diff --git a/.gitattributes b/.gitattributes index c9938e2191b4d34c3b394364298e9590e3bad1c7..f18d9e8eae9d05da8372deda1907d509e2f5837d 100644 --- a/.gitattributes +++ b/.gitattributes @@ -41209,3 +41209,12 @@ actions/dynamic_recovery/DR10/session_009/raw/sensors/robowrist_imu_left.db filt actions/dynamic_recovery/DR10/session_009/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text actions/dynamic_recovery/DR10/session_009/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text actions/dynamic_recovery/DR10/session_009/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text +actions/dynamic_recovery/DR11/session_006/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text +actions/dynamic_recovery/DR11/session_006/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text +actions/dynamic_recovery/DR11/session_006/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text +actions/dynamic_recovery/DR11/session_006/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text +actions/dynamic_recovery/DR11/session_006/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text +actions/dynamic_recovery/DR11/session_006/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text +actions/dynamic_recovery/DR11/session_006/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text +actions/dynamic_recovery/DR11/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text +actions/dynamic_recovery/DR11/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text diff --git a/actions/dynamic_recovery/DR11/session_005/annotations.json b/actions/dynamic_recovery/DR11/session_005/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..04badb80b6b322f5fbd351f531ae2d978f7067eb --- /dev/null +++ b/actions/dynamic_recovery/DR11/session_005/annotations.json @@ -0,0 +1,149 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "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", + "primitive": "DR11", + "instruction": "Walk across the floor at a normal pace. It may be more slippery in places. Recover however comes naturally.", + "segments": [ + { + "id": "segment1", + "duration_s": 145.900033, + "video": "left_eye", + "video_t_start": 0.040178229992288525 + } + ], + "episodes": [ + { + "id": "ad6dbe46-85e6-42ea-92a7-89e5dd2702be", + "segment": "segment1", + "action": "DR11", + "quality": "valid", + "start_s": 2.698, + "end_s": 13.24, + "t_start": 2.7382, + "t_end": 13.2802, + "instruction": "Walk across the floor at a normal pace. It may be more slippery in places. Recover however comes naturally." + }, + { + "id": "edc1ce03-d52a-4d64-b3f0-2bdb8900423b", + "segment": "segment1", + "action": "DR11", + "quality": "valid", + "start_s": 14.043, + "end_s": 24.588, + "t_start": 14.0832, + "t_end": 24.6282, + "instruction": "Walk across the floor at a normal pace. It may be more slippery in places. Recover however comes naturally." + }, + { + "id": "8310afd5-a6cd-4b52-a8ba-abe5fb0c4f43", + "segment": "segment1", + "action": "DR11", + "quality": "valid", + "start_s": 25.725, + "end_s": 36.964, + "t_start": 25.7652, + "t_end": 37.0042, + "instruction": "Walk across the floor at a normal pace. It may be more slippery in places. Recover however comes naturally." + }, + { + "id": "c9dbe01e-c972-4c37-a056-831d49134b4c", + "segment": "segment1", + "action": "DR11", + "quality": "valid", + "start_s": 38.12, + "end_s": 47.785, + "t_start": 38.1602, + "t_end": 47.8252, + "instruction": "Walk across the floor at a normal pace. It may be more slippery in places. Recover however comes naturally." + }, + { + "id": "122c5234-b877-4798-8a83-7345b3540576", + "segment": "segment1", + "action": "DR11", + "quality": "valid", + "start_s": 49.913, + "end_s": 61.021, + "t_start": 49.9532, + "t_end": 61.0612, + "instruction": "Walk across the floor at a normal pace. It may be more slippery in places. 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Recover however comes naturally." + }, + { + "id": "9d74724f-00a6-4e75-8285-68099649e842", + "segment": "segment1", + "action": "DR11", + "quality": "valid", + "start_s": 97.916, + "end_s": 110.245, + "t_start": 97.9562, + "t_end": 110.2852, + "instruction": "Walk across the floor at a normal pace. It may be more slippery in places. Recover however comes naturally." + }, + { + "id": "5b3a1051-6203-4554-8762-dd5cbd1bcecf", + "segment": "segment1", + "action": "DR11", + "quality": "valid", + "start_s": 111.021, + "end_s": 120.391, + "t_start": 111.0612, + "t_end": 120.4312, + "instruction": "Walk across the floor at a normal pace. It may be more slippery in places. Recover however comes naturally." + }, + { + "id": "28789f49-666f-4d1c-a033-ab9da3807b53", + "segment": "segment1", + "action": "DR11", + "quality": "valid", + "start_s": 120.798, + "end_s": 131.643, + "t_start": 120.8382, + "t_end": 131.6832, + "instruction": "Walk across the floor at a normal pace. It may be more slippery in places. Recover however comes naturally." + }, + { + "id": "648ec12f-45f9-4992-a948-566f6fd8a0ac", + "segment": "segment1", + "action": "DR11", + "quality": "valid", + "start_s": 131.954, + "end_s": 141.968, + "t_start": 131.9942, + "t_end": 142.0082, + "instruction": "Walk across the floor at a normal pace. It may be more slippery in places. Recover however comes naturally." + } + ] +} diff --git a/actions/dynamic_recovery/DR11/session_005/cameras/gsi_online_calibration.json b/actions/dynamic_recovery/DR11/session_005/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..4d2bae855ff2294314cca151f10ef222b71d200b --- /dev/null +++ b/actions/dynamic_recovery/DR11/session_005/cameras/gsi_online_calibration.json @@ -0,0 +1,259 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 14, + "median_px": 0.361 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye" + ], + "delta_deg": 1.782, + "gate_fail": [], + "held_out_px_after": 0.536, + "held_out_px_before": 19.42, + "inliers": 1516, + "position_fitted": false, + "rotvec_deg": [ + -0.9953, + -0.2161, + -1.4623 + ], + "split_deg": 0.2607, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + "right_front", + 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b/actions/dynamic_recovery/DR11/session_005/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..f6cb8d7702b23530b08d790c4ea29d465da0497a --- /dev/null +++ b/actions/dynamic_recovery/DR11/session_005/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4baec203d54b50afc31539145b2fa0a6d8408f773a21e106f0df28134b4dfba7 +size 841318 diff --git a/actions/dynamic_recovery/DR11/session_005/meta.json b/actions/dynamic_recovery/DR11/session_005/meta.json index e61e087c45079249b70942c700d43405fb7ab3f8..9e765dec411a97a186af63889b287c564eef300b 100644 --- a/actions/dynamic_recovery/DR11/session_005/meta.json +++ b/actions/dynamic_recovery/DR11/session_005/meta.json @@ -263,44 +263,44 @@ "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" }, "canonical": { - "generated_at_utc": "2026-10-27T06:42:53.944335+00:00", + "generated_at_utc": "2026-10-28T23:21:44.955323+00:00", "generated_by": "scripts/canonicalise_dataset.py", "frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)", "R_canon_nokov": [ [ - 0.9999318201, - 0.0116771196, - -7.9583e-06 + 0.9999319725, + 0.0116640585, + -4.5245e-06 ], [ - 7.9583e-06, - -0.0013630091, - -0.9999990711 + 4.5245e-06, + -0.0007757685, + -0.9999996991 ], [ - -0.0116771196, - 0.9999308912, - -0.0013630091 + -0.0116640585, + 0.9999316716, + -0.0007757685 ] ], "scale_nokov_to_canon": 0.001, "T_canon_nokov_mm": [ [ - 0.00099993182, - 1.167712e-05, - -7.958e-09, + 0.000999931973, + 1.1664059e-05, + -4.524e-09, 0.0 ], [ - 7.958e-09, - -1.363009e-06, - -0.000999999071, + 4.524e-09, + -7.75769e-07, + -0.000999999699, 0.0 ], [ - -1.167712e-05, - 0.000999930891, - -1.363009e-06, + -1.1664059e-05, + 0.000999931672, + -7.75769e-07, 0.0 ], [ @@ -312,20 +312,20 @@ ], "block": "20261026-morning", "block_assignment": "trc", - "tilt_removed_deg": 0.6736075582400546, + "tilt_removed_deg": 0.6697930607742368, "plane_status": "ok", "floor": { - "sole_marker_p1_mm": 32.6, - "headtop_p95_mm": 1682.9 + "sole_marker_p1_mm": 32.8, + "headtop_p95_mm": 1682.7 }, "gravity_check": { "static_samples": 761, "g_world_mean_m_s2": [ - -0.0772, - 0.0522, + -0.0773, + 0.058, 9.7711 ], - "tilt_from_z_deg": 0.546, + "tilt_from_z_deg": 0.566, "tilt_from_z_deg_before_levelling": 1.185, "magnitude_m_s2": 9.7716 }, @@ -344,7 +344,7 @@ ] }, "smplx": { - "generated_at_utc": "2026-10-27T07:21:06.214736+00:00", + "generated_at_utc": "2026-10-29T04:12:36.328491+00:00", "generated_by": "scripts/fit_smplx_dataset.py", "file": "smplx.npz", "gender": "female", @@ -353,8 +353,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -397,8 +397,8 @@ "valid_fraction": 0.9768, "qc": { "lowest_vertex_mm": { - "median": 29.6, - "p5": 12.9 + "median": 30.3, + "p5": 12.6 }, "frames_checked": 571, "stature_mm": 1614.2 @@ -413,19 +413,19 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 6.16, "Q_rotvec": [ - -2.98662, - 0.4392, - 0.86995 + -0.06613, + -0.0801, + 0.02763 ], "in_out_sign": 1, - "wrist_bend_deg_median": 176.2, - "opposite_sign_bend_deg": 32.7, + "wrist_bend_deg_median": 29.6, + "opposite_sign_bend_deg": 152.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.21, "hand_vs_marker_frame_deg": { - "before": 179.74, + "before": 6.67, "after": 2.21 }, "markers_on_wrist": [ @@ -433,15 +433,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -174.47, + "twist_moved_deg": -25.06, "wrist_twist_deg_after": { - "median": -2.78, + "median": 0.0, "iqr": [ - -5.8, - -0.2 + -3.1, + 2.6 ] }, - "wrist_total_deg_median_after": 15.2, + "wrist_total_deg_median_after": 15.0, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -452,19 +452,19 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 25.42, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + 0.43858, + 0.031, + -0.05893 ], "in_out_sign": 1, - "wrist_bend_deg_median": 10.9, - "opposite_sign_bend_deg": 176.7, + "wrist_bend_deg_median": 51.3, + "opposite_sign_bend_deg": 135.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.89, "hand_vs_marker_frame_deg": { - "before": 0.89, + "before": 25.38, "after": 0.89 }, "markers_on_wrist": [ @@ -472,7 +472,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + 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+1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:adcc0391b953855244e20539772a09059f37f7d986a7445c8709926146575645 +size 138487728 diff --git a/actions/dynamic_recovery/DR11/session_006/raw/mocap/Body0.trc b/actions/dynamic_recovery/DR11/session_006/raw/mocap/Body0.trc new file mode 100644 index 0000000000000000000000000000000000000000..83745398f0317f5362bd9565ab18fca0ab31d7d0 --- /dev/null +++ b/actions/dynamic_recovery/DR11/session_006/raw/mocap/Body0.trc @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4cc2a8f2fa1b08cc28e712a7564808c3ce2b39bcf1382b32971731a009c934c9 +size 30448363 diff --git a/actions/dynamic_recovery/DR11/session_006/raw/mocap/Cushion.csv b/actions/dynamic_recovery/DR11/session_006/raw/mocap/Cushion.csv new file mode 100644 index 0000000000000000000000000000000000000000..16b8e6696121a813aaae6bd06e3e08d99cd86fb5 --- /dev/null +++ b/actions/dynamic_recovery/DR11/session_006/raw/mocap/Cushion.csv @@ -0,0 +1,16592 @@ +#Hierarchical 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