Release update 2026-11-05: new sessions, instructions, annotations (part 48)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- actions/locomotion_primitives/P02/session_014/cameras/gsi_online_calibration.json +251 -0
- actions/locomotion_primitives/P02/session_014/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P02/session_014/meta.json +116 -2
- actions/locomotion_primitives/P02/session_014/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P02/session_014/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P02/session_015/annotations.json +127 -0
- actions/locomotion_primitives/P02/session_015/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P02/session_015/meta.json +116 -2
- actions/locomotion_primitives/P02/session_015/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P02/session_015/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P02/session_016/annotations.json +149 -0
- actions/locomotion_primitives/P02/session_016/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P02/session_016/meta.json +116 -2
- actions/locomotion_primitives/P02/session_016/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P02/session_016/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P02/session_017/annotations.json +127 -0
- actions/locomotion_primitives/P02/session_017/cameras/gsi_online_calibration.json +256 -0
- actions/locomotion_primitives/P02/session_017/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P02/session_017/meta.json +116 -2
- actions/locomotion_primitives/P02/session_017/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P02/session_017/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P02/session_018/annotations.json +149 -0
- actions/locomotion_primitives/P02/session_018/cameras/gsi_online_calibration.json +252 -0
- actions/locomotion_primitives/P02/session_018/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P02/session_018/meta.json +116 -2
- actions/locomotion_primitives/P02/session_018/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P02/session_018/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P02/session_019/annotations.json +127 -0
- actions/locomotion_primitives/P02/session_019/cameras/gsi_online_calibration.json +254 -0
- actions/locomotion_primitives/P02/session_019/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P02/session_019/meta.json +116 -2
- actions/locomotion_primitives/P02/session_019/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P02/session_019/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P02/session_020/annotations.json +127 -0
- actions/locomotion_primitives/P02/session_020/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P02/session_020/meta.json +116 -2
- actions/locomotion_primitives/P02/session_020/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P02/session_020/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P02/session_021/annotations.json +127 -0
- actions/locomotion_primitives/P02/session_021/cameras/gsi_online_calibration.json +254 -0
- actions/locomotion_primitives/P02/session_021/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P02/session_021/meta.json +116 -2
- actions/locomotion_primitives/P02/session_021/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P02/session_021/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P02/session_022/annotations.json +127 -0
- actions/locomotion_primitives/P02/session_022/cameras/gsi_online_calibration.json +257 -0
- actions/locomotion_primitives/P02/session_022/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P02/session_022/meta.json +116 -2
- actions/locomotion_primitives/P02/session_022/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P02/session_022/motions/smplx.npz +2 -2
actions/locomotion_primitives/P02/session_014/cameras/gsi_online_calibration.json
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{
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| 1 |
version https://git-lfs.github.com/spec/v1
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{
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"instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
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},
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{
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| 39 |
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|
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|
| 116 |
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|
| 117 |
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|
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|
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|
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|
| 125 |
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|
| 126 |
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|
| 127 |
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}
|
actions/locomotion_primitives/P02/session_015/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:beb6cd76e6d7a63cf8073ae2e290cbb4b0e4892a1645f504aaf55b6ee6fd1d64
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size 626213
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actions/locomotion_primitives/P02/session_015/meta.json
CHANGED
|
@@ -325,8 +325,8 @@
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|
| 325 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 326 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 327 |
"hands": {
|
| 328 |
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"observed":
|
| 329 |
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|
| 330 |
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|
| 331 |
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|
| 332 |
"left": {
|
|
@@ -523,10 +523,124 @@
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|
| 523 |
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|
| 524 |
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| 525 |
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|
| 528 |
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| 529 |
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| 532 |
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| 325 |
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|
| 326 |
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|
| 327 |
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|
| 328 |
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|
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},
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},
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|
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|
| 622 |
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| 623 |
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}
|
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},
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| 626 |
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|
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|
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|
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| 631 |
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"generated_at_utc": "2026-11-03T16:43:08.334367+00:00",
|
| 632 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 633 |
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"conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
|
| 634 |
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|
| 635 |
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},
|
| 636 |
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|
| 637 |
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|
| 638 |
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|
| 639 |
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|
| 640 |
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|
| 641 |
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},
|
| 642 |
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|
| 643 |
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"primitive": "P02",
|
| 644 |
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"instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
|
| 645 |
}
|
| 646 |
}
|
actions/locomotion_primitives/P02/session_015/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
|
|
|
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:912617d8c2495d9cdb22ecc46afa070b4106a17eb8f884edfe8dac0925f3bcab
|
| 3 |
+
size 3402756
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actions/locomotion_primitives/P02/session_015/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:
|
| 3 |
-
size
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| 1 |
version https://git-lfs.github.com/spec/v1
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oid sha256:d01f9578f86d66a478fb1c8090902b4735bec40fcfee34caac5ef4b9f71066b0
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size 9429276
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actions/locomotion_primitives/P02/session_016/annotations.json
ADDED
|
@@ -0,0 +1,149 @@
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| 1 |
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{
|
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"schema_version": 1,
|
| 3 |
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| 147 |
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|
| 148 |
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]
|
| 149 |
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}
|
actions/locomotion_primitives/P02/session_016/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:54f9720684793f551221a0fdc5239a286244644216010e6831135dca21cec05a
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size 941799
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actions/locomotion_primitives/P02/session_016/meta.json
CHANGED
|
@@ -324,8 +324,8 @@
|
|
| 324 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 325 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 326 |
"hands": {
|
| 327 |
-
"observed":
|
| 328 |
-
"hand_pose": "
|
| 329 |
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|
| 330 |
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|
| 331 |
"left": {
|
|
@@ -516,10 +516,124 @@
|
|
| 516 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 517 |
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|
| 518 |
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| 519 |
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| 520 |
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|
| 521 |
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| 522 |
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| 523 |
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|
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|
| 524 |
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|
| 525 |
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|
| 324 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 325 |
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|
| 326 |
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|
| 327 |
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"observed": true,
|
| 328 |
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|
| 329 |
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|
| 330 |
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|
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|
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|
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|
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}
|
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|
| 558 |
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},
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| 563 |
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},
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|
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}
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|
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|
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|
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|
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|
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|
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|
| 623 |
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|
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"generated_at_utc": "2026-11-03T18:55:11.135636+00:00",
|
| 625 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 626 |
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"conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
|
| 627 |
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"wrist_flip_suspect": []
|
| 628 |
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},
|
| 629 |
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|
| 630 |
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|
| 631 |
"family": "locomotion_primitives",
|
| 632 |
"primitive": "P02",
|
| 633 |
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|
| 634 |
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},
|
| 635 |
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"task": {
|
| 636 |
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"primitive": "P02",
|
| 637 |
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"instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
|
| 638 |
}
|
| 639 |
}
|
actions/locomotion_primitives/P02/session_016/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:0b66f5174dbc56bb261147dbb8f78fb7ab4cbc80331503fa2ee97b2b76c9b7db
|
| 3 |
+
size 4368668
|
actions/locomotion_primitives/P02/session_016/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
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size
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|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4cc1e2ee945dedf66171f3d92cc8f36b12a938a52358cabad5d8d63611507be7
|
| 3 |
+
size 14059589
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actions/locomotion_primitives/P02/session_017/annotations.json
ADDED
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@@ -0,0 +1,127 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"source": "vendor annotation.json (schema 2, revision 1)",
|
| 4 |
+
"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
|
| 5 |
+
"primitive": "P02",
|
| 6 |
+
"instruction": "Walk forward noticeably slower than normal; do not shuffle; stop.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 123.966667,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.0390720273515508
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "7db42cde-531b-417c-8bde-449ac15b6be4",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "P02",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1.416,
|
| 22 |
+
"end_s": 10.233,
|
| 23 |
+
"t_start": 1.4551,
|
| 24 |
+
"t_end": 10.2721,
|
| 25 |
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"instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"id": "663b2ef0-7c31-48f8-894d-37b6408220cb",
|
| 29 |
+
"segment": "segment1",
|
| 30 |
+
"action": "P02",
|
| 31 |
+
"quality": "valid",
|
| 32 |
+
"start_s": 13.664,
|
| 33 |
+
"end_s": 21.553,
|
| 34 |
+
"t_start": 13.7031,
|
| 35 |
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"t_end": 21.5921,
|
| 36 |
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"instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"id": "88ed4b31-4e5b-405f-9b07-514d7e47d660",
|
| 40 |
+
"segment": "segment1",
|
| 41 |
+
"action": "P02",
|
| 42 |
+
"quality": "valid",
|
| 43 |
+
"start_s": 25.057,
|
| 44 |
+
"end_s": 34.08,
|
| 45 |
+
"t_start": 25.0961,
|
| 46 |
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"t_end": 34.1191,
|
| 47 |
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"instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
|
| 48 |
+
},
|
| 49 |
+
{
|
| 50 |
+
"id": "4efeae02-6410-4707-ab1f-56d542546b7f",
|
| 51 |
+
"segment": "segment1",
|
| 52 |
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"action": "P02",
|
| 53 |
+
"quality": "valid",
|
| 54 |
+
"start_s": 36.977,
|
| 55 |
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"end_s": 44.663,
|
| 56 |
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"t_start": 37.0161,
|
| 57 |
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"t_end": 44.7021,
|
| 58 |
+
"instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"id": "b49fd29a-f735-4c43-b6be-f251e442cd67",
|
| 62 |
+
"segment": "segment1",
|
| 63 |
+
"action": "P02",
|
| 64 |
+
"quality": "valid",
|
| 65 |
+
"start_s": 48.037,
|
| 66 |
+
"end_s": 57.308,
|
| 67 |
+
"t_start": 48.0761,
|
| 68 |
+
"t_end": 57.3471,
|
| 69 |
+
"instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
|
| 70 |
+
},
|
| 71 |
+
{
|
| 72 |
+
"id": "b41d09bc-a9a0-4c95-9289-2608121c0a3d",
|
| 73 |
+
"segment": "segment1",
|
| 74 |
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"action": "P02",
|
| 75 |
+
"quality": "valid",
|
| 76 |
+
"start_s": 60.306,
|
| 77 |
+
"end_s": 68.282,
|
| 78 |
+
"t_start": 60.3451,
|
| 79 |
+
"t_end": 68.3211,
|
| 80 |
+
"instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"id": "8d3c49c4-4574-4bcf-b781-0710690589e7",
|
| 84 |
+
"segment": "segment1",
|
| 85 |
+
"action": "P02",
|
| 86 |
+
"quality": "valid",
|
| 87 |
+
"start_s": 71.2,
|
| 88 |
+
"end_s": 80.175,
|
| 89 |
+
"t_start": 71.2391,
|
| 90 |
+
"t_end": 80.2141,
|
| 91 |
+
"instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"id": "21b3eeba-224c-4960-bd54-f282c0e868ef",
|
| 95 |
+
"segment": "segment1",
|
| 96 |
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"action": "P02",
|
| 97 |
+
"quality": "valid",
|
| 98 |
+
"start_s": 83.101,
|
| 99 |
+
"end_s": 91.51,
|
| 100 |
+
"t_start": 83.1401,
|
| 101 |
+
"t_end": 91.5491,
|
| 102 |
+
"instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
|
| 103 |
+
},
|
| 104 |
+
{
|
| 105 |
+
"id": "fa21f704-23f0-4804-b67c-4cf5213854b7",
|
| 106 |
+
"segment": "segment1",
|
| 107 |
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"action": "P02",
|
| 108 |
+
"quality": "valid",
|
| 109 |
+
"start_s": 94.405,
|
| 110 |
+
"end_s": 103.676,
|
| 111 |
+
"t_start": 94.4441,
|
| 112 |
+
"t_end": 103.7151,
|
| 113 |
+
"instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
|
| 114 |
+
},
|
| 115 |
+
{
|
| 116 |
+
"id": "6ce632b1-ec01-4acc-9f79-813dac51cf52",
|
| 117 |
+
"segment": "segment1",
|
| 118 |
+
"action": "P02",
|
| 119 |
+
"quality": "valid",
|
| 120 |
+
"start_s": 106.347,
|
| 121 |
+
"end_s": 117.18,
|
| 122 |
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"t_start": 106.3861,
|
| 123 |
+
"t_end": 117.2191,
|
| 124 |
+
"instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
|
| 125 |
+
}
|
| 126 |
+
]
|
| 127 |
+
}
|
actions/locomotion_primitives/P02/session_017/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,256 @@
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|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 15,
|
| 5 |
+
"median_px": 0.344
|
| 6 |
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},
|
| 7 |
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"cameras": {
|
| 8 |
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"left": {
|
| 9 |
+
"accepted": true,
|
| 10 |
+
"against": [
|
| 11 |
+
"left_front",
|
| 12 |
+
"right_front",
|
| 13 |
+
"left_eye",
|
| 14 |
+
"right_eye",
|
| 15 |
+
"right"
|
| 16 |
+
],
|
| 17 |
+
"delta_deg": 1.0149,
|
| 18 |
+
"gate_fail": [],
|
| 19 |
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"held_out_px_after": 0.446,
|
| 20 |
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"held_out_px_before": 4.261,
|
| 21 |
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"inliers": 2106,
|
| 22 |
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"position_fitted": false,
|
| 23 |
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"rotvec_deg": [
|
| 24 |
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0.4537,
|
| 25 |
+
-0.3867,
|
| 26 |
+
-0.8214
|
| 27 |
+
],
|
| 28 |
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"split_deg": 0.0387,
|
| 29 |
+
"usable": true
|
| 30 |
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},
|
| 31 |
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"left_eye": {
|
| 32 |
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"accepted": true,
|
| 33 |
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"against": [
|
| 34 |
+
"left_front",
|
| 35 |
+
"right_front",
|
| 36 |
+
"right_eye",
|
| 37 |
+
"left",
|
| 38 |
+
"right"
|
| 39 |
+
],
|
| 40 |
+
"delta_deg": 1.9142,
|
| 41 |
+
"gate_fail": [],
|
| 42 |
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"held_out_px_after": 0.384,
|
| 43 |
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"held_out_px_before": 6.397,
|
| 44 |
+
"inliers": 2978,
|
| 45 |
+
"position_fitted": true,
|
| 46 |
+
"position_mm": [
|
| 47 |
+
1.17,
|
| 48 |
+
-13.14,
|
| 49 |
+
7.31
|
| 50 |
+
],
|
| 51 |
+
"position_sigma_mm": 0.362,
|
| 52 |
+
"position_split_mm": 3.555,
|
| 53 |
+
"rotvec_deg": [
|
| 54 |
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0.0244,
|
| 55 |
+
0.5904,
|
| 56 |
+
-1.8207
|
| 57 |
+
],
|
| 58 |
+
"split_deg": 0.1115,
|
| 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": 1.2963,
|
| 74 |
+
"gate_fail": [],
|
| 75 |
+
"held_out_px_after": 0.579,
|
| 76 |
+
"held_out_px_before": 3.596,
|
| 77 |
+
"inliers": 1074,
|
| 78 |
+
"position_fitted": false,
|
| 79 |
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"rotvec_deg": [
|
| 80 |
+
1.2588,
|
| 81 |
+
-0.301,
|
| 82 |
+
-0.0729
|
| 83 |
+
],
|
| 84 |
+
"split_deg": 0.054,
|
| 85 |
+
"usable": true
|
| 86 |
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},
|
| 87 |
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"source_session": "20260916/P02/20260916_051659_session79"
|
| 636 |
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|
| 637 |
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|
| 638 |
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"primitive": "P02",
|
| 639 |
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"instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
|
| 640 |
}
|
| 641 |
}
|
actions/locomotion_primitives/P02/session_017/motions/hands_mano.npz
ADDED
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actions/locomotion_primitives/P02/session_017/motions/smplx.npz
CHANGED
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version https://git-lfs.github.com/spec/v1
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actions/locomotion_primitives/P02/session_018/annotations.json
ADDED
|
@@ -0,0 +1,149 @@
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|
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
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|
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|
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|
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|
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|
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|
| 46 |
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|
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
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|
| 147 |
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|
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|
| 149 |
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}
|
actions/locomotion_primitives/P02/session_018/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,252 @@
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
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|
| 20 |
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|
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|
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|
| 23 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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"generated_by": "scripts/register_hands_smplx.py",
|
| 624 |
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"conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
|
| 625 |
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"wrist_flip_suspect": []
|
| 626 |
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|
| 627 |
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|
| 628 |
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|
| 629 |
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|
| 630 |
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|
| 631 |
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|
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|
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"task": {
|
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"primitive": "P02",
|
| 635 |
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"instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
|
| 636 |
}
|
| 637 |
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|
actions/locomotion_primitives/P02/session_018/motions/hands_mano.npz
ADDED
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version https://git-lfs.github.com/spec/v1
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|
| 3 |
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size 1705794
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actions/locomotion_primitives/P02/session_018/motions/smplx.npz
CHANGED
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@@ -1,3 +1,3 @@
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|
| 1 |
version https://git-lfs.github.com/spec/v1
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| 2 |
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size 6755823
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actions/locomotion_primitives/P02/session_019/annotations.json
ADDED
|
@@ -0,0 +1,127 @@
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{
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|
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|
| 4 |
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|
| 5 |
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|
| 6 |
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"instruction": "Walk forward noticeably slower than normal; do not shuffle; stop.",
|
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|
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|
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|
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|
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"instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
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|
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|
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|
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{
|
| 39 |
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"id": "db55af23-6e8c-4e67-ad8f-5a0d24f787af",
|
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|
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|
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|
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|
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|
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"instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
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|
| 50 |
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"id": "eb858a13-ee05-44bc-9a85-baf4d860d8de",
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|
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|
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|
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|
| 57 |
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|
| 58 |
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"instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
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|
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|
| 61 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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"instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
|
| 103 |
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|
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|
| 105 |
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|
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|
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|
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|
| 113 |
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"instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
|
| 114 |
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},
|
| 115 |
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{
|
| 116 |
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"id": "f5909bf0-cd65-4282-ad97-9b1aa8240617",
|
| 117 |
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"segment": "segment1",
|
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"action": "P02",
|
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|
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|
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|
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|
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|
| 124 |
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"instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
|
| 125 |
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}
|
| 126 |
+
]
|
| 127 |
+
}
|
actions/locomotion_primitives/P02/session_019/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,254 @@
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|
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|
|
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|
|
| 1 |
+
{
|
| 2 |
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"camera_fit": {
|
| 3 |
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"groups_dropped": [],
|
| 4 |
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"groups_used": 14,
|
| 5 |
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|
| 6 |
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},
|
| 7 |
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"cameras": {
|
| 8 |
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"left": {
|
| 9 |
+
"accepted": true,
|
| 10 |
+
"against": [
|
| 11 |
+
"left_front",
|
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|
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|
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actions/locomotion_primitives/P02/session_019/motions/hands_mano.npz
ADDED
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actions/locomotion_primitives/P02/session_019/motions/smplx.npz
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actions/locomotion_primitives/P02/session_020/annotations.json
ADDED
|
@@ -0,0 +1,127 @@
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|
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|
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|
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|
| 125 |
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}
|
| 126 |
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]
|
| 127 |
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}
|
actions/locomotion_primitives/P02/session_020/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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+
oid sha256:f017e61901b1606a25b9b60e241292f69e078e161f434f9315d8b4f1796bc3b4
|
| 3 |
+
size 485756
|
actions/locomotion_primitives/P02/session_020/meta.json
CHANGED
|
@@ -325,8 +325,8 @@
|
|
| 325 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 326 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 327 |
"hands": {
|
| 328 |
-
"observed":
|
| 329 |
-
"hand_pose": "
|
| 330 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 331 |
"hand_marker_offsets_m": {
|
| 332 |
"left": {
|
|
@@ -524,10 +524,124 @@
|
|
| 524 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 525 |
"remaining_gyro_frame_deg": 1.1550409015622332
|
| 526 |
},
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
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|
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|
|
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|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
| 527 |
"release": {
|
| 528 |
"release_path": "actions/locomotion_primitives/P02/session_020",
|
| 529 |
"family": "locomotion_primitives",
|
| 530 |
"primitive": "P02",
|
| 531 |
"source_session": "20260923/P02/20260923_121814_session62"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 532 |
}
|
| 533 |
}
|
|
|
|
| 325 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 326 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 327 |
"hands": {
|
| 328 |
+
"observed": true,
|
| 329 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 330 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 331 |
"hand_marker_offsets_m": {
|
| 332 |
"left": {
|
|
|
|
| 524 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 525 |
"remaining_gyro_frame_deg": 1.1550409015622332
|
| 526 |
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|
| 527 |
+
"hands_registration": {
|
| 528 |
+
"cameras": {},
|
| 529 |
+
"hands": {
|
| 530 |
+
"left": {
|
| 531 |
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"offset_deg": 23.76,
|
| 532 |
+
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actions/locomotion_primitives/P02/session_020/motions/hands_mano.npz
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actions/locomotion_primitives/P02/session_020/motions/smplx.npz
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actions/locomotion_primitives/P02/session_021/annotations.json
ADDED
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@@ -0,0 +1,127 @@
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 125 |
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}
|
| 126 |
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]
|
| 127 |
+
}
|
actions/locomotion_primitives/P02/session_021/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,254 @@
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|
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actions/locomotion_primitives/P02/session_021/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:88c7053922f1ef36973d62930237985d0e6abc9ec1657323fab1652bd4f9e1ee
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size 741070
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actions/locomotion_primitives/P02/session_021/meta.json
CHANGED
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@@ -325,8 +325,8 @@
|
|
| 325 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 326 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 327 |
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|
| 328 |
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|
| 329 |
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|
| 330 |
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|
| 331 |
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|
| 332 |
"left": {
|
|
@@ -519,10 +519,124 @@
|
|
| 519 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 520 |
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|
| 521 |
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|
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| 522 |
"release": {
|
| 523 |
"release_path": "actions/locomotion_primitives/P02/session_021",
|
| 524 |
"family": "locomotion_primitives",
|
| 525 |
"primitive": "P02",
|
| 526 |
"source_session": "20260929/P02/20260929_022849_session42"
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| 527 |
}
|
| 528 |
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|
| 325 |
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actions/locomotion_primitives/P02/session_021/motions/hands_mano.npz
ADDED
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actions/locomotion_primitives/P02/session_021/motions/smplx.npz
CHANGED
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@@ -1,3 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 10996174
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actions/locomotion_primitives/P02/session_022/annotations.json
ADDED
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@@ -0,0 +1,127 @@
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 92 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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"instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
|
| 114 |
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|
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{
|
| 116 |
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|
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|
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|
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|
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|
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|
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|
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"instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
|
| 125 |
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}
|
| 126 |
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]
|
| 127 |
+
}
|
actions/locomotion_primitives/P02/session_022/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,257 @@
|
|
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|
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|
actions/locomotion_primitives/P02/session_022/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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size 712416
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actions/locomotion_primitives/P02/session_022/meta.json
CHANGED
|
@@ -340,8 +340,8 @@
|
|
| 340 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 341 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 342 |
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|
| 343 |
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|
| 344 |
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|
| 345 |
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|
| 346 |
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|
| 347 |
"left": {
|
|
@@ -520,10 +520,124 @@
|
|
| 520 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 521 |
"remaining_gyro_frame_deg": 1.2103422840151448
|
| 522 |
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|
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|
| 523 |
"release": {
|
| 524 |
"release_path": "actions/locomotion_primitives/P02/session_022",
|
| 525 |
"family": "locomotion_primitives",
|
| 526 |
"primitive": "P02",
|
| 527 |
"source_session": "20260929/P02/20260929_103142_session200"
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|
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|
| 528 |
}
|
| 529 |
}
|
|
|
|
| 340 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 341 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 342 |
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|
| 343 |
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"observed": true,
|
| 344 |
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"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 345 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 346 |
"hand_marker_offsets_m": {
|
| 347 |
"left": {
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|
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|
| 520 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 521 |
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|
| 522 |
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|
| 523 |
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|
| 524 |
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|
| 525 |
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|
| 526 |
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|
| 527 |
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|
| 528 |
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| 529 |
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0.6968,
|
| 530 |
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|
| 531 |
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|
| 532 |
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],
|
| 533 |
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|
| 534 |
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"median": 16.76,
|
| 535 |
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"p90": 34.55
|
| 536 |
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},
|
| 537 |
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"samples": 3241,
|
| 538 |
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|
| 539 |
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|
| 540 |
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|
| 541 |
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|
| 542 |
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"samples": 3241,
|
| 543 |
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|
| 544 |
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|
| 545 |
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|
| 546 |
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"tier": "primary",
|
| 547 |
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|
| 548 |
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|
| 549 |
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}
|
| 550 |
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},
|
| 551 |
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|
| 552 |
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|
| 553 |
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|
| 554 |
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|
| 555 |
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| 556 |
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},
|
| 557 |
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"observed_fraction": 0.9839,
|
| 558 |
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|
| 559 |
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|
| 560 |
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"gsi": 54.49,
|
| 561 |
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"smplx": 0.51
|
| 562 |
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},
|
| 563 |
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"hand_marker_to_mesh_mm": {
|
| 564 |
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| 565 |
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"median": 8.9,
|
| 566 |
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|
| 567 |
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},
|
| 568 |
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"registered": {
|
| 569 |
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"median": 7.3,
|
| 570 |
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"p90": 8.5
|
| 571 |
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}
|
| 572 |
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}
|
| 573 |
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},
|
| 574 |
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"right": {
|
| 575 |
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"offset_deg": 21.01,
|
| 576 |
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"offset_rotvec": [
|
| 577 |
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0.3101,
|
| 578 |
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0.1754,
|
| 579 |
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0.0867
|
| 580 |
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],
|
| 581 |
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"dev_deg": {
|
| 582 |
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"median": 16.06,
|
| 583 |
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"p90": 39.46
|
| 584 |
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},
|
| 585 |
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"samples": 3016,
|
| 586 |
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"accepted": 2420,
|
| 587 |
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"wrist_pos_err_mm_median": 42.3,
|
| 588 |
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"per_camera": {
|
| 589 |
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"head": {
|
| 590 |
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"samples": 3016,
|
| 591 |
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"accepted": 2420,
|
| 592 |
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"gate_deg": 30.0,
|
| 593 |
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"offset_deg": 21.01,
|
| 594 |
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"tier": "primary",
|
| 595 |
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"dev_deg_median": 16.06,
|
| 596 |
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"wrist_pos_err_mm_median": 42.3
|
| 597 |
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}
|
| 598 |
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},
|
| 599 |
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"frames_by_state": {
|
| 600 |
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"ace_sample": 9878,
|
| 601 |
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|
| 602 |
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"mean_hand": 744,
|
| 603 |
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|
| 604 |
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},
|
| 605 |
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"observed_fraction": 0.95,
|
| 606 |
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"observed_fraction_of_valid": 0.95,
|
| 607 |
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"palm_axis_vs_markers_deg": {
|
| 608 |
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"gsi": 19.82,
|
| 609 |
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"smplx": 0.44
|
| 610 |
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},
|
| 611 |
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"hand_marker_to_mesh_mm": {
|
| 612 |
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|
| 613 |
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|
| 614 |
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|
| 615 |
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},
|
| 616 |
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| 617 |
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"median": 9.3,
|
| 618 |
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|
| 619 |
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|
| 620 |
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| 621 |
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}
|
| 622 |
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},
|
| 623 |
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|
| 624 |
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|
| 625 |
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|
| 626 |
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"head"
|
| 627 |
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],
|
| 628 |
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"generated_at_utc": "2026-11-03T22:26:26.493326+00:00",
|
| 629 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 630 |
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"conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
|
| 631 |
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"wrist_flip_suspect": []
|
| 632 |
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},
|
| 633 |
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|
| 634 |
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|
| 635 |
"family": "locomotion_primitives",
|
| 636 |
"primitive": "P02",
|
| 637 |
"source_session": "20260929/P02/20260929_103142_session200"
|
| 638 |
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},
|
| 639 |
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"task": {
|
| 640 |
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"primitive": "P02",
|
| 641 |
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"instruction": "Walk forward noticeably slower than normal; do not shuffle; stop."
|
| 642 |
}
|
| 643 |
}
|
actions/locomotion_primitives/P02/session_022/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
| 3 |
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size 4270760
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actions/locomotion_primitives/P02/session_022/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
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|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
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|
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