Release update 2026-11-05: new sessions, instructions, annotations (part 64)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- actions/locomotion_primitives/P33/session_022/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P33/session_022/meta.json +116 -2
- actions/locomotion_primitives/P33/session_022/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P33/session_022/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P33/session_023/annotations.json +28 -0
- actions/locomotion_primitives/P33/session_023/cameras/gsi_online_calibration.json +253 -0
- actions/locomotion_primitives/P33/session_023/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P33/session_023/meta.json +116 -2
- actions/locomotion_primitives/P33/session_023/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P33/session_023/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P33/session_024/annotations.json +28 -0
- actions/locomotion_primitives/P33/session_024/cameras/gsi_online_calibration.json +258 -0
- actions/locomotion_primitives/P33/session_024/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P33/session_024/meta.json +116 -2
- actions/locomotion_primitives/P33/session_024/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P33/session_024/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P33/session_025/annotations.json +28 -0
- actions/locomotion_primitives/P33/session_025/cameras/gsi_online_calibration.json +260 -0
- actions/locomotion_primitives/P33/session_025/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P33/session_025/meta.json +116 -2
- actions/locomotion_primitives/P33/session_025/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P33/session_025/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P33/session_026/annotations.json +28 -0
- actions/locomotion_primitives/P33/session_026/cameras/gsi_online_calibration.json +258 -0
- actions/locomotion_primitives/P33/session_026/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P33/session_026/meta.json +116 -2
- actions/locomotion_primitives/P33/session_026/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P33/session_026/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P33/session_027/annotations.json +28 -0
- actions/locomotion_primitives/P33/session_027/cameras/gsi_online_calibration.json +257 -0
- actions/locomotion_primitives/P33/session_027/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P33/session_027/meta.json +116 -2
- actions/locomotion_primitives/P33/session_027/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P33/session_027/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P33/session_028/annotations.json +28 -0
- actions/locomotion_primitives/P33/session_028/cameras/gsi_online_calibration.json +256 -0
- actions/locomotion_primitives/P33/session_028/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P33/session_028/meta.json +116 -2
- actions/locomotion_primitives/P33/session_028/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P33/session_028/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P33/session_029/annotations.json +28 -0
- actions/locomotion_primitives/P33/session_029/cameras/gsi_online_calibration.json +256 -0
- actions/locomotion_primitives/P33/session_029/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P33/session_029/meta.json +116 -2
- actions/locomotion_primitives/P33/session_029/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P33/session_029/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P33/session_030/annotations.json +28 -0
- actions/locomotion_primitives/P33/session_030/cameras/gsi_online_calibration.json +258 -0
- actions/locomotion_primitives/P33/session_030/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P33/session_030/meta.json +116 -2
actions/locomotion_primitives/P33/session_022/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:986bd434acd9ad8638f9c1ef6356cecf0cb59bd61e0d1c56e9677b4ac01daa69
|
| 3 |
+
size 773087
|
actions/locomotion_primitives/P33/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": {
|
|
@@ -523,10 +523,124 @@
|
|
| 523 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 524 |
"remaining_gyro_frame_deg": 1.0620047126859524
|
| 525 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 526 |
"release": {
|
| 527 |
"release_path": "actions/locomotion_primitives/P33/session_022",
|
| 528 |
"family": "locomotion_primitives",
|
| 529 |
"primitive": "P33",
|
| 530 |
"source_session": "20260914/P33/20260914_100834_session4"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 531 |
}
|
| 532 |
}
|
|
|
|
| 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": {
|
|
|
|
| 523 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 524 |
"remaining_gyro_frame_deg": 1.0620047126859524
|
| 525 |
},
|
| 526 |
+
"hands_registration": {
|
| 527 |
+
"cameras": {},
|
| 528 |
+
"hands": {
|
| 529 |
+
"left": {
|
| 530 |
+
"offset_deg": 8.47,
|
| 531 |
+
"offset_rotvec": [
|
| 532 |
+
0.0781,
|
| 533 |
+
0.0373,
|
| 534 |
+
-0.1199
|
| 535 |
+
],
|
| 536 |
+
"dev_deg": {
|
| 537 |
+
"median": 12.46,
|
| 538 |
+
"p90": 28.84
|
| 539 |
+
},
|
| 540 |
+
"samples": 3003,
|
| 541 |
+
"accepted": 2734,
|
| 542 |
+
"wrist_pos_err_mm_median": 43.2,
|
| 543 |
+
"per_camera": {
|
| 544 |
+
"head": {
|
| 545 |
+
"samples": 3003,
|
| 546 |
+
"accepted": 2734,
|
| 547 |
+
"gate_deg": 30.0,
|
| 548 |
+
"offset_deg": 8.47,
|
| 549 |
+
"tier": "primary",
|
| 550 |
+
"dev_deg_median": 12.46,
|
| 551 |
+
"wrist_pos_err_mm_median": 43.2
|
| 552 |
+
}
|
| 553 |
+
},
|
| 554 |
+
"frames_by_state": {
|
| 555 |
+
"ace_sample": 11186,
|
| 556 |
+
"interpolated": 4522,
|
| 557 |
+
"mean_hand": 369,
|
| 558 |
+
"no_body_fit": 7
|
| 559 |
+
},
|
| 560 |
+
"observed_fraction": 0.9766,
|
| 561 |
+
"observed_fraction_of_valid": 0.977,
|
| 562 |
+
"palm_axis_vs_markers_deg": {
|
| 563 |
+
"gsi": 13.84,
|
| 564 |
+
"smplx": 0.53
|
| 565 |
+
},
|
| 566 |
+
"hand_marker_to_mesh_mm": {
|
| 567 |
+
"flat": {
|
| 568 |
+
"median": 8.9,
|
| 569 |
+
"p90": 12.0
|
| 570 |
+
},
|
| 571 |
+
"registered": {
|
| 572 |
+
"median": 8.2,
|
| 573 |
+
"p90": 9.9
|
| 574 |
+
}
|
| 575 |
+
}
|
| 576 |
+
},
|
| 577 |
+
"right": {
|
| 578 |
+
"offset_deg": 14.97,
|
| 579 |
+
"offset_rotvec": [
|
| 580 |
+
-0.175,
|
| 581 |
+
-0.1696,
|
| 582 |
+
0.0939
|
| 583 |
+
],
|
| 584 |
+
"dev_deg": {
|
| 585 |
+
"median": 9.62,
|
| 586 |
+
"p90": 44.23
|
| 587 |
+
},
|
| 588 |
+
"samples": 2495,
|
| 589 |
+
"accepted": 2054,
|
| 590 |
+
"wrist_pos_err_mm_median": 62.9,
|
| 591 |
+
"per_camera": {
|
| 592 |
+
"head": {
|
| 593 |
+
"samples": 2495,
|
| 594 |
+
"accepted": 2054,
|
| 595 |
+
"gate_deg": 30.0,
|
| 596 |
+
"offset_deg": 14.97,
|
| 597 |
+
"tier": "primary",
|
| 598 |
+
"dev_deg_median": 9.62,
|
| 599 |
+
"wrist_pos_err_mm_median": 62.9
|
| 600 |
+
}
|
| 601 |
+
},
|
| 602 |
+
"frames_by_state": {
|
| 603 |
+
"ace_sample": 8432,
|
| 604 |
+
"interpolated": 6428,
|
| 605 |
+
"mean_hand": 1217,
|
| 606 |
+
"no_body_fit": 7
|
| 607 |
+
},
|
| 608 |
+
"observed_fraction": 0.9239,
|
| 609 |
+
"observed_fraction_of_valid": 0.9243,
|
| 610 |
+
"palm_axis_vs_markers_deg": {
|
| 611 |
+
"gsi": 16.24,
|
| 612 |
+
"smplx": 1.5
|
| 613 |
+
},
|
| 614 |
+
"hand_marker_to_mesh_mm": {
|
| 615 |
+
"flat": {
|
| 616 |
+
"median": 6.8,
|
| 617 |
+
"p90": 8.6
|
| 618 |
+
},
|
| 619 |
+
"registered": {
|
| 620 |
+
"median": 9.0,
|
| 621 |
+
"p90": 10.6
|
| 622 |
+
}
|
| 623 |
+
}
|
| 624 |
+
}
|
| 625 |
+
},
|
| 626 |
+
"max_dev_deg": 30.0,
|
| 627 |
+
"max_gap_s": 1.0,
|
| 628 |
+
"cameras_used": [
|
| 629 |
+
"head"
|
| 630 |
+
],
|
| 631 |
+
"generated_at_utc": "2026-11-03T20:13:43.623862+00:00",
|
| 632 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 633 |
+
"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",
|
| 634 |
+
"wrist_flip_suspect": []
|
| 635 |
+
},
|
| 636 |
"release": {
|
| 637 |
"release_path": "actions/locomotion_primitives/P33/session_022",
|
| 638 |
"family": "locomotion_primitives",
|
| 639 |
"primitive": "P33",
|
| 640 |
"source_session": "20260914/P33/20260914_100834_session4"
|
| 641 |
+
},
|
| 642 |
+
"task": {
|
| 643 |
+
"primitive": "P33",
|
| 644 |
+
"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
|
| 645 |
}
|
| 646 |
}
|
actions/locomotion_primitives/P33/session_022/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7412f4587afedfe60aa656b0cbe18e84c0c2740b0e871c4baacc995384653b04
|
| 3 |
+
size 3780585
|
actions/locomotion_primitives/P33/session_022/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:c78ae23acbbfb5c83c997d17988b30cb351b4aeeafd849c0195c17188a355bcf
|
| 3 |
+
size 11332601
|
actions/locomotion_primitives/P33/session_023/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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": "P33",
|
| 6 |
+
"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 133.966622,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03862234274234222
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "8afacbad-2d7c-4c4b-875a-529834ddf923",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "P33",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 128.664,
|
| 23 |
+
"t_start": 0.0386,
|
| 24 |
+
"t_end": 128.7026,
|
| 25 |
+
"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomotion_primitives/P33/session_023/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,253 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 14,
|
| 5 |
+
"median_px": 0.385
|
| 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": 0.8124,
|
| 17 |
+
"gate_fail": [],
|
| 18 |
+
"held_out_px_after": 0.5,
|
| 19 |
+
"held_out_px_before": 4.208,
|
| 20 |
+
"inliers": 2422,
|
| 21 |
+
"position_fitted": false,
|
| 22 |
+
"rotvec_deg": [
|
| 23 |
+
0.373,
|
| 24 |
+
-0.2962,
|
| 25 |
+
-0.658
|
| 26 |
+
],
|
| 27 |
+
"split_deg": 0.02,
|
| 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": 1.852,
|
| 40 |
+
"gate_fail": [],
|
| 41 |
+
"held_out_px_after": 0.393,
|
| 42 |
+
"held_out_px_before": 6.706,
|
| 43 |
+
"inliers": 3671,
|
| 44 |
+
"position_fitted": true,
|
| 45 |
+
"position_mm": [
|
| 46 |
+
2.67,
|
| 47 |
+
-9.16,
|
| 48 |
+
3.83
|
| 49 |
+
],
|
| 50 |
+
"position_sigma_mm": 0.316,
|
| 51 |
+
"position_split_mm": 1.627,
|
| 52 |
+
"rotvec_deg": [
|
| 53 |
+
0.1962,
|
| 54 |
+
0.5852,
|
| 55 |
+
-1.7461
|
| 56 |
+
],
|
| 57 |
+
"split_deg": 0.0495,
|
| 58 |
+
"usable": true
|
| 59 |
+
},
|
| 60 |
+
"left_front": {
|
| 61 |
+
"role": "rig origin"
|
| 62 |
+
},
|
| 63 |
+
"right": {
|
| 64 |
+
"accepted": true,
|
| 65 |
+
"against": [
|
| 66 |
+
"left_front",
|
| 67 |
+
"right_front",
|
| 68 |
+
"left_eye",
|
| 69 |
+
"right_eye"
|
| 70 |
+
],
|
| 71 |
+
"delta_deg": 1.2499,
|
| 72 |
+
"gate_fail": [],
|
| 73 |
+
"held_out_px_after": 0.587,
|
| 74 |
+
"held_out_px_before": 4.04,
|
| 75 |
+
"inliers": 1935,
|
| 76 |
+
"position_fitted": false,
|
| 77 |
+
"rotvec_deg": [
|
| 78 |
+
1.2235,
|
| 79 |
+
-0.2447,
|
| 80 |
+
-0.0746
|
| 81 |
+
],
|
| 82 |
+
"split_deg": 0.2399,
|
| 83 |
+
"usable": true
|
| 84 |
+
},
|
| 85 |
+
"right_eye": {
|
| 86 |
+
"accepted": true,
|
| 87 |
+
"against": [
|
| 88 |
+
"left_front",
|
| 89 |
+
"right_front",
|
| 90 |
+
"left_eye",
|
| 91 |
+
"left",
|
| 92 |
+
"right"
|
| 93 |
+
],
|
| 94 |
+
"delta_deg": 0.8415,
|
| 95 |
+
"gate_fail": [],
|
| 96 |
+
"held_out_px_after": 0.374,
|
| 97 |
+
"held_out_px_before": 3.277,
|
| 98 |
+
"inliers": 3508,
|
| 99 |
+
"position_fitted": true,
|
| 100 |
+
"position_mm": [
|
| 101 |
+
5.24,
|
| 102 |
+
-8.6,
|
| 103 |
+
4.15
|
| 104 |
+
],
|
| 105 |
+
"position_sigma_mm": 0.337,
|
| 106 |
+
"position_split_mm": 1.473,
|
| 107 |
+
"rotvec_deg": [
|
| 108 |
+
0.4875,
|
| 109 |
+
-0.5362,
|
| 110 |
+
-0.4277
|
| 111 |
+
],
|
| 112 |
+
"split_deg": 0.0445,
|
| 113 |
+
"usable": true
|
| 114 |
+
},
|
| 115 |
+
"right_front": {
|
| 116 |
+
"accepted": true,
|
| 117 |
+
"against": [
|
| 118 |
+
"left_front",
|
| 119 |
+
"left_eye",
|
| 120 |
+
"right_eye",
|
| 121 |
+
"left",
|
| 122 |
+
"right"
|
| 123 |
+
],
|
| 124 |
+
"delta_deg": 1.3746,
|
| 125 |
+
"gate_fail": [],
|
| 126 |
+
"held_out_px_after": 0.349,
|
| 127 |
+
"held_out_px_before": 4.146,
|
| 128 |
+
"inliers": 4353,
|
| 129 |
+
"position_fitted": false,
|
| 130 |
+
"rotvec_deg": [
|
| 131 |
+
-0.3889,
|
| 132 |
+
-0.0739,
|
| 133 |
+
-1.3163
|
| 134 |
+
],
|
| 135 |
+
"split_deg": 0.0152,
|
| 136 |
+
"usable": true
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"code_fingerprint": "711ecf5b3dd408f8",
|
| 140 |
+
"device_id": "e17c9efadb69e7b1",
|
| 141 |
+
"factory_root_name": "e17c9efadb69e7b1",
|
| 142 |
+
"files": {
|
| 143 |
+
"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 144 |
+
"sha256": "99ea0a14e449122310f9f990b17483db53abdddee5cdbbe98ebfed47535e1c38",
|
| 145 |
+
"source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
|
| 146 |
+
},
|
| 147 |
+
"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 148 |
+
"sha256": "089e51bbc59bf2e140b74fda57c45400770e163c5eba46af5425754d32dc20fc",
|
| 149 |
+
"source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
|
| 150 |
+
},
|
| 151 |
+
"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 152 |
+
"sha256": "bde5dc24e1c5613bfaa16d21a7c9231405b5d2f3c82bb23ecd6264761c15ff96",
|
| 153 |
+
"source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
|
| 154 |
+
},
|
| 155 |
+
"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 156 |
+
"sha256": "e4ac20cc3646757b01220389abdf623aa180cf7f28e5da1c525dc500e785602f",
|
| 157 |
+
"source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
"input_fingerprint": "833a0ed1b3ffd10a",
|
| 161 |
+
"kind": "online_calibration",
|
| 162 |
+
"output_sha256": "4b598a72421564dc564f9feff22d6cb18fefde8657e50312cf3ddb097212da53",
|
| 163 |
+
"overlap": {
|
| 164 |
+
"left-right": 0.501,
|
| 165 |
+
"left_eye-left": 0.707,
|
| 166 |
+
"left_eye-right": 0.671,
|
| 167 |
+
"left_front-left": 0.478,
|
| 168 |
+
"left_front-left_eye": 0.72,
|
| 169 |
+
"left_front-right": 0.448,
|
| 170 |
+
"left_front-right_eye": 0.732,
|
| 171 |
+
"left_front-right_front": 1.0,
|
| 172 |
+
"right_eye-left": 0.696,
|
| 173 |
+
"right_eye-left_eye": 1.0,
|
| 174 |
+
"right_eye-right": 0.673,
|
| 175 |
+
"right_front-left": 0.464,
|
| 176 |
+
"right_front-left_eye": 0.723,
|
| 177 |
+
"right_front-right": 0.466,
|
| 178 |
+
"right_front-right_eye": 0.734
|
| 179 |
+
},
|
| 180 |
+
"picture_change": {
|
| 181 |
+
"left": 36.225,
|
| 182 |
+
"left_eye": 35.587,
|
| 183 |
+
"left_front": 40.131,
|
| 184 |
+
"right": 38.298,
|
| 185 |
+
"right_eye": 34.41,
|
| 186 |
+
"right_front": 38.439
|
| 187 |
+
},
|
| 188 |
+
"runtime": {
|
| 189 |
+
"numpy": "2.4.6",
|
| 190 |
+
"opencv": "5.0.0",
|
| 191 |
+
"scipy": "1.17.1"
|
| 192 |
+
},
|
| 193 |
+
"segment": 1,
|
| 194 |
+
"selection": {
|
| 195 |
+
"overlap_captures": [
|
| 196 |
+
1277118225222,
|
| 197 |
+
1278118258555,
|
| 198 |
+
1279118225222,
|
| 199 |
+
1286118169666,
|
| 200 |
+
1287118214111,
|
| 201 |
+
1290118180777,
|
| 202 |
+
1291118169666,
|
| 203 |
+
1294118158555,
|
| 204 |
+
1295118169666,
|
| 205 |
+
1296118180777,
|
| 206 |
+
1303118191888,
|
| 207 |
+
1304118169666,
|
| 208 |
+
1305118236333,
|
| 209 |
+
1311118225222,
|
| 210 |
+
1312118236333,
|
| 211 |
+
1313118258555,
|
| 212 |
+
1314118169666,
|
| 213 |
+
1319118169666,
|
| 214 |
+
1320118191888,
|
| 215 |
+
1322118236333,
|
| 216 |
+
1323118180777,
|
| 217 |
+
1326118247444,
|
| 218 |
+
1327118180777,
|
| 219 |
+
1330118169666,
|
| 220 |
+
1331118225222,
|
| 221 |
+
1338118169666,
|
| 222 |
+
1339118225222,
|
| 223 |
+
1341118180777,
|
| 224 |
+
1342118169666,
|
| 225 |
+
1345118169666,
|
| 226 |
+
1346118169666,
|
| 227 |
+
1351118169666,
|
| 228 |
+
1352118180777,
|
| 229 |
+
1355118225222,
|
| 230 |
+
1356118269666,
|
| 231 |
+
1357118191888,
|
| 232 |
+
1364118180777,
|
| 233 |
+
1365118158555,
|
| 234 |
+
1366118191888,
|
| 235 |
+
1369118169666,
|
| 236 |
+
1370118225222,
|
| 237 |
+
1376118225222,
|
| 238 |
+
1377118203000,
|
| 239 |
+
1378118191888,
|
| 240 |
+
1385118169666,
|
| 241 |
+
1386118169666,
|
| 242 |
+
1387118258555,
|
| 243 |
+
1388118180777,
|
| 244 |
+
1394118225222,
|
| 245 |
+
1395118247444,
|
| 246 |
+
1398118380777,
|
| 247 |
+
1399118225222,
|
| 248 |
+
1402118214111,
|
| 249 |
+
1403118180777
|
| 250 |
+
]
|
| 251 |
+
},
|
| 252 |
+
"version": 1
|
| 253 |
+
}
|
actions/locomotion_primitives/P33/session_023/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7c32d9218872413dc72d3c362bd706b83fab0f9738827df58279f540bae0bafc
|
| 3 |
+
size 772930
|
actions/locomotion_primitives/P33/session_023/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": {
|
|
@@ -524,10 +524,124 @@
|
|
| 524 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 525 |
"remaining_gyro_frame_deg": 1.0591081444676178
|
| 526 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 527 |
"release": {
|
| 528 |
"release_path": "actions/locomotion_primitives/P33/session_023",
|
| 529 |
"family": "locomotion_primitives",
|
| 530 |
"primitive": "P33",
|
| 531 |
"source_session": "20260914/P33/20260914_101058_session5"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 532 |
}
|
| 533 |
}
|
|
|
|
| 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": {
|
|
|
|
| 524 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 525 |
"remaining_gyro_frame_deg": 1.0591081444676178
|
| 526 |
},
|
| 527 |
+
"hands_registration": {
|
| 528 |
+
"cameras": {},
|
| 529 |
+
"hands": {
|
| 530 |
+
"left": {
|
| 531 |
+
"offset_deg": 6.88,
|
| 532 |
+
"offset_rotvec": [
|
| 533 |
+
0.0181,
|
| 534 |
+
0.0491,
|
| 535 |
+
-0.108
|
| 536 |
+
],
|
| 537 |
+
"dev_deg": {
|
| 538 |
+
"median": 14.56,
|
| 539 |
+
"p90": 33.5
|
| 540 |
+
},
|
| 541 |
+
"samples": 2859,
|
| 542 |
+
"accepted": 2426,
|
| 543 |
+
"wrist_pos_err_mm_median": 57.4,
|
| 544 |
+
"per_camera": {
|
| 545 |
+
"head": {
|
| 546 |
+
"samples": 2859,
|
| 547 |
+
"accepted": 2426,
|
| 548 |
+
"gate_deg": 30.0,
|
| 549 |
+
"offset_deg": 6.88,
|
| 550 |
+
"tier": "primary",
|
| 551 |
+
"dev_deg_median": 14.56,
|
| 552 |
+
"wrist_pos_err_mm_median": 57.4
|
| 553 |
+
}
|
| 554 |
+
},
|
| 555 |
+
"frames_by_state": {
|
| 556 |
+
"ace_sample": 9992,
|
| 557 |
+
"interpolated": 5666,
|
| 558 |
+
"mean_hand": 426,
|
| 559 |
+
"no_body_fit": 0
|
| 560 |
+
},
|
| 561 |
+
"observed_fraction": 0.9735,
|
| 562 |
+
"observed_fraction_of_valid": 0.9735,
|
| 563 |
+
"palm_axis_vs_markers_deg": {
|
| 564 |
+
"gsi": 15.37,
|
| 565 |
+
"smplx": 0.6
|
| 566 |
+
},
|
| 567 |
+
"hand_marker_to_mesh_mm": {
|
| 568 |
+
"flat": {
|
| 569 |
+
"median": 6.3,
|
| 570 |
+
"p90": 7.0
|
| 571 |
+
},
|
| 572 |
+
"registered": {
|
| 573 |
+
"median": 6.7,
|
| 574 |
+
"p90": 8.6
|
| 575 |
+
}
|
| 576 |
+
}
|
| 577 |
+
},
|
| 578 |
+
"right": {
|
| 579 |
+
"offset_deg": 15.96,
|
| 580 |
+
"offset_rotvec": [
|
| 581 |
+
-0.212,
|
| 582 |
+
-0.164,
|
| 583 |
+
0.0757
|
| 584 |
+
],
|
| 585 |
+
"dev_deg": {
|
| 586 |
+
"median": 12.1,
|
| 587 |
+
"p90": 50.09
|
| 588 |
+
},
|
| 589 |
+
"samples": 2311,
|
| 590 |
+
"accepted": 1709,
|
| 591 |
+
"wrist_pos_err_mm_median": 84.6,
|
| 592 |
+
"per_camera": {
|
| 593 |
+
"head": {
|
| 594 |
+
"samples": 2311,
|
| 595 |
+
"accepted": 1709,
|
| 596 |
+
"gate_deg": 30.0,
|
| 597 |
+
"offset_deg": 15.96,
|
| 598 |
+
"tier": "primary",
|
| 599 |
+
"dev_deg_median": 12.1,
|
| 600 |
+
"wrist_pos_err_mm_median": 84.6
|
| 601 |
+
}
|
| 602 |
+
},
|
| 603 |
+
"frames_by_state": {
|
| 604 |
+
"ace_sample": 7042,
|
| 605 |
+
"interpolated": 6698,
|
| 606 |
+
"mean_hand": 2344,
|
| 607 |
+
"no_body_fit": 0
|
| 608 |
+
},
|
| 609 |
+
"observed_fraction": 0.8543,
|
| 610 |
+
"observed_fraction_of_valid": 0.8543,
|
| 611 |
+
"palm_axis_vs_markers_deg": {
|
| 612 |
+
"gsi": 17.76,
|
| 613 |
+
"smplx": 0.77
|
| 614 |
+
},
|
| 615 |
+
"hand_marker_to_mesh_mm": {
|
| 616 |
+
"flat": {
|
| 617 |
+
"median": 5.0,
|
| 618 |
+
"p90": 6.0
|
| 619 |
+
},
|
| 620 |
+
"registered": {
|
| 621 |
+
"median": 7.3,
|
| 622 |
+
"p90": 7.9
|
| 623 |
+
}
|
| 624 |
+
}
|
| 625 |
+
}
|
| 626 |
+
},
|
| 627 |
+
"max_dev_deg": 30.0,
|
| 628 |
+
"max_gap_s": 1.0,
|
| 629 |
+
"cameras_used": [
|
| 630 |
+
"head"
|
| 631 |
+
],
|
| 632 |
+
"generated_at_utc": "2026-11-03T19:25:53.440899+00:00",
|
| 633 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 634 |
+
"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",
|
| 635 |
+
"wrist_flip_suspect": []
|
| 636 |
+
},
|
| 637 |
"release": {
|
| 638 |
"release_path": "actions/locomotion_primitives/P33/session_023",
|
| 639 |
"family": "locomotion_primitives",
|
| 640 |
"primitive": "P33",
|
| 641 |
"source_session": "20260914/P33/20260914_101058_session5"
|
| 642 |
+
},
|
| 643 |
+
"task": {
|
| 644 |
+
"primitive": "P33",
|
| 645 |
+
"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
|
| 646 |
}
|
| 647 |
}
|
actions/locomotion_primitives/P33/session_023/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2ddd9f38a462e12563d9cb96a079e947e68708a5ef24d1be6d5bc4ac0a51ed96
|
| 3 |
+
size 3567748
|
actions/locomotion_primitives/P33/session_023/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 sha256:091cd9e7e66e05403c7bb9a7957b37dc6187f049d890c8488181405e44b67dca
|
| 3 |
+
size 11209034
|
actions/locomotion_primitives/P33/session_024/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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": "P33",
|
| 6 |
+
"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 133.966689,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03858057801397341
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "f4a52265-feaa-4c5f-9f97-cc346f627a4f",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "P33",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 127.815,
|
| 23 |
+
"t_start": 0.0386,
|
| 24 |
+
"t_end": 127.8536,
|
| 25 |
+
"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomotion_primitives/P33/session_024/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,258 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 14,
|
| 5 |
+
"median_px": 0.376
|
| 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": 0.8162,
|
| 17 |
+
"gate_fail": [],
|
| 18 |
+
"held_out_px_after": 0.519,
|
| 19 |
+
"held_out_px_before": 4.168,
|
| 20 |
+
"inliers": 2500,
|
| 21 |
+
"position_fitted": false,
|
| 22 |
+
"rotvec_deg": [
|
| 23 |
+
0.3792,
|
| 24 |
+
-0.3045,
|
| 25 |
+
-0.6555
|
| 26 |
+
],
|
| 27 |
+
"split_deg": 0.0634,
|
| 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": 1.8789,
|
| 40 |
+
"gate_fail": [],
|
| 41 |
+
"held_out_px_after": 0.408,
|
| 42 |
+
"held_out_px_before": 6.581,
|
| 43 |
+
"inliers": 3864,
|
| 44 |
+
"position_fitted": true,
|
| 45 |
+
"position_mm": [
|
| 46 |
+
3.93,
|
| 47 |
+
-10.98,
|
| 48 |
+
5.2
|
| 49 |
+
],
|
| 50 |
+
"position_sigma_mm": 0.357,
|
| 51 |
+
"position_split_mm": 0.874,
|
| 52 |
+
"rotvec_deg": [
|
| 53 |
+
0.1869,
|
| 54 |
+
0.5497,
|
| 55 |
+
-1.787
|
| 56 |
+
],
|
| 57 |
+
"split_deg": 0.0401,
|
| 58 |
+
"usable": true
|
| 59 |
+
},
|
| 60 |
+
"left_front": {
|
| 61 |
+
"role": "rig origin"
|
| 62 |
+
},
|
| 63 |
+
"right": {
|
| 64 |
+
"accepted": true,
|
| 65 |
+
"against": [
|
| 66 |
+
"left_front",
|
| 67 |
+
"right_front",
|
| 68 |
+
"left_eye",
|
| 69 |
+
"right_eye"
|
| 70 |
+
],
|
| 71 |
+
"delta_deg": 1.2587,
|
| 72 |
+
"gate_fail": [],
|
| 73 |
+
"held_out_px_after": 0.587,
|
| 74 |
+
"held_out_px_before": 3.679,
|
| 75 |
+
"inliers": 1970,
|
| 76 |
+
"position_fitted": false,
|
| 77 |
+
"rotvec_deg": [
|
| 78 |
+
1.1866,
|
| 79 |
+
-0.3866,
|
| 80 |
+
-0.1634
|
| 81 |
+
],
|
| 82 |
+
"split_deg": 0.0997,
|
| 83 |
+
"usable": true
|
| 84 |
+
},
|
| 85 |
+
"right_eye": {
|
| 86 |
+
"accepted": true,
|
| 87 |
+
"against": [
|
| 88 |
+
"left_front",
|
| 89 |
+
"right_front",
|
| 90 |
+
"left_eye",
|
| 91 |
+
"left",
|
| 92 |
+
"right"
|
| 93 |
+
],
|
| 94 |
+
"delta_deg": 0.7687,
|
| 95 |
+
"gate_fail": [],
|
| 96 |
+
"held_out_px_after": 0.397,
|
| 97 |
+
"held_out_px_before": 3.081,
|
| 98 |
+
"inliers": 3843,
|
| 99 |
+
"position_fitted": true,
|
| 100 |
+
"position_mm": [
|
| 101 |
+
5.89,
|
| 102 |
+
-11.97,
|
| 103 |
+
0.99
|
| 104 |
+
],
|
| 105 |
+
"position_sigma_mm": 0.339,
|
| 106 |
+
"position_split_mm": 1.672,
|
| 107 |
+
"rotvec_deg": [
|
| 108 |
+
0.4053,
|
| 109 |
+
-0.4623,
|
| 110 |
+
-0.4614
|
| 111 |
+
],
|
| 112 |
+
"split_deg": 0.0255,
|
| 113 |
+
"usable": true
|
| 114 |
+
},
|
| 115 |
+
"right_front": {
|
| 116 |
+
"accepted": true,
|
| 117 |
+
"against": [
|
| 118 |
+
"left_front",
|
| 119 |
+
"left_eye",
|
| 120 |
+
"right_eye",
|
| 121 |
+
"left",
|
| 122 |
+
"right"
|
| 123 |
+
],
|
| 124 |
+
"delta_deg": 1.3589,
|
| 125 |
+
"gate_fail": [],
|
| 126 |
+
"held_out_px_after": 0.32,
|
| 127 |
+
"held_out_px_before": 4.865,
|
| 128 |
+
"inliers": 4529,
|
| 129 |
+
"position_fitted": false,
|
| 130 |
+
"rotvec_deg": [
|
| 131 |
+
-0.3974,
|
| 132 |
+
-0.0169,
|
| 133 |
+
-1.2994
|
| 134 |
+
],
|
| 135 |
+
"split_deg": 0.0065,
|
| 136 |
+
"usable": true
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"code_fingerprint": "711ecf5b3dd408f8",
|
| 140 |
+
"device_id": "e17c9efadb69e7b1",
|
| 141 |
+
"factory_root_name": "e17c9efadb69e7b1",
|
| 142 |
+
"files": {
|
| 143 |
+
"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 144 |
+
"sha256": "492bd2aceacee14dd1b3a97c17b610b86bb00ef4c92214d61c715c668b17e124",
|
| 145 |
+
"source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
|
| 146 |
+
},
|
| 147 |
+
"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 148 |
+
"sha256": "e9f0d1cc8ebb71eff685056f56b08bd4a938c4b718bc08a16b1621c10dcb833e",
|
| 149 |
+
"source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
|
| 150 |
+
},
|
| 151 |
+
"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 152 |
+
"sha256": "ef1c21576c7f42d6eed28fea1a79602ab55263cc1e35b8b84d9d0f85eb44ab89",
|
| 153 |
+
"source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
|
| 154 |
+
},
|
| 155 |
+
"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 156 |
+
"sha256": "1a46e4b73f922b2907c0ac347ed355c87df75841fb15da29eca24b4ea52cc2b6",
|
| 157 |
+
"source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
"input_fingerprint": "9c2c38c7be0f6e2e",
|
| 161 |
+
"kind": "online_calibration",
|
| 162 |
+
"output_sha256": "cda9687d9bbd94fda3b8af9a5e8709c18c933083978c4e5004938bf7312478cc",
|
| 163 |
+
"overlap": {
|
| 164 |
+
"left-right": 0.501,
|
| 165 |
+
"left_eye-left": 0.707,
|
| 166 |
+
"left_eye-right": 0.671,
|
| 167 |
+
"left_front-left": 0.478,
|
| 168 |
+
"left_front-left_eye": 0.72,
|
| 169 |
+
"left_front-right": 0.448,
|
| 170 |
+
"left_front-right_eye": 0.732,
|
| 171 |
+
"left_front-right_front": 1.0,
|
| 172 |
+
"right_eye-left": 0.696,
|
| 173 |
+
"right_eye-left_eye": 1.0,
|
| 174 |
+
"right_eye-right": 0.673,
|
| 175 |
+
"right_front-left": 0.464,
|
| 176 |
+
"right_front-left_eye": 0.723,
|
| 177 |
+
"right_front-right": 0.466,
|
| 178 |
+
"right_front-right_eye": 0.734
|
| 179 |
+
},
|
| 180 |
+
"picture_change": {
|
| 181 |
+
"left": 37.924,
|
| 182 |
+
"left_eye": 31.222,
|
| 183 |
+
"left_front": 39.561,
|
| 184 |
+
"right": 39.015,
|
| 185 |
+
"right_eye": 30.299,
|
| 186 |
+
"right_front": 39.176
|
| 187 |
+
},
|
| 188 |
+
"runtime": {
|
| 189 |
+
"numpy": "2.4.6",
|
| 190 |
+
"opencv": "5.0.0",
|
| 191 |
+
"scipy": "1.17.1"
|
| 192 |
+
},
|
| 193 |
+
"segment": 1,
|
| 194 |
+
"selection": {
|
| 195 |
+
"overlap_captures": [
|
| 196 |
+
1415845299222,
|
| 197 |
+
1416845243666,
|
| 198 |
+
1420845288111,
|
| 199 |
+
1421845243666,
|
| 200 |
+
1424845299222,
|
| 201 |
+
1425845243666,
|
| 202 |
+
1432845288111,
|
| 203 |
+
1433845277000,
|
| 204 |
+
1435845310333,
|
| 205 |
+
1436845243666,
|
| 206 |
+
1440845332555,
|
| 207 |
+
1441845299222,
|
| 208 |
+
1445845254777,
|
| 209 |
+
1446845288111,
|
| 210 |
+
1448845254777,
|
| 211 |
+
1449845265888,
|
| 212 |
+
1452845243666,
|
| 213 |
+
1453845265888,
|
| 214 |
+
1457845254777,
|
| 215 |
+
1458845288111,
|
| 216 |
+
1459845299222,
|
| 217 |
+
1460845243666,
|
| 218 |
+
1465845321444,
|
| 219 |
+
1466845277000,
|
| 220 |
+
1468845265888,
|
| 221 |
+
1469845288111,
|
| 222 |
+
1475845299222,
|
| 223 |
+
1476845243666,
|
| 224 |
+
1478845265888,
|
| 225 |
+
1479845243666,
|
| 226 |
+
1483845321444,
|
| 227 |
+
1484845232555,
|
| 228 |
+
1485845243666,
|
| 229 |
+
1491845288111,
|
| 230 |
+
1492845254777,
|
| 231 |
+
1493845265888,
|
| 232 |
+
1494845243666,
|
| 233 |
+
1500845388111,
|
| 234 |
+
1501845321444,
|
| 235 |
+
1503845299222,
|
| 236 |
+
1504845254777,
|
| 237 |
+
1507845243666,
|
| 238 |
+
1508845243666,
|
| 239 |
+
1513845243666,
|
| 240 |
+
1514845299222,
|
| 241 |
+
1515845321444,
|
| 242 |
+
1516845288111,
|
| 243 |
+
1520845243666,
|
| 244 |
+
1521845299222,
|
| 245 |
+
1525845265888,
|
| 246 |
+
1526845277000,
|
| 247 |
+
1528845232555,
|
| 248 |
+
1529845310333,
|
| 249 |
+
1534845299222,
|
| 250 |
+
1535845243666,
|
| 251 |
+
1537845243666,
|
| 252 |
+
1538845254777,
|
| 253 |
+
1542845288111,
|
| 254 |
+
1543845254777
|
| 255 |
+
]
|
| 256 |
+
},
|
| 257 |
+
"version": 1
|
| 258 |
+
}
|
actions/locomotion_primitives/P33/session_024/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f33e9439bbb242800bb31fcdb91c732a961967f1556f491a01f4a5b5c3fc01be
|
| 3 |
+
size 772764
|
actions/locomotion_primitives/P33/session_024/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": 1.2057442056271734
|
| 519 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 520 |
"release": {
|
| 521 |
"release_path": "actions/locomotion_primitives/P33/session_024",
|
| 522 |
"family": "locomotion_primitives",
|
| 523 |
"primitive": "P33",
|
| 524 |
"source_session": "20260914/P33/20260914_101321_session6"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 525 |
}
|
| 526 |
}
|
|
|
|
| 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": {
|
|
|
|
| 517 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 518 |
"remaining_gyro_frame_deg": 1.2057442056271734
|
| 519 |
},
|
| 520 |
+
"hands_registration": {
|
| 521 |
+
"cameras": {},
|
| 522 |
+
"hands": {
|
| 523 |
+
"left": {
|
| 524 |
+
"offset_deg": 7.57,
|
| 525 |
+
"offset_rotvec": [
|
| 526 |
+
0.023,
|
| 527 |
+
0.0606,
|
| 528 |
+
-0.1151
|
| 529 |
+
],
|
| 530 |
+
"dev_deg": {
|
| 531 |
+
"median": 11.99,
|
| 532 |
+
"p90": 31.26
|
| 533 |
+
},
|
| 534 |
+
"samples": 3034,
|
| 535 |
+
"accepted": 2688,
|
| 536 |
+
"wrist_pos_err_mm_median": 46.9,
|
| 537 |
+
"per_camera": {
|
| 538 |
+
"head": {
|
| 539 |
+
"samples": 3034,
|
| 540 |
+
"accepted": 2688,
|
| 541 |
+
"gate_deg": 30.0,
|
| 542 |
+
"offset_deg": 7.57,
|
| 543 |
+
"tier": "primary",
|
| 544 |
+
"dev_deg_median": 11.99,
|
| 545 |
+
"wrist_pos_err_mm_median": 46.9
|
| 546 |
+
}
|
| 547 |
+
},
|
| 548 |
+
"frames_by_state": {
|
| 549 |
+
"ace_sample": 10972,
|
| 550 |
+
"interpolated": 4808,
|
| 551 |
+
"mean_hand": 304,
|
| 552 |
+
"no_body_fit": 0
|
| 553 |
+
},
|
| 554 |
+
"observed_fraction": 0.9811,
|
| 555 |
+
"observed_fraction_of_valid": 0.9811,
|
| 556 |
+
"palm_axis_vs_markers_deg": {
|
| 557 |
+
"gsi": 12.53,
|
| 558 |
+
"smplx": 0.57
|
| 559 |
+
},
|
| 560 |
+
"hand_marker_to_mesh_mm": {
|
| 561 |
+
"flat": {
|
| 562 |
+
"median": 9.3,
|
| 563 |
+
"p90": 13.2
|
| 564 |
+
},
|
| 565 |
+
"registered": {
|
| 566 |
+
"median": 8.5,
|
| 567 |
+
"p90": 11.0
|
| 568 |
+
}
|
| 569 |
+
}
|
| 570 |
+
},
|
| 571 |
+
"right": {
|
| 572 |
+
"offset_deg": 15.21,
|
| 573 |
+
"offset_rotvec": [
|
| 574 |
+
-0.1961,
|
| 575 |
+
-0.1545,
|
| 576 |
+
0.0902
|
| 577 |
+
],
|
| 578 |
+
"dev_deg": {
|
| 579 |
+
"median": 9.83,
|
| 580 |
+
"p90": 48.12
|
| 581 |
+
},
|
| 582 |
+
"samples": 2572,
|
| 583 |
+
"accepted": 2041,
|
| 584 |
+
"wrist_pos_err_mm_median": 66.8,
|
| 585 |
+
"per_camera": {
|
| 586 |
+
"head": {
|
| 587 |
+
"samples": 2572,
|
| 588 |
+
"accepted": 2041,
|
| 589 |
+
"gate_deg": 30.0,
|
| 590 |
+
"offset_deg": 15.21,
|
| 591 |
+
"tier": "primary",
|
| 592 |
+
"dev_deg_median": 9.83,
|
| 593 |
+
"wrist_pos_err_mm_median": 66.8
|
| 594 |
+
}
|
| 595 |
+
},
|
| 596 |
+
"frames_by_state": {
|
| 597 |
+
"ace_sample": 8380,
|
| 598 |
+
"interpolated": 6164,
|
| 599 |
+
"mean_hand": 1540,
|
| 600 |
+
"no_body_fit": 0
|
| 601 |
+
},
|
| 602 |
+
"observed_fraction": 0.9043,
|
| 603 |
+
"observed_fraction_of_valid": 0.9043,
|
| 604 |
+
"palm_axis_vs_markers_deg": {
|
| 605 |
+
"gsi": 17.2,
|
| 606 |
+
"smplx": 0.69
|
| 607 |
+
},
|
| 608 |
+
"hand_marker_to_mesh_mm": {
|
| 609 |
+
"flat": {
|
| 610 |
+
"median": 5.1,
|
| 611 |
+
"p90": 6.9
|
| 612 |
+
},
|
| 613 |
+
"registered": {
|
| 614 |
+
"median": 7.4,
|
| 615 |
+
"p90": 8.2
|
| 616 |
+
}
|
| 617 |
+
}
|
| 618 |
+
}
|
| 619 |
+
},
|
| 620 |
+
"max_dev_deg": 30.0,
|
| 621 |
+
"max_gap_s": 1.0,
|
| 622 |
+
"cameras_used": [
|
| 623 |
+
"head"
|
| 624 |
+
],
|
| 625 |
+
"generated_at_utc": "2026-11-03T19:21:49.428268+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 |
+
},
|
| 630 |
"release": {
|
| 631 |
"release_path": "actions/locomotion_primitives/P33/session_024",
|
| 632 |
"family": "locomotion_primitives",
|
| 633 |
"primitive": "P33",
|
| 634 |
"source_session": "20260914/P33/20260914_101321_session6"
|
| 635 |
+
},
|
| 636 |
+
"task": {
|
| 637 |
+
"primitive": "P33",
|
| 638 |
+
"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
|
| 639 |
}
|
| 640 |
}
|
actions/locomotion_primitives/P33/session_024/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d6f59ba1829976d282a6a34193f0156975b42072c13fa7142021a3876f50d82d
|
| 3 |
+
size 3847663
|
actions/locomotion_primitives/P33/session_024/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 sha256:74d5b5e5465af3d553c3e1b74afa305bfa3a1572c9c4f154ce0e0b964538a2c2
|
| 3 |
+
size 11304730
|
actions/locomotion_primitives/P33/session_025/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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": "P33",
|
| 6 |
+
"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 128.966656,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03848326876559227
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "34c94564-d43e-4c9d-a7a0-e1b40fdfa380",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "P33",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 123.862,
|
| 23 |
+
"t_start": 0.0385,
|
| 24 |
+
"t_end": 123.9005,
|
| 25 |
+
"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomotion_primitives/P33/session_025/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,260 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 15,
|
| 5 |
+
"median_px": 0.367
|
| 6 |
+
},
|
| 7 |
+
"cameras": {
|
| 8 |
+
"left": {
|
| 9 |
+
"accepted": true,
|
| 10 |
+
"against": [
|
| 11 |
+
"left_front",
|
| 12 |
+
"right_front",
|
| 13 |
+
"left_eye",
|
| 14 |
+
"right_eye",
|
| 15 |
+
"right"
|
| 16 |
+
],
|
| 17 |
+
"delta_deg": 0.8991,
|
| 18 |
+
"gate_fail": [],
|
| 19 |
+
"held_out_px_after": 0.481,
|
| 20 |
+
"held_out_px_before": 3.963,
|
| 21 |
+
"inliers": 2374,
|
| 22 |
+
"position_fitted": false,
|
| 23 |
+
"rotvec_deg": [
|
| 24 |
+
0.4692,
|
| 25 |
+
-0.3109,
|
| 26 |
+
-0.7011
|
| 27 |
+
],
|
| 28 |
+
"split_deg": 0.0584,
|
| 29 |
+
"usable": true
|
| 30 |
+
},
|
| 31 |
+
"left_eye": {
|
| 32 |
+
"accepted": true,
|
| 33 |
+
"against": [
|
| 34 |
+
"left_front",
|
| 35 |
+
"right_front",
|
| 36 |
+
"right_eye",
|
| 37 |
+
"left",
|
| 38 |
+
"right"
|
| 39 |
+
],
|
| 40 |
+
"delta_deg": 1.9152,
|
| 41 |
+
"gate_fail": [],
|
| 42 |
+
"held_out_px_after": 0.398,
|
| 43 |
+
"held_out_px_before": 6.766,
|
| 44 |
+
"inliers": 3458,
|
| 45 |
+
"position_fitted": true,
|
| 46 |
+
"position_mm": [
|
| 47 |
+
3.65,
|
| 48 |
+
-10.02,
|
| 49 |
+
2.62
|
| 50 |
+
],
|
| 51 |
+
"position_sigma_mm": 0.297,
|
| 52 |
+
"position_split_mm": 3.926,
|
| 53 |
+
"rotvec_deg": [
|
| 54 |
+
0.2122,
|
| 55 |
+
0.5927,
|
| 56 |
+
-1.8088
|
| 57 |
+
],
|
| 58 |
+
"split_deg": 0.0701,
|
| 59 |
+
"usable": true
|
| 60 |
+
},
|
| 61 |
+
"left_front": {
|
| 62 |
+
"role": "rig origin"
|
| 63 |
+
},
|
| 64 |
+
"right": {
|
| 65 |
+
"accepted": true,
|
| 66 |
+
"against": [
|
| 67 |
+
"left_front",
|
| 68 |
+
"right_front",
|
| 69 |
+
"left_eye",
|
| 70 |
+
"right_eye",
|
| 71 |
+
"left"
|
| 72 |
+
],
|
| 73 |
+
"delta_deg": 1.1931,
|
| 74 |
+
"gate_fail": [],
|
| 75 |
+
"held_out_px_after": 0.578,
|
| 76 |
+
"held_out_px_before": 3.917,
|
| 77 |
+
"inliers": 2006,
|
| 78 |
+
"position_fitted": false,
|
| 79 |
+
"rotvec_deg": [
|
| 80 |
+
1.1491,
|
| 81 |
+
-0.2716,
|
| 82 |
+
-0.1716
|
| 83 |
+
],
|
| 84 |
+
"split_deg": 0.0893,
|
| 85 |
+
"usable": true
|
| 86 |
+
},
|
| 87 |
+
"right_eye": {
|
| 88 |
+
"accepted": true,
|
| 89 |
+
"against": [
|
| 90 |
+
"left_front",
|
| 91 |
+
"right_front",
|
| 92 |
+
"left_eye",
|
| 93 |
+
"left",
|
| 94 |
+
"right"
|
| 95 |
+
],
|
| 96 |
+
"delta_deg": 0.8199,
|
| 97 |
+
"gate_fail": [],
|
| 98 |
+
"held_out_px_after": 0.381,
|
| 99 |
+
"held_out_px_before": 3.16,
|
| 100 |
+
"inliers": 3450,
|
| 101 |
+
"position_fitted": true,
|
| 102 |
+
"position_mm": [
|
| 103 |
+
5.38,
|
| 104 |
+
-12.33,
|
| 105 |
+
2.04
|
| 106 |
+
],
|
| 107 |
+
"position_sigma_mm": 0.287,
|
| 108 |
+
"position_split_mm": 4.532,
|
| 109 |
+
"rotvec_deg": [
|
| 110 |
+
0.4438,
|
| 111 |
+
-0.4882,
|
| 112 |
+
-0.4867
|
| 113 |
+
],
|
| 114 |
+
"split_deg": 0.0586,
|
| 115 |
+
"usable": true
|
| 116 |
+
},
|
| 117 |
+
"right_front": {
|
| 118 |
+
"accepted": true,
|
| 119 |
+
"against": [
|
| 120 |
+
"left_front",
|
| 121 |
+
"left_eye",
|
| 122 |
+
"right_eye",
|
| 123 |
+
"left",
|
| 124 |
+
"right"
|
| 125 |
+
],
|
| 126 |
+
"delta_deg": 1.377,
|
| 127 |
+
"gate_fail": [],
|
| 128 |
+
"held_out_px_after": 0.306,
|
| 129 |
+
"held_out_px_before": 4.641,
|
| 130 |
+
"inliers": 4535,
|
| 131 |
+
"position_fitted": false,
|
| 132 |
+
"rotvec_deg": [
|
| 133 |
+
-0.3963,
|
| 134 |
+
-0.0482,
|
| 135 |
+
-1.3179
|
| 136 |
+
],
|
| 137 |
+
"split_deg": 0.0148,
|
| 138 |
+
"usable": true
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"code_fingerprint": "711ecf5b3dd408f8",
|
| 142 |
+
"device_id": "e17c9efadb69e7b1",
|
| 143 |
+
"factory_root_name": "e17c9efadb69e7b1",
|
| 144 |
+
"files": {
|
| 145 |
+
"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 146 |
+
"sha256": "fd240d6290aada8abca42165a09a67f6176da6bca1e38c899ad558797d21185d",
|
| 147 |
+
"source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
|
| 148 |
+
},
|
| 149 |
+
"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 150 |
+
"sha256": "4f121f03a059b78326c78459a03a3837cf67cf34846d6b393505e73e55449b60",
|
| 151 |
+
"source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
|
| 152 |
+
},
|
| 153 |
+
"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 154 |
+
"sha256": "7d2fc042edc1e889f99579917803658fdb15c93545003e045125f005db83277b",
|
| 155 |
+
"source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
|
| 156 |
+
},
|
| 157 |
+
"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 158 |
+
"sha256": "aab40541bc5706e91260b7da3b5920fd7fc5d58fd06cd89f9006dc61dd41b6ba",
|
| 159 |
+
"source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"input_fingerprint": "690b93e278f8f491",
|
| 163 |
+
"kind": "online_calibration",
|
| 164 |
+
"output_sha256": "dd25c7205c599cf24023f7bc2b590e9e148ff9bad87436a4359912c58a2a5e8d",
|
| 165 |
+
"overlap": {
|
| 166 |
+
"left-right": 0.501,
|
| 167 |
+
"left_eye-left": 0.707,
|
| 168 |
+
"left_eye-right": 0.671,
|
| 169 |
+
"left_front-left": 0.478,
|
| 170 |
+
"left_front-left_eye": 0.72,
|
| 171 |
+
"left_front-right": 0.448,
|
| 172 |
+
"left_front-right_eye": 0.732,
|
| 173 |
+
"left_front-right_front": 1.0,
|
| 174 |
+
"right_eye-left": 0.696,
|
| 175 |
+
"right_eye-left_eye": 1.0,
|
| 176 |
+
"right_eye-right": 0.673,
|
| 177 |
+
"right_front-left": 0.464,
|
| 178 |
+
"right_front-left_eye": 0.723,
|
| 179 |
+
"right_front-right": 0.466,
|
| 180 |
+
"right_front-right_eye": 0.734
|
| 181 |
+
},
|
| 182 |
+
"picture_change": {
|
| 183 |
+
"left": 36.973,
|
| 184 |
+
"left_eye": 29.721,
|
| 185 |
+
"left_front": 38.471,
|
| 186 |
+
"right": 37.256,
|
| 187 |
+
"right_eye": 28.788,
|
| 188 |
+
"right_front": 38.226
|
| 189 |
+
},
|
| 190 |
+
"runtime": {
|
| 191 |
+
"numpy": "2.4.6",
|
| 192 |
+
"opencv": "5.0.0",
|
| 193 |
+
"scipy": "1.17.1"
|
| 194 |
+
},
|
| 195 |
+
"segment": 1,
|
| 196 |
+
"selection": {
|
| 197 |
+
"overlap_captures": [
|
| 198 |
+
1562073848222,
|
| 199 |
+
1563073748222,
|
| 200 |
+
1567073726000,
|
| 201 |
+
1568073737111,
|
| 202 |
+
1571073726000,
|
| 203 |
+
1572073737111,
|
| 204 |
+
1577073748222,
|
| 205 |
+
1578073814888,
|
| 206 |
+
1582073781555,
|
| 207 |
+
1583073737111,
|
| 208 |
+
1586073759333,
|
| 209 |
+
1587073737111,
|
| 210 |
+
1589073848222,
|
| 211 |
+
1590073803777,
|
| 212 |
+
1593073737111,
|
| 213 |
+
1594073759333,
|
| 214 |
+
1596073748222,
|
| 215 |
+
1597074026000,
|
| 216 |
+
1601073826000,
|
| 217 |
+
1602073792666,
|
| 218 |
+
1606073770444,
|
| 219 |
+
1607073781555,
|
| 220 |
+
1610073737111,
|
| 221 |
+
1611073748222,
|
| 222 |
+
1613073814888,
|
| 223 |
+
1614073748222,
|
| 224 |
+
1619073737111,
|
| 225 |
+
1620073792666,
|
| 226 |
+
1624073737111,
|
| 227 |
+
1625073792666,
|
| 228 |
+
1626073737111,
|
| 229 |
+
1627073737111,
|
| 230 |
+
1630073848222,
|
| 231 |
+
1631073748222,
|
| 232 |
+
1634073781555,
|
| 233 |
+
1635073737111,
|
| 234 |
+
1638073826000,
|
| 235 |
+
1639073748222,
|
| 236 |
+
1645073748222,
|
| 237 |
+
1646073748222,
|
| 238 |
+
1648073814888,
|
| 239 |
+
1649073781555,
|
| 240 |
+
1652073981555,
|
| 241 |
+
1653073948222,
|
| 242 |
+
1657073792666,
|
| 243 |
+
1658073726000,
|
| 244 |
+
1660073737111,
|
| 245 |
+
1661073737111,
|
| 246 |
+
1665073748222,
|
| 247 |
+
1666073748222,
|
| 248 |
+
1669073748222,
|
| 249 |
+
1670073781555,
|
| 250 |
+
1674073781555,
|
| 251 |
+
1675073737111,
|
| 252 |
+
1676073726000,
|
| 253 |
+
1679073748222,
|
| 254 |
+
1680073770444,
|
| 255 |
+
1685073737111,
|
| 256 |
+
1686073726000
|
| 257 |
+
]
|
| 258 |
+
},
|
| 259 |
+
"version": 1
|
| 260 |
+
}
|
actions/locomotion_primitives/P33/session_025/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b33fd9cc3b21b0bbbcbe214f943275dfeb32811b33da1ca866ff375e87b7eb07
|
| 3 |
+
size 744865
|
actions/locomotion_primitives/P33/session_025/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": {
|
|
@@ -513,10 +513,124 @@
|
|
| 513 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 514 |
"remaining_gyro_frame_deg": 0.9241694453569232
|
| 515 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 516 |
"release": {
|
| 517 |
"release_path": "actions/locomotion_primitives/P33/session_025",
|
| 518 |
"family": "locomotion_primitives",
|
| 519 |
"primitive": "P33",
|
| 520 |
"source_session": "20260914/P33/20260914_101547_session7"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 521 |
}
|
| 522 |
}
|
|
|
|
| 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": {
|
|
|
|
| 513 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 514 |
"remaining_gyro_frame_deg": 0.9241694453569232
|
| 515 |
},
|
| 516 |
+
"hands_registration": {
|
| 517 |
+
"cameras": {},
|
| 518 |
+
"hands": {
|
| 519 |
+
"left": {
|
| 520 |
+
"offset_deg": 7.9,
|
| 521 |
+
"offset_rotvec": [
|
| 522 |
+
0.0556,
|
| 523 |
+
0.0266,
|
| 524 |
+
-0.1232
|
| 525 |
+
],
|
| 526 |
+
"dev_deg": {
|
| 527 |
+
"median": 14.22,
|
| 528 |
+
"p90": 32.05
|
| 529 |
+
},
|
| 530 |
+
"samples": 2885,
|
| 531 |
+
"accepted": 2540,
|
| 532 |
+
"wrist_pos_err_mm_median": 47.1,
|
| 533 |
+
"per_camera": {
|
| 534 |
+
"head": {
|
| 535 |
+
"samples": 2885,
|
| 536 |
+
"accepted": 2540,
|
| 537 |
+
"gate_deg": 30.0,
|
| 538 |
+
"offset_deg": 7.9,
|
| 539 |
+
"tier": "primary",
|
| 540 |
+
"dev_deg_median": 14.22,
|
| 541 |
+
"wrist_pos_err_mm_median": 47.1
|
| 542 |
+
}
|
| 543 |
+
},
|
| 544 |
+
"frames_by_state": {
|
| 545 |
+
"ace_sample": 10410,
|
| 546 |
+
"interpolated": 4548,
|
| 547 |
+
"mean_hand": 504,
|
| 548 |
+
"no_body_fit": 22
|
| 549 |
+
},
|
| 550 |
+
"observed_fraction": 0.966,
|
| 551 |
+
"observed_fraction_of_valid": 0.9674,
|
| 552 |
+
"palm_axis_vs_markers_deg": {
|
| 553 |
+
"gsi": 13.88,
|
| 554 |
+
"smplx": 0.47
|
| 555 |
+
},
|
| 556 |
+
"hand_marker_to_mesh_mm": {
|
| 557 |
+
"flat": {
|
| 558 |
+
"median": 8.7,
|
| 559 |
+
"p90": 11.7
|
| 560 |
+
},
|
| 561 |
+
"registered": {
|
| 562 |
+
"median": 7.8,
|
| 563 |
+
"p90": 9.6
|
| 564 |
+
}
|
| 565 |
+
}
|
| 566 |
+
},
|
| 567 |
+
"right": {
|
| 568 |
+
"offset_deg": 16.89,
|
| 569 |
+
"offset_rotvec": [
|
| 570 |
+
-0.2268,
|
| 571 |
+
-0.168,
|
| 572 |
+
0.0849
|
| 573 |
+
],
|
| 574 |
+
"dev_deg": {
|
| 575 |
+
"median": 9.2,
|
| 576 |
+
"p90": 47.16
|
| 577 |
+
},
|
| 578 |
+
"samples": 2233,
|
| 579 |
+
"accepted": 1745,
|
| 580 |
+
"wrist_pos_err_mm_median": 61.8,
|
| 581 |
+
"per_camera": {
|
| 582 |
+
"head": {
|
| 583 |
+
"samples": 2233,
|
| 584 |
+
"accepted": 1745,
|
| 585 |
+
"gate_deg": 30.0,
|
| 586 |
+
"offset_deg": 16.89,
|
| 587 |
+
"tier": "primary",
|
| 588 |
+
"dev_deg_median": 9.2,
|
| 589 |
+
"wrist_pos_err_mm_median": 61.8
|
| 590 |
+
}
|
| 591 |
+
},
|
| 592 |
+
"frames_by_state": {
|
| 593 |
+
"ace_sample": 7186,
|
| 594 |
+
"interpolated": 6726,
|
| 595 |
+
"mean_hand": 1550,
|
| 596 |
+
"no_body_fit": 22
|
| 597 |
+
},
|
| 598 |
+
"observed_fraction": 0.8985,
|
| 599 |
+
"observed_fraction_of_valid": 0.8998,
|
| 600 |
+
"palm_axis_vs_markers_deg": {
|
| 601 |
+
"gsi": 17.98,
|
| 602 |
+
"smplx": 0.58
|
| 603 |
+
},
|
| 604 |
+
"hand_marker_to_mesh_mm": {
|
| 605 |
+
"flat": {
|
| 606 |
+
"median": 5.1,
|
| 607 |
+
"p90": 6.7
|
| 608 |
+
},
|
| 609 |
+
"registered": {
|
| 610 |
+
"median": 6.0,
|
| 611 |
+
"p90": 6.8
|
| 612 |
+
}
|
| 613 |
+
}
|
| 614 |
+
}
|
| 615 |
+
},
|
| 616 |
+
"max_dev_deg": 30.0,
|
| 617 |
+
"max_gap_s": 1.0,
|
| 618 |
+
"cameras_used": [
|
| 619 |
+
"head"
|
| 620 |
+
],
|
| 621 |
+
"generated_at_utc": "2026-11-03T19:22:15.030263+00:00",
|
| 622 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 623 |
+
"conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
|
| 624 |
+
"wrist_flip_suspect": []
|
| 625 |
+
},
|
| 626 |
"release": {
|
| 627 |
"release_path": "actions/locomotion_primitives/P33/session_025",
|
| 628 |
"family": "locomotion_primitives",
|
| 629 |
"primitive": "P33",
|
| 630 |
"source_session": "20260914/P33/20260914_101547_session7"
|
| 631 |
+
},
|
| 632 |
+
"task": {
|
| 633 |
+
"primitive": "P33",
|
| 634 |
+
"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
|
| 635 |
}
|
| 636 |
}
|
actions/locomotion_primitives/P33/session_025/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6e803cb53c95a2b87606b1cc21c570b91e1e771f596921f43787394209659092
|
| 3 |
+
size 3537867
|
actions/locomotion_primitives/P33/session_025/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 sha256:4d3f62c01ab83cb55b537e791c8c334f7b507d12d31f564f36366ce2c733b95c
|
| 3 |
+
size 10887759
|
actions/locomotion_primitives/P33/session_026/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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": "P33",
|
| 6 |
+
"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 133.966722,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03877828751300272
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "dd6002e7-7204-4de0-8957-30894a05d483",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "P33",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 127.175,
|
| 23 |
+
"t_start": 0.0388,
|
| 24 |
+
"t_end": 127.2138,
|
| 25 |
+
"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomotion_primitives/P33/session_026/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,258 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 14,
|
| 5 |
+
"median_px": 0.367
|
| 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": 0.7975,
|
| 17 |
+
"gate_fail": [],
|
| 18 |
+
"held_out_px_after": 0.488,
|
| 19 |
+
"held_out_px_before": 3.923,
|
| 20 |
+
"inliers": 2385,
|
| 21 |
+
"position_fitted": false,
|
| 22 |
+
"rotvec_deg": [
|
| 23 |
+
0.3758,
|
| 24 |
+
-0.2685,
|
| 25 |
+
-0.6502
|
| 26 |
+
],
|
| 27 |
+
"split_deg": 0.0866,
|
| 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": 1.8523,
|
| 40 |
+
"gate_fail": [],
|
| 41 |
+
"held_out_px_after": 0.404,
|
| 42 |
+
"held_out_px_before": 6.746,
|
| 43 |
+
"inliers": 3471,
|
| 44 |
+
"position_fitted": true,
|
| 45 |
+
"position_mm": [
|
| 46 |
+
3.4,
|
| 47 |
+
-9.0,
|
| 48 |
+
6.19
|
| 49 |
+
],
|
| 50 |
+
"position_sigma_mm": 0.379,
|
| 51 |
+
"position_split_mm": 2.452,
|
| 52 |
+
"rotvec_deg": [
|
| 53 |
+
0.1542,
|
| 54 |
+
0.5666,
|
| 55 |
+
-1.7568
|
| 56 |
+
],
|
| 57 |
+
"split_deg": 0.0477,
|
| 58 |
+
"usable": true
|
| 59 |
+
},
|
| 60 |
+
"left_front": {
|
| 61 |
+
"role": "rig origin"
|
| 62 |
+
},
|
| 63 |
+
"right": {
|
| 64 |
+
"accepted": true,
|
| 65 |
+
"against": [
|
| 66 |
+
"left_front",
|
| 67 |
+
"right_front",
|
| 68 |
+
"left_eye",
|
| 69 |
+
"right_eye"
|
| 70 |
+
],
|
| 71 |
+
"delta_deg": 1.2242,
|
| 72 |
+
"gate_fail": [],
|
| 73 |
+
"held_out_px_after": 0.555,
|
| 74 |
+
"held_out_px_before": 3.76,
|
| 75 |
+
"inliers": 1855,
|
| 76 |
+
"position_fitted": false,
|
| 77 |
+
"rotvec_deg": [
|
| 78 |
+
1.1776,
|
| 79 |
+
-0.3016,
|
| 80 |
+
-0.1445
|
| 81 |
+
],
|
| 82 |
+
"split_deg": 0.141,
|
| 83 |
+
"usable": true
|
| 84 |
+
},
|
| 85 |
+
"right_eye": {
|
| 86 |
+
"accepted": true,
|
| 87 |
+
"against": [
|
| 88 |
+
"left_front",
|
| 89 |
+
"right_front",
|
| 90 |
+
"left_eye",
|
| 91 |
+
"left",
|
| 92 |
+
"right"
|
| 93 |
+
],
|
| 94 |
+
"delta_deg": 0.79,
|
| 95 |
+
"gate_fail": [],
|
| 96 |
+
"held_out_px_after": 0.405,
|
| 97 |
+
"held_out_px_before": 3.188,
|
| 98 |
+
"inliers": 3509,
|
| 99 |
+
"position_fitted": true,
|
| 100 |
+
"position_mm": [
|
| 101 |
+
4.44,
|
| 102 |
+
-10.21,
|
| 103 |
+
5.51
|
| 104 |
+
],
|
| 105 |
+
"position_sigma_mm": 0.381,
|
| 106 |
+
"position_split_mm": 4.224,
|
| 107 |
+
"rotvec_deg": [
|
| 108 |
+
0.4023,
|
| 109 |
+
-0.5261,
|
| 110 |
+
-0.4306
|
| 111 |
+
],
|
| 112 |
+
"split_deg": 0.0499,
|
| 113 |
+
"usable": true
|
| 114 |
+
},
|
| 115 |
+
"right_front": {
|
| 116 |
+
"accepted": true,
|
| 117 |
+
"against": [
|
| 118 |
+
"left_front",
|
| 119 |
+
"left_eye",
|
| 120 |
+
"right_eye",
|
| 121 |
+
"left",
|
| 122 |
+
"right"
|
| 123 |
+
],
|
| 124 |
+
"delta_deg": 1.3577,
|
| 125 |
+
"gate_fail": [],
|
| 126 |
+
"held_out_px_after": 0.305,
|
| 127 |
+
"held_out_px_before": 4.432,
|
| 128 |
+
"inliers": 4716,
|
| 129 |
+
"position_fitted": false,
|
| 130 |
+
"rotvec_deg": [
|
| 131 |
+
-0.4023,
|
| 132 |
+
-0.042,
|
| 133 |
+
-1.296
|
| 134 |
+
],
|
| 135 |
+
"split_deg": 0.0084,
|
| 136 |
+
"usable": true
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"code_fingerprint": "711ecf5b3dd408f8",
|
| 140 |
+
"device_id": "e17c9efadb69e7b1",
|
| 141 |
+
"factory_root_name": "e17c9efadb69e7b1",
|
| 142 |
+
"files": {
|
| 143 |
+
"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 144 |
+
"sha256": "697aff19e89b6d37faec9a51854194692fa33e11961e19bddcd067024198d10a",
|
| 145 |
+
"source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
|
| 146 |
+
},
|
| 147 |
+
"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 148 |
+
"sha256": "4fb680bf38773657713ebeaf1e77a5c3e8ebb2dd177d62efb538b73224f87b21",
|
| 149 |
+
"source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
|
| 150 |
+
},
|
| 151 |
+
"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 152 |
+
"sha256": "396bb121047ef72af29eab78f6f767543f8c39eb1d3e8a62a636627180829b2a",
|
| 153 |
+
"source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
|
| 154 |
+
},
|
| 155 |
+
"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 156 |
+
"sha256": "c54b879beace07b57934bca470181749d5f4520b4e968372ff4fbdb6dea146ad",
|
| 157 |
+
"source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
"input_fingerprint": "3f8a73f0d62fe6e5",
|
| 161 |
+
"kind": "online_calibration",
|
| 162 |
+
"output_sha256": "9db71d90f9269502df19e790ae577d9f5bbb57bf4ad03d8fc29fc292e4d79f97",
|
| 163 |
+
"overlap": {
|
| 164 |
+
"left-right": 0.501,
|
| 165 |
+
"left_eye-left": 0.707,
|
| 166 |
+
"left_eye-right": 0.671,
|
| 167 |
+
"left_front-left": 0.478,
|
| 168 |
+
"left_front-left_eye": 0.72,
|
| 169 |
+
"left_front-right": 0.448,
|
| 170 |
+
"left_front-right_eye": 0.732,
|
| 171 |
+
"left_front-right_front": 1.0,
|
| 172 |
+
"right_eye-left": 0.696,
|
| 173 |
+
"right_eye-left_eye": 1.0,
|
| 174 |
+
"right_eye-right": 0.673,
|
| 175 |
+
"right_front-left": 0.464,
|
| 176 |
+
"right_front-left_eye": 0.723,
|
| 177 |
+
"right_front-right": 0.466,
|
| 178 |
+
"right_front-right_eye": 0.734
|
| 179 |
+
},
|
| 180 |
+
"picture_change": {
|
| 181 |
+
"left": 39.636,
|
| 182 |
+
"left_eye": 32.722,
|
| 183 |
+
"left_front": 40.323,
|
| 184 |
+
"right": 39.674,
|
| 185 |
+
"right_eye": 32.65,
|
| 186 |
+
"right_front": 38.91
|
| 187 |
+
},
|
| 188 |
+
"runtime": {
|
| 189 |
+
"numpy": "2.4.6",
|
| 190 |
+
"opencv": "5.0.0",
|
| 191 |
+
"scipy": "1.17.1"
|
| 192 |
+
},
|
| 193 |
+
"segment": 1,
|
| 194 |
+
"selection": {
|
| 195 |
+
"overlap_captures": [
|
| 196 |
+
1710853782000,
|
| 197 |
+
1711853793111,
|
| 198 |
+
1716853770888,
|
| 199 |
+
1717853793111,
|
| 200 |
+
1719853770888,
|
| 201 |
+
1720853782000,
|
| 202 |
+
1723853837555,
|
| 203 |
+
1724853793111,
|
| 204 |
+
1730853782000,
|
| 205 |
+
1731853782000,
|
| 206 |
+
1733853859777,
|
| 207 |
+
1734853782000,
|
| 208 |
+
1736853782000,
|
| 209 |
+
1737853859777,
|
| 210 |
+
1744853904222,
|
| 211 |
+
1745853782000,
|
| 212 |
+
1746853915333,
|
| 213 |
+
1749853848666,
|
| 214 |
+
1750853782000,
|
| 215 |
+
1756853826444,
|
| 216 |
+
1757853793111,
|
| 217 |
+
1760853826444,
|
| 218 |
+
1761853882000,
|
| 219 |
+
1764853826444,
|
| 220 |
+
1765853837555,
|
| 221 |
+
1768853848666,
|
| 222 |
+
1769853793111,
|
| 223 |
+
1773853804222,
|
| 224 |
+
1774853782000,
|
| 225 |
+
1776853793111,
|
| 226 |
+
1777853793111,
|
| 227 |
+
1780853782000,
|
| 228 |
+
1781853815333,
|
| 229 |
+
1786853826444,
|
| 230 |
+
1787853826444,
|
| 231 |
+
1791853815333,
|
| 232 |
+
1792853826444,
|
| 233 |
+
1793853904222,
|
| 234 |
+
1794853782000,
|
| 235 |
+
1796853770888,
|
| 236 |
+
1797853926444,
|
| 237 |
+
1802853837555,
|
| 238 |
+
1803853848666,
|
| 239 |
+
1804853870888,
|
| 240 |
+
1805853770888,
|
| 241 |
+
1811853770888,
|
| 242 |
+
1812853904222,
|
| 243 |
+
1814853815333,
|
| 244 |
+
1815853837555,
|
| 245 |
+
1819853826444,
|
| 246 |
+
1820853837555,
|
| 247 |
+
1821853815333,
|
| 248 |
+
1822853859777,
|
| 249 |
+
1827853826444,
|
| 250 |
+
1828853793111,
|
| 251 |
+
1830853782000,
|
| 252 |
+
1831853870888,
|
| 253 |
+
1837853859777,
|
| 254 |
+
1838853826444
|
| 255 |
+
]
|
| 256 |
+
},
|
| 257 |
+
"version": 1
|
| 258 |
+
}
|
actions/locomotion_primitives/P33/session_026/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a63edb799df78b907b1edfa8494077dea08bdb78e248adedc2de3767c25c8807
|
| 3 |
+
size 773632
|
actions/locomotion_primitives/P33/session_026/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": 1.1434597773267234
|
| 513 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 514 |
"release": {
|
| 515 |
"release_path": "actions/locomotion_primitives/P33/session_026",
|
| 516 |
"family": "locomotion_primitives",
|
| 517 |
"primitive": "P33",
|
| 518 |
"source_session": "20260914/P33/20260914_101816_session8"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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": 1.1434597773267234
|
| 513 |
},
|
| 514 |
+
"hands_registration": {
|
| 515 |
+
"cameras": {},
|
| 516 |
+
"hands": {
|
| 517 |
+
"left": {
|
| 518 |
+
"offset_deg": 7.25,
|
| 519 |
+
"offset_rotvec": [
|
| 520 |
+
0.0141,
|
| 521 |
+
0.0515,
|
| 522 |
+
-0.1147
|
| 523 |
+
],
|
| 524 |
+
"dev_deg": {
|
| 525 |
+
"median": 13.37,
|
| 526 |
+
"p90": 32.56
|
| 527 |
+
},
|
| 528 |
+
"samples": 3013,
|
| 529 |
+
"accepted": 2646,
|
| 530 |
+
"wrist_pos_err_mm_median": 46.2,
|
| 531 |
+
"per_camera": {
|
| 532 |
+
"head": {
|
| 533 |
+
"samples": 3013,
|
| 534 |
+
"accepted": 2646,
|
| 535 |
+
"gate_deg": 30.0,
|
| 536 |
+
"offset_deg": 7.25,
|
| 537 |
+
"tier": "primary",
|
| 538 |
+
"dev_deg_median": 13.37,
|
| 539 |
+
"wrist_pos_err_mm_median": 46.2
|
| 540 |
+
}
|
| 541 |
+
},
|
| 542 |
+
"frames_by_state": {
|
| 543 |
+
"ace_sample": 10818,
|
| 544 |
+
"interpolated": 4814,
|
| 545 |
+
"mean_hand": 417,
|
| 546 |
+
"no_body_fit": 35
|
| 547 |
+
},
|
| 548 |
+
"observed_fraction": 0.9719,
|
| 549 |
+
"observed_fraction_of_valid": 0.974,
|
| 550 |
+
"palm_axis_vs_markers_deg": {
|
| 551 |
+
"gsi": 13.92,
|
| 552 |
+
"smplx": 0.59
|
| 553 |
+
},
|
| 554 |
+
"hand_marker_to_mesh_mm": {
|
| 555 |
+
"flat": {
|
| 556 |
+
"median": 10.1,
|
| 557 |
+
"p90": 12.6
|
| 558 |
+
},
|
| 559 |
+
"registered": {
|
| 560 |
+
"median": 9.3,
|
| 561 |
+
"p90": 10.2
|
| 562 |
+
}
|
| 563 |
+
}
|
| 564 |
+
},
|
| 565 |
+
"right": {
|
| 566 |
+
"offset_deg": 13.71,
|
| 567 |
+
"offset_rotvec": [
|
| 568 |
+
-0.1879,
|
| 569 |
+
-0.1252,
|
| 570 |
+
0.0796
|
| 571 |
+
],
|
| 572 |
+
"dev_deg": {
|
| 573 |
+
"median": 11.33,
|
| 574 |
+
"p90": 43.96
|
| 575 |
+
},
|
| 576 |
+
"samples": 2377,
|
| 577 |
+
"accepted": 1950,
|
| 578 |
+
"wrist_pos_err_mm_median": 64.5,
|
| 579 |
+
"per_camera": {
|
| 580 |
+
"head": {
|
| 581 |
+
"samples": 2377,
|
| 582 |
+
"accepted": 1950,
|
| 583 |
+
"gate_deg": 30.0,
|
| 584 |
+
"offset_deg": 13.71,
|
| 585 |
+
"tier": "primary",
|
| 586 |
+
"dev_deg_median": 11.33,
|
| 587 |
+
"wrist_pos_err_mm_median": 64.5
|
| 588 |
+
}
|
| 589 |
+
},
|
| 590 |
+
"frames_by_state": {
|
| 591 |
+
"ace_sample": 7996,
|
| 592 |
+
"interpolated": 6732,
|
| 593 |
+
"mean_hand": 1321,
|
| 594 |
+
"no_body_fit": 35
|
| 595 |
+
},
|
| 596 |
+
"observed_fraction": 0.9157,
|
| 597 |
+
"observed_fraction_of_valid": 0.9177,
|
| 598 |
+
"palm_axis_vs_markers_deg": {
|
| 599 |
+
"gsi": 17.27,
|
| 600 |
+
"smplx": 0.65
|
| 601 |
+
},
|
| 602 |
+
"hand_marker_to_mesh_mm": {
|
| 603 |
+
"flat": {
|
| 604 |
+
"median": 8.1,
|
| 605 |
+
"p90": 10.1
|
| 606 |
+
},
|
| 607 |
+
"registered": {
|
| 608 |
+
"median": 9.1,
|
| 609 |
+
"p90": 11.4
|
| 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": "2026-11-03T19:23:06.925373+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/locomotion_primitives/P33/session_026",
|
| 626 |
"family": "locomotion_primitives",
|
| 627 |
"primitive": "P33",
|
| 628 |
"source_session": "20260914/P33/20260914_101816_session8"
|
| 629 |
+
},
|
| 630 |
+
"task": {
|
| 631 |
+
"primitive": "P33",
|
| 632 |
+
"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
|
| 633 |
}
|
| 634 |
}
|
actions/locomotion_primitives/P33/session_026/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1dee263096cb2ab0f610fbd3c973c65a453d98886a10eb500ed693be108c346f
|
| 3 |
+
size 3721624
|
actions/locomotion_primitives/P33/session_026/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 sha256:6be1dc0816f3032311af65de6edd5cbae9752cd395d799379444ac0b4db61f5e
|
| 3 |
+
size 11354364
|
actions/locomotion_primitives/P33/session_027/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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": "P33",
|
| 6 |
+
"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 138.966633,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03858386744187858
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "300f762d-ca53-4981-b72b-6c1a681cb272",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "P33",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 132.664,
|
| 23 |
+
"t_start": 0.0386,
|
| 24 |
+
"t_end": 132.7026,
|
| 25 |
+
"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomotion_primitives/P33/session_027/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,257 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 14,
|
| 5 |
+
"median_px": 0.369
|
| 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": 0.795,
|
| 17 |
+
"gate_fail": [],
|
| 18 |
+
"held_out_px_after": 0.485,
|
| 19 |
+
"held_out_px_before": 3.691,
|
| 20 |
+
"inliers": 2430,
|
| 21 |
+
"position_fitted": false,
|
| 22 |
+
"rotvec_deg": [
|
| 23 |
+
0.37,
|
| 24 |
+
-0.3031,
|
| 25 |
+
-0.6351
|
| 26 |
+
],
|
| 27 |
+
"split_deg": 0.0187,
|
| 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": 1.8868,
|
| 40 |
+
"gate_fail": [],
|
| 41 |
+
"held_out_px_after": 0.398,
|
| 42 |
+
"held_out_px_before": 6.673,
|
| 43 |
+
"inliers": 3614,
|
| 44 |
+
"position_fitted": true,
|
| 45 |
+
"position_mm": [
|
| 46 |
+
3.14,
|
| 47 |
+
-10.5,
|
| 48 |
+
3.22
|
| 49 |
+
],
|
| 50 |
+
"position_sigma_mm": 0.282,
|
| 51 |
+
"position_split_mm": 1.133,
|
| 52 |
+
"rotvec_deg": [
|
| 53 |
+
0.1808,
|
| 54 |
+
0.5862,
|
| 55 |
+
-1.7843
|
| 56 |
+
],
|
| 57 |
+
"split_deg": 0.0353,
|
| 58 |
+
"usable": true
|
| 59 |
+
},
|
| 60 |
+
"left_front": {
|
| 61 |
+
"role": "rig origin"
|
| 62 |
+
},
|
| 63 |
+
"right": {
|
| 64 |
+
"accepted": true,
|
| 65 |
+
"against": [
|
| 66 |
+
"left_front",
|
| 67 |
+
"right_front",
|
| 68 |
+
"left_eye",
|
| 69 |
+
"right_eye"
|
| 70 |
+
],
|
| 71 |
+
"delta_deg": 1.1504,
|
| 72 |
+
"gate_fail": [],
|
| 73 |
+
"held_out_px_after": 0.573,
|
| 74 |
+
"held_out_px_before": 3.7,
|
| 75 |
+
"inliers": 1869,
|
| 76 |
+
"position_fitted": false,
|
| 77 |
+
"rotvec_deg": [
|
| 78 |
+
1.0981,
|
| 79 |
+
-0.2506,
|
| 80 |
+
-0.2343
|
| 81 |
+
],
|
| 82 |
+
"split_deg": 0.1211,
|
| 83 |
+
"usable": true
|
| 84 |
+
},
|
| 85 |
+
"right_eye": {
|
| 86 |
+
"accepted": true,
|
| 87 |
+
"against": [
|
| 88 |
+
"left_front",
|
| 89 |
+
"right_front",
|
| 90 |
+
"left_eye",
|
| 91 |
+
"left",
|
| 92 |
+
"right"
|
| 93 |
+
],
|
| 94 |
+
"delta_deg": 0.7992,
|
| 95 |
+
"gate_fail": [],
|
| 96 |
+
"held_out_px_after": 0.376,
|
| 97 |
+
"held_out_px_before": 3.056,
|
| 98 |
+
"inliers": 3496,
|
| 99 |
+
"position_fitted": true,
|
| 100 |
+
"position_mm": [
|
| 101 |
+
5.52,
|
| 102 |
+
-10.51,
|
| 103 |
+
3.48
|
| 104 |
+
],
|
| 105 |
+
"position_sigma_mm": 0.271,
|
| 106 |
+
"position_split_mm": 1.422,
|
| 107 |
+
"rotvec_deg": [
|
| 108 |
+
0.4232,
|
| 109 |
+
-0.5049,
|
| 110 |
+
-0.4525
|
| 111 |
+
],
|
| 112 |
+
"split_deg": 0.0413,
|
| 113 |
+
"usable": true
|
| 114 |
+
},
|
| 115 |
+
"right_front": {
|
| 116 |
+
"accepted": true,
|
| 117 |
+
"against": [
|
| 118 |
+
"left_front",
|
| 119 |
+
"left_eye",
|
| 120 |
+
"right_eye",
|
| 121 |
+
"left",
|
| 122 |
+
"right"
|
| 123 |
+
],
|
| 124 |
+
"delta_deg": 1.3646,
|
| 125 |
+
"gate_fail": [],
|
| 126 |
+
"held_out_px_after": 0.318,
|
| 127 |
+
"held_out_px_before": 4.314,
|
| 128 |
+
"inliers": 4609,
|
| 129 |
+
"position_fitted": false,
|
| 130 |
+
"rotvec_deg": [
|
| 131 |
+
-0.4015,
|
| 132 |
+
-0.0285,
|
| 133 |
+
-1.3039
|
| 134 |
+
],
|
| 135 |
+
"split_deg": 0.0244,
|
| 136 |
+
"usable": true
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"code_fingerprint": "711ecf5b3dd408f8",
|
| 140 |
+
"device_id": "e17c9efadb69e7b1",
|
| 141 |
+
"factory_root_name": "e17c9efadb69e7b1",
|
| 142 |
+
"files": {
|
| 143 |
+
"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 144 |
+
"sha256": "194addf62a547cc79c2f23f0b9a9c7d82886d800b6dffc4df56901254b5ca00e",
|
| 145 |
+
"source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
|
| 146 |
+
},
|
| 147 |
+
"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 148 |
+
"sha256": "4aad2960d8d7363aad3d0e39eee671cbed9062387389006e713e5768c3fd27dc",
|
| 149 |
+
"source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
|
| 150 |
+
},
|
| 151 |
+
"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 152 |
+
"sha256": "f3bfcb013220015c999e29adf4efc4006a0acede0b8d744ee6a34e269589ea97",
|
| 153 |
+
"source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
|
| 154 |
+
},
|
| 155 |
+
"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 156 |
+
"sha256": "41424235dc9732bcac821887ace3b8f8c731d54016a93fb6df728f94303b321e",
|
| 157 |
+
"source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
"input_fingerprint": "77eeebfaddae7b64",
|
| 161 |
+
"kind": "online_calibration",
|
| 162 |
+
"output_sha256": "e836da904934b1a168e5909b8926383a0f8e36379074059823361e5040fcace5",
|
| 163 |
+
"overlap": {
|
| 164 |
+
"left-right": 0.501,
|
| 165 |
+
"left_eye-left": 0.707,
|
| 166 |
+
"left_eye-right": 0.671,
|
| 167 |
+
"left_front-left": 0.478,
|
| 168 |
+
"left_front-left_eye": 0.72,
|
| 169 |
+
"left_front-right": 0.448,
|
| 170 |
+
"left_front-right_eye": 0.732,
|
| 171 |
+
"left_front-right_front": 1.0,
|
| 172 |
+
"right_eye-left": 0.696,
|
| 173 |
+
"right_eye-left_eye": 1.0,
|
| 174 |
+
"right_eye-right": 0.673,
|
| 175 |
+
"right_front-left": 0.464,
|
| 176 |
+
"right_front-left_eye": 0.723,
|
| 177 |
+
"right_front-right": 0.466,
|
| 178 |
+
"right_front-right_eye": 0.734
|
| 179 |
+
},
|
| 180 |
+
"picture_change": {
|
| 181 |
+
"left": 36.233,
|
| 182 |
+
"left_eye": 33.635,
|
| 183 |
+
"left_front": 40.307,
|
| 184 |
+
"right": 38.201,
|
| 185 |
+
"right_eye": 31.349,
|
| 186 |
+
"right_front": 39.329
|
| 187 |
+
},
|
| 188 |
+
"runtime": {
|
| 189 |
+
"numpy": "2.4.6",
|
| 190 |
+
"opencv": "5.0.0",
|
| 191 |
+
"scipy": "1.17.1"
|
| 192 |
+
},
|
| 193 |
+
"segment": 1,
|
| 194 |
+
"selection": {
|
| 195 |
+
"overlap_captures": [
|
| 196 |
+
1930157948444,
|
| 197 |
+
1931157892888,
|
| 198 |
+
1935157948444,
|
| 199 |
+
1936157904000,
|
| 200 |
+
1943157892888,
|
| 201 |
+
1944157904000,
|
| 202 |
+
1945157904000,
|
| 203 |
+
1949157926222,
|
| 204 |
+
1950157881777,
|
| 205 |
+
1955157892888,
|
| 206 |
+
1956157881777,
|
| 207 |
+
1958158104000,
|
| 208 |
+
1959157937333,
|
| 209 |
+
1963158026222,
|
| 210 |
+
1964157992888,
|
| 211 |
+
1970157904000,
|
| 212 |
+
1971157892888,
|
| 213 |
+
1972157881777,
|
| 214 |
+
1978157892888,
|
| 215 |
+
1979157937333,
|
| 216 |
+
1981157892888,
|
| 217 |
+
1982157892888,
|
| 218 |
+
1986157892888,
|
| 219 |
+
1987157959555,
|
| 220 |
+
1989157948444,
|
| 221 |
+
1990157904000,
|
| 222 |
+
1995157892888,
|
| 223 |
+
1996157904000,
|
| 224 |
+
2000158004000,
|
| 225 |
+
2001157937333,
|
| 226 |
+
2003157915111,
|
| 227 |
+
2004157970666,
|
| 228 |
+
2006157892888,
|
| 229 |
+
2007157892888,
|
| 230 |
+
2012157892888,
|
| 231 |
+
2013157959555,
|
| 232 |
+
2015157892888,
|
| 233 |
+
2016157948444,
|
| 234 |
+
2022157948444,
|
| 235 |
+
2023157904000,
|
| 236 |
+
2024157970666,
|
| 237 |
+
2025157937333,
|
| 238 |
+
2030157904000,
|
| 239 |
+
2031157948444,
|
| 240 |
+
2035157881777,
|
| 241 |
+
2036157892888,
|
| 242 |
+
2038157892888,
|
| 243 |
+
2039157892888,
|
| 244 |
+
2046157892888,
|
| 245 |
+
2047157892888,
|
| 246 |
+
2048157892888,
|
| 247 |
+
2049157904000,
|
| 248 |
+
2051157892888,
|
| 249 |
+
2052157892888,
|
| 250 |
+
2056157904000,
|
| 251 |
+
2057157892888,
|
| 252 |
+
2062158026222,
|
| 253 |
+
2063157892888
|
| 254 |
+
]
|
| 255 |
+
},
|
| 256 |
+
"version": 1
|
| 257 |
+
}
|
actions/locomotion_primitives/P33/session_027/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a92de19c073021782ab04042550ccc68b904716a107544db9cc695bafcd56d9b
|
| 3 |
+
size 801640
|
actions/locomotion_primitives/P33/session_027/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": {
|
|
@@ -522,10 +522,124 @@
|
|
| 522 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 523 |
"remaining_gyro_frame_deg": 1.1387283208302887
|
| 524 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 525 |
"release": {
|
| 526 |
"release_path": "actions/locomotion_primitives/P33/session_027",
|
| 527 |
"family": "locomotion_primitives",
|
| 528 |
"primitive": "P33",
|
| 529 |
"source_session": "20260914/P33/20260914_102155_session10"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 530 |
}
|
| 531 |
}
|
|
|
|
| 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": {
|
|
|
|
| 522 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 523 |
"remaining_gyro_frame_deg": 1.1387283208302887
|
| 524 |
},
|
| 525 |
+
"hands_registration": {
|
| 526 |
+
"cameras": {},
|
| 527 |
+
"hands": {
|
| 528 |
+
"left": {
|
| 529 |
+
"offset_deg": 8.0,
|
| 530 |
+
"offset_rotvec": [
|
| 531 |
+
0.0849,
|
| 532 |
+
0.0252,
|
| 533 |
+
-0.1078
|
| 534 |
+
],
|
| 535 |
+
"dev_deg": {
|
| 536 |
+
"median": 15.93,
|
| 537 |
+
"p90": 31.84
|
| 538 |
+
},
|
| 539 |
+
"samples": 2905,
|
| 540 |
+
"accepted": 2561,
|
| 541 |
+
"wrist_pos_err_mm_median": 56.8,
|
| 542 |
+
"per_camera": {
|
| 543 |
+
"head": {
|
| 544 |
+
"samples": 2905,
|
| 545 |
+
"accepted": 2561,
|
| 546 |
+
"gate_deg": 30.0,
|
| 547 |
+
"offset_deg": 8.0,
|
| 548 |
+
"tier": "primary",
|
| 549 |
+
"dev_deg_median": 15.93,
|
| 550 |
+
"wrist_pos_err_mm_median": 56.8
|
| 551 |
+
}
|
| 552 |
+
},
|
| 553 |
+
"frames_by_state": {
|
| 554 |
+
"ace_sample": 10560,
|
| 555 |
+
"interpolated": 5700,
|
| 556 |
+
"mean_hand": 418,
|
| 557 |
+
"no_body_fit": 6
|
| 558 |
+
},
|
| 559 |
+
"observed_fraction": 0.9746,
|
| 560 |
+
"observed_fraction_of_valid": 0.9749,
|
| 561 |
+
"palm_axis_vs_markers_deg": {
|
| 562 |
+
"gsi": 15.93,
|
| 563 |
+
"smplx": 0.61
|
| 564 |
+
},
|
| 565 |
+
"hand_marker_to_mesh_mm": {
|
| 566 |
+
"flat": {
|
| 567 |
+
"median": 9.3,
|
| 568 |
+
"p90": 9.9
|
| 569 |
+
},
|
| 570 |
+
"registered": {
|
| 571 |
+
"median": 8.3,
|
| 572 |
+
"p90": 10.1
|
| 573 |
+
}
|
| 574 |
+
}
|
| 575 |
+
},
|
| 576 |
+
"right": {
|
| 577 |
+
"offset_deg": 14.37,
|
| 578 |
+
"offset_rotvec": [
|
| 579 |
+
-0.1805,
|
| 580 |
+
-0.1364,
|
| 581 |
+
0.1082
|
| 582 |
+
],
|
| 583 |
+
"dev_deg": {
|
| 584 |
+
"median": 11.08,
|
| 585 |
+
"p90": 43.85
|
| 586 |
+
},
|
| 587 |
+
"samples": 2392,
|
| 588 |
+
"accepted": 1908,
|
| 589 |
+
"wrist_pos_err_mm_median": 58.6,
|
| 590 |
+
"per_camera": {
|
| 591 |
+
"head": {
|
| 592 |
+
"samples": 2392,
|
| 593 |
+
"accepted": 1908,
|
| 594 |
+
"gate_deg": 30.0,
|
| 595 |
+
"offset_deg": 14.37,
|
| 596 |
+
"tier": "primary",
|
| 597 |
+
"dev_deg_median": 11.08,
|
| 598 |
+
"wrist_pos_err_mm_median": 58.6
|
| 599 |
+
}
|
| 600 |
+
},
|
| 601 |
+
"frames_by_state": {
|
| 602 |
+
"ace_sample": 7910,
|
| 603 |
+
"interpolated": 7878,
|
| 604 |
+
"mean_hand": 890,
|
| 605 |
+
"no_body_fit": 6
|
| 606 |
+
},
|
| 607 |
+
"observed_fraction": 0.9463,
|
| 608 |
+
"observed_fraction_of_valid": 0.9466,
|
| 609 |
+
"palm_axis_vs_markers_deg": {
|
| 610 |
+
"gsi": 16.65,
|
| 611 |
+
"smplx": 0.81
|
| 612 |
+
},
|
| 613 |
+
"hand_marker_to_mesh_mm": {
|
| 614 |
+
"flat": {
|
| 615 |
+
"median": 5.4,
|
| 616 |
+
"p90": 6.4
|
| 617 |
+
},
|
| 618 |
+
"registered": {
|
| 619 |
+
"median": 6.4,
|
| 620 |
+
"p90": 8.5
|
| 621 |
+
}
|
| 622 |
+
}
|
| 623 |
+
}
|
| 624 |
+
},
|
| 625 |
+
"max_dev_deg": 30.0,
|
| 626 |
+
"max_gap_s": 1.0,
|
| 627 |
+
"cameras_used": [
|
| 628 |
+
"head"
|
| 629 |
+
],
|
| 630 |
+
"generated_at_utc": "2026-11-03T19:27:49.422220+00:00",
|
| 631 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 632 |
+
"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",
|
| 633 |
+
"wrist_flip_suspect": []
|
| 634 |
+
},
|
| 635 |
"release": {
|
| 636 |
"release_path": "actions/locomotion_primitives/P33/session_027",
|
| 637 |
"family": "locomotion_primitives",
|
| 638 |
"primitive": "P33",
|
| 639 |
"source_session": "20260914/P33/20260914_102155_session10"
|
| 640 |
+
},
|
| 641 |
+
"task": {
|
| 642 |
+
"primitive": "P33",
|
| 643 |
+
"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
|
| 644 |
}
|
| 645 |
}
|
actions/locomotion_primitives/P33/session_027/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:88db7cc4993530bd5a629db8e2ddc2f82b3dceb5f65c6ba1a72dd55d26e9a81b
|
| 3 |
+
size 3653817
|
actions/locomotion_primitives/P33/session_027/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 sha256:592b27b4cdaf334e94260e5f8bc55277dd141fd3f42d02970d54a99df22b6908
|
| 3 |
+
size 11818110
|
actions/locomotion_primitives/P33/session_028/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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": "P33",
|
| 6 |
+
"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 133.966656,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.039280835877279596
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "8f0f868f-e187-4245-8478-e0c7e7b846bd",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "P33",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 126.781,
|
| 23 |
+
"t_start": 0.0393,
|
| 24 |
+
"t_end": 126.8203,
|
| 25 |
+
"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomotion_primitives/P33/session_028/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,256 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 14,
|
| 5 |
+
"median_px": 0.376
|
| 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": 0.8438,
|
| 17 |
+
"gate_fail": [],
|
| 18 |
+
"held_out_px_after": 0.512,
|
| 19 |
+
"held_out_px_before": 3.833,
|
| 20 |
+
"inliers": 2420,
|
| 21 |
+
"position_fitted": false,
|
| 22 |
+
"rotvec_deg": [
|
| 23 |
+
0.4412,
|
| 24 |
+
-0.2976,
|
| 25 |
+
-0.6548
|
| 26 |
+
],
|
| 27 |
+
"split_deg": 0.0707,
|
| 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": 1.9186,
|
| 40 |
+
"gate_fail": [],
|
| 41 |
+
"held_out_px_after": 0.388,
|
| 42 |
+
"held_out_px_before": 6.733,
|
| 43 |
+
"inliers": 3480,
|
| 44 |
+
"position_fitted": true,
|
| 45 |
+
"position_mm": [
|
| 46 |
+
2.75,
|
| 47 |
+
-9.75,
|
| 48 |
+
2.92
|
| 49 |
+
],
|
| 50 |
+
"position_sigma_mm": 0.293,
|
| 51 |
+
"position_split_mm": 1.836,
|
| 52 |
+
"rotvec_deg": [
|
| 53 |
+
0.2177,
|
| 54 |
+
0.6105,
|
| 55 |
+
-1.8058
|
| 56 |
+
],
|
| 57 |
+
"split_deg": 0.0329,
|
| 58 |
+
"usable": true
|
| 59 |
+
},
|
| 60 |
+
"left_front": {
|
| 61 |
+
"role": "rig origin"
|
| 62 |
+
},
|
| 63 |
+
"right": {
|
| 64 |
+
"accepted": true,
|
| 65 |
+
"against": [
|
| 66 |
+
"left_front",
|
| 67 |
+
"right_front",
|
| 68 |
+
"left_eye",
|
| 69 |
+
"right_eye"
|
| 70 |
+
],
|
| 71 |
+
"delta_deg": 1.1674,
|
| 72 |
+
"gate_fail": [],
|
| 73 |
+
"held_out_px_after": 0.613,
|
| 74 |
+
"held_out_px_before": 3.827,
|
| 75 |
+
"inliers": 1701,
|
| 76 |
+
"position_fitted": false,
|
| 77 |
+
"rotvec_deg": [
|
| 78 |
+
1.1066,
|
| 79 |
+
-0.2849,
|
| 80 |
+
-0.2392
|
| 81 |
+
],
|
| 82 |
+
"split_deg": 0.1008,
|
| 83 |
+
"usable": true
|
| 84 |
+
},
|
| 85 |
+
"right_eye": {
|
| 86 |
+
"accepted": true,
|
| 87 |
+
"against": [
|
| 88 |
+
"left_front",
|
| 89 |
+
"right_front",
|
| 90 |
+
"left_eye",
|
| 91 |
+
"left",
|
| 92 |
+
"right"
|
| 93 |
+
],
|
| 94 |
+
"delta_deg": 0.8155,
|
| 95 |
+
"gate_fail": [],
|
| 96 |
+
"held_out_px_after": 0.376,
|
| 97 |
+
"held_out_px_before": 3.134,
|
| 98 |
+
"inliers": 3441,
|
| 99 |
+
"position_fitted": true,
|
| 100 |
+
"position_mm": [
|
| 101 |
+
5.69,
|
| 102 |
+
-9.96,
|
| 103 |
+
3.66
|
| 104 |
+
],
|
| 105 |
+
"position_sigma_mm": 0.294,
|
| 106 |
+
"position_split_mm": 1.891,
|
| 107 |
+
"rotvec_deg": [
|
| 108 |
+
0.4517,
|
| 109 |
+
-0.4885,
|
| 110 |
+
-0.4717
|
| 111 |
+
],
|
| 112 |
+
"split_deg": 0.0177,
|
| 113 |
+
"usable": true
|
| 114 |
+
},
|
| 115 |
+
"right_front": {
|
| 116 |
+
"accepted": true,
|
| 117 |
+
"against": [
|
| 118 |
+
"left_front",
|
| 119 |
+
"left_eye",
|
| 120 |
+
"right_eye",
|
| 121 |
+
"left",
|
| 122 |
+
"right"
|
| 123 |
+
],
|
| 124 |
+
"delta_deg": 1.3554,
|
| 125 |
+
"gate_fail": [],
|
| 126 |
+
"held_out_px_after": 0.328,
|
| 127 |
+
"held_out_px_before": 4.639,
|
| 128 |
+
"inliers": 4172,
|
| 129 |
+
"position_fitted": false,
|
| 130 |
+
"rotvec_deg": [
|
| 131 |
+
-0.3976,
|
| 132 |
+
-0.0078,
|
| 133 |
+
-1.2958
|
| 134 |
+
],
|
| 135 |
+
"split_deg": 0.0082,
|
| 136 |
+
"usable": true
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"code_fingerprint": "711ecf5b3dd408f8",
|
| 140 |
+
"device_id": "e17c9efadb69e7b1",
|
| 141 |
+
"factory_root_name": "e17c9efadb69e7b1",
|
| 142 |
+
"files": {
|
| 143 |
+
"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 144 |
+
"sha256": "b9b1dc3759f49e237990534af51f43d3babe28858e27cbcc75907e103651ef0b",
|
| 145 |
+
"source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
|
| 146 |
+
},
|
| 147 |
+
"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 148 |
+
"sha256": "e50d22453039c09ab5aae9f92fd07e4d53556bd2f3e9431a380fa48e45721d49",
|
| 149 |
+
"source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
|
| 150 |
+
},
|
| 151 |
+
"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 152 |
+
"sha256": "36bf8fe972c78d0f99705f7d5c762b02d5bf30084a2da1571fce1e98278eaa55",
|
| 153 |
+
"source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
|
| 154 |
+
},
|
| 155 |
+
"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 156 |
+
"sha256": "ad07e556d659073d1bd8c66207045c7aa06eaf44170f27bb03026fac7b55a416",
|
| 157 |
+
"source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
"input_fingerprint": "66d2740e5ddbb982",
|
| 161 |
+
"kind": "online_calibration",
|
| 162 |
+
"output_sha256": "5ee22c972348060e8a2085ecd48da110e0d90a8c71c72ef3eb64595036dab214",
|
| 163 |
+
"overlap": {
|
| 164 |
+
"left-right": 0.501,
|
| 165 |
+
"left_eye-left": 0.707,
|
| 166 |
+
"left_eye-right": 0.671,
|
| 167 |
+
"left_front-left": 0.478,
|
| 168 |
+
"left_front-left_eye": 0.72,
|
| 169 |
+
"left_front-right": 0.448,
|
| 170 |
+
"left_front-right_eye": 0.732,
|
| 171 |
+
"left_front-right_front": 1.0,
|
| 172 |
+
"right_eye-left": 0.696,
|
| 173 |
+
"right_eye-left_eye": 1.0,
|
| 174 |
+
"right_eye-right": 0.673,
|
| 175 |
+
"right_front-left": 0.464,
|
| 176 |
+
"right_front-left_eye": 0.723,
|
| 177 |
+
"right_front-right": 0.466,
|
| 178 |
+
"right_front-right_eye": 0.734
|
| 179 |
+
},
|
| 180 |
+
"picture_change": {
|
| 181 |
+
"left": 35.244,
|
| 182 |
+
"left_eye": 35.172,
|
| 183 |
+
"left_front": 47.984,
|
| 184 |
+
"right": 34.254,
|
| 185 |
+
"right_eye": 33.267,
|
| 186 |
+
"right_front": 46.112
|
| 187 |
+
},
|
| 188 |
+
"runtime": {
|
| 189 |
+
"numpy": "2.4.6",
|
| 190 |
+
"opencv": "5.0.0",
|
| 191 |
+
"scipy": "1.17.1"
|
| 192 |
+
},
|
| 193 |
+
"segment": 1,
|
| 194 |
+
"selection": {
|
| 195 |
+
"overlap_captures": [
|
| 196 |
+
2208717742555,
|
| 197 |
+
2209717675888,
|
| 198 |
+
2210717598111,
|
| 199 |
+
2214717609222,
|
| 200 |
+
2215717653666,
|
| 201 |
+
2217717653666,
|
| 202 |
+
2218717653666,
|
| 203 |
+
2223717620333,
|
| 204 |
+
2224717631444,
|
| 205 |
+
2229717598111,
|
| 206 |
+
2230717598111,
|
| 207 |
+
2231717587000,
|
| 208 |
+
2232717620333,
|
| 209 |
+
2237717653666,
|
| 210 |
+
2238717587000,
|
| 211 |
+
2241717598111,
|
| 212 |
+
2242717642555,
|
| 213 |
+
2245717609222,
|
| 214 |
+
2246717642555,
|
| 215 |
+
2248717631444,
|
| 216 |
+
2249717720333,
|
| 217 |
+
2254717687000,
|
| 218 |
+
2255717598111,
|
| 219 |
+
2257717598111,
|
| 220 |
+
2258717620333,
|
| 221 |
+
2262717598111,
|
| 222 |
+
2263717653666,
|
| 223 |
+
2265717609222,
|
| 224 |
+
2266717598111,
|
| 225 |
+
2271717587000,
|
| 226 |
+
2272717653666,
|
| 227 |
+
2273717620333,
|
| 228 |
+
2279717587000,
|
| 229 |
+
2280717587000,
|
| 230 |
+
2282717631444,
|
| 231 |
+
2283717809222,
|
| 232 |
+
2288717742555,
|
| 233 |
+
2289717587000,
|
| 234 |
+
2290717742555,
|
| 235 |
+
2291717598111,
|
| 236 |
+
2294717609222,
|
| 237 |
+
2295717642555,
|
| 238 |
+
2301717620333,
|
| 239 |
+
2302717598111,
|
| 240 |
+
2303717631444,
|
| 241 |
+
2309717587000,
|
| 242 |
+
2310717642555,
|
| 243 |
+
2313717631444,
|
| 244 |
+
2314717653666,
|
| 245 |
+
2317717587000,
|
| 246 |
+
2318717609222,
|
| 247 |
+
2319717642555,
|
| 248 |
+
2320717587000,
|
| 249 |
+
2326717642555,
|
| 250 |
+
2327717587000,
|
| 251 |
+
2330717642555,
|
| 252 |
+
2331717587000
|
| 253 |
+
]
|
| 254 |
+
},
|
| 255 |
+
"version": 1
|
| 256 |
+
}
|
actions/locomotion_primitives/P33/session_028/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:af390f8e7722deba66a87da1fb190646ecdf6257ed4f66b2d39a7ffcbed1bb60
|
| 3 |
+
size 772046
|
actions/locomotion_primitives/P33/session_028/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": {
|
|
@@ -518,10 +518,124 @@
|
|
| 518 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 519 |
"remaining_gyro_frame_deg": 1.031180095500352
|
| 520 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 521 |
"release": {
|
| 522 |
"release_path": "actions/locomotion_primitives/P33/session_028",
|
| 523 |
"family": "locomotion_primitives",
|
| 524 |
"primitive": "P33",
|
| 525 |
"source_session": "20260914/P33/20260914_102630_session12"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 526 |
}
|
| 527 |
}
|
|
|
|
| 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": {
|
|
|
|
| 518 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 519 |
"remaining_gyro_frame_deg": 1.031180095500352
|
| 520 |
},
|
| 521 |
+
"hands_registration": {
|
| 522 |
+
"cameras": {},
|
| 523 |
+
"hands": {
|
| 524 |
+
"left": {
|
| 525 |
+
"offset_deg": 6.73,
|
| 526 |
+
"offset_rotvec": [
|
| 527 |
+
0.0401,
|
| 528 |
+
0.0563,
|
| 529 |
+
-0.0951
|
| 530 |
+
],
|
| 531 |
+
"dev_deg": {
|
| 532 |
+
"median": 15.61,
|
| 533 |
+
"p90": 32.97
|
| 534 |
+
},
|
| 535 |
+
"samples": 3035,
|
| 536 |
+
"accepted": 2639,
|
| 537 |
+
"wrist_pos_err_mm_median": 48.8,
|
| 538 |
+
"per_camera": {
|
| 539 |
+
"head": {
|
| 540 |
+
"samples": 3035,
|
| 541 |
+
"accepted": 2639,
|
| 542 |
+
"gate_deg": 30.0,
|
| 543 |
+
"offset_deg": 6.73,
|
| 544 |
+
"tier": "primary",
|
| 545 |
+
"dev_deg_median": 15.61,
|
| 546 |
+
"wrist_pos_err_mm_median": 48.8
|
| 547 |
+
}
|
| 548 |
+
},
|
| 549 |
+
"frames_by_state": {
|
| 550 |
+
"ace_sample": 10804,
|
| 551 |
+
"interpolated": 4900,
|
| 552 |
+
"mean_hand": 377,
|
| 553 |
+
"no_body_fit": 3
|
| 554 |
+
},
|
| 555 |
+
"observed_fraction": 0.9764,
|
| 556 |
+
"observed_fraction_of_valid": 0.9766,
|
| 557 |
+
"palm_axis_vs_markers_deg": {
|
| 558 |
+
"gsi": 15.39,
|
| 559 |
+
"smplx": 0.6
|
| 560 |
+
},
|
| 561 |
+
"hand_marker_to_mesh_mm": {
|
| 562 |
+
"flat": {
|
| 563 |
+
"median": 12.4,
|
| 564 |
+
"p90": 15.9
|
| 565 |
+
},
|
| 566 |
+
"registered": {
|
| 567 |
+
"median": 11.1,
|
| 568 |
+
"p90": 14.1
|
| 569 |
+
}
|
| 570 |
+
}
|
| 571 |
+
},
|
| 572 |
+
"right": {
|
| 573 |
+
"offset_deg": 14.03,
|
| 574 |
+
"offset_rotvec": [
|
| 575 |
+
-0.1632,
|
| 576 |
+
-0.1396,
|
| 577 |
+
0.1177
|
| 578 |
+
],
|
| 579 |
+
"dev_deg": {
|
| 580 |
+
"median": 10.87,
|
| 581 |
+
"p90": 41.91
|
| 582 |
+
},
|
| 583 |
+
"samples": 2465,
|
| 584 |
+
"accepted": 2022,
|
| 585 |
+
"wrist_pos_err_mm_median": 57.6,
|
| 586 |
+
"per_camera": {
|
| 587 |
+
"head": {
|
| 588 |
+
"samples": 2465,
|
| 589 |
+
"accepted": 2022,
|
| 590 |
+
"gate_deg": 30.0,
|
| 591 |
+
"offset_deg": 14.03,
|
| 592 |
+
"tier": "primary",
|
| 593 |
+
"dev_deg_median": 10.87,
|
| 594 |
+
"wrist_pos_err_mm_median": 57.6
|
| 595 |
+
}
|
| 596 |
+
},
|
| 597 |
+
"frames_by_state": {
|
| 598 |
+
"ace_sample": 8308,
|
| 599 |
+
"interpolated": 6156,
|
| 600 |
+
"mean_hand": 1617,
|
| 601 |
+
"no_body_fit": 3
|
| 602 |
+
},
|
| 603 |
+
"observed_fraction": 0.8993,
|
| 604 |
+
"observed_fraction_of_valid": 0.8994,
|
| 605 |
+
"palm_axis_vs_markers_deg": {
|
| 606 |
+
"gsi": 17.75,
|
| 607 |
+
"smplx": 0.87
|
| 608 |
+
},
|
| 609 |
+
"hand_marker_to_mesh_mm": {
|
| 610 |
+
"flat": {
|
| 611 |
+
"median": 5.5,
|
| 612 |
+
"p90": 6.3
|
| 613 |
+
},
|
| 614 |
+
"registered": {
|
| 615 |
+
"median": 7.1,
|
| 616 |
+
"p90": 9.0
|
| 617 |
+
}
|
| 618 |
+
}
|
| 619 |
+
}
|
| 620 |
+
},
|
| 621 |
+
"max_dev_deg": 30.0,
|
| 622 |
+
"max_gap_s": 1.0,
|
| 623 |
+
"cameras_used": [
|
| 624 |
+
"head"
|
| 625 |
+
],
|
| 626 |
+
"generated_at_utc": "2026-11-03T19:23:55.334982+00:00",
|
| 627 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 628 |
+
"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",
|
| 629 |
+
"wrist_flip_suspect": []
|
| 630 |
+
},
|
| 631 |
"release": {
|
| 632 |
"release_path": "actions/locomotion_primitives/P33/session_028",
|
| 633 |
"family": "locomotion_primitives",
|
| 634 |
"primitive": "P33",
|
| 635 |
"source_session": "20260914/P33/20260914_102630_session12"
|
| 636 |
+
},
|
| 637 |
+
"task": {
|
| 638 |
+
"primitive": "P33",
|
| 639 |
+
"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
|
| 640 |
}
|
| 641 |
}
|
actions/locomotion_primitives/P33/session_028/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fe440cb2a328f92fdcf19455eedba0e0cc420fb5397f68187d855e96de799dc1
|
| 3 |
+
size 3775422
|
actions/locomotion_primitives/P33/session_028/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 sha256:5050bce5e2be988928e6b10046769c02e7155439d71248fdef6a58245a64d85b
|
| 3 |
+
size 11299349
|
actions/locomotion_primitives/P33/session_029/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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": "P33",
|
| 6 |
+
"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 128.966567,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.038902784657898426
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "75d4038a-266b-4f71-aee9-281cbda5631c",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "P33",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1.252,
|
| 22 |
+
"end_s": 125.007,
|
| 23 |
+
"t_start": 1.2909,
|
| 24 |
+
"t_end": 125.0459,
|
| 25 |
+
"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomotion_primitives/P33/session_029/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,256 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 14,
|
| 5 |
+
"median_px": 0.377
|
| 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": 0.9939,
|
| 17 |
+
"gate_fail": [],
|
| 18 |
+
"held_out_px_after": 0.499,
|
| 19 |
+
"held_out_px_before": 4.464,
|
| 20 |
+
"inliers": 2820,
|
| 21 |
+
"position_fitted": false,
|
| 22 |
+
"rotvec_deg": [
|
| 23 |
+
0.3952,
|
| 24 |
+
-0.3648,
|
| 25 |
+
-0.8358
|
| 26 |
+
],
|
| 27 |
+
"split_deg": 0.0839,
|
| 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": 1.9605,
|
| 40 |
+
"gate_fail": [],
|
| 41 |
+
"held_out_px_after": 0.415,
|
| 42 |
+
"held_out_px_before": 5.925,
|
| 43 |
+
"inliers": 3970,
|
| 44 |
+
"position_fitted": true,
|
| 45 |
+
"position_mm": [
|
| 46 |
+
0.39,
|
| 47 |
+
-15.39,
|
| 48 |
+
6.16
|
| 49 |
+
],
|
| 50 |
+
"position_sigma_mm": 0.283,
|
| 51 |
+
"position_split_mm": 4.549,
|
| 52 |
+
"rotvec_deg": [
|
| 53 |
+
0.0787,
|
| 54 |
+
0.6052,
|
| 55 |
+
-1.8631
|
| 56 |
+
],
|
| 57 |
+
"split_deg": 0.1274,
|
| 58 |
+
"usable": true
|
| 59 |
+
},
|
| 60 |
+
"left_front": {
|
| 61 |
+
"role": "rig origin"
|
| 62 |
+
},
|
| 63 |
+
"right": {
|
| 64 |
+
"accepted": true,
|
| 65 |
+
"against": [
|
| 66 |
+
"left_front",
|
| 67 |
+
"right_front",
|
| 68 |
+
"left_eye",
|
| 69 |
+
"right_eye"
|
| 70 |
+
],
|
| 71 |
+
"delta_deg": 1.3649,
|
| 72 |
+
"gate_fail": [],
|
| 73 |
+
"held_out_px_after": 0.537,
|
| 74 |
+
"held_out_px_before": 3.652,
|
| 75 |
+
"inliers": 1113,
|
| 76 |
+
"position_fitted": false,
|
| 77 |
+
"rotvec_deg": [
|
| 78 |
+
1.3162,
|
| 79 |
+
-0.3542,
|
| 80 |
+
-0.0723
|
| 81 |
+
],
|
| 82 |
+
"split_deg": 0.1124,
|
| 83 |
+
"usable": true
|
| 84 |
+
},
|
| 85 |
+
"right_eye": {
|
| 86 |
+
"accepted": true,
|
| 87 |
+
"against": [
|
| 88 |
+
"left_front",
|
| 89 |
+
"right_front",
|
| 90 |
+
"left_eye",
|
| 91 |
+
"left",
|
| 92 |
+
"right"
|
| 93 |
+
],
|
| 94 |
+
"delta_deg": 0.7617,
|
| 95 |
+
"gate_fail": [],
|
| 96 |
+
"held_out_px_after": 0.394,
|
| 97 |
+
"held_out_px_before": 3.188,
|
| 98 |
+
"inliers": 3596,
|
| 99 |
+
"position_fitted": true,
|
| 100 |
+
"position_mm": [
|
| 101 |
+
5.74,
|
| 102 |
+
-14.28,
|
| 103 |
+
5.57
|
| 104 |
+
],
|
| 105 |
+
"position_sigma_mm": 0.301,
|
| 106 |
+
"position_split_mm": 2.74,
|
| 107 |
+
"rotvec_deg": [
|
| 108 |
+
0.309,
|
| 109 |
+
-0.4986,
|
| 110 |
+
-0.4859
|
| 111 |
+
],
|
| 112 |
+
"split_deg": 0.0844,
|
| 113 |
+
"usable": true
|
| 114 |
+
},
|
| 115 |
+
"right_front": {
|
| 116 |
+
"accepted": true,
|
| 117 |
+
"against": [
|
| 118 |
+
"left_front",
|
| 119 |
+
"left_eye",
|
| 120 |
+
"right_eye",
|
| 121 |
+
"left",
|
| 122 |
+
"right"
|
| 123 |
+
],
|
| 124 |
+
"delta_deg": 1.3541,
|
| 125 |
+
"gate_fail": [],
|
| 126 |
+
"held_out_px_after": 0.321,
|
| 127 |
+
"held_out_px_before": 4.332,
|
| 128 |
+
"inliers": 4913,
|
| 129 |
+
"position_fitted": false,
|
| 130 |
+
"rotvec_deg": [
|
| 131 |
+
-0.4333,
|
| 132 |
+
-0.0493,
|
| 133 |
+
-1.282
|
| 134 |
+
],
|
| 135 |
+
"split_deg": 0.013,
|
| 136 |
+
"usable": true
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"code_fingerprint": "711ecf5b3dd408f8",
|
| 140 |
+
"device_id": "e17c9efadb69e7b1",
|
| 141 |
+
"factory_root_name": "e17c9efadb69e7b1",
|
| 142 |
+
"files": {
|
| 143 |
+
"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 144 |
+
"sha256": "5cf94504a3e93b9069228a4ada5767728fe90443d16345f0993bbe352a802bdb",
|
| 145 |
+
"source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
|
| 146 |
+
},
|
| 147 |
+
"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 148 |
+
"sha256": "95a08dd78ef8be2c70e62122495f1581217e4ee2dd8e6d1a4420642ce263d840",
|
| 149 |
+
"source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
|
| 150 |
+
},
|
| 151 |
+
"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 152 |
+
"sha256": "4065a94a15238f6089cae1160482bb672f2a94ea6e12c51bf44c829d8536f493",
|
| 153 |
+
"source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
|
| 154 |
+
},
|
| 155 |
+
"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 156 |
+
"sha256": "4aa766be52740b1ee6d35814098384cd2688010a4c90523c781f882b193fdd41",
|
| 157 |
+
"source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
"input_fingerprint": "b8d9597edf3ff4f5",
|
| 161 |
+
"kind": "online_calibration",
|
| 162 |
+
"output_sha256": "d76987213bed22edb4480be2f12ec09137ac4aa46a307f727e2477b33dc761bc",
|
| 163 |
+
"overlap": {
|
| 164 |
+
"left-right": 0.501,
|
| 165 |
+
"left_eye-left": 0.707,
|
| 166 |
+
"left_eye-right": 0.671,
|
| 167 |
+
"left_front-left": 0.478,
|
| 168 |
+
"left_front-left_eye": 0.72,
|
| 169 |
+
"left_front-right": 0.448,
|
| 170 |
+
"left_front-right_eye": 0.732,
|
| 171 |
+
"left_front-right_front": 1.0,
|
| 172 |
+
"right_eye-left": 0.696,
|
| 173 |
+
"right_eye-left_eye": 1.0,
|
| 174 |
+
"right_eye-right": 0.673,
|
| 175 |
+
"right_front-left": 0.464,
|
| 176 |
+
"right_front-left_eye": 0.723,
|
| 177 |
+
"right_front-right": 0.466,
|
| 178 |
+
"right_front-right_eye": 0.734
|
| 179 |
+
},
|
| 180 |
+
"picture_change": {
|
| 181 |
+
"left": 38.714,
|
| 182 |
+
"left_eye": 31.989,
|
| 183 |
+
"left_front": 38.836,
|
| 184 |
+
"right": 38.319,
|
| 185 |
+
"right_eye": 29.735,
|
| 186 |
+
"right_front": 37.677
|
| 187 |
+
},
|
| 188 |
+
"runtime": {
|
| 189 |
+
"numpy": "2.4.6",
|
| 190 |
+
"opencv": "5.0.0",
|
| 191 |
+
"scipy": "1.17.1"
|
| 192 |
+
},
|
| 193 |
+
"segment": 1,
|
| 194 |
+
"selection": {
|
| 195 |
+
"overlap_captures": [
|
| 196 |
+
19769643715333,
|
| 197 |
+
19770643715333,
|
| 198 |
+
19775643715333,
|
| 199 |
+
19776643837555,
|
| 200 |
+
19777643715333,
|
| 201 |
+
19781643704222,
|
| 202 |
+
19782643693111,
|
| 203 |
+
19785643693111,
|
| 204 |
+
19786643693111,
|
| 205 |
+
19789643715333,
|
| 206 |
+
19790643837555,
|
| 207 |
+
19794643726444,
|
| 208 |
+
19795643693111,
|
| 209 |
+
19798643737555,
|
| 210 |
+
19799643693111,
|
| 211 |
+
19801643693111,
|
| 212 |
+
19802643704222,
|
| 213 |
+
19806643715333,
|
| 214 |
+
19807643848666,
|
| 215 |
+
19811643715333,
|
| 216 |
+
19812643682000,
|
| 217 |
+
19815643693111,
|
| 218 |
+
19816643782000,
|
| 219 |
+
19820643704222,
|
| 220 |
+
19821643693111,
|
| 221 |
+
19825643693111,
|
| 222 |
+
19826643726444,
|
| 223 |
+
19830643715333,
|
| 224 |
+
19831643726444,
|
| 225 |
+
19832643726444,
|
| 226 |
+
19838643682000,
|
| 227 |
+
19839643693111,
|
| 228 |
+
19840643693111,
|
| 229 |
+
19844643715333,
|
| 230 |
+
19845643782000,
|
| 231 |
+
19847643682000,
|
| 232 |
+
19848643726444,
|
| 233 |
+
19855643715333,
|
| 234 |
+
19856643693111,
|
| 235 |
+
19858643759777,
|
| 236 |
+
19859643715333,
|
| 237 |
+
19863643704222,
|
| 238 |
+
19864643682000,
|
| 239 |
+
19866643715333,
|
| 240 |
+
19867643682000,
|
| 241 |
+
19868643715333,
|
| 242 |
+
19869643693111,
|
| 243 |
+
19873643693111,
|
| 244 |
+
19874643726444,
|
| 245 |
+
19880643704222,
|
| 246 |
+
19881643693111,
|
| 247 |
+
19883643693111,
|
| 248 |
+
19884643848666,
|
| 249 |
+
19886643782000,
|
| 250 |
+
19887643693111,
|
| 251 |
+
19891643715333,
|
| 252 |
+
19892643693111
|
| 253 |
+
]
|
| 254 |
+
},
|
| 255 |
+
"version": 1
|
| 256 |
+
}
|
actions/locomotion_primitives/P33/session_029/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c6f57651aad987723f499e3c649c05d4865d8ff23fe0d9b7d0c2d7b5e34e7fe9
|
| 3 |
+
size 743414
|
actions/locomotion_primitives/P33/session_029/meta.json
CHANGED
|
@@ -329,8 +329,8 @@
|
|
| 329 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 330 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 331 |
"hands": {
|
| 332 |
-
"observed":
|
| 333 |
-
"hand_pose": "
|
| 334 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 335 |
"hand_marker_offsets_m": {
|
| 336 |
"left": {
|
|
@@ -519,10 +519,124 @@
|
|
| 519 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 520 |
"remaining_gyro_frame_deg": 0.5483466919827307
|
| 521 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 522 |
"release": {
|
| 523 |
"release_path": "actions/locomotion_primitives/P33/session_029",
|
| 524 |
"family": "locomotion_primitives",
|
| 525 |
"primitive": "P33",
|
| 526 |
"source_session": "20260916/P33/20260916_054701_session90"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 527 |
}
|
| 528 |
}
|
|
|
|
| 329 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 330 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 331 |
"hands": {
|
| 332 |
+
"observed": true,
|
| 333 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 334 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 335 |
"hand_marker_offsets_m": {
|
| 336 |
"left": {
|
|
|
|
| 519 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 520 |
"remaining_gyro_frame_deg": 0.5483466919827307
|
| 521 |
},
|
| 522 |
+
"hands_registration": {
|
| 523 |
+
"cameras": {},
|
| 524 |
+
"hands": {
|
| 525 |
+
"left": {
|
| 526 |
+
"offset_deg": 16.3,
|
| 527 |
+
"offset_rotvec": [
|
| 528 |
+
0.2705,
|
| 529 |
+
-0.0581,
|
| 530 |
+
-0.0664
|
| 531 |
+
],
|
| 532 |
+
"dev_deg": {
|
| 533 |
+
"median": 19.44,
|
| 534 |
+
"p90": 35.07
|
| 535 |
+
},
|
| 536 |
+
"samples": 2422,
|
| 537 |
+
"accepted": 1958,
|
| 538 |
+
"wrist_pos_err_mm_median": 55.9,
|
| 539 |
+
"per_camera": {
|
| 540 |
+
"head": {
|
| 541 |
+
"samples": 2422,
|
| 542 |
+
"accepted": 1958,
|
| 543 |
+
"gate_deg": 30.0,
|
| 544 |
+
"offset_deg": 16.3,
|
| 545 |
+
"tier": "primary",
|
| 546 |
+
"dev_deg_median": 19.44,
|
| 547 |
+
"wrist_pos_err_mm_median": 55.9
|
| 548 |
+
}
|
| 549 |
+
},
|
| 550 |
+
"frames_by_state": {
|
| 551 |
+
"ace_sample": 8256,
|
| 552 |
+
"interpolated": 7164,
|
| 553 |
+
"mean_hand": 64,
|
| 554 |
+
"no_body_fit": 0
|
| 555 |
+
},
|
| 556 |
+
"observed_fraction": 0.9959,
|
| 557 |
+
"observed_fraction_of_valid": 0.9959,
|
| 558 |
+
"palm_axis_vs_markers_deg": {
|
| 559 |
+
"gsi": 28.03,
|
| 560 |
+
"smplx": 0.8
|
| 561 |
+
},
|
| 562 |
+
"hand_marker_to_mesh_mm": {
|
| 563 |
+
"flat": {
|
| 564 |
+
"median": 6.8,
|
| 565 |
+
"p90": 7.3
|
| 566 |
+
},
|
| 567 |
+
"registered": {
|
| 568 |
+
"median": 7.8,
|
| 569 |
+
"p90": 8.9
|
| 570 |
+
}
|
| 571 |
+
}
|
| 572 |
+
},
|
| 573 |
+
"right": {
|
| 574 |
+
"offset_deg": 15.83,
|
| 575 |
+
"offset_rotvec": [
|
| 576 |
+
-0.0108,
|
| 577 |
+
0.209,
|
| 578 |
+
0.1805
|
| 579 |
+
],
|
| 580 |
+
"dev_deg": {
|
| 581 |
+
"median": 19.45,
|
| 582 |
+
"p90": 42.42
|
| 583 |
+
},
|
| 584 |
+
"samples": 2060,
|
| 585 |
+
"accepted": 1599,
|
| 586 |
+
"wrist_pos_err_mm_median": 64.5,
|
| 587 |
+
"per_camera": {
|
| 588 |
+
"head": {
|
| 589 |
+
"samples": 2060,
|
| 590 |
+
"accepted": 1599,
|
| 591 |
+
"gate_deg": 30.0,
|
| 592 |
+
"offset_deg": 15.83,
|
| 593 |
+
"tier": "primary",
|
| 594 |
+
"dev_deg_median": 19.45,
|
| 595 |
+
"wrist_pos_err_mm_median": 64.5
|
| 596 |
+
}
|
| 597 |
+
},
|
| 598 |
+
"frames_by_state": {
|
| 599 |
+
"ace_sample": 6730,
|
| 600 |
+
"interpolated": 7598,
|
| 601 |
+
"mean_hand": 1156,
|
| 602 |
+
"no_body_fit": 0
|
| 603 |
+
},
|
| 604 |
+
"observed_fraction": 0.9253,
|
| 605 |
+
"observed_fraction_of_valid": 0.9253,
|
| 606 |
+
"palm_axis_vs_markers_deg": {
|
| 607 |
+
"gsi": 17.16,
|
| 608 |
+
"smplx": 0.71
|
| 609 |
+
},
|
| 610 |
+
"hand_marker_to_mesh_mm": {
|
| 611 |
+
"flat": {
|
| 612 |
+
"median": 6.9,
|
| 613 |
+
"p90": 8.9
|
| 614 |
+
},
|
| 615 |
+
"registered": {
|
| 616 |
+
"median": 7.6,
|
| 617 |
+
"p90": 8.4
|
| 618 |
+
}
|
| 619 |
+
}
|
| 620 |
+
}
|
| 621 |
+
},
|
| 622 |
+
"max_dev_deg": 30.0,
|
| 623 |
+
"max_gap_s": 1.0,
|
| 624 |
+
"cameras_used": [
|
| 625 |
+
"head"
|
| 626 |
+
],
|
| 627 |
+
"generated_at_utc": "2026-11-03T23:05:16.918813+00:00",
|
| 628 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 629 |
+
"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",
|
| 630 |
+
"wrist_flip_suspect": []
|
| 631 |
+
},
|
| 632 |
"release": {
|
| 633 |
"release_path": "actions/locomotion_primitives/P33/session_029",
|
| 634 |
"family": "locomotion_primitives",
|
| 635 |
"primitive": "P33",
|
| 636 |
"source_session": "20260916/P33/20260916_054701_session90"
|
| 637 |
+
},
|
| 638 |
+
"task": {
|
| 639 |
+
"primitive": "P33",
|
| 640 |
+
"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
|
| 641 |
}
|
| 642 |
}
|
actions/locomotion_primitives/P33/session_029/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3f27277ce0bde6330eaaf42a51254419a25d07ddf2f046c6bf1ecc432443aeb3
|
| 3 |
+
size 3140203
|
actions/locomotion_primitives/P33/session_029/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 sha256:874bd07c9a7a617200fa6a1340edb97a4dc845a636f4de136da292a3d19235f4
|
| 3 |
+
size 11041794
|
actions/locomotion_primitives/P33/session_030/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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": "P33",
|
| 6 |
+
"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 133.966667,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03897652149637332
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "02a5da40-d5e5-4de4-85c9-18477b98499a",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "P33",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1.756,
|
| 22 |
+
"end_s": 127.798,
|
| 23 |
+
"t_start": 1.795,
|
| 24 |
+
"t_end": 127.837,
|
| 25 |
+
"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomotion_primitives/P33/session_030/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,258 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 14,
|
| 5 |
+
"median_px": 0.354
|
| 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": 0.9753,
|
| 17 |
+
"gate_fail": [],
|
| 18 |
+
"held_out_px_after": 0.448,
|
| 19 |
+
"held_out_px_before": 4.335,
|
| 20 |
+
"inliers": 2625,
|
| 21 |
+
"position_fitted": false,
|
| 22 |
+
"rotvec_deg": [
|
| 23 |
+
0.3567,
|
| 24 |
+
-0.4037,
|
| 25 |
+
-0.813
|
| 26 |
+
],
|
| 27 |
+
"split_deg": 0.0605,
|
| 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": 1.9497,
|
| 40 |
+
"gate_fail": [],
|
| 41 |
+
"held_out_px_after": 0.381,
|
| 42 |
+
"held_out_px_before": 6.212,
|
| 43 |
+
"inliers": 3790,
|
| 44 |
+
"position_fitted": true,
|
| 45 |
+
"position_mm": [
|
| 46 |
+
-0.39,
|
| 47 |
+
-15.5,
|
| 48 |
+
5.87
|
| 49 |
+
],
|
| 50 |
+
"position_sigma_mm": 0.319,
|
| 51 |
+
"position_split_mm": 1.794,
|
| 52 |
+
"rotvec_deg": [
|
| 53 |
+
0.0211,
|
| 54 |
+
0.6046,
|
| 55 |
+
-1.8535
|
| 56 |
+
],
|
| 57 |
+
"split_deg": 0.078,
|
| 58 |
+
"usable": true
|
| 59 |
+
},
|
| 60 |
+
"left_front": {
|
| 61 |
+
"role": "rig origin"
|
| 62 |
+
},
|
| 63 |
+
"right": {
|
| 64 |
+
"accepted": true,
|
| 65 |
+
"against": [
|
| 66 |
+
"left_front",
|
| 67 |
+
"right_front",
|
| 68 |
+
"left_eye",
|
| 69 |
+
"right_eye"
|
| 70 |
+
],
|
| 71 |
+
"delta_deg": 1.277,
|
| 72 |
+
"gate_fail": [],
|
| 73 |
+
"held_out_px_after": 0.557,
|
| 74 |
+
"held_out_px_before": 3.678,
|
| 75 |
+
"inliers": 1145,
|
| 76 |
+
"position_fitted": false,
|
| 77 |
+
"rotvec_deg": [
|
| 78 |
+
1.2294,
|
| 79 |
+
-0.3304,
|
| 80 |
+
-0.1006
|
| 81 |
+
],
|
| 82 |
+
"split_deg": 0.0764,
|
| 83 |
+
"usable": true
|
| 84 |
+
},
|
| 85 |
+
"right_eye": {
|
| 86 |
+
"accepted": true,
|
| 87 |
+
"against": [
|
| 88 |
+
"left_front",
|
| 89 |
+
"right_front",
|
| 90 |
+
"left_eye",
|
| 91 |
+
"left",
|
| 92 |
+
"right"
|
| 93 |
+
],
|
| 94 |
+
"delta_deg": 0.7566,
|
| 95 |
+
"gate_fail": [],
|
| 96 |
+
"held_out_px_after": 0.357,
|
| 97 |
+
"held_out_px_before": 3.447,
|
| 98 |
+
"inliers": 3757,
|
| 99 |
+
"position_fitted": true,
|
| 100 |
+
"position_mm": [
|
| 101 |
+
6.8,
|
| 102 |
+
-13.53,
|
| 103 |
+
4.86
|
| 104 |
+
],
|
| 105 |
+
"position_sigma_mm": 0.318,
|
| 106 |
+
"position_split_mm": 1.213,
|
| 107 |
+
"rotvec_deg": [
|
| 108 |
+
0.298,
|
| 109 |
+
-0.5025,
|
| 110 |
+
-0.4808
|
| 111 |
+
],
|
| 112 |
+
"split_deg": 0.0561,
|
| 113 |
+
"usable": true
|
| 114 |
+
},
|
| 115 |
+
"right_front": {
|
| 116 |
+
"accepted": true,
|
| 117 |
+
"against": [
|
| 118 |
+
"left_front",
|
| 119 |
+
"left_eye",
|
| 120 |
+
"right_eye",
|
| 121 |
+
"left",
|
| 122 |
+
"right"
|
| 123 |
+
],
|
| 124 |
+
"delta_deg": 1.3535,
|
| 125 |
+
"gate_fail": [],
|
| 126 |
+
"held_out_px_after": 0.309,
|
| 127 |
+
"held_out_px_before": 4.634,
|
| 128 |
+
"inliers": 4886,
|
| 129 |
+
"position_fitted": false,
|
| 130 |
+
"rotvec_deg": [
|
| 131 |
+
-0.4451,
|
| 132 |
+
-0.0336,
|
| 133 |
+
-1.2778
|
| 134 |
+
],
|
| 135 |
+
"split_deg": 0.0055,
|
| 136 |
+
"usable": true
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"code_fingerprint": "711ecf5b3dd408f8",
|
| 140 |
+
"device_id": "e17c9efadb69e7b1",
|
| 141 |
+
"factory_root_name": "e17c9efadb69e7b1",
|
| 142 |
+
"files": {
|
| 143 |
+
"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 144 |
+
"sha256": "bf278c6289743cb6c4fe61ebf9e19eeaeffaba2a7059e747b60b5e33eac93470",
|
| 145 |
+
"source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
|
| 146 |
+
},
|
| 147 |
+
"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 148 |
+
"sha256": "730d7b8e125a20d8ff29e5e652218c3c5844730ca256a786f5712ec75ee46ae1",
|
| 149 |
+
"source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
|
| 150 |
+
},
|
| 151 |
+
"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 152 |
+
"sha256": "5175893aebeb6baf9dfc4e8e4c020f207e142ac6e29e3192394d39a5d655d78c",
|
| 153 |
+
"source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
|
| 154 |
+
},
|
| 155 |
+
"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 156 |
+
"sha256": "49cf5fb0fcd1100eb4455716a8a30a73c296b08da23ca0f4c6409ddce9862a1c",
|
| 157 |
+
"source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
"input_fingerprint": "9e4ef0d94099fc68",
|
| 161 |
+
"kind": "online_calibration",
|
| 162 |
+
"output_sha256": "0558c8fd62b38550a0b615f464340a3ba3722ff54451a1386b5c81246ec74a34",
|
| 163 |
+
"overlap": {
|
| 164 |
+
"left-right": 0.501,
|
| 165 |
+
"left_eye-left": 0.707,
|
| 166 |
+
"left_eye-right": 0.671,
|
| 167 |
+
"left_front-left": 0.478,
|
| 168 |
+
"left_front-left_eye": 0.72,
|
| 169 |
+
"left_front-right": 0.448,
|
| 170 |
+
"left_front-right_eye": 0.732,
|
| 171 |
+
"left_front-right_front": 1.0,
|
| 172 |
+
"right_eye-left": 0.696,
|
| 173 |
+
"right_eye-left_eye": 1.0,
|
| 174 |
+
"right_eye-right": 0.673,
|
| 175 |
+
"right_front-left": 0.464,
|
| 176 |
+
"right_front-left_eye": 0.723,
|
| 177 |
+
"right_front-right": 0.466,
|
| 178 |
+
"right_front-right_eye": 0.734
|
| 179 |
+
},
|
| 180 |
+
"picture_change": {
|
| 181 |
+
"left": 36.72,
|
| 182 |
+
"left_eye": 31.844,
|
| 183 |
+
"left_front": 44.929,
|
| 184 |
+
"right": 34.915,
|
| 185 |
+
"right_eye": 30.847,
|
| 186 |
+
"right_front": 45.831
|
| 187 |
+
},
|
| 188 |
+
"runtime": {
|
| 189 |
+
"numpy": "2.4.6",
|
| 190 |
+
"opencv": "5.0.0",
|
| 191 |
+
"scipy": "1.17.1"
|
| 192 |
+
},
|
| 193 |
+
"segment": 1,
|
| 194 |
+
"selection": {
|
| 195 |
+
"overlap_captures": [
|
| 196 |
+
19918135082777,
|
| 197 |
+
19919135082777,
|
| 198 |
+
19924135093888,
|
| 199 |
+
19925135105000,
|
| 200 |
+
19929135105000,
|
| 201 |
+
19930135105000,
|
| 202 |
+
19932135082777,
|
| 203 |
+
19933135116111,
|
| 204 |
+
19938135082777,
|
| 205 |
+
19939135116111,
|
| 206 |
+
19943135082777,
|
| 207 |
+
19944135105000,
|
| 208 |
+
19948135082777,
|
| 209 |
+
19949135105000,
|
| 210 |
+
19950135071666,
|
| 211 |
+
19951135105000,
|
| 212 |
+
19953135082777,
|
| 213 |
+
19954135249444,
|
| 214 |
+
19958135082777,
|
| 215 |
+
19959135227222,
|
| 216 |
+
19964135105000,
|
| 217 |
+
19965135105000,
|
| 218 |
+
19966135082777,
|
| 219 |
+
19967135105000,
|
| 220 |
+
19970135105000,
|
| 221 |
+
19971135105000,
|
| 222 |
+
19975135160555,
|
| 223 |
+
19976135082777,
|
| 224 |
+
19980135082777,
|
| 225 |
+
19981135071666,
|
| 226 |
+
19986135116111,
|
| 227 |
+
19987135105000,
|
| 228 |
+
19990135105000,
|
| 229 |
+
19991135082777,
|
| 230 |
+
19995135105000,
|
| 231 |
+
19996135238333,
|
| 232 |
+
19997135227222,
|
| 233 |
+
20003135105000,
|
| 234 |
+
20004135093888,
|
| 235 |
+
20005135116111,
|
| 236 |
+
20006135093888,
|
| 237 |
+
20011135093888,
|
| 238 |
+
20012135105000,
|
| 239 |
+
20016135116111,
|
| 240 |
+
20017135082777,
|
| 241 |
+
20019135105000,
|
| 242 |
+
20020135127222,
|
| 243 |
+
20022135105000,
|
| 244 |
+
20023135227222,
|
| 245 |
+
20028135082777,
|
| 246 |
+
20029135105000,
|
| 247 |
+
20032135249444,
|
| 248 |
+
20033135105000,
|
| 249 |
+
20035135105000,
|
| 250 |
+
20036135082777,
|
| 251 |
+
20039135105000,
|
| 252 |
+
20040135082777,
|
| 253 |
+
20045135105000,
|
| 254 |
+
20046135105000
|
| 255 |
+
]
|
| 256 |
+
},
|
| 257 |
+
"version": 1
|
| 258 |
+
}
|
actions/locomotion_primitives/P33/session_030/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:57018059103444a8437fdb5745eede4ca141eb7b91fd1d1ad06839c22d3959ac
|
| 3 |
+
size 772082
|
actions/locomotion_primitives/P33/session_030/meta.json
CHANGED
|
@@ -329,8 +329,8 @@
|
|
| 329 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 330 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 331 |
"hands": {
|
| 332 |
-
"observed":
|
| 333 |
-
"hand_pose": "
|
| 334 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 335 |
"hand_marker_offsets_m": {
|
| 336 |
"left": {
|
|
@@ -519,10 +519,124 @@
|
|
| 519 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 520 |
"remaining_gyro_frame_deg": 0.8788177007155787
|
| 521 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 522 |
"release": {
|
| 523 |
"release_path": "actions/locomotion_primitives/P33/session_030",
|
| 524 |
"family": "locomotion_primitives",
|
| 525 |
"primitive": "P33",
|
| 526 |
"source_session": "20260916/P33/20260916_054931_session91"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 527 |
}
|
| 528 |
}
|
|
|
|
| 329 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 330 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 331 |
"hands": {
|
| 332 |
+
"observed": true,
|
| 333 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 334 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 335 |
"hand_marker_offsets_m": {
|
| 336 |
"left": {
|
|
|
|
| 519 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 520 |
"remaining_gyro_frame_deg": 0.8788177007155787
|
| 521 |
},
|
| 522 |
+
"hands_registration": {
|
| 523 |
+
"cameras": {},
|
| 524 |
+
"hands": {
|
| 525 |
+
"left": {
|
| 526 |
+
"offset_deg": 24.97,
|
| 527 |
+
"offset_rotvec": [
|
| 528 |
+
0.4142,
|
| 529 |
+
-0.0986,
|
| 530 |
+
-0.0934
|
| 531 |
+
],
|
| 532 |
+
"dev_deg": {
|
| 533 |
+
"median": 13.84,
|
| 534 |
+
"p90": 33.81
|
| 535 |
+
},
|
| 536 |
+
"samples": 2821,
|
| 537 |
+
"accepted": 2431,
|
| 538 |
+
"wrist_pos_err_mm_median": 45.0,
|
| 539 |
+
"per_camera": {
|
| 540 |
+
"head": {
|
| 541 |
+
"samples": 2821,
|
| 542 |
+
"accepted": 2431,
|
| 543 |
+
"gate_deg": 30.0,
|
| 544 |
+
"offset_deg": 24.97,
|
| 545 |
+
"tier": "primary",
|
| 546 |
+
"dev_deg_median": 13.84,
|
| 547 |
+
"wrist_pos_err_mm_median": 45.0
|
| 548 |
+
}
|
| 549 |
+
},
|
| 550 |
+
"frames_by_state": {
|
| 551 |
+
"ace_sample": 10062,
|
| 552 |
+
"interpolated": 5886,
|
| 553 |
+
"mean_hand": 136,
|
| 554 |
+
"no_body_fit": 0
|
| 555 |
+
},
|
| 556 |
+
"observed_fraction": 0.9915,
|
| 557 |
+
"observed_fraction_of_valid": 0.9915,
|
| 558 |
+
"palm_axis_vs_markers_deg": {
|
| 559 |
+
"gsi": 31.25,
|
| 560 |
+
"smplx": 0.8
|
| 561 |
+
},
|
| 562 |
+
"hand_marker_to_mesh_mm": {
|
| 563 |
+
"flat": {
|
| 564 |
+
"median": 8.1,
|
| 565 |
+
"p90": 9.3
|
| 566 |
+
},
|
| 567 |
+
"registered": {
|
| 568 |
+
"median": 8.0,
|
| 569 |
+
"p90": 9.6
|
| 570 |
+
}
|
| 571 |
+
}
|
| 572 |
+
},
|
| 573 |
+
"right": {
|
| 574 |
+
"offset_deg": 16.07,
|
| 575 |
+
"offset_rotvec": [
|
| 576 |
+
0.0388,
|
| 577 |
+
0.2247,
|
| 578 |
+
0.1632
|
| 579 |
+
],
|
| 580 |
+
"dev_deg": {
|
| 581 |
+
"median": 21.34,
|
| 582 |
+
"p90": 42.14
|
| 583 |
+
},
|
| 584 |
+
"samples": 2396,
|
| 585 |
+
"accepted": 1737,
|
| 586 |
+
"wrist_pos_err_mm_median": 82.9,
|
| 587 |
+
"per_camera": {
|
| 588 |
+
"head": {
|
| 589 |
+
"samples": 2396,
|
| 590 |
+
"accepted": 1737,
|
| 591 |
+
"gate_deg": 30.0,
|
| 592 |
+
"offset_deg": 16.07,
|
| 593 |
+
"tier": "primary",
|
| 594 |
+
"dev_deg_median": 21.34,
|
| 595 |
+
"wrist_pos_err_mm_median": 82.9
|
| 596 |
+
}
|
| 597 |
+
},
|
| 598 |
+
"frames_by_state": {
|
| 599 |
+
"ace_sample": 7310,
|
| 600 |
+
"interpolated": 7658,
|
| 601 |
+
"mean_hand": 1116,
|
| 602 |
+
"no_body_fit": 0
|
| 603 |
+
},
|
| 604 |
+
"observed_fraction": 0.9306,
|
| 605 |
+
"observed_fraction_of_valid": 0.9306,
|
| 606 |
+
"palm_axis_vs_markers_deg": {
|
| 607 |
+
"gsi": 20.55,
|
| 608 |
+
"smplx": 0.76
|
| 609 |
+
},
|
| 610 |
+
"hand_marker_to_mesh_mm": {
|
| 611 |
+
"flat": {
|
| 612 |
+
"median": 10.1,
|
| 613 |
+
"p90": 12.6
|
| 614 |
+
},
|
| 615 |
+
"registered": {
|
| 616 |
+
"median": 10.0,
|
| 617 |
+
"p90": 13.3
|
| 618 |
+
}
|
| 619 |
+
}
|
| 620 |
+
}
|
| 621 |
+
},
|
| 622 |
+
"max_dev_deg": 30.0,
|
| 623 |
+
"max_gap_s": 1.0,
|
| 624 |
+
"cameras_used": [
|
| 625 |
+
"head"
|
| 626 |
+
],
|
| 627 |
+
"generated_at_utc": "2026-11-03T23:05:15.947977+00:00",
|
| 628 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 629 |
+
"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",
|
| 630 |
+
"wrist_flip_suspect": []
|
| 631 |
+
},
|
| 632 |
"release": {
|
| 633 |
"release_path": "actions/locomotion_primitives/P33/session_030",
|
| 634 |
"family": "locomotion_primitives",
|
| 635 |
"primitive": "P33",
|
| 636 |
"source_session": "20260916/P33/20260916_054931_session91"
|
| 637 |
+
},
|
| 638 |
+
"task": {
|
| 639 |
+
"primitive": "P33",
|
| 640 |
+
"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
|
| 641 |
}
|
| 642 |
}
|