Release update 2026-11-05: new sessions, instructions, annotations (part 34)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +19 -0
- actions/locomotion_posture_dynamics/D04/session_012/cameras/slam.npz +3 -0
- actions/locomotion_posture_dynamics/D04/session_012/meta.json +116 -2
- actions/locomotion_posture_dynamics/D04/session_012/motions/hands_mano.npz +3 -0
- actions/locomotion_posture_dynamics/D04/session_012/motions/smplx.npz +2 -2
- actions/locomotion_posture_dynamics/D04/session_013/annotations.json +39 -0
- actions/locomotion_posture_dynamics/D04/session_013/cameras/gsi_online_calibration.json +255 -0
- actions/locomotion_posture_dynamics/D04/session_013/cameras/slam.npz +3 -0
- actions/locomotion_posture_dynamics/D04/session_013/meta.json +116 -2
- actions/locomotion_posture_dynamics/D04/session_013/motions/hands_mano.npz +3 -0
- actions/locomotion_posture_dynamics/D04/session_013/motions/smplx.npz +2 -2
- actions/locomotion_posture_dynamics/D04/session_014/annotations.json +39 -0
- actions/locomotion_posture_dynamics/D04/session_014/cameras/gsi_online_calibration.json +252 -0
- actions/locomotion_posture_dynamics/D04/session_014/cameras/slam.npz +3 -0
- actions/locomotion_posture_dynamics/D04/session_014/meta.json +116 -2
- actions/locomotion_posture_dynamics/D04/session_014/motions/hands_mano.npz +3 -0
- actions/locomotion_posture_dynamics/D04/session_014/motions/smplx.npz +2 -2
- actions/locomotion_posture_dynamics/D05/session_001/annotations.json +39 -0
- actions/locomotion_posture_dynamics/D05/session_001/cameras/gsi_online_calibration.json +266 -0
- actions/locomotion_posture_dynamics/D05/session_001/cameras/slam.npz +3 -0
- actions/locomotion_posture_dynamics/D05/session_001/meta.json +116 -2
- actions/locomotion_posture_dynamics/D05/session_001/motions/hands_mano.npz +3 -0
- actions/locomotion_posture_dynamics/D05/session_001/motions/smplx.npz +2 -2
- actions/locomotion_posture_dynamics/D05/session_002/annotations.json +39 -0
- actions/locomotion_posture_dynamics/D05/session_002/cameras/gsi_online_calibration.json +261 -0
- actions/locomotion_posture_dynamics/D05/session_002/cameras/slam.npz +3 -0
- actions/locomotion_posture_dynamics/D05/session_002/meta.json +116 -2
- actions/locomotion_posture_dynamics/D05/session_002/motions/hands_mano.npz +3 -0
- actions/locomotion_posture_dynamics/D05/session_002/motions/smplx.npz +2 -2
- actions/locomotion_posture_dynamics/D05/session_003/annotations.json +39 -0
- actions/locomotion_posture_dynamics/D05/session_003/cameras/slam.npz +3 -0
- actions/locomotion_posture_dynamics/D05/session_003/meta.json +116 -2
- actions/locomotion_posture_dynamics/D05/session_003/motions/hands_mano.npz +3 -0
- actions/locomotion_posture_dynamics/D05/session_003/motions/smplx.npz +2 -2
- actions/locomotion_posture_dynamics/D05/session_004/annotations.json +39 -0
- actions/locomotion_posture_dynamics/D05/session_004/cameras/gsi_online_calibration.json +251 -0
- actions/locomotion_posture_dynamics/D05/session_004/cameras/slam.npz +3 -0
- actions/locomotion_posture_dynamics/D05/session_004/meta.json +116 -2
- actions/locomotion_posture_dynamics/D05/session_004/motions/hands_mano.npz +3 -0
- actions/locomotion_posture_dynamics/D05/session_004/motions/smplx.npz +2 -2
- actions/locomotion_posture_dynamics/D05/session_005/annotations.json +39 -0
- actions/locomotion_posture_dynamics/D05/session_005/cameras/gsi_online_calibration.json +248 -0
- actions/locomotion_posture_dynamics/D05/session_005/cameras/slam.npz +3 -0
- actions/locomotion_posture_dynamics/D05/session_005/meta.json +116 -2
- actions/locomotion_posture_dynamics/D05/session_005/motions/hands_mano.npz +3 -0
- actions/locomotion_posture_dynamics/D05/session_005/motions/smplx.npz +2 -2
- actions/locomotion_posture_dynamics/D05/session_006/annotations.json +39 -0
- actions/locomotion_posture_dynamics/D05/session_006/cameras/gsi_online_calibration.json +256 -0
- actions/locomotion_posture_dynamics/D05/session_006/cameras/slam.npz +3 -0
- actions/locomotion_posture_dynamics/D05/session_006/meta.json +116 -2
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actions/locomotion_posture_dynamics/D04/session_012/cameras/slam.npz
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version https://git-lfs.github.com/spec/v1
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size 384851
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actions/locomotion_posture_dynamics/D04/session_012/meta.json
CHANGED
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@@ -392,8 +392,8 @@
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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"hands": {
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-
"observed":
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"hand_pose": "
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"hand_marker_offsets_m": {
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"left": {
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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"release": {
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}
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}
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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| 393 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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| 394 |
"hands": {
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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",
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"hand_marker_offsets_m": {
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"left": {
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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"p90": 11.6
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}
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"right": {
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"dev_deg": {
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},
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"samples": 1785,
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"accepted": 1512,
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"wrist_pos_err_mm_median": 48.6,
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"head": {
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},
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}
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}
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}
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},
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"max_dev_deg": 30.0,
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"max_gap_s": 1.0,
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"cameras_used": [
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| 649 |
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"head"
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],
|
| 651 |
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"generated_at_utc": "2026-11-03T21:45:39.400315+00:00",
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| 652 |
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"generated_by": "scripts/register_hands_smplx.py",
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| 653 |
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"conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
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+
"wrist_flip_suspect": []
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},
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"release": {
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"release_path": "actions/locomotion_posture_dynamics/D04/session_012",
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| 658 |
"family": "locomotion_posture_dynamics",
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| 659 |
"primitive": "D04",
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"source_session": "20261017/D04/20261017_013954_session8"
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},
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"task": {
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"primitive": "D04",
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"instruction": "Keeping your feet still, reach down toward the floor in front and to each side, then return to standing. Repeat the movement at your own pace until the operator says stop; do not rush."
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| 665 |
}
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}
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actions/locomotion_posture_dynamics/D04/session_012/motions/hands_mano.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:766092fa472edfd1b94934d14954d6d83adb78d02789f16de46740ad7b496c1c
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size 2517973
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actions/locomotion_posture_dynamics/D04/session_012/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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oid sha256:
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size
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:9b619e358a02666bdc4a606a50e4c53aa4c6ff6dd0c38b3ebf2611a923de4475
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size 5645861
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actions/locomotion_posture_dynamics/D04/session_013/annotations.json
ADDED
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@@ -0,0 +1,39 @@
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| 1 |
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{
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| 2 |
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"schema_version": 1,
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| 3 |
+
"source": "vendor annotation.json (schema 2, revision 1)",
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| 4 |
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"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
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| 5 |
+
"primitive": "D04",
|
| 6 |
+
"instruction": "Keeping your feet still, reach down toward the floor in front and to each side, then return to standing. Repeat the movement at your own pace until the operator says stop; do not rush.",
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| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 87.533356,
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| 11 |
+
"video": "left_eye",
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| 12 |
+
"video_t_start": 0.03937918920777017
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| 13 |
+
}
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| 14 |
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],
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| 15 |
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"episodes": [
|
| 16 |
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{
|
| 17 |
+
"id": "324a319a-3aff-4672-9d06-626b9bb1ed28",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "D04",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0.809,
|
| 22 |
+
"end_s": 42.24,
|
| 23 |
+
"t_start": 0.8484,
|
| 24 |
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"t_end": 42.2794,
|
| 25 |
+
"instruction": "Keeping your feet still, reach down toward the floor in front and to each side, then return to standing. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"id": "97ec63b7-3e45-45a9-8dca-0263afffc2b8",
|
| 29 |
+
"segment": "segment1",
|
| 30 |
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"action": "D04",
|
| 31 |
+
"quality": "valid",
|
| 32 |
+
"start_s": 43.246,
|
| 33 |
+
"end_s": 80.758,
|
| 34 |
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"t_start": 43.2854,
|
| 35 |
+
"t_end": 80.7974,
|
| 36 |
+
"instruction": "Keeping your feet still, reach down toward the floor in front and to each side, then return to standing. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
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actions/locomotion_posture_dynamics/D04/session_013/cameras/gsi_online_calibration.json
ADDED
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@@ -0,0 +1,255 @@
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|
| 1 |
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{
|
| 2 |
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"camera_fit": {
|
| 3 |
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"groups_dropped": [
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| 4 |
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{
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| 5 |
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"matches": 64,
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| 6 |
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"median_px": 729.94,
|
| 7 |
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"pair": [
|
| 8 |
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"left",
|
| 9 |
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"right"
|
| 10 |
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]
|
| 11 |
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}
|
| 12 |
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],
|
| 13 |
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"groups_used": 14,
|
| 14 |
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"median_px": 0.413
|
| 15 |
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},
|
| 16 |
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"cameras": {
|
| 17 |
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"left": {
|
| 18 |
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"accepted": true,
|
| 19 |
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"against": [
|
| 20 |
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"left_front",
|
| 21 |
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"right_front",
|
| 22 |
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"left_eye",
|
| 23 |
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"right_eye"
|
| 24 |
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],
|
| 25 |
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"delta_deg": 2.4823,
|
| 26 |
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"gate_fail": [],
|
| 27 |
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"held_out_px_after": 0.572,
|
| 28 |
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"held_out_px_before": 7.137,
|
| 29 |
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"inliers": 1677,
|
| 30 |
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"position_fitted": false,
|
| 31 |
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"rotvec_deg": [
|
| 32 |
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2.0057,
|
| 33 |
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-1.3376,
|
| 34 |
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|
| 35 |
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],
|
| 36 |
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"split_deg": 0.0337,
|
| 37 |
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"usable": true
|
| 38 |
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},
|
| 39 |
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"left_eye": {
|
| 40 |
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"accepted": true,
|
| 41 |
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"against": [
|
| 42 |
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"left_front",
|
| 43 |
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"right_front",
|
| 44 |
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"right_eye",
|
| 45 |
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"left",
|
| 46 |
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"right"
|
| 47 |
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],
|
| 48 |
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"delta_deg": 0.6126,
|
| 49 |
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"gate_fail": [],
|
| 50 |
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"held_out_px_after": 0.413,
|
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"held_out_px_before": 3.909,
|
| 52 |
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"inliers": 2113,
|
| 53 |
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"position_fitted": true,
|
| 54 |
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"position_mm": [
|
| 55 |
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-2.39,
|
| 56 |
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|
| 57 |
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|
| 58 |
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],
|
| 59 |
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"position_sigma_mm": 0.292,
|
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"position_split_mm": 1.525,
|
| 61 |
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"rotvec_deg": [
|
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|
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|
| 65 |
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],
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"split_deg": 0.0197,
|
| 67 |
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"usable": true
|
| 68 |
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},
|
| 69 |
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"left_front": {
|
| 70 |
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"role": "rig origin"
|
| 71 |
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},
|
| 72 |
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"right": {
|
| 73 |
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"accepted": true,
|
| 74 |
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"against": [
|
| 75 |
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"left_front",
|
| 76 |
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"right_front",
|
| 77 |
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"left_eye",
|
| 78 |
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"right_eye"
|
| 79 |
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],
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"delta_deg": 3.5996,
|
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"gate_fail": [],
|
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"held_out_px_after": 0.711,
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"held_out_px_before": 9.417,
|
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"inliers": 1700,
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"position_fitted": false,
|
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|
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|
| 90 |
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],
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|
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"usable": true
|
| 93 |
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},
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"right_eye": {
|
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"accepted": true,
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"against": [
|
| 97 |
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"left_front",
|
| 98 |
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|
| 100 |
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"left",
|
| 101 |
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|
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],
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"delta_deg": 1.9197,
|
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|
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|
| 113 |
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],
|
| 114 |
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|
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|
| 128 |
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|
| 129 |
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|
| 131 |
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|
| 132 |
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],
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| 133 |
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|
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|
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],
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"split_deg": 0.0117,
|
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"usable": true
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| 146 |
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}
|
| 147 |
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},
|
| 148 |
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"code_fingerprint": "711ecf5b3dd408f8",
|
| 149 |
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"device_id": "e3296774a321bb51",
|
| 150 |
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"factory_root_name": "e3296774a321bb51",
|
| 151 |
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"files": {
|
| 152 |
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"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 153 |
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"sha256": "82f24ff715f00c51ea2deaf9f3eb66263ad40decf9055e9a73077c296f35ba26",
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"source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
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| 155 |
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},
|
| 156 |
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"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 157 |
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"sha256": "9c7e0a702eca8c06ed807c8ff0a9843f8c0e1ed0ebfc36e97de2587410e11995",
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|
| 159 |
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},
|
| 160 |
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"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 161 |
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"sha256": "e807dfe7ff8805a0b84f522bfdeb5f42b2f2d7d5fa42538c4e0410dfb0d38818",
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|
| 163 |
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},
|
| 164 |
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"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 165 |
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"sha256": "8b6a648f040ba5af50a267d248ea5678c389bbd3805b565288e4083fc049e060",
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| 166 |
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|
| 167 |
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}
|
| 168 |
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},
|
| 169 |
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"input_fingerprint": "ac25836fcd36bf50",
|
| 170 |
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"kind": "online_calibration",
|
| 171 |
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"output_sha256": "20f5c688fbe35ee99043ccf149906f337aeb92895f644f5ba62dcc88b72f0ed5",
|
| 172 |
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"overlap": {
|
| 173 |
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"left-right": 0.489,
|
| 174 |
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"left_eye-left": 0.684,
|
| 175 |
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"left_eye-right": 0.685,
|
| 176 |
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"left_eye-right_eye": 1.0,
|
| 177 |
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"left_front-left": 0.466,
|
| 178 |
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"left_front-left_eye": 0.717,
|
| 179 |
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"left_front-right": 0.447,
|
| 180 |
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"left_front-right_eye": 0.72,
|
| 181 |
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"left_front-right_front": 1.0,
|
| 182 |
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"right_eye-left": 0.672,
|
| 183 |
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"right_eye-right": 0.676,
|
| 184 |
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"right_front-left": 0.469,
|
| 185 |
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"right_front-left_eye": 0.746,
|
| 186 |
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"right_front-right": 0.472,
|
| 187 |
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"right_front-right_eye": 0.74
|
| 188 |
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},
|
| 189 |
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"picture_change": {
|
| 190 |
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"left": 35.421,
|
| 191 |
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"left_eye": 24.323,
|
| 192 |
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"left_front": 31.101,
|
| 193 |
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"right": 27.805,
|
| 194 |
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"right_eye": 27.653,
|
| 195 |
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"right_front": 28.719
|
| 196 |
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},
|
| 197 |
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"runtime": {
|
| 198 |
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"numpy": "2.4.6",
|
| 199 |
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"opencv": "5.0.0",
|
| 200 |
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"scipy": "1.17.1"
|
| 201 |
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},
|
| 202 |
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actions/locomotion_posture_dynamics/D04/session_013/cameras/slam.npz
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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actions/locomotion_posture_dynamics/D04/session_013/meta.json
CHANGED
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@@ -379,8 +379,8 @@
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|
| 379 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 380 |
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|
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|
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|
@@ -530,12 +530,126 @@
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|
| 530 |
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|
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|
| 532 |
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| 538 |
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|
| 379 |
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| 381 |
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|
| 530 |
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| 631 |
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|
| 632 |
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| 634 |
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| 635 |
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| 637 |
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],
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| 638 |
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| 639 |
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"generated_by": "scripts/register_hands_smplx.py",
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| 640 |
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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",
|
| 641 |
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"wrist_flip_suspect": []
|
| 642 |
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| 643 |
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|
| 644 |
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|
| 645 |
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|
| 646 |
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|
| 647 |
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|
| 648 |
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|
| 649 |
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"task": {
|
| 650 |
+
"primitive": "D04",
|
| 651 |
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"instruction": "Keeping your feet still, reach down toward the floor in front and to each side, then return to standing. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 652 |
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},
|
| 653 |
"objects": [
|
| 654 |
{
|
| 655 |
"name": "BigBox",
|
actions/locomotion_posture_dynamics/D04/session_013/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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| 3 |
+
size 3193311
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actions/locomotion_posture_dynamics/D04/session_013/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:
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actions/locomotion_posture_dynamics/D04/session_014/annotations.json
ADDED
|
@@ -0,0 +1,39 @@
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"source": "vendor annotation.json (schema 2, revision 1)",
|
| 4 |
+
"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
|
| 5 |
+
"primitive": "D04",
|
| 6 |
+
"instruction": "Keeping your feet still, reach down toward the floor in front and to each side, then return to standing. Repeat the movement at your own pace until the operator says stop; do not rush.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
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"duration_s": 86.333178,
|
| 11 |
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"video": "left_eye",
|
| 12 |
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}
|
| 14 |
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],
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"episodes": [
|
| 16 |
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{
|
| 17 |
+
"id": "966a3562-9fe7-4f52-ae3e-9c45dbb9852e",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "D04",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1.585,
|
| 22 |
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"end_s": 50.898,
|
| 23 |
+
"t_start": 1.6254,
|
| 24 |
+
"t_end": 50.9384,
|
| 25 |
+
"instruction": "Keeping your feet still, reach down toward the floor in front and to each side, then return to standing. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"id": "a2cb74fa-8a33-47f8-8184-58232a2009e7",
|
| 29 |
+
"segment": "segment1",
|
| 30 |
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"action": "D04",
|
| 31 |
+
"quality": "valid",
|
| 32 |
+
"start_s": 57.606,
|
| 33 |
+
"end_s": 78.589,
|
| 34 |
+
"t_start": 57.6464,
|
| 35 |
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"t_end": 78.6294,
|
| 36 |
+
"instruction": "Keeping your feet still, reach down toward the floor in front and to each side, then return to standing. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/locomotion_posture_dynamics/D04/session_014/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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| 6 |
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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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|
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|
| 15 |
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|
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| 29 |
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|
| 31 |
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| 32 |
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|
| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 50 |
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|
| 53 |
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|
| 59 |
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|
| 60 |
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| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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| 67 |
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| 68 |
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| 69 |
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|
| 70 |
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| 71 |
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|
| 72 |
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|
| 73 |
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| 74 |
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| 75 |
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| 81 |
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| 84 |
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| 86 |
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| 87 |
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| 88 |
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| 89 |
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| 91 |
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|
| 92 |
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|
| 93 |
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| 94 |
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|
| 95 |
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| 99 |
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|
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| 101 |
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|
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|
| 104 |
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|
| 114 |
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| 117 |
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| 119 |
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| 120 |
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|
| 123 |
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| 124 |
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| 130 |
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| 131 |
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| 132 |
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| 135 |
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| 136 |
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| 138 |
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| 139 |
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| 140 |
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| 141 |
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| 142 |
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| 143 |
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| 144 |
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|
actions/locomotion_posture_dynamics/D04/session_014/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
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|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:1891756624754fd3b8a277472422be72c85a8dbfe3dee76efdfe5abaf805e296
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| 3 |
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size 496371
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actions/locomotion_posture_dynamics/D04/session_014/meta.json
CHANGED
|
@@ -380,8 +380,8 @@
|
|
| 380 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 381 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 382 |
"hands": {
|
| 383 |
-
"observed":
|
| 384 |
-
"hand_pose": "
|
| 385 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 386 |
"hand_marker_offsets_m": {
|
| 387 |
"left": {
|
|
@@ -531,10 +531,124 @@
|
|
| 531 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 532 |
}
|
| 533 |
},
|
|
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|
|
|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 534 |
"release": {
|
| 535 |
"release_path": "actions/locomotion_posture_dynamics/D04/session_014",
|
| 536 |
"family": "locomotion_posture_dynamics",
|
| 537 |
"primitive": "D04",
|
| 538 |
"source_session": "20261019/D04/20261019_033037_session41"
|
|
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|
|
|
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|
|
|
| 539 |
}
|
| 540 |
}
|
|
|
|
| 380 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 381 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 382 |
"hands": {
|
| 383 |
+
"observed": true,
|
| 384 |
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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",
|
| 385 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 386 |
"hand_marker_offsets_m": {
|
| 387 |
"left": {
|
|
|
|
| 531 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 532 |
}
|
| 533 |
},
|
| 534 |
+
"hands_registration": {
|
| 535 |
+
"cameras": {},
|
| 536 |
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"hands": {
|
| 537 |
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"left": {
|
| 538 |
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"offset_deg": 26.1,
|
| 539 |
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|
| 540 |
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-0.0704,
|
| 541 |
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|
| 542 |
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0.2163
|
| 543 |
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],
|
| 544 |
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"dev_deg": {
|
| 545 |
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"median": 11.13,
|
| 546 |
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"p90": 24.45
|
| 547 |
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},
|
| 548 |
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"samples": 2504,
|
| 549 |
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"accepted": 2368,
|
| 550 |
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|
| 551 |
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|
| 553 |
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"samples": 2504,
|
| 554 |
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"accepted": 2368,
|
| 555 |
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|
| 556 |
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"offset_deg": 26.1,
|
| 557 |
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"tier": "primary",
|
| 558 |
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|
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|
| 560 |
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}
|
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},
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|
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|
| 564 |
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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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"gsi": 25.72,
|
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"smplx": 1.13
|
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},
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"median": 12.7,
|
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"p90": 14.2
|
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},
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"registered": {
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"median": 13.4,
|
| 581 |
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"p90": 16.3
|
| 582 |
+
}
|
| 583 |
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}
|
| 584 |
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},
|
| 585 |
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"right": {
|
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"offset_deg": 6.68,
|
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"offset_rotvec": [
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0.0966,
|
| 589 |
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0.0066,
|
| 590 |
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0.0649
|
| 591 |
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],
|
| 592 |
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"dev_deg": {
|
| 593 |
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"median": 11.21,
|
| 594 |
+
"p90": 27.71
|
| 595 |
+
},
|
| 596 |
+
"samples": 2516,
|
| 597 |
+
"accepted": 2307,
|
| 598 |
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"wrist_pos_err_mm_median": 50.5,
|
| 599 |
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"per_camera": {
|
| 600 |
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"head": {
|
| 601 |
+
"samples": 2516,
|
| 602 |
+
"accepted": 2307,
|
| 603 |
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"gate_deg": 30.0,
|
| 604 |
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"offset_deg": 6.68,
|
| 605 |
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"tier": "primary",
|
| 606 |
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"dev_deg_median": 11.21,
|
| 607 |
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"wrist_pos_err_mm_median": 50.5
|
| 608 |
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}
|
| 609 |
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},
|
| 610 |
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"frames_by_state": {
|
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"ace_sample": 9302,
|
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"interpolated": 898,
|
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|
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|
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},
|
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"observed_fraction": 0.9838,
|
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|
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|
| 619 |
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"gsi": 9.06,
|
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"smplx": 0.8
|
| 621 |
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},
|
| 622 |
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"hand_marker_to_mesh_mm": {
|
| 623 |
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"flat": {
|
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"median": 6.6,
|
| 625 |
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"p90": 9.5
|
| 626 |
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},
|
| 627 |
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"registered": {
|
| 628 |
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"median": 6.0,
|
| 629 |
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"p90": 8.1
|
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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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"cameras_used": [
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"head"
|
| 638 |
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],
|
| 639 |
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"generated_at_utc": "2026-11-03T21:37:39.773103+00:00",
|
| 640 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 641 |
+
"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",
|
| 642 |
+
"wrist_flip_suspect": []
|
| 643 |
+
},
|
| 644 |
"release": {
|
| 645 |
"release_path": "actions/locomotion_posture_dynamics/D04/session_014",
|
| 646 |
"family": "locomotion_posture_dynamics",
|
| 647 |
"primitive": "D04",
|
| 648 |
"source_session": "20261019/D04/20261019_033037_session41"
|
| 649 |
+
},
|
| 650 |
+
"task": {
|
| 651 |
+
"primitive": "D04",
|
| 652 |
+
"instruction": "Keeping your feet still, reach down toward the floor in front and to each side, then return to standing. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 653 |
}
|
| 654 |
}
|
actions/locomotion_posture_dynamics/D04/session_014/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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| 2 |
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|
| 3 |
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size 3403239
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actions/locomotion_posture_dynamics/D04/session_014/motions/smplx.npz
CHANGED
|
@@ -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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|
| 3 |
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size
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version https://git-lfs.github.com/spec/v1
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size 7388031
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actions/locomotion_posture_dynamics/D05/session_001/annotations.json
ADDED
|
@@ -0,0 +1,39 @@
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|
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|
|
|
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|
|
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|
|
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|
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|
|
|
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|
|
|
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|
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|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"source": "vendor annotation.json (schema 2, revision 2)",
|
| 4 |
+
"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
|
| 5 |
+
"primitive": "D05",
|
| 6 |
+
"instruction": "Keeping your feet still, reach both arms up overhead as high as is comfortable, then lower them. Repeat the movement at your own pace until the operator says stop; do not rush.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 98.9667,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.04055551825273418
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "fb4caed6-72f1-448e-8168-58980da23836",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "D05",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1.278,
|
| 22 |
+
"end_s": 46.909,
|
| 23 |
+
"t_start": 1.3186,
|
| 24 |
+
"t_end": 46.9496,
|
| 25 |
+
"instruction": "Keeping your feet still, reach both arms up overhead as high as is comfortable, then lower them. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"id": "fa74a21c-3b9f-471d-a564-74ffdb761255",
|
| 29 |
+
"segment": "segment1",
|
| 30 |
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"action": "D05",
|
| 31 |
+
"quality": "valid",
|
| 32 |
+
"start_s": 49.759,
|
| 33 |
+
"end_s": 93.179,
|
| 34 |
+
"t_start": 49.7996,
|
| 35 |
+
"t_end": 93.2196,
|
| 36 |
+
"instruction": "Keeping your feet still, reach both arms up overhead as high as is comfortable, then lower them. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/locomotion_posture_dynamics/D05/session_001/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,266 @@
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|
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|
|
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|
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|
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|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [
|
| 4 |
+
{
|
| 5 |
+
"matches": 222,
|
| 6 |
+
"median_px": 21.72,
|
| 7 |
+
"pair": [
|
| 8 |
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"left",
|
| 9 |
+
"right"
|
| 10 |
+
]
|
| 11 |
+
}
|
| 12 |
+
],
|
| 13 |
+
"groups_used": 14,
|
| 14 |
+
"median_px": 0.314
|
| 15 |
+
},
|
| 16 |
+
"cameras": {
|
| 17 |
+
"left": {
|
| 18 |
+
"accepted": true,
|
| 19 |
+
"against": [
|
| 20 |
+
"left_front",
|
| 21 |
+
"right_front",
|
| 22 |
+
"left_eye",
|
| 23 |
+
"right_eye"
|
| 24 |
+
],
|
| 25 |
+
"delta_deg": 0.8608,
|
| 26 |
+
"gate_fail": [],
|
| 27 |
+
"held_out_px_after": 0.398,
|
| 28 |
+
"held_out_px_before": 8.348,
|
| 29 |
+
"inliers": 2790,
|
| 30 |
+
"position_fitted": false,
|
| 31 |
+
"rotvec_deg": [
|
| 32 |
+
0.0545,
|
| 33 |
+
0.7758,
|
| 34 |
+
0.3689
|
| 35 |
+
],
|
| 36 |
+
"split_deg": 0.0561,
|
| 37 |
+
"usable": true
|
| 38 |
+
},
|
| 39 |
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CHANGED
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@@ -345,8 +345,8 @@
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| 345 |
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|
@@ -539,10 +539,124 @@
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| 539 |
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| 542 |
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|
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|
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"generated_by": "scripts/register_hands_smplx.py",
|
| 649 |
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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",
|
| 650 |
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|
| 651 |
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|
| 652 |
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|
| 653 |
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|
| 654 |
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|
| 655 |
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|
| 656 |
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|
| 657 |
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|
| 658 |
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"task": {
|
| 659 |
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"primitive": "D05",
|
| 660 |
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"instruction": "Keeping your feet still, reach both arms up overhead as high as is comfortable, then lower them. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 661 |
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|
| 662 |
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|
actions/locomotion_posture_dynamics/D05/session_001/motions/hands_mano.npz
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actions/locomotion_posture_dynamics/D05/session_001/motions/smplx.npz
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ADDED
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{
|
| 2 |
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|
| 3 |
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"source": "vendor annotation.json (schema 2, revision 1)",
|
| 4 |
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"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
|
| 5 |
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"primitive": "D05",
|
| 6 |
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"instruction": "Keeping your feet still, reach both arms up overhead as high as is comfortable, then lower them. Repeat the movement at your own pace until the operator says stop; do not rush.",
|
| 7 |
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"segments": [
|
| 8 |
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{
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"t_start": 1.4075,
|
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"t_end": 31.9035,
|
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"instruction": "Keeping your feet still, reach both arms up overhead as high as is comfortable, then lower them. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 26 |
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},
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{
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|
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"instruction": "Keeping your feet still, reach both arms up overhead as high as is comfortable, then lower them. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/locomotion_posture_dynamics/D05/session_002/cameras/gsi_online_calibration.json
ADDED
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|
| 1 |
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{
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"camera_fit": {
|
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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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|
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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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},
|
| 38 |
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|
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|
| 40 |
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|
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|
| 42 |
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|
| 43 |
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|
| 44 |
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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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|
| 56 |
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|
| 57 |
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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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|
| 71 |
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|
| 72 |
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|
| 73 |
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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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|
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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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| 641 |
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|
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|
| 643 |
}
|
| 644 |
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|
actions/locomotion_posture_dynamics/D05/session_002/motions/hands_mano.npz
ADDED
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size 1599205
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actions/locomotion_posture_dynamics/D05/session_002/motions/smplx.npz
CHANGED
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@@ -1,3 +1,3 @@
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| 3 |
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"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": "D05",
|
| 6 |
+
"instruction": "Keeping your feet still, reach both arms up overhead as high as is comfortable, then lower them. Repeat the movement at your own pace until the operator says stop; do not rush.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 68.966667,
|
| 11 |
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"video": "left_eye",
|
| 12 |
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"video_t_start": 0.039303202656969294
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "944357ea-4a30-4acb-b110-0610850e8ef5",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "D05",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1.066,
|
| 22 |
+
"end_s": 34.296,
|
| 23 |
+
"t_start": 1.1053,
|
| 24 |
+
"t_end": 34.3353,
|
| 25 |
+
"instruction": "Keeping your feet still, reach both arms up overhead as high as is comfortable, then lower them. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"id": "e4059b73-36b9-4dc8-a9f4-28444120229c",
|
| 29 |
+
"segment": "segment1",
|
| 30 |
+
"action": "D05",
|
| 31 |
+
"quality": "valid",
|
| 32 |
+
"start_s": 37.495,
|
| 33 |
+
"end_s": 65.238,
|
| 34 |
+
"t_start": 37.5343,
|
| 35 |
+
"t_end": 65.2773,
|
| 36 |
+
"instruction": "Keeping your feet still, reach both arms up overhead as high as is comfortable, then lower them. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/locomotion_posture_dynamics/D05/session_003/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:33b34c83c7bd31f2040ccc4d5dd3025fefb6e993bfa80d74f27e5020ea7ef79a
|
| 3 |
+
size 398002
|
actions/locomotion_posture_dynamics/D05/session_003/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": {
|
|
@@ -522,10 +522,124 @@
|
|
| 522 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 523 |
"remaining_gyro_frame_deg": 0.9281544671292694
|
| 524 |
},
|
|
|
|
|
|
|
|
|
|
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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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|
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|
|
|
|
|
|
|
|
|
|
| 525 |
"release": {
|
| 526 |
"release_path": "actions/locomotion_posture_dynamics/D05/session_003",
|
| 527 |
"family": "locomotion_posture_dynamics",
|
| 528 |
"primitive": "D05",
|
| 529 |
"source_session": "20260908/D05/20260908_062910_session54"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 530 |
}
|
| 531 |
}
|
|
|
|
| 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": {
|
|
|
|
| 522 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 523 |
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|
| 524 |
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|
| 525 |
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"hands_registration": {
|
| 526 |
+
"cameras": {},
|
| 527 |
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"hands": {
|
| 528 |
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"left": {
|
| 529 |
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"offset_deg": 17.89,
|
| 530 |
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"offset_rotvec": [
|
| 531 |
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0.079,
|
| 532 |
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-0.2152,
|
| 533 |
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0.2121
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| 534 |
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],
|
| 535 |
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"dev_deg": {
|
| 536 |
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"median": 13.65,
|
| 537 |
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"p90": 24.24
|
| 538 |
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},
|
| 539 |
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"samples": 1079,
|
| 540 |
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"accepted": 1032,
|
| 541 |
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|
| 542 |
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"per_camera": {
|
| 543 |
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"head": {
|
| 544 |
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"samples": 1079,
|
| 545 |
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"accepted": 1032,
|
| 546 |
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"gate_deg": 30.0,
|
| 547 |
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"offset_deg": 17.89,
|
| 548 |
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"tier": "primary",
|
| 549 |
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"dev_deg_median": 13.65,
|
| 550 |
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"wrist_pos_err_mm_median": 134.2
|
| 551 |
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}
|
| 552 |
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},
|
| 553 |
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"frames_by_state": {
|
| 554 |
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|
| 555 |
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"interpolated": 840,
|
| 556 |
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|
| 557 |
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|
| 558 |
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},
|
| 559 |
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|
| 560 |
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"observed_fraction_of_valid": 0.6026,
|
| 561 |
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"palm_axis_vs_markers_deg": {
|
| 562 |
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"gsi": 16.67,
|
| 563 |
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"smplx": 1.99
|
| 564 |
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},
|
| 565 |
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"hand_marker_to_mesh_mm": {
|
| 566 |
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"flat": {
|
| 567 |
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"median": 14.3,
|
| 568 |
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"p90": 25.6
|
| 569 |
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},
|
| 570 |
+
"registered": {
|
| 571 |
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"median": 14.2,
|
| 572 |
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"p90": 26.0
|
| 573 |
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}
|
| 574 |
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}
|
| 575 |
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},
|
| 576 |
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"right": {
|
| 577 |
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"offset_deg": 11.92,
|
| 578 |
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"offset_rotvec": [
|
| 579 |
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-0.0318,
|
| 580 |
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0.2016,
|
| 581 |
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-0.0401
|
| 582 |
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],
|
| 583 |
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"dev_deg": {
|
| 584 |
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"median": 12.97,
|
| 585 |
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"p90": 31.93
|
| 586 |
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},
|
| 587 |
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"samples": 1094,
|
| 588 |
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"accepted": 959,
|
| 589 |
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"wrist_pos_err_mm_median": 127.4,
|
| 590 |
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"per_camera": {
|
| 591 |
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"head": {
|
| 592 |
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"samples": 1094,
|
| 593 |
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"accepted": 959,
|
| 594 |
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"gate_deg": 30.0,
|
| 595 |
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"offset_deg": 11.92,
|
| 596 |
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"tier": "primary",
|
| 597 |
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"dev_deg_median": 12.97,
|
| 598 |
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"wrist_pos_err_mm_median": 127.4
|
| 599 |
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}
|
| 600 |
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},
|
| 601 |
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"frames_by_state": {
|
| 602 |
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"ace_sample": 3860,
|
| 603 |
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"interpolated": 896,
|
| 604 |
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|
| 605 |
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|
| 606 |
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},
|
| 607 |
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"observed_fraction": 0.5741,
|
| 608 |
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"observed_fraction_of_valid": 0.5741,
|
| 609 |
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"palm_axis_vs_markers_deg": {
|
| 610 |
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"gsi": 11.47,
|
| 611 |
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"smplx": 1.0
|
| 612 |
+
},
|
| 613 |
+
"hand_marker_to_mesh_mm": {
|
| 614 |
+
"flat": {
|
| 615 |
+
"median": 7.8,
|
| 616 |
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"p90": 9.9
|
| 617 |
+
},
|
| 618 |
+
"registered": {
|
| 619 |
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"median": 9.3,
|
| 620 |
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"p90": 11.4
|
| 621 |
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}
|
| 622 |
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}
|
| 623 |
+
}
|
| 624 |
+
},
|
| 625 |
+
"max_dev_deg": 30.0,
|
| 626 |
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"max_gap_s": 1.0,
|
| 627 |
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"cameras_used": [
|
| 628 |
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"head"
|
| 629 |
+
],
|
| 630 |
+
"generated_at_utc": "2026-11-03T14:33:59.429239+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_posture_dynamics/D05/session_003",
|
| 637 |
"family": "locomotion_posture_dynamics",
|
| 638 |
"primitive": "D05",
|
| 639 |
"source_session": "20260908/D05/20260908_062910_session54"
|
| 640 |
+
},
|
| 641 |
+
"task": {
|
| 642 |
+
"primitive": "D05",
|
| 643 |
+
"instruction": "Keeping your feet still, reach both arms up overhead as high as is comfortable, then lower them. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 644 |
}
|
| 645 |
}
|
actions/locomotion_posture_dynamics/D05/session_003/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5367a57a5d1a4d99a972ba78a79934d1b987bb5377936c5d6f3be1e45aba418d
|
| 3 |
+
size 1541946
|
actions/locomotion_posture_dynamics/D05/session_003/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 sha256:7b0ec03542c19888d263fdbf81d88fae6098c850e0603a0830d1399d78421e40
|
| 3 |
+
size 5060800
|
actions/locomotion_posture_dynamics/D05/session_004/annotations.json
ADDED
|
@@ -0,0 +1,39 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
|
|
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|
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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": "D05",
|
| 6 |
+
"instruction": "Keeping your feet still, reach both arms up overhead as high as is comfortable, then lower them. Repeat the movement at your own pace until the operator says stop; do not rush.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 58.966656,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03957688639196788
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "65fe6374-53c9-42df-99eb-9042e675eb9c",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "D05",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0.287,
|
| 22 |
+
"end_s": 27.305,
|
| 23 |
+
"t_start": 0.3266,
|
| 24 |
+
"t_end": 27.3446,
|
| 25 |
+
"instruction": "Keeping your feet still, reach both arms up overhead as high as is comfortable, then lower them. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"id": "603f2d2b-a318-4870-9693-53863d7e9727",
|
| 29 |
+
"segment": "segment1",
|
| 30 |
+
"action": "D05",
|
| 31 |
+
"quality": "valid",
|
| 32 |
+
"start_s": 27.305,
|
| 33 |
+
"end_s": 56.764,
|
| 34 |
+
"t_start": 27.3446,
|
| 35 |
+
"t_end": 56.8036,
|
| 36 |
+
"instruction": "Keeping your feet still, reach both arms up overhead as high as is comfortable, then lower them. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/locomotion_posture_dynamics/D05/session_004/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,251 @@
|
|
|
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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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|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
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|
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|
| 62 |
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| 63 |
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|
| 64 |
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|
| 65 |
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| 66 |
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| 67 |
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| 142 |
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|
actions/locomotion_posture_dynamics/D05/session_004/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:0f28207b69af56f8ac3d8a9584f8fbfff0877e88975006ae88335276aba8c7f1
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| 3 |
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size 341673
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actions/locomotion_posture_dynamics/D05/session_004/meta.json
CHANGED
|
@@ -330,8 +330,8 @@
|
|
| 330 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 331 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 332 |
"hands": {
|
| 333 |
-
"observed":
|
| 334 |
-
"hand_pose": "
|
| 335 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 336 |
"hand_marker_offsets_m": {
|
| 337 |
"left": {
|
|
@@ -520,10 +520,124 @@
|
|
| 520 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 521 |
"remaining_gyro_frame_deg": 1.183648604786925
|
| 522 |
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|
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|
| 523 |
"release": {
|
| 524 |
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|
| 525 |
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|
| 526 |
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|
| 527 |
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|
| 528 |
}
|
| 529 |
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|
|
|
|
| 330 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 331 |
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|
| 332 |
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|
| 333 |
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"observed": true,
|
| 334 |
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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",
|
| 335 |
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|
| 336 |
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|
| 337 |
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|
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|
| 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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"median": 18.29,
|
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"p90": 33.39
|
| 584 |
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},
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|
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|
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|
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|
| 591 |
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|
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|
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"tier": "primary",
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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_at_utc": "2026-11-03T15:19:32.630911+00:00",
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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 |
"release": {
|
| 634 |
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| 635 |
"family": "locomotion_posture_dynamics",
|
| 636 |
"primitive": "D05",
|
| 637 |
"source_session": "20260909/D05/20260909_073500_session119"
|
| 638 |
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},
|
| 639 |
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"task": {
|
| 640 |
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"primitive": "D05",
|
| 641 |
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"instruction": "Keeping your feet still, reach both arms up overhead as high as is comfortable, then lower them. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 642 |
}
|
| 643 |
}
|
actions/locomotion_posture_dynamics/D05/session_004/motions/hands_mano.npz
ADDED
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actions/locomotion_posture_dynamics/D05/session_004/motions/smplx.npz
CHANGED
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@@ -1,3 +1,3 @@
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actions/locomotion_posture_dynamics/D05/session_005/annotations.json
ADDED
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@@ -0,0 +1,39 @@
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{
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|
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"source": "vendor annotation.json (schema 2, revision 1)",
|
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"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
|
| 5 |
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"primitive": "D05",
|
| 6 |
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"instruction": "Keeping your feet still, reach both arms up overhead as high as is comfortable, then lower them. Repeat the movement at your own pace until the operator says stop; do not rush.",
|
| 7 |
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"segments": [
|
| 8 |
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{
|
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"id": "segment1",
|
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|
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"id": "7e7a74b0-53b8-4a68-8faa-72e8e08ec2ab",
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"action": "D05",
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|
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|
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"t_end": 31.301,
|
| 25 |
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"instruction": "Keeping your feet still, reach both arms up overhead as high as is comfortable, then lower them. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 26 |
+
},
|
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{
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"id": "af2314cf-a323-463f-9b20-14c565bb0d80",
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|
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|
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"instruction": "Keeping your feet still, reach both arms up overhead as high as is comfortable, then lower them. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/locomotion_posture_dynamics/D05/session_005/cameras/gsi_online_calibration.json
ADDED
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@@ -0,0 +1,248 @@
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|
|
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|
|
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|
|
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|
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|
|
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
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|
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},
|
| 7 |
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|
| 8 |
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|
| 9 |
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"accepted": true,
|
| 10 |
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"against": [
|
| 11 |
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"left_front",
|
| 12 |
+
"right_front",
|
| 13 |
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"left_eye",
|
| 14 |
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"right_eye"
|
| 15 |
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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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"split_deg": 0.0661,
|
| 28 |
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"usable": true
|
| 29 |
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},
|
| 30 |
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"left_eye": {
|
| 31 |
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"accepted": true,
|
| 32 |
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"against": [
|
| 33 |
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"left_front",
|
| 34 |
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|
| 35 |
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"right_eye",
|
| 36 |
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"left",
|
| 37 |
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|
| 38 |
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],
|
| 39 |
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"delta_deg": 1.8642,
|
| 40 |
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"gate_fail": [],
|
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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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|
| 47 |
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|
| 48 |
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6.78
|
| 49 |
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],
|
| 50 |
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|
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"rotvec_deg": [
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|
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|
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CHANGED
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|
@@ -515,10 +515,124 @@
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| 616 |
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| 617 |
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|
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|
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|
| 622 |
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],
|
| 623 |
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|
| 624 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 625 |
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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",
|
| 626 |
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"wrist_flip_suspect": []
|
| 627 |
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},
|
| 628 |
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|
| 629 |
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|
| 630 |
"family": "locomotion_posture_dynamics",
|
| 631 |
"primitive": "D05",
|
| 632 |
"source_session": "20260912/D05/20260912_110830_session12"
|
| 633 |
+
},
|
| 634 |
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"task": {
|
| 635 |
+
"primitive": "D05",
|
| 636 |
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"instruction": "Keeping your feet still, reach both arms up overhead as high as is comfortable, then lower them. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 637 |
}
|
| 638 |
}
|
actions/locomotion_posture_dynamics/D05/session_005/motions/hands_mano.npz
ADDED
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actions/locomotion_posture_dynamics/D05/session_005/motions/smplx.npz
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version https://git-lfs.github.com/spec/v1
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actions/locomotion_posture_dynamics/D05/session_006/annotations.json
ADDED
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@@ -0,0 +1,39 @@
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| 1 |
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{
|
| 2 |
+
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|
| 3 |
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"source": "vendor annotation.json (schema 2, revision 1)",
|
| 4 |
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"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
|
| 5 |
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"primitive": "D05",
|
| 6 |
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"instruction": "Keeping your feet still, reach both arms up overhead as high as is comfortable, then lower them. Repeat the movement at your own pace until the operator says stop; do not rush.",
|
| 7 |
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"segments": [
|
| 8 |
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{
|
| 9 |
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|
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"segment": "segment1",
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"action": "D05",
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"quality": "valid",
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|
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"t_start": 0.8699,
|
| 24 |
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"t_end": 39.4799,
|
| 25 |
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"instruction": "Keeping your feet still, reach both arms up overhead as high as is comfortable, then lower them. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 26 |
+
},
|
| 27 |
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{
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"id": "7ef3e800-efcc-4f9d-962b-3e412b205b9d",
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"segment": "segment1",
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"action": "D05",
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"t_start": 42.2629,
|
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"t_end": 83.2099,
|
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"instruction": "Keeping your feet still, reach both arms up overhead as high as is comfortable, then lower them. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/locomotion_posture_dynamics/D05/session_006/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,256 @@
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|
| 1 |
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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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|
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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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|
| 32 |
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|
| 33 |
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|
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|
| 35 |
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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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|
| 62 |
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|
| 64 |
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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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@@ -526,10 +526,124 @@
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|
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|
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|
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|
| 648 |
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|
| 649 |
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