Release update 2026-11-05: new sessions, instructions, annotations (part 41)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +18 -0
- actions/locomotion_posture_dynamics/D37/session_008/cameras/slam.npz +3 -0
- actions/locomotion_posture_dynamics/D37/session_008/meta.json +116 -2
- actions/locomotion_posture_dynamics/D37/session_008/motions/hands_mano.npz +3 -0
- actions/locomotion_posture_dynamics/D37/session_008/motions/smplx.npz +2 -2
- actions/locomotion_posture_dynamics/D37/session_009/annotations.json +39 -0
- actions/locomotion_posture_dynamics/D37/session_009/cameras/gsi_online_calibration.json +252 -0
- actions/locomotion_posture_dynamics/D37/session_009/cameras/slam.npz +3 -0
- actions/locomotion_posture_dynamics/D37/session_009/meta.json +116 -2
- actions/locomotion_posture_dynamics/D37/session_009/motions/hands_mano.npz +3 -0
- actions/locomotion_posture_dynamics/D37/session_009/motions/smplx.npz +2 -2
- actions/locomotion_posture_dynamics/D37/session_010/annotations.json +39 -0
- actions/locomotion_posture_dynamics/D37/session_010/cameras/slam.npz +3 -0
- actions/locomotion_posture_dynamics/D37/session_010/meta.json +116 -2
- actions/locomotion_posture_dynamics/D37/session_010/motions/hands_mano.npz +3 -0
- actions/locomotion_posture_dynamics/D37/session_010/motions/smplx.npz +2 -2
- actions/locomotion_posture_dynamics/D37/session_011/annotations.json +39 -0
- actions/locomotion_posture_dynamics/D37/session_011/cameras/gsi_online_calibration.json +253 -0
- actions/locomotion_posture_dynamics/D37/session_011/cameras/slam.npz +3 -0
- actions/locomotion_posture_dynamics/D37/session_011/meta.json +116 -2
- actions/locomotion_posture_dynamics/D37/session_011/motions/hands_mano.npz +3 -0
- actions/locomotion_posture_dynamics/D37/session_011/motions/smplx.npz +2 -2
- actions/locomotion_posture_dynamics/D37/session_012/annotations.json +39 -0
- actions/locomotion_posture_dynamics/D37/session_012/cameras/gsi_online_calibration.json +252 -0
- actions/locomotion_posture_dynamics/D37/session_012/cameras/slam.npz +3 -0
- actions/locomotion_posture_dynamics/D37/session_012/meta.json +116 -2
- actions/locomotion_posture_dynamics/D37/session_012/motions/hands_mano.npz +3 -0
- actions/locomotion_posture_dynamics/D37/session_012/motions/smplx.npz +2 -2
- actions/locomotion_posture_dynamics/D37/session_013/annotations.json +39 -0
- actions/locomotion_posture_dynamics/D37/session_013/cameras/gsi_online_calibration.json +218 -0
- actions/locomotion_posture_dynamics/D37/session_013/cameras/slam.npz +3 -0
- actions/locomotion_posture_dynamics/D37/session_013/meta.json +116 -2
- actions/locomotion_posture_dynamics/D37/session_013/motions/hands_mano.npz +3 -0
- actions/locomotion_posture_dynamics/D37/session_013/motions/smplx.npz +2 -2
- actions/locomotion_posture_dynamics/D37/session_014/cameras/poses.npz +3 -0
- actions/locomotion_posture_dynamics/D37/session_014/meta.json +517 -0
- actions/locomotion_posture_dynamics/D37/session_014/motions/head_rig.npz +3 -0
- actions/locomotion_posture_dynamics/D37/session_014/motions/markers.npz +3 -0
- actions/locomotion_posture_dynamics/D37/session_014/motions/skeleton.npz +3 -0
- actions/locomotion_posture_dynamics/D37/session_014/motions/smplx.npz +3 -0
- actions/locomotion_posture_dynamics/D37/session_014/raw/audio.wav +3 -0
- actions/locomotion_posture_dynamics/D37/session_014/raw/manifest.json +263 -0
- actions/locomotion_posture_dynamics/D37/session_014/raw/mocap/Body0.bvh +0 -0
- actions/locomotion_posture_dynamics/D37/session_014/raw/mocap/Body0.csv +3 -0
- actions/locomotion_posture_dynamics/D37/session_014/raw/mocap/Body0.trc +3 -0
- actions/locomotion_posture_dynamics/D37/session_014/raw/mocap/Tracker0.csv +0 -0
- actions/locomotion_posture_dynamics/D37/session_014/raw/mocap/Tracker0.trc +0 -0
- actions/locomotion_posture_dynamics/D37/session_014/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomotion_posture_dynamics/D37/session_014/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomotion_posture_dynamics/D37/session_014/raw/sensors/robocap_mag_middle.db +3 -0
.gitattributes
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actions/locomotion_posture_dynamics/D40/session_013/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_posture_dynamics/D37/session_008/cameras/slam.npz
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version https://git-lfs.github.com/spec/v1
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size 342310
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actions/locomotion_posture_dynamics/D37/session_008/meta.json
CHANGED
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@@ -325,8 +325,8 @@
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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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"left": {
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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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"head"
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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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"release": {
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"family": "locomotion_posture_dynamics",
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"primitive": "D37",
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"source_session": "20260923/D37/20260923_120512_session56"
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},
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"task": {
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"primitive": "D37",
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"instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop."
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}
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}
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actions/locomotion_posture_dynamics/D37/session_008/motions/hands_mano.npz
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version https://git-lfs.github.com/spec/v1
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size 856675
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actions/locomotion_posture_dynamics/D37/session_008/motions/smplx.npz
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version https://git-lfs.github.com/spec/v1
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size
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version https://git-lfs.github.com/spec/v1
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oid sha256:1fd3328b3a1065767f0b894064e01f05609f31a29fa74e4ce7349e4b6f6339e0
|
| 3 |
+
size 4882662
|
actions/locomotion_posture_dynamics/D37/session_009/annotations.json
ADDED
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@@ -0,0 +1,39 @@
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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": "D37",
|
| 6 |
+
"instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
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"duration_s": 58.966633,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
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"video_t_start": 0.038992121337491525
|
| 13 |
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}
|
| 14 |
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],
|
| 15 |
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"episodes": [
|
| 16 |
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{
|
| 17 |
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"id": "51265b0b-8de5-4948-8f43-c95acb53776b",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
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"action": "D37",
|
| 20 |
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"quality": "valid",
|
| 21 |
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"start_s": 1.162,
|
| 22 |
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"end_s": 26.559,
|
| 23 |
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"t_start": 1.201,
|
| 24 |
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"t_end": 26.598,
|
| 25 |
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"instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop."
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"id": "64d4c36d-242d-41e0-973f-266100b3f07a",
|
| 29 |
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"segment": "segment1",
|
| 30 |
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"action": "D37",
|
| 31 |
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"quality": "valid",
|
| 32 |
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"start_s": 30.54,
|
| 33 |
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"end_s": 52.845,
|
| 34 |
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"t_start": 30.579,
|
| 35 |
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"t_end": 52.884,
|
| 36 |
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"instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/locomotion_posture_dynamics/D37/session_009/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,252 @@
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|
| 1 |
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{
|
| 2 |
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"camera_fit": {
|
| 3 |
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"groups_dropped": [],
|
| 4 |
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"groups_used": 14,
|
| 5 |
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"median_px": 0.371
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| 6 |
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},
|
| 7 |
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"cameras": {
|
| 8 |
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"left": {
|
| 9 |
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"accepted": true,
|
| 10 |
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"against": [
|
| 11 |
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"left_front",
|
| 12 |
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"right_front",
|
| 13 |
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"left_eye",
|
| 14 |
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"right_eye"
|
| 15 |
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],
|
| 16 |
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"delta_deg": 1.1081,
|
| 17 |
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"gate_fail": [],
|
| 18 |
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"held_out_px_after": 0.53,
|
| 19 |
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|
| 20 |
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|
| 21 |
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|
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"rotvec_deg": [
|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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| 27 |
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"split_deg": 0.0387,
|
| 28 |
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"usable": true
|
| 29 |
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},
|
| 30 |
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"left_eye": {
|
| 31 |
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|
| 32 |
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"against": [
|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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],
|
| 39 |
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"delta_deg": 2.4977,
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
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|
| 56 |
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| 57 |
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|
| 58 |
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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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| 70 |
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| 179 |
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|
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@@ -543,10 +543,124 @@
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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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|
| 652 |
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|
| 653 |
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|
| 654 |
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"wrist_flip_suspect": []
|
| 655 |
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},
|
| 656 |
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|
| 657 |
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|
| 658 |
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|
| 659 |
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|
| 660 |
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|
| 661 |
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},
|
| 662 |
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"task": {
|
| 663 |
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"primitive": "D37",
|
| 664 |
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"instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop."
|
| 665 |
}
|
| 666 |
}
|
actions/locomotion_posture_dynamics/D37/session_009/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:830166e70fa1460ab8b788eeee62afabcf4c84c823596d646ac859f107e3c586
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| 3 |
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size 1517048
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actions/locomotion_posture_dynamics/D37/session_009/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
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|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
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size 4467854
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actions/locomotion_posture_dynamics/D37/session_010/annotations.json
ADDED
|
@@ -0,0 +1,39 @@
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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": "D37",
|
| 6 |
+
"instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
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|
| 11 |
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|
| 12 |
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}
|
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],
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"episodes": [
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{
|
| 17 |
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"id": "32cc104a-006a-4052-90f7-aa141e6da00a",
|
| 18 |
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"segment": "segment1",
|
| 19 |
+
"action": "D37",
|
| 20 |
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|
| 21 |
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|
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|
| 23 |
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|
| 24 |
+
"t_end": 37.816,
|
| 25 |
+
"instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop."
|
| 26 |
+
},
|
| 27 |
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{
|
| 28 |
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"id": "929dc021-4300-4dc7-ab8a-e396115ed515",
|
| 29 |
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"segment": "segment1",
|
| 30 |
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"action": "D37",
|
| 31 |
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"quality": "valid",
|
| 32 |
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|
| 33 |
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"end_s": 67.237,
|
| 34 |
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"t_start": 41.674,
|
| 35 |
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"t_end": 67.276,
|
| 36 |
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"instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/locomotion_posture_dynamics/D37/session_010/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:bf1e71454a7cbd022033a83c90a0d8219e41fa4a9ff3a99d74ff9e2a372904c1
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| 3 |
+
size 425824
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actions/locomotion_posture_dynamics/D37/session_010/meta.json
CHANGED
|
@@ -322,8 +322,8 @@
|
|
| 322 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 323 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 324 |
"hands": {
|
| 325 |
-
"observed":
|
| 326 |
-
"hand_pose": "
|
| 327 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 328 |
"hand_marker_offsets_m": {
|
| 329 |
"left": {
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|
@@ -507,10 +507,124 @@
|
|
| 507 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 508 |
"remaining_gyro_frame_deg": 1.585129128260868
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| 509 |
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
| 510 |
"release": {
|
| 511 |
"release_path": "actions/locomotion_posture_dynamics/D37/session_010",
|
| 512 |
"family": "locomotion_posture_dynamics",
|
| 513 |
"primitive": "D37",
|
| 514 |
"source_session": "20260929/D37/20260929_094742_session183"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 515 |
}
|
| 516 |
}
|
|
|
|
| 322 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 323 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 324 |
"hands": {
|
| 325 |
+
"observed": true,
|
| 326 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 327 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 328 |
"hand_marker_offsets_m": {
|
| 329 |
"left": {
|
|
|
|
| 507 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 508 |
"remaining_gyro_frame_deg": 1.585129128260868
|
| 509 |
},
|
| 510 |
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"hands_registration": {
|
| 511 |
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|
| 512 |
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"hands": {
|
| 513 |
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"left": {
|
| 514 |
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|
| 515 |
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|
| 516 |
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|
| 517 |
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|
| 518 |
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| 519 |
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],
|
| 520 |
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|
| 521 |
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"median": 20.16,
|
| 522 |
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"p90": 45.59
|
| 523 |
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},
|
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|
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|
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|
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|
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|
| 529 |
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|
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|
| 531 |
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|
| 532 |
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|
| 533 |
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"tier": "primary",
|
| 534 |
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|
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|
| 536 |
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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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|
| 557 |
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"p90": 7.6
|
| 558 |
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}
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| 559 |
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}
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},
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"right": {
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|
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0.5039,
|
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0.1898,
|
| 566 |
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0.0966
|
| 567 |
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],
|
| 568 |
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"dev_deg": {
|
| 569 |
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"median": 24.57,
|
| 570 |
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"p90": 38.85
|
| 571 |
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},
|
| 572 |
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"samples": 1763,
|
| 573 |
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"accepted": 1182,
|
| 574 |
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"wrist_pos_err_mm_median": 104.1,
|
| 575 |
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"per_camera": {
|
| 576 |
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"head": {
|
| 577 |
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"samples": 1763,
|
| 578 |
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"accepted": 1182,
|
| 579 |
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"gate_deg": 30.0,
|
| 580 |
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"offset_deg": 31.34,
|
| 581 |
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"tier": "primary",
|
| 582 |
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"dev_deg_median": 24.57,
|
| 583 |
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"wrist_pos_err_mm_median": 104.1
|
| 584 |
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}
|
| 585 |
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},
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| 586 |
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|
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"ace_sample": 4987,
|
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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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|
| 595 |
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"gsi": 29.84,
|
| 596 |
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"smplx": 0.62
|
| 597 |
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},
|
| 598 |
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"hand_marker_to_mesh_mm": {
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"flat": {
|
| 600 |
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"median": 4.5,
|
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"p90": 5.4
|
| 602 |
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},
|
| 603 |
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"registered": {
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"median": 5.1,
|
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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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|
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|
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"head"
|
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],
|
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"generated_at_utc": "2026-11-03T22:27:15.408156+00:00",
|
| 616 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 617 |
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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",
|
| 618 |
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"wrist_flip_suspect": []
|
| 619 |
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},
|
| 620 |
"release": {
|
| 621 |
"release_path": "actions/locomotion_posture_dynamics/D37/session_010",
|
| 622 |
"family": "locomotion_posture_dynamics",
|
| 623 |
"primitive": "D37",
|
| 624 |
"source_session": "20260929/D37/20260929_094742_session183"
|
| 625 |
+
},
|
| 626 |
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"task": {
|
| 627 |
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"primitive": "D37",
|
| 628 |
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"instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop."
|
| 629 |
}
|
| 630 |
}
|
actions/locomotion_posture_dynamics/D37/session_010/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
| 3 |
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size 2462661
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actions/locomotion_posture_dynamics/D37/session_010/motions/smplx.npz
CHANGED
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@@ -1,3 +1,3 @@
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|
| 1 |
version https://git-lfs.github.com/spec/v1
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| 2 |
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actions/locomotion_posture_dynamics/D37/session_011/annotations.json
ADDED
|
@@ -0,0 +1,39 @@
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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": "D37",
|
| 6 |
+
"instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop.",
|
| 7 |
+
"segments": [
|
| 8 |
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{
|
| 9 |
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"id": "segment1",
|
| 10 |
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"duration_s": 73.966711,
|
| 11 |
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"video": "left_eye",
|
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|
| 13 |
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}
|
| 14 |
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],
|
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"episodes": [
|
| 16 |
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{
|
| 17 |
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"id": "f3074717-e4d7-4d5f-9fd4-b0b637fe6f4b",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
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"action": "D37",
|
| 20 |
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"quality": "valid",
|
| 21 |
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|
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|
| 23 |
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"t_start": 0.0389,
|
| 24 |
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"t_end": 33.8379,
|
| 25 |
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"instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop."
|
| 26 |
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},
|
| 27 |
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{
|
| 28 |
+
"id": "1a5fa1b5-9fae-431a-a6ec-67dcfe7295a8",
|
| 29 |
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"segment": "segment1",
|
| 30 |
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"action": "D37",
|
| 31 |
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"quality": "valid",
|
| 32 |
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|
| 33 |
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|
| 34 |
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"t_start": 41.4059,
|
| 35 |
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"t_end": 67.4179,
|
| 36 |
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"instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/locomotion_posture_dynamics/D37/session_011/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,253 @@
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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 |
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"camera_fit": {
|
| 3 |
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"groups_dropped": [],
|
| 4 |
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"groups_used": 14,
|
| 5 |
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"median_px": 0.325
|
| 6 |
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},
|
| 7 |
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"cameras": {
|
| 8 |
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"left": {
|
| 9 |
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"accepted": true,
|
| 10 |
+
"against": [
|
| 11 |
+
"left_front",
|
| 12 |
+
"right_front",
|
| 13 |
+
"left_eye",
|
| 14 |
+
"right_eye"
|
| 15 |
+
],
|
| 16 |
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"delta_deg": 1.33,
|
| 17 |
+
"gate_fail": [],
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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"position_fitted": false,
|
| 22 |
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"rotvec_deg": [
|
| 23 |
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|
| 24 |
+
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|
| 25 |
+
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|
| 26 |
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],
|
| 27 |
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"split_deg": 0.1046,
|
| 28 |
+
"usable": true
|
| 29 |
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},
|
| 30 |
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"left_eye": {
|
| 31 |
+
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@@ -527,10 +527,124 @@
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|
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|
| 636 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 637 |
+
"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",
|
| 638 |
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"wrist_flip_suspect": []
|
| 639 |
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},
|
| 640 |
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|
| 641 |
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|
| 642 |
"family": "locomotion_posture_dynamics",
|
| 643 |
"primitive": "D37",
|
| 644 |
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|
| 645 |
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},
|
| 646 |
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"task": {
|
| 647 |
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"primitive": "D37",
|
| 648 |
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"instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop."
|
| 649 |
}
|
| 650 |
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|
actions/locomotion_posture_dynamics/D37/session_011/motions/hands_mano.npz
ADDED
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actions/locomotion_posture_dynamics/D37/session_011/motions/smplx.npz
CHANGED
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version https://git-lfs.github.com/spec/v1
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actions/locomotion_posture_dynamics/D37/session_012/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 |
+
"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": "D37",
|
| 6 |
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"instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop.",
|
| 7 |
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"segments": [
|
| 8 |
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{
|
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"id": "segment1",
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"segment": "segment1",
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"action": "D37",
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"quality": "valid",
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| 23 |
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|
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"t_end": 25.5669,
|
| 25 |
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"instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop."
|
| 26 |
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},
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{
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| 28 |
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"id": "a87c891a-7b85-49e6-a3ef-8ebe0bb911cd",
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|
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|
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|
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"instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop."
|
| 37 |
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}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/locomotion_posture_dynamics/D37/session_012/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,252 @@
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| 1 |
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{
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"camera_fit": {
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|
| 4 |
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},
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|
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|
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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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],
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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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|
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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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| 60 |
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},
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|
| 62 |
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"role": "rig origin"
|
| 63 |
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| 64 |
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| 65 |
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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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@@ -540,10 +540,124 @@
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| 649 |
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|
| 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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| 659 |
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|
| 660 |
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"primitive": "D37",
|
| 661 |
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"instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop."
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| 662 |
}
|
| 663 |
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|
actions/locomotion_posture_dynamics/D37/session_012/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:38775ea4972f4706d1803825a1cb7ec027b290b2297d621b137aeb52ab9cb8bf
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| 3 |
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size 1734996
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actions/locomotion_posture_dynamics/D37/session_012/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:
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actions/locomotion_posture_dynamics/D37/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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|
| 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": "D37",
|
| 6 |
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"instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop.",
|
| 7 |
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|
| 8 |
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{
|
| 9 |
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"id": "segment1",
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"id": "7acedd05-115a-46e3-a909-1b4f175b79db",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "D37",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 2,
|
| 22 |
+
"end_s": 24.112,
|
| 23 |
+
"t_start": 2.0402,
|
| 24 |
+
"t_end": 24.1522,
|
| 25 |
+
"instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop."
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"id": "d0806598-3022-43bd-aafe-5b2f6a5407b3",
|
| 29 |
+
"segment": "segment1",
|
| 30 |
+
"action": "D37",
|
| 31 |
+
"quality": "valid",
|
| 32 |
+
"start_s": 30.246,
|
| 33 |
+
"end_s": 45.896,
|
| 34 |
+
"t_start": 30.2862,
|
| 35 |
+
"t_end": 45.9362,
|
| 36 |
+
"instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/locomotion_posture_dynamics/D37/session_013/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,218 @@
|
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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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 13,
|
| 5 |
+
"median_px": 0.298
|
| 6 |
+
},
|
| 7 |
+
"cameras": {
|
| 8 |
+
"left": {
|
| 9 |
+
"accepted": true,
|
| 10 |
+
"against": [
|
| 11 |
+
"left_front",
|
| 12 |
+
"right_front",
|
| 13 |
+
"left_eye",
|
| 14 |
+
"right_eye",
|
| 15 |
+
"right"
|
| 16 |
+
],
|
| 17 |
+
"delta_deg": 1.6162,
|
| 18 |
+
"gate_fail": [],
|
| 19 |
+
"held_out_px_after": 0.371,
|
| 20 |
+
"held_out_px_before": 20.677,
|
| 21 |
+
"inliers": 2405,
|
| 22 |
+
"position_fitted": false,
|
| 23 |
+
"rotvec_deg": [
|
| 24 |
+
-1.4345,
|
| 25 |
+
-0.1809,
|
| 26 |
+
-0.7223
|
| 27 |
+
],
|
| 28 |
+
"split_deg": 0.0272,
|
| 29 |
+
"usable": true
|
| 30 |
+
},
|
| 31 |
+
"left_eye": {
|
| 32 |
+
"accepted": true,
|
| 33 |
+
"against": [
|
| 34 |
+
"left_front",
|
| 35 |
+
"right_front",
|
| 36 |
+
"right_eye",
|
| 37 |
+
"left",
|
| 38 |
+
"right"
|
| 39 |
+
],
|
| 40 |
+
"delta_deg": 2.647,
|
| 41 |
+
"gate_fail": [],
|
| 42 |
+
"held_out_px_after": 0.335,
|
| 43 |
+
"held_out_px_before": 9.574,
|
| 44 |
+
"inliers": 3977,
|
| 45 |
+
"position_fitted": true,
|
| 46 |
+
"position_mm": [
|
| 47 |
+
6.77,
|
| 48 |
+
-24.32,
|
| 49 |
+
4.35
|
| 50 |
+
],
|
| 51 |
+
"position_sigma_mm": 0.432,
|
| 52 |
+
"position_split_mm": 1.84,
|
| 53 |
+
"rotvec_deg": [
|
| 54 |
+
1.5963,
|
| 55 |
+
-0.9559,
|
| 56 |
+
1.8827
|
| 57 |
+
],
|
| 58 |
+
"split_deg": 0.0297,
|
| 59 |
+
"usable": true
|
| 60 |
+
},
|
| 61 |
+
"left_front": {
|
| 62 |
+
"role": "rig origin"
|
| 63 |
+
},
|
| 64 |
+
"right": {
|
| 65 |
+
"accepted": true,
|
| 66 |
+
"against": [
|
| 67 |
+
"left_eye",
|
| 68 |
+
"right_eye",
|
| 69 |
+
"left"
|
| 70 |
+
],
|
| 71 |
+
"delta_deg": 3.3199,
|
| 72 |
+
"gate_fail": [],
|
| 73 |
+
"held_out_px_after": 0.488,
|
| 74 |
+
"held_out_px_before": 8.011,
|
| 75 |
+
"inliers": 308,
|
| 76 |
+
"position_fitted": false,
|
| 77 |
+
"rotvec_deg": [
|
| 78 |
+
1.5553,
|
| 79 |
+
-1.1608,
|
| 80 |
+
2.6936
|
| 81 |
+
],
|
| 82 |
+
"split_deg": 0.0771,
|
| 83 |
+
"usable": true
|
| 84 |
+
},
|
| 85 |
+
"right_eye": {
|
| 86 |
+
"accepted": true,
|
| 87 |
+
"against": [
|
| 88 |
+
"left_front",
|
| 89 |
+
"right_front",
|
| 90 |
+
"left_eye",
|
| 91 |
+
"left",
|
| 92 |
+
"right"
|
| 93 |
+
],
|
| 94 |
+
"delta_deg": 3.1768,
|
| 95 |
+
"gate_fail": [],
|
| 96 |
+
"held_out_px_after": 0.325,
|
| 97 |
+
"held_out_px_before": 5.24,
|
| 98 |
+
"inliers": 4131,
|
| 99 |
+
"position_fitted": true,
|
| 100 |
+
"position_mm": [
|
| 101 |
+
2.6,
|
| 102 |
+
-17.9,
|
| 103 |
+
-1.83
|
| 104 |
+
],
|
| 105 |
+
"position_sigma_mm": 0.322,
|
| 106 |
+
"position_split_mm": 3.122,
|
| 107 |
+
"rotvec_deg": [
|
| 108 |
+
1.8897,
|
| 109 |
+
-1.1334,
|
| 110 |
+
2.2883
|
| 111 |
+
],
|
| 112 |
+
"split_deg": 0.0255,
|
| 113 |
+
"usable": true
|
| 114 |
+
},
|
| 115 |
+
"right_front": {
|
| 116 |
+
"accepted": true,
|
| 117 |
+
"against": [
|
| 118 |
+
"left_front",
|
| 119 |
+
"left_eye",
|
| 120 |
+
"right_eye",
|
| 121 |
+
"left"
|
| 122 |
+
],
|
| 123 |
+
"delta_deg": 0.4422,
|
| 124 |
+
"gate_fail": [],
|
| 125 |
+
"held_out_px_after": 0.261,
|
| 126 |
+
"held_out_px_before": 2.403,
|
| 127 |
+
"inliers": 4645,
|
| 128 |
+
"position_fitted": false,
|
| 129 |
+
"rotvec_deg": [
|
| 130 |
+
0.2311,
|
| 131 |
+
-0.3749,
|
| 132 |
+
-0.0397
|
| 133 |
+
],
|
| 134 |
+
"split_deg": 0.009,
|
| 135 |
+
"usable": true
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"code_fingerprint": "711ecf5b3dd408f8",
|
| 139 |
+
"device_id": "c9205ac6e17d2d5c",
|
| 140 |
+
"factory_root_name": "c9205ac6e17d2d5c",
|
| 141 |
+
"files": {
|
| 142 |
+
"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 143 |
+
"sha256": "1fda3bb02e45f88155af154e794aa0b8cd815e039c1f012b8f32b628bb5ba8b3",
|
| 144 |
+
"source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
|
| 145 |
+
},
|
| 146 |
+
"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 147 |
+
"sha256": "8ecc9611cdb8f47f3bd37f36da940e04254a1f43b22134bc480370877c9a1fa4",
|
| 148 |
+
"source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
|
| 149 |
+
},
|
| 150 |
+
"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 151 |
+
"sha256": "0d6665b152421b59848e4b8390781ef3d468de4014e0e97380bb03e3b3c758a5",
|
| 152 |
+
"source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
|
| 153 |
+
},
|
| 154 |
+
"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 155 |
+
"sha256": "8d51deac0f9d73c9e8d34b8daadc539f8412d64956a11552aacfcad963690962",
|
| 156 |
+
"source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"input_fingerprint": "6fcecbc6246235b2",
|
| 160 |
+
"kind": "online_calibration",
|
| 161 |
+
"output_sha256": "975194c5b80422d29ec3ddb448eb19a955988d274d738c212fa7e6a279332444",
|
| 162 |
+
"overlap": {
|
| 163 |
+
"left-right": 0.5,
|
| 164 |
+
"left_eye-left": 0.695,
|
| 165 |
+
"left_eye-right": 0.702,
|
| 166 |
+
"left_front-left": 0.506,
|
| 167 |
+
"left_front-left_eye": 0.692,
|
| 168 |
+
"left_front-right": 0.458,
|
| 169 |
+
"left_front-right_eye": 0.698,
|
| 170 |
+
"left_front-right_front": 1.0,
|
| 171 |
+
"right_eye-left": 0.699,
|
| 172 |
+
"right_eye-left_eye": 1.0,
|
| 173 |
+
"right_eye-right": 0.706,
|
| 174 |
+
"right_front-left": 0.49,
|
| 175 |
+
"right_front-left_eye": 0.697,
|
| 176 |
+
"right_front-right": 0.464,
|
| 177 |
+
"right_front-right_eye": 0.704
|
| 178 |
+
},
|
| 179 |
+
"picture_change": {
|
| 180 |
+
"left": 23.337,
|
| 181 |
+
"left_eye": 17.845,
|
| 182 |
+
"left_front": 26.951,
|
| 183 |
+
"right": 17.094,
|
| 184 |
+
"right_eye": 17.978,
|
| 185 |
+
"right_front": 27.466
|
| 186 |
+
},
|
| 187 |
+
"runtime": {
|
| 188 |
+
"numpy": "2.4.6",
|
| 189 |
+
"opencv": "5.0.0",
|
| 190 |
+
"scipy": "1.17.1"
|
| 191 |
+
},
|
| 192 |
+
"segment": 1,
|
| 193 |
+
"selection": {
|
| 194 |
+
"overlap_captures": [
|
| 195 |
+
2966795631111,
|
| 196 |
+
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|
| 197 |
+
2968795631111,
|
| 198 |
+
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|
| 199 |
+
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|
| 200 |
+
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|
| 201 |
+
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|
| 202 |
+
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|
| 203 |
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|
| 204 |
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|
| 205 |
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2976795620000,
|
| 206 |
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2977795631111,
|
| 207 |
+
2978795631111,
|
| 208 |
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2979795620000,
|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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]
|
| 216 |
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},
|
| 217 |
+
"version": 1
|
| 218 |
+
}
|
actions/locomotion_posture_dynamics/D37/session_013/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0946d110cf90f9f61ee01c3e1973e05529b0114e0468e33ba102a171d134a58d
|
| 3 |
+
size 299481
|
actions/locomotion_posture_dynamics/D37/session_013/meta.json
CHANGED
|
@@ -379,8 +379,8 @@
|
|
| 379 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 380 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 381 |
"hands": {
|
| 382 |
-
"observed":
|
| 383 |
-
"hand_pose": "
|
| 384 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 385 |
"hand_marker_offsets_m": {
|
| 386 |
"left": {
|
|
@@ -521,10 +521,124 @@
|
|
| 521 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 522 |
}
|
| 523 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
| 524 |
"release": {
|
| 525 |
"release_path": "actions/locomotion_posture_dynamics/D37/session_013",
|
| 526 |
"family": "locomotion_posture_dynamics",
|
| 527 |
"primitive": "D37",
|
| 528 |
"source_session": "20261019/D37/20261019_013150_session12"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 529 |
}
|
| 530 |
}
|
|
|
|
| 379 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 380 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 381 |
"hands": {
|
| 382 |
+
"observed": true,
|
| 383 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 384 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 385 |
"hand_marker_offsets_m": {
|
| 386 |
"left": {
|
|
|
|
| 521 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 522 |
}
|
| 523 |
},
|
| 524 |
+
"hands_registration": {
|
| 525 |
+
"cameras": {},
|
| 526 |
+
"hands": {
|
| 527 |
+
"left": {
|
| 528 |
+
"offset_deg": 24.87,
|
| 529 |
+
"offset_rotvec": [
|
| 530 |
+
0.1892,
|
| 531 |
+
-0.3738,
|
| 532 |
+
0.1131
|
| 533 |
+
],
|
| 534 |
+
"dev_deg": {
|
| 535 |
+
"median": 16.01,
|
| 536 |
+
"p90": 26.34
|
| 537 |
+
},
|
| 538 |
+
"samples": 1252,
|
| 539 |
+
"accepted": 1165,
|
| 540 |
+
"wrist_pos_err_mm_median": 48.0,
|
| 541 |
+
"per_camera": {
|
| 542 |
+
"head": {
|
| 543 |
+
"samples": 1252,
|
| 544 |
+
"accepted": 1165,
|
| 545 |
+
"gate_deg": 30.0,
|
| 546 |
+
"offset_deg": 24.87,
|
| 547 |
+
"tier": "primary",
|
| 548 |
+
"dev_deg_median": 16.01,
|
| 549 |
+
"wrist_pos_err_mm_median": 48.0
|
| 550 |
+
}
|
| 551 |
+
},
|
| 552 |
+
"frames_by_state": {
|
| 553 |
+
"ace_sample": 4784,
|
| 554 |
+
"interpolated": 1460,
|
| 555 |
+
"mean_hand": 12,
|
| 556 |
+
"no_body_fit": 0
|
| 557 |
+
},
|
| 558 |
+
"observed_fraction": 0.9981,
|
| 559 |
+
"observed_fraction_of_valid": 0.9981,
|
| 560 |
+
"palm_axis_vs_markers_deg": {
|
| 561 |
+
"gsi": 25.68,
|
| 562 |
+
"smplx": 0.54
|
| 563 |
+
},
|
| 564 |
+
"hand_marker_to_mesh_mm": {
|
| 565 |
+
"flat": {
|
| 566 |
+
"median": 10.6,
|
| 567 |
+
"p90": 13.2
|
| 568 |
+
},
|
| 569 |
+
"registered": {
|
| 570 |
+
"median": 10.5,
|
| 571 |
+
"p90": 13.4
|
| 572 |
+
}
|
| 573 |
+
}
|
| 574 |
+
},
|
| 575 |
+
"right": {
|
| 576 |
+
"offset_deg": 17.03,
|
| 577 |
+
"offset_rotvec": [
|
| 578 |
+
0.2297,
|
| 579 |
+
0.1251,
|
| 580 |
+
0.1414
|
| 581 |
+
],
|
| 582 |
+
"dev_deg": {
|
| 583 |
+
"median": 18.39,
|
| 584 |
+
"p90": 33.27
|
| 585 |
+
},
|
| 586 |
+
"samples": 1182,
|
| 587 |
+
"accepted": 1003,
|
| 588 |
+
"wrist_pos_err_mm_median": 43.7,
|
| 589 |
+
"per_camera": {
|
| 590 |
+
"head": {
|
| 591 |
+
"samples": 1182,
|
| 592 |
+
"accepted": 1003,
|
| 593 |
+
"gate_deg": 30.0,
|
| 594 |
+
"offset_deg": 17.03,
|
| 595 |
+
"tier": "primary",
|
| 596 |
+
"dev_deg_median": 18.39,
|
| 597 |
+
"wrist_pos_err_mm_median": 43.7
|
| 598 |
+
}
|
| 599 |
+
},
|
| 600 |
+
"frames_by_state": {
|
| 601 |
+
"ace_sample": 4154,
|
| 602 |
+
"interpolated": 1786,
|
| 603 |
+
"mean_hand": 316,
|
| 604 |
+
"no_body_fit": 0
|
| 605 |
+
},
|
| 606 |
+
"observed_fraction": 0.9495,
|
| 607 |
+
"observed_fraction_of_valid": 0.9495,
|
| 608 |
+
"palm_axis_vs_markers_deg": {
|
| 609 |
+
"gsi": 18.49,
|
| 610 |
+
"smplx": 0.46
|
| 611 |
+
},
|
| 612 |
+
"hand_marker_to_mesh_mm": {
|
| 613 |
+
"flat": {
|
| 614 |
+
"median": 6.5,
|
| 615 |
+
"p90": 12.9
|
| 616 |
+
},
|
| 617 |
+
"registered": {
|
| 618 |
+
"median": 6.1,
|
| 619 |
+
"p90": 11.7
|
| 620 |
+
}
|
| 621 |
+
}
|
| 622 |
+
}
|
| 623 |
+
},
|
| 624 |
+
"max_dev_deg": 30.0,
|
| 625 |
+
"max_gap_s": 1.0,
|
| 626 |
+
"cameras_used": [
|
| 627 |
+
"head"
|
| 628 |
+
],
|
| 629 |
+
"generated_at_utc": "2026-11-03T21:37:07.867416+00:00",
|
| 630 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 631 |
+
"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",
|
| 632 |
+
"wrist_flip_suspect": []
|
| 633 |
+
},
|
| 634 |
"release": {
|
| 635 |
"release_path": "actions/locomotion_posture_dynamics/D37/session_013",
|
| 636 |
"family": "locomotion_posture_dynamics",
|
| 637 |
"primitive": "D37",
|
| 638 |
"source_session": "20261019/D37/20261019_013150_session12"
|
| 639 |
+
},
|
| 640 |
+
"task": {
|
| 641 |
+
"primitive": "D37",
|
| 642 |
+
"instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop."
|
| 643 |
}
|
| 644 |
}
|
actions/locomotion_posture_dynamics/D37/session_013/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b51519cd041e3c6501cd3fb02f7912d9604da35a939836cce432c68ed233ff9d
|
| 3 |
+
size 1678461
|
actions/locomotion_posture_dynamics/D37/session_013/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
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|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8c19539f0f5bb1179ef17df7d0e6a9dfb4589ee8e5efd250f1ad1e492923d19a
|
| 3 |
+
size 4474789
|
actions/locomotion_posture_dynamics/D37/session_014/cameras/poses.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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|
| 3 |
+
size 583064
|
actions/locomotion_posture_dynamics/D37/session_014/meta.json
ADDED
|
@@ -0,0 +1,517 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261027/D37/20261027_110657_session51",
|
| 4 |
+
"session_id": "20261027_110657_session51",
|
| 5 |
+
"primitive": "D37",
|
| 6 |
+
"batch": "20261027",
|
| 7 |
+
"participant": "gaoziyue",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "c9205ac6e17d2d5c",
|
| 11 |
+
"left": "cc5681142208e29a",
|
| 12 |
+
"right": "a85418f7d807dff9"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-28T19:38:38.208456+00:00",
|
| 15 |
+
"generated_by": "scripts/sync_dataset.py",
|
| 16 |
+
"time_base": {
|
| 17 |
+
"definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
|
| 18 |
+
"mocap_rate_hz": 120.0,
|
| 19 |
+
"mocap_rate_fix": null,
|
| 20 |
+
"first_solved_frame": 0,
|
| 21 |
+
"duration_s": 66.15833333333333,
|
| 22 |
+
"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 23 |
+
},
|
| 24 |
+
"alignment": {
|
| 25 |
+
"reference_imu": "imu_head_right",
|
| 26 |
+
"model": "offset (median of windows)",
|
| 27 |
+
"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 28 |
+
"offset_s": -0.094666,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.095,
|
| 31 |
+
"peak_corr": 0.9272,
|
| 32 |
+
"reference_imu_first_sample_s": 12388.390890082,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 4,
|
| 35 |
+
"window_corr_median": 0.9591229330253417,
|
| 36 |
+
"drift_ppm": 2.5999446716283923,
|
| 37 |
+
"drift_se_ppm": 15.513294249042858,
|
| 38 |
+
"drift_ms_over_take": 0.17198634002821817,
|
| 39 |
+
"lag_scatter_ms": 0.2452867191968341,
|
| 40 |
+
"lag_range_ms": 0.6056570796990068
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"units": {
|
| 44 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
+
"y_up_to_z_up": [
|
| 46 |
+
[
|
| 47 |
+
1.0,
|
| 48 |
+
0.0,
|
| 49 |
+
0.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
0.0,
|
| 53 |
+
0.0,
|
| 54 |
+
-1.0
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.0,
|
| 58 |
+
1.0,
|
| 59 |
+
0.0
|
| 60 |
+
]
|
| 61 |
+
],
|
| 62 |
+
"acc": "m/s^2 (8192 LSB/g)",
|
| 63 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 64 |
+
"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 65 |
+
"quaternions": "xyzw, Nokov global"
|
| 66 |
+
},
|
| 67 |
+
"calibration": {
|
| 68 |
+
"device": "c9205ac6e17d2d5c",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 13491,
|
| 76 |
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"n_gyro": 13485,
|
| 77 |
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"t_start": -0.10156296194784009,
|
| 78 |
+
"t_end": 66.34960159105229
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 13414,
|
| 82 |
+
"n_gyro": 13407,
|
| 83 |
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"t_start": 0.004426080052306491,
|
| 84 |
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"t_end": 66.51332283705322
|
| 85 |
+
},
|
| 86 |
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"imu_wrist_right": {
|
| 87 |
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"n_acc": 13082,
|
| 88 |
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"n_gyro": 13082,
|
| 89 |
+
"t_start": -0.9248145669471538,
|
| 90 |
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"t_end": 65.14015048105192
|
| 91 |
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},
|
| 92 |
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"imu_wrist_left": {
|
| 93 |
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"n_acc": 13035,
|
| 94 |
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"n_gyro": 13035,
|
| 95 |
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"t_start": -0.8471872989475938,
|
| 96 |
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"t_end": 65.14375661505345
|
| 97 |
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},
|
| 98 |
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"mag_head": {
|
| 99 |
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"n": 6660,
|
| 100 |
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"t_start": 0.0873124970521334,
|
| 101 |
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"t_end": 66.6773516120529
|
| 102 |
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},
|
| 103 |
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"mag_wrist_right": {
|
| 104 |
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"n": 6606,
|
| 105 |
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"t_start": -0.9160472409467016,
|
| 106 |
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"t_end": 65.13412954605245
|
| 107 |
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},
|
| 108 |
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|
| 109 |
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"n": 6598,
|
| 110 |
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|
| 111 |
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|
| 112 |
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}
|
| 113 |
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},
|
| 114 |
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"videos": {
|
| 115 |
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"left": {
|
| 116 |
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"fps": 30.0,
|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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"timing": "pts",
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| 121 |
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"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
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"file": "robocap_segment1_video_left.mp4",
|
| 123 |
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"t_start": 0.03943556770080103,
|
| 124 |
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"t_end": 66.13946856770143,
|
| 125 |
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"clock": "device",
|
| 126 |
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"calibrated": true
|
| 127 |
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},
|
| 128 |
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"right": {
|
| 129 |
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"fps": 30.0,
|
| 130 |
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"start_device_s": 12388.522337,
|
| 131 |
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"frames": 1984,
|
| 132 |
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|
| 133 |
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"timing": "pts",
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| 134 |
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|
| 135 |
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"file": "robocap_segment1_video_right.mp4",
|
| 136 |
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"t_start": 0.039199246669321286,
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| 137 |
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| 138 |
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"clock": "device",
|
| 139 |
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"calibrated": true
|
| 140 |
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},
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| 141 |
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| 142 |
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"fps": 30.0,
|
| 143 |
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"start_device_s": 12388.522355,
|
| 144 |
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"frames": 1984,
|
| 145 |
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"pts_gaps": 0,
|
| 146 |
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"timing": "pts",
|
| 147 |
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"timeshift_cam_imu_s": 0.002458947067077895,
|
| 148 |
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"file": "robocap_segment1_video_left_front.mp4",
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| 149 |
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"t_start": 0.03925807911853407,
|
| 150 |
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"t_end": 66.13929107911916,
|
| 151 |
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"clock": "device",
|
| 152 |
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"calibrated": true
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| 153 |
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},
|
| 154 |
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| 155 |
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"fps": 30.0,
|
| 156 |
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| 157 |
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|
| 158 |
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| 159 |
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"timing": "pts",
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| 160 |
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| 161 |
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"file": "robocap_segment1_video_right_front.mp4",
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| 162 |
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| 163 |
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| 164 |
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| 165 |
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|
| 166 |
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},
|
| 167 |
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"left_eye": {
|
| 168 |
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"fps": 30.0,
|
| 169 |
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"start_device_s": 12388.522347,
|
| 170 |
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"frames": 1984,
|
| 171 |
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| 172 |
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"timing": "pts",
|
| 173 |
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"timeshift_cam_imu_s": 0.002801984596191448,
|
| 174 |
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"file": "robocap_segment1_video_left_eye.mp4",
|
| 175 |
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"t_start": 0.03959311664855558,
|
| 176 |
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|
| 177 |
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"clock": "device",
|
| 178 |
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"calibrated": true
|
| 179 |
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},
|
| 180 |
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"right_eye": {
|
| 181 |
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"fps": 30.0,
|
| 182 |
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"start_device_s": 12388.522323,
|
| 183 |
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"frames": 1984,
|
| 184 |
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"pts_gaps": 0,
|
| 185 |
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"timing": "pts",
|
| 186 |
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"timeshift_cam_imu_s": 0.002930366888236734,
|
| 187 |
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"file": "robocap_segment1_video_right_eye.mp4",
|
| 188 |
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"t_start": 0.03969749894074848,
|
| 189 |
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"t_end": 66.13969749894112,
|
| 190 |
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"clock": "device",
|
| 191 |
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"calibrated": true
|
| 192 |
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},
|
| 193 |
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"wrist_left": {
|
| 194 |
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"fps": 30.0,
|
| 195 |
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"start_device_s": 12387.632109,
|
| 196 |
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"frames": 1979,
|
| 197 |
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"pts_gaps": 0,
|
| 198 |
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"timing": "pts",
|
| 199 |
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"timeshift_cam_imu_s": null,
|
| 200 |
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"file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
|
| 201 |
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"t_start": -0.8534468679472608,
|
| 202 |
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"t_end": 65.08008213205265,
|
| 203 |
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"clock": "device",
|
| 204 |
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"calibrated": false
|
| 205 |
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},
|
| 206 |
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"wrist_right": {
|
| 207 |
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"fps": 30.0,
|
| 208 |
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"start_device_s": 12387.557004,
|
| 209 |
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"frames": 1981,
|
| 210 |
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"pts_gaps": 0,
|
| 211 |
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"timing": "pts",
|
| 212 |
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"timeshift_cam_imu_s": null,
|
| 213 |
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"file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
|
| 214 |
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"t_start": -0.9285518679471548,
|
| 215 |
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"t_end": 65.07164313205338,
|
| 216 |
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"clock": "device",
|
| 217 |
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"calibrated": false
|
| 218 |
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},
|
| 219 |
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"third_person": {
|
| 220 |
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"file": "mocap/mocap-D37-S04-gaoziyue-02p1-1.mp4",
|
| 221 |
+
"frames": 1985,
|
| 222 |
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"fps": 30.0,
|
| 223 |
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"clock": "nokov (frame index)",
|
| 224 |
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"t_start": 0.0,
|
| 225 |
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"t_end": 66.13333333333334
|
| 226 |
+
}
|
| 227 |
+
}
|
| 228 |
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},
|
| 229 |
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"flags": [],
|
| 230 |
+
"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
|
| 231 |
+
"rig_tracker": {
|
| 232 |
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"definition": "c9205ac6e17d2d5c/20261027-afternoon/labels-053142/session-bb22f8bff671aa18",
|
| 233 |
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"R_tracker0_imu0": [
|
| 234 |
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[
|
| 235 |
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-0.67672028,
|
| 236 |
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|
| 237 |
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-0.73001739
|
| 238 |
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],
|
| 239 |
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[
|
| 240 |
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|
| 241 |
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-0.00086615,
|
| 242 |
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-0.67988956
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| 243 |
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],
|
| 244 |
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[
|
| 245 |
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-0.06557607,
|
| 246 |
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-0.99542703,
|
| 247 |
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-0.06946078
|
| 248 |
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]
|
| 249 |
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],
|
| 250 |
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"p_tracker0_imu0_m": [
|
| 251 |
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-0.18018715737339164,
|
| 252 |
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-0.01491018286449626,
|
| 253 |
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-0.008878347675502095
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| 254 |
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],
|
| 255 |
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"rig_check": {
|
| 256 |
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"gyro_samples": 1062,
|
| 257 |
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"gyro_max_deg": 2.5,
|
| 258 |
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"status": "ok",
|
| 259 |
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|
| 260 |
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"gyro_deg": 1.74
|
| 261 |
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},
|
| 262 |
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"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 263 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 264 |
+
},
|
| 265 |
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"canonical": {
|
| 266 |
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"generated_at_utc": "2026-10-28T23:22:48.847664+00:00",
|
| 267 |
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"generated_by": "scripts/canonicalise_dataset.py",
|
| 268 |
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"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 269 |
+
"R_canon_nokov": [
|
| 270 |
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[
|
| 271 |
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0.9999951019,
|
| 272 |
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0.0031298597,
|
| 273 |
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1.01836e-05
|
| 274 |
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],
|
| 275 |
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[
|
| 276 |
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-1.01836e-05,
|
| 277 |
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0.0065073133,
|
| 278 |
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-0.9999788272
|
| 279 |
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],
|
| 280 |
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[
|
| 281 |
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-0.0031298597,
|
| 282 |
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0.9999739291,
|
| 283 |
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0.0065073133
|
| 284 |
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]
|
| 285 |
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],
|
| 286 |
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"scale_nokov_to_canon": 0.001,
|
| 287 |
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"T_canon_nokov_mm": [
|
| 288 |
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[
|
| 289 |
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0.000999995102,
|
| 290 |
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3.12986e-06,
|
| 291 |
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1.0184e-08,
|
| 292 |
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0.0
|
| 293 |
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],
|
| 294 |
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[
|
| 295 |
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-1.0184e-08,
|
| 296 |
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6.507313e-06,
|
| 297 |
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-0.000999978827,
|
| 298 |
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0.0
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| 299 |
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],
|
| 300 |
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[
|
| 301 |
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-3.12986e-06,
|
| 302 |
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0.000999973929,
|
| 303 |
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6.507313e-06,
|
| 304 |
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0.0
|
| 305 |
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],
|
| 306 |
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[
|
| 307 |
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0.0,
|
| 308 |
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0.0,
|
| 309 |
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0.0,
|
| 310 |
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1.0
|
| 311 |
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]
|
| 312 |
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],
|
| 313 |
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"block": "20261027-afternoon",
|
| 314 |
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"block_assignment": "trc",
|
| 315 |
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"tilt_removed_deg": 0.413729700581665,
|
| 316 |
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"plane_status": "ok",
|
| 317 |
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"floor": {
|
| 318 |
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"sole_marker_p1_mm": 28.8,
|
| 319 |
+
"headtop_p95_mm": 1642.2
|
| 320 |
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},
|
| 321 |
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"gravity_check": {
|
| 322 |
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"static_samples": 1616,
|
| 323 |
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"g_world_mean_m_s2": [
|
| 324 |
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-0.1746,
|
| 325 |
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0.1416,
|
| 326 |
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9.8632
|
| 327 |
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],
|
| 328 |
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"tilt_from_z_deg": 1.306,
|
| 329 |
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"tilt_from_z_deg_before_levelling": 1.275,
|
| 330 |
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"magnitude_m_s2": 9.8658
|
| 331 |
+
},
|
| 332 |
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"rig_tracker_definition": "c9205ac6e17d2d5c/20261027-afternoon/labels-053142/session-bb22f8bff671aa18",
|
| 333 |
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"rig_check": {
|
| 334 |
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"status": "ok",
|
| 335 |
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"dropped_marker": null,
|
| 336 |
+
"gyro_deg": 1.74
|
| 337 |
+
},
|
| 338 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 339 |
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"files": [
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|
| 352 |
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|
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| 356 |
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{
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