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}
|
| 559 |
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},
|
| 560 |
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"frames_by_state": {
|
| 561 |
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"ace_sample": 8254,
|
| 562 |
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"interpolated": 6422,
|
| 563 |
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"mean_hand": 808,
|
| 564 |
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|
| 565 |
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},
|
| 566 |
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"observed_fraction": 0.9478,
|
| 567 |
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"observed_fraction_of_valid": 0.9478,
|
| 568 |
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"palm_axis_vs_markers_deg": {
|
| 569 |
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"gsi": 17.08,
|
| 570 |
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"smplx": 0.41
|
| 571 |
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},
|
| 572 |
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"hand_marker_to_mesh_mm": {
|
| 573 |
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"flat": {
|
| 574 |
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"median": 5.8,
|
| 575 |
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"p90": 7.5
|
| 576 |
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},
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| 577 |
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"registered": {
|
| 578 |
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"median": 6.4,
|
| 579 |
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"p90": 7.6
|
| 580 |
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}
|
| 581 |
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}
|
| 582 |
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},
|
| 583 |
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"right": {
|
| 584 |
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"offset_deg": 17.88,
|
| 585 |
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"offset_rotvec": [
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| 586 |
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0.2214,
|
| 587 |
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0.2196,
|
| 588 |
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0.0126
|
| 589 |
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],
|
| 590 |
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"dev_deg": {
|
| 591 |
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"median": 9.29,
|
| 592 |
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"p90": 26.37
|
| 593 |
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},
|
| 594 |
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"samples": 3460,
|
| 595 |
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"accepted": 3163,
|
| 596 |
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"wrist_pos_err_mm_median": 71.1,
|
| 597 |
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"per_camera": {
|
| 598 |
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"head": {
|
| 599 |
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"samples": 3460,
|
| 600 |
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"accepted": 3163,
|
| 601 |
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"gate_deg": 30.0,
|
| 602 |
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"offset_deg": 17.88,
|
| 603 |
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"tier": "primary",
|
| 604 |
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"dev_deg_median": 9.29,
|
| 605 |
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"wrist_pos_err_mm_median": 71.1
|
| 606 |
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}
|
| 607 |
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},
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| 608 |
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"frames_by_state": {
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"ace_sample": 12838,
|
| 610 |
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"interpolated": 2418,
|
| 611 |
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"mean_hand": 228,
|
| 612 |
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"no_body_fit": 0
|
| 613 |
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},
|
| 614 |
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"observed_fraction": 0.9853,
|
| 615 |
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"observed_fraction_of_valid": 0.9853,
|
| 616 |
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"palm_axis_vs_markers_deg": {
|
| 617 |
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"gsi": 17.86,
|
| 618 |
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"smplx": 0.55
|
| 619 |
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},
|
| 620 |
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"hand_marker_to_mesh_mm": {
|
| 621 |
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"flat": {
|
| 622 |
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"median": 8.8,
|
| 623 |
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"p90": 9.7
|
| 624 |
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},
|
| 625 |
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"registered": {
|
| 626 |
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"median": 8.3,
|
| 627 |
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"p90": 9.0
|
| 628 |
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}
|
| 629 |
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}
|
| 630 |
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}
|
| 631 |
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},
|
| 632 |
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"max_dev_deg": 30.0,
|
| 633 |
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"max_gap_s": 1.0,
|
| 634 |
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"cameras_used": [
|
| 635 |
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"head"
|
| 636 |
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],
|
| 637 |
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"generated_at_utc": "2026-11-03T15:57:16.727399+00:00",
|
| 638 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 639 |
+
"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",
|
| 640 |
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"wrist_flip_suspect": []
|
| 641 |
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},
|
| 642 |
"release": {
|
| 643 |
"release_path": "actions/locomotion_primitives/P36/session_016",
|
| 644 |
"family": "locomotion_primitives",
|
| 645 |
"primitive": "P36",
|
| 646 |
"source_session": "20260909/P36/20260909_082758_session139"
|
| 647 |
+
},
|
| 648 |
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"task": {
|
| 649 |
+
"primitive": "P36",
|
| 650 |
+
"instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop."
|
| 651 |
}
|
| 652 |
}
|
actions/locomotion_primitives/P36/session_016/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:0b22f3be2d0668a1384fab759c6b4fd3f41f331fed3f3528c5ef68c52ede6b17
|
| 3 |
+
size 3905557
|
actions/locomotion_primitives/P36/session_016/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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|
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|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6880414067d74dac3c938937ff8105ffffb43b0d86f712b49e0ec36c09d8ee46
|
| 3 |
+
size 11025391
|
actions/locomotion_primitives/P36/session_017/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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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": "P36",
|
| 6 |
+
"instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 128.966633,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
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"video_t_start": 0.03918573809018522
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
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"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "610d3c60-7e3c-4761-95cb-39690e5d27d1",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "P36",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0.266,
|
| 22 |
+
"end_s": 124.517,
|
| 23 |
+
"t_start": 0.3052,
|
| 24 |
+
"t_end": 124.5562,
|
| 25 |
+
"instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomotion_primitives/P36/session_017/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,258 @@
|
|
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|
|
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|
| 1 |
+
{
|
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@@ -513,10 +513,124 @@
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|
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actions/locomotion_primitives/P36/session_018/cameras/gsi_online_calibration.json
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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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| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 128.966733,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.039292193742494375
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "bf199d3c-a8d0-41ae-980d-0beea73fde41",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "P36",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1.204,
|
| 22 |
+
"end_s": 125.313,
|
| 23 |
+
"t_start": 1.2433,
|
| 24 |
+
"t_end": 125.3523,
|
| 25 |
+
"instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomotion_primitives/P36/session_019/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,253 @@
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|
| 1 |
+
{
|
| 2 |
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"camera_fit": {
|
| 3 |
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"groups_dropped": [],
|
| 4 |
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|
| 5 |
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| 6 |
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},
|
| 7 |
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|
| 8 |
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|
| 9 |
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"accepted": true,
|
| 10 |
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"against": [
|
| 11 |
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"left_front",
|
| 12 |
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"right_front",
|
| 13 |
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"left_eye",
|
| 14 |
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"right_eye"
|
| 15 |
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],
|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
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|
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| 23 |
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|
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|
| 25 |
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|
| 26 |
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],
|
| 27 |
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|
| 28 |
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"usable": true
|
| 29 |
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},
|
| 30 |
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|
| 31 |
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"accepted": true,
|
| 32 |
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"against": [
|
| 33 |
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"left_front",
|
| 34 |
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"right_front",
|
| 35 |
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"right_eye",
|
| 36 |
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"left",
|
| 37 |
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|
| 38 |
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],
|
| 39 |
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"delta_deg": 1.6838,
|
| 40 |
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|
| 43 |
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| 45 |
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|
| 46 |
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|
| 47 |
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|
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},
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},
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}
|
actions/locomotion_primitives/P36/session_019/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bf4d15ad12aedac1e22376d1151f0f7b20731b8d59eaca8d852030ff420bafa3
|
| 3 |
+
size 744856
|
actions/locomotion_primitives/P36/session_019/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": {
|
|
@@ -517,10 +517,124 @@
|
|
| 517 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 518 |
"remaining_gyro_frame_deg": 1.3656230424367746
|
| 519 |
},
|
|
|
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| 520 |
"release": {
|
| 521 |
"release_path": "actions/locomotion_primitives/P36/session_019",
|
| 522 |
"family": "locomotion_primitives",
|
| 523 |
"primitive": "P36",
|
| 524 |
"source_session": "20260909/P36/20260909_084030_session145"
|
|
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|
|
|
|
|
|
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|
|
| 525 |
}
|
| 526 |
}
|
|
|
|
| 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": {
|
|
|
|
| 517 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 518 |
"remaining_gyro_frame_deg": 1.3656230424367746
|
| 519 |
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|
| 520 |
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"hands_registration": {
|
| 521 |
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"cameras": {},
|
| 522 |
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"hands": {
|
| 523 |
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"left": {
|
| 524 |
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"offset_deg": 16.99,
|
| 525 |
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"offset_rotvec": [
|
| 526 |
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-0.1722,
|
| 527 |
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-0.1801,
|
| 528 |
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0.1607
|
| 529 |
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],
|
| 530 |
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"dev_deg": {
|
| 531 |
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"median": 14.45,
|
| 532 |
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"p90": 31.96
|
| 533 |
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},
|
| 534 |
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"samples": 2185,
|
| 535 |
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"accepted": 1917,
|
| 536 |
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"wrist_pos_err_mm_median": 60.6,
|
| 537 |
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"per_camera": {
|
| 538 |
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"head": {
|
| 539 |
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"samples": 2185,
|
| 540 |
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"accepted": 1917,
|
| 541 |
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"gate_deg": 30.0,
|
| 542 |
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"offset_deg": 16.99,
|
| 543 |
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"tier": "primary",
|
| 544 |
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"dev_deg_median": 14.45,
|
| 545 |
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"wrist_pos_err_mm_median": 60.6
|
| 546 |
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}
|
| 547 |
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},
|
| 548 |
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"frames_by_state": {
|
| 549 |
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"ace_sample": 7968,
|
| 550 |
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"interpolated": 5816,
|
| 551 |
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"mean_hand": 1692,
|
| 552 |
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"no_body_fit": 8
|
| 553 |
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},
|
| 554 |
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"observed_fraction": 0.8902,
|
| 555 |
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"observed_fraction_of_valid": 0.8907,
|
| 556 |
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"palm_axis_vs_markers_deg": {
|
| 557 |
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"gsi": 15.94,
|
| 558 |
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"smplx": 1.0
|
| 559 |
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},
|
| 560 |
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"hand_marker_to_mesh_mm": {
|
| 561 |
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"flat": {
|
| 562 |
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"median": 4.7,
|
| 563 |
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"p90": 5.5
|
| 564 |
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},
|
| 565 |
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"registered": {
|
| 566 |
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"median": 9.1,
|
| 567 |
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"p90": 18.4
|
| 568 |
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}
|
| 569 |
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}
|
| 570 |
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},
|
| 571 |
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"right": {
|
| 572 |
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"offset_deg": 17.71,
|
| 573 |
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"offset_rotvec": [
|
| 574 |
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0.2101,
|
| 575 |
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0.2266,
|
| 576 |
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0.0063
|
| 577 |
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],
|
| 578 |
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"dev_deg": {
|
| 579 |
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"median": 10.17,
|
| 580 |
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"p90": 31.7
|
| 581 |
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},
|
| 582 |
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"samples": 3109,
|
| 583 |
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"accepted": 2772,
|
| 584 |
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"wrist_pos_err_mm_median": 65.7,
|
| 585 |
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"per_camera": {
|
| 586 |
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"head": {
|
| 587 |
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"samples": 3109,
|
| 588 |
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"accepted": 2772,
|
| 589 |
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"gate_deg": 30.0,
|
| 590 |
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"offset_deg": 17.71,
|
| 591 |
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"tier": "primary",
|
| 592 |
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"dev_deg_median": 10.17,
|
| 593 |
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"wrist_pos_err_mm_median": 65.7
|
| 594 |
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}
|
| 595 |
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},
|
| 596 |
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"frames_by_state": {
|
| 597 |
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"ace_sample": 11331,
|
| 598 |
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"interpolated": 3520,
|
| 599 |
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"mean_hand": 625,
|
| 600 |
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"no_body_fit": 8
|
| 601 |
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},
|
| 602 |
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"observed_fraction": 0.9591,
|
| 603 |
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"observed_fraction_of_valid": 0.9596,
|
| 604 |
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"palm_axis_vs_markers_deg": {
|
| 605 |
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"gsi": 17.28,
|
| 606 |
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"smplx": 0.46
|
| 607 |
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},
|
| 608 |
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"hand_marker_to_mesh_mm": {
|
| 609 |
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"flat": {
|
| 610 |
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"median": 8.1,
|
| 611 |
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"p90": 10.5
|
| 612 |
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},
|
| 613 |
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"registered": {
|
| 614 |
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"median": 8.1,
|
| 615 |
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"p90": 12.9
|
| 616 |
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}
|
| 617 |
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}
|
| 618 |
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}
|
| 619 |
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},
|
| 620 |
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"max_dev_deg": 30.0,
|
| 621 |
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"max_gap_s": 1.0,
|
| 622 |
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"cameras_used": [
|
| 623 |
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"head"
|
| 624 |
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],
|
| 625 |
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"generated_at_utc": "2026-11-03T15:59:07.523108+00:00",
|
| 626 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 627 |
+
"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",
|
| 628 |
+
"wrist_flip_suspect": []
|
| 629 |
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},
|
| 630 |
"release": {
|
| 631 |
"release_path": "actions/locomotion_primitives/P36/session_019",
|
| 632 |
"family": "locomotion_primitives",
|
| 633 |
"primitive": "P36",
|
| 634 |
"source_session": "20260909/P36/20260909_084030_session145"
|
| 635 |
+
},
|
| 636 |
+
"task": {
|
| 637 |
+
"primitive": "P36",
|
| 638 |
+
"instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop."
|
| 639 |
}
|
| 640 |
}
|
actions/locomotion_primitives/P36/session_019/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:80815679e42a72c5441ce0ce571faf57e8a780608e6ada03de4aa848d926acf4
|
| 3 |
+
size 3654688
|
actions/locomotion_primitives/P36/session_019/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:b2af7e230213a3ce839751686911696d47e9ed7c2996f1dcff7077eaf4c57db1
|
| 3 |
+
size 10910375
|
actions/locomotion_primitives/P36/session_020/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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": "P36",
|
| 6 |
+
"instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 128.966711,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03907026905417865
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "2e5aad90-cb9f-4adb-a9cd-d6bcf6bea388",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "P36",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0.784,
|
| 22 |
+
"end_s": 123.923,
|
| 23 |
+
"t_start": 0.8231,
|
| 24 |
+
"t_end": 123.9621,
|
| 25 |
+
"instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomotion_primitives/P36/session_020/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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CHANGED
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@@ -327,8 +327,8 @@
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@@ -518,10 +518,124 @@
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actions/locomotion_primitives/P36/session_021/cameras/gsi_online_calibration.json
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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_primitives/P36/session_021/motions/hands_mano.npz
ADDED
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| 6 |
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"instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 133.966644,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03892620369522293
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "338442e5-2df9-43fd-9f12-e50f07b48301",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "P36",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 131.74,
|
| 23 |
+
"t_start": 0.0389,
|
| 24 |
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"t_end": 131.7789,
|
| 25 |
+
"instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomotion_primitives/P36/session_022/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,260 @@
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|
|
| 1 |
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{
|
| 2 |
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"camera_fit": {
|
| 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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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 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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|
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|
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|
| 19 |
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|
| 20 |
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|
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|
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|
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
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|
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|
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| 248 |
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| 249 |
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| 250 |
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| 258 |
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|
| 259 |
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"version": 1
|
| 260 |
+
}
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actions/locomotion_primitives/P36/session_022/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 |
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oid sha256:9b805e6927b61531b0bfc33a6f0cf3ea98ea0961110224e8a56af4c4fc89eb0b
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| 3 |
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size 774420
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actions/locomotion_primitives/P36/session_022/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":
|
| 331 |
-
"hand_pose": "
|
| 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": {
|
|
@@ -517,10 +517,124 @@
|
|
| 517 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 518 |
"remaining_gyro_frame_deg": 0.8485767655434496
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| 519 |
},
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| 520 |
"release": {
|
| 521 |
"release_path": "actions/locomotion_primitives/P36/session_022",
|
| 522 |
"family": "locomotion_primitives",
|
| 523 |
"primitive": "P36",
|
| 524 |
"source_session": "20260914/P36/20260914_120358_session29"
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|
| 525 |
}
|
| 526 |
}
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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 |
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"observed": true,
|
| 331 |
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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",
|
| 332 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 333 |
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|
| 334 |
"left": {
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|
| 517 |
"generated_by": "scripts/correct_processed_rig.py",
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"hands": {
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| 523 |
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| 524 |
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],
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"dev_deg": {
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"median": 11.28,
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"p90": 32.48
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},
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"samples": 2242,
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"accepted": 1976,
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"wrist_pos_err_mm_median": 81.9,
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"per_camera": {
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| 538 |
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"head": {
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| 539 |
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"samples": 2242,
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| 540 |
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"accepted": 1976,
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| 541 |
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"gate_deg": 30.0,
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| 542 |
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"offset_deg": 4.18,
|
| 543 |
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"tier": "primary",
|
| 544 |
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"dev_deg_median": 11.28,
|
| 545 |
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"wrist_pos_err_mm_median": 81.9
|
| 546 |
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}
|
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},
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"frames_by_state": {
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|
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},
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"observed_fraction": 0.9585,
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"palm_axis_vs_markers_deg": {
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"gsi": 11.28,
|
| 558 |
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"smplx": 0.45
|
| 559 |
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},
|
| 560 |
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"hand_marker_to_mesh_mm": {
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| 561 |
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"flat": {
|
| 562 |
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"median": 10.2,
|
| 563 |
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"p90": 15.8
|
| 564 |
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},
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| 565 |
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"registered": {
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| 566 |
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"median": 9.8,
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"p90": 13.9
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| 568 |
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}
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}
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},
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"right": {
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"offset_deg": 8.28,
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],
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"dev_deg": {
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| 579 |
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"median": 11.84,
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| 580 |
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"p90": 41.5
|
| 581 |
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},
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| 582 |
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"samples": 2313,
|
| 583 |
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"accepted": 1906,
|
| 584 |
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"wrist_pos_err_mm_median": 103.5,
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"per_camera": {
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"head": {
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"samples": 2313,
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| 588 |
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"accepted": 1906,
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| 589 |
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"gate_deg": 30.0,
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"offset_deg": 8.28,
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"tier": "primary",
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"dev_deg_median": 11.84,
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| 593 |
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"wrist_pos_err_mm_median": 103.5
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}
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|
| 607 |
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|
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|
| 613 |
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"registered": {
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|
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|
| 616 |
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}
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}
|
| 619 |
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},
|
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"max_dev_deg": 30.0,
|
| 621 |
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|
| 622 |
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"cameras_used": [
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"head"
|
| 624 |
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],
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| 625 |
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"generated_at_utc": "2026-11-03T19:24:27.665221+00:00",
|
| 626 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 627 |
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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",
|
| 628 |
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"wrist_flip_suspect": []
|
| 629 |
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},
|
| 630 |
"release": {
|
| 631 |
"release_path": "actions/locomotion_primitives/P36/session_022",
|
| 632 |
"family": "locomotion_primitives",
|
| 633 |
"primitive": "P36",
|
| 634 |
"source_session": "20260914/P36/20260914_120358_session29"
|
| 635 |
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},
|
| 636 |
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"task": {
|
| 637 |
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"primitive": "P36",
|
| 638 |
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"instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop."
|
| 639 |
}
|
| 640 |
}
|
actions/locomotion_primitives/P36/session_022/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:07e1f96e78fac350f2b6d2d3b44606364063d5355e769e718ea0676d122c1ca9
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| 3 |
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size 3204711
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actions/locomotion_primitives/P36/session_022/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
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| 3 |
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size
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| 1 |
version https://git-lfs.github.com/spec/v1
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oid sha256:7e31f14ea44e8ba547cc375e8c3dda19fe893477664e618ba234a1b95ab2bea0
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size 11301986
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actions/locomotion_primitives/P36/session_023/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": "P36",
|
| 6 |
+
"instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop.",
|
| 7 |
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"segments": [
|
| 8 |
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{
|
| 9 |
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"id": "segment1",
|
| 10 |
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|
| 11 |
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"video": "left_eye",
|
| 12 |
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|
| 13 |
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}
|
| 14 |
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],
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"episodes": [
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| 16 |
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{
|
| 17 |
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"id": "1e6abdd6-05c4-45f7-834d-87ed406c8f17",
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| 18 |
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"segment": "segment1",
|
| 19 |
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"action": "P36",
|
| 20 |
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"quality": "valid",
|
| 21 |
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"start_s": 0,
|
| 22 |
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"end_s": 131.578,
|
| 23 |
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"t_start": 0.0389,
|
| 24 |
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"t_end": 131.6169,
|
| 25 |
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"instruction": "Walk continuously around the room while freely looking around at the walls, ceiling and floor; keep walking until the operator says stop."
|
| 26 |
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}
|
| 27 |
+
]
|
| 28 |
+
}
|