Release update 2026-11-05: new sessions, instructions, annotations (part 36)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +9 -0
- actions/locomotion_posture_dynamics/D14/session_006/motions/smplx.npz +2 -2
- actions/locomotion_posture_dynamics/D14/session_007/annotations.json +39 -0
- actions/locomotion_posture_dynamics/D14/session_007/cameras/gsi_online_calibration.json +248 -0
- actions/locomotion_posture_dynamics/D14/session_007/cameras/slam.npz +3 -0
- actions/locomotion_posture_dynamics/D14/session_007/meta.json +4 -0
- actions/locomotion_posture_dynamics/D14/session_007/motions/hands_mano.npz +3 -0
- actions/locomotion_posture_dynamics/D14/session_008/annotations.json +39 -0
- actions/locomotion_posture_dynamics/D14/session_008/cameras/gsi_online_calibration.json +246 -0
- actions/locomotion_posture_dynamics/D14/session_008/cameras/slam.npz +3 -0
- actions/locomotion_posture_dynamics/D14/session_008/meta.json +116 -2
- actions/locomotion_posture_dynamics/D14/session_008/motions/hands_mano.npz +3 -0
- actions/locomotion_posture_dynamics/D14/session_008/motions/smplx.npz +2 -2
- actions/locomotion_posture_dynamics/D14/session_009/annotations.json +39 -0
- actions/locomotion_posture_dynamics/D14/session_009/cameras/gsi_online_calibration.json +252 -0
- actions/locomotion_posture_dynamics/D14/session_009/cameras/slam.npz +3 -0
- actions/locomotion_posture_dynamics/D14/session_009/meta.json +116 -2
- actions/locomotion_posture_dynamics/D14/session_009/motions/hands_mano.npz +3 -0
- actions/locomotion_posture_dynamics/D14/session_009/motions/smplx.npz +2 -2
- actions/locomotion_posture_dynamics/D14/session_010/annotations.json +39 -0
- actions/locomotion_posture_dynamics/D14/session_010/cameras/slam.npz +3 -0
- actions/locomotion_posture_dynamics/D14/session_010/meta.json +116 -2
- actions/locomotion_posture_dynamics/D14/session_010/motions/hands_mano.npz +3 -0
- actions/locomotion_posture_dynamics/D14/session_010/motions/smplx.npz +2 -2
- actions/locomotion_posture_dynamics/D14/session_011/annotations.json +39 -0
- actions/locomotion_posture_dynamics/D14/session_011/cameras/slam.npz +3 -0
- actions/locomotion_posture_dynamics/D14/session_011/meta.json +116 -2
- actions/locomotion_posture_dynamics/D14/session_011/motions/hands_mano.npz +3 -0
- actions/locomotion_posture_dynamics/D14/session_011/motions/smplx.npz +2 -2
- actions/locomotion_posture_dynamics/D14/session_012/annotations.json +39 -0
- actions/locomotion_posture_dynamics/D14/session_012/cameras/slam.npz +3 -0
- actions/locomotion_posture_dynamics/D14/session_012/meta.json +4 -0
- actions/locomotion_posture_dynamics/D14/session_012/motions/hands_mano.npz +3 -0
- actions/locomotion_posture_dynamics/D14/session_013/annotations.json +39 -0
- actions/locomotion_posture_dynamics/D14/session_013/cameras/gsi_online_calibration.json +248 -0
- actions/locomotion_posture_dynamics/D14/session_013/cameras/slam.npz +3 -0
- actions/locomotion_posture_dynamics/D14/session_013/meta.json +116 -2
- actions/locomotion_posture_dynamics/D14/session_013/motions/hands_mano.npz +3 -0
- actions/locomotion_posture_dynamics/D14/session_013/motions/smplx.npz +2 -2
- actions/locomotion_posture_dynamics/D14/session_014/cameras/poses.npz +3 -0
- actions/locomotion_posture_dynamics/D14/session_014/meta.json +544 -0
- actions/locomotion_posture_dynamics/D14/session_014/motions/head_rig.npz +3 -0
- actions/locomotion_posture_dynamics/D14/session_014/motions/markers.npz +3 -0
- actions/locomotion_posture_dynamics/D14/session_014/motions/object_markers.npz +3 -0
- actions/locomotion_posture_dynamics/D14/session_014/motions/objects.json +55 -0
- actions/locomotion_posture_dynamics/D14/session_014/motions/objects.npz +3 -0
- actions/locomotion_posture_dynamics/D14/session_014/motions/skeleton.npz +3 -0
- actions/locomotion_posture_dynamics/D14/session_014/motions/smplx.npz +3 -0
- actions/locomotion_posture_dynamics/D14/session_014/raw/audio.wav +3 -0
- actions/locomotion_posture_dynamics/D14/session_014/raw/manifest.json +308 -0
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actions/locomotion_posture_dynamics/D14/session_007/cameras/gsi_online_calibration.json
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CHANGED
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@@ -330,8 +330,8 @@
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@@ -511,10 +511,124 @@
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| 514 |
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|
| 330 |
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actions/locomotion_posture_dynamics/D14/session_008/motions/hands_mano.npz
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actions/locomotion_posture_dynamics/D14/session_009/cameras/gsi_online_calibration.json
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{
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| 623 |
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| 626 |
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| 627 |
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| 628 |
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"primitive": "D14",
|
| 629 |
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|
| 630 |
}
|
| 631 |
}
|
actions/locomotion_posture_dynamics/D14/session_009/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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actions/locomotion_posture_dynamics/D14/session_009/motions/smplx.npz
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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",
|
| 5 |
+
"primitive": "D14",
|
| 6 |
+
"instruction": "Mime a tennis serve with no racket: toss, reach up, strike and follow through. Repeat the movement at your own pace until the operator says stop; do not rush.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
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"id": "segment1",
|
| 10 |
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|
| 11 |
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"video": "left_eye",
|
| 12 |
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|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
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"episodes": [
|
| 16 |
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{
|
| 17 |
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"id": "9f582ca2-67eb-42d4-b4d2-db4253957000",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "D14",
|
| 20 |
+
"quality": "valid",
|
| 21 |
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"start_s": 1.361,
|
| 22 |
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"end_s": 28.889,
|
| 23 |
+
"t_start": 1.3966,
|
| 24 |
+
"t_end": 28.9246,
|
| 25 |
+
"instruction": "Mime a tennis serve with no racket: toss, reach up, strike and follow through. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"id": "f62396f6-66dd-4ecb-85a5-946fae4d1bd9",
|
| 29 |
+
"segment": "segment1",
|
| 30 |
+
"action": "D14",
|
| 31 |
+
"quality": "valid",
|
| 32 |
+
"start_s": 31.889,
|
| 33 |
+
"end_s": 55.52,
|
| 34 |
+
"t_start": 31.9246,
|
| 35 |
+
"t_end": 55.5556,
|
| 36 |
+
"instruction": "Mime a tennis serve with no racket: toss, reach up, strike and follow through. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/locomotion_posture_dynamics/D14/session_010/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0ac8d3e0fe532956e33d71b98e87307f7b1938e7fea9328c063e481d076d17fd
|
| 3 |
+
size 370012
|
actions/locomotion_posture_dynamics/D14/session_010/meta.json
CHANGED
|
@@ -339,8 +339,8 @@
|
|
| 339 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 340 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 341 |
"hands": {
|
| 342 |
-
"observed":
|
| 343 |
-
"hand_pose": "
|
| 344 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 345 |
"hand_marker_offsets_m": {
|
| 346 |
"left": {
|
|
@@ -530,10 +530,124 @@
|
|
| 530 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 531 |
"remaining_gyro_frame_deg": 1.5233286468640452
|
| 532 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 533 |
"release": {
|
| 534 |
"release_path": "actions/locomotion_posture_dynamics/D14/session_010",
|
| 535 |
"family": "locomotion_posture_dynamics",
|
| 536 |
"primitive": "D14",
|
| 537 |
"source_session": "20260923/D14/20260923_105227_session28"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 538 |
}
|
| 539 |
}
|
|
|
|
| 339 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 340 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 341 |
"hands": {
|
| 342 |
+
"observed": true,
|
| 343 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 344 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 345 |
"hand_marker_offsets_m": {
|
| 346 |
"left": {
|
|
|
|
| 530 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 531 |
"remaining_gyro_frame_deg": 1.5233286468640452
|
| 532 |
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|
| 533 |
+
"hands_registration": {
|
| 534 |
+
"cameras": {},
|
| 535 |
+
"hands": {
|
| 536 |
+
"left": {
|
| 537 |
+
"offset_deg": 22.04,
|
| 538 |
+
"offset_rotvec": [
|
| 539 |
+
0.3793,
|
| 540 |
+
-0.059,
|
| 541 |
+
-0.025
|
| 542 |
+
],
|
| 543 |
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"dev_deg": {
|
| 544 |
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"median": 27.87,
|
| 545 |
+
"p90": 58.68
|
| 546 |
+
},
|
| 547 |
+
"samples": 892,
|
| 548 |
+
"accepted": 521,
|
| 549 |
+
"wrist_pos_err_mm_median": 213.6,
|
| 550 |
+
"per_camera": {
|
| 551 |
+
"head": {
|
| 552 |
+
"samples": 892,
|
| 553 |
+
"accepted": 521,
|
| 554 |
+
"gate_deg": 30.0,
|
| 555 |
+
"offset_deg": 22.04,
|
| 556 |
+
"tier": "primary",
|
| 557 |
+
"dev_deg_median": 27.87,
|
| 558 |
+
"wrist_pos_err_mm_median": 213.6
|
| 559 |
+
}
|
| 560 |
+
},
|
| 561 |
+
"frames_by_state": {
|
| 562 |
+
"ace_sample": 2171,
|
| 563 |
+
"interpolated": 2546,
|
| 564 |
+
"mean_hand": 2959,
|
| 565 |
+
"no_body_fit": 8
|
| 566 |
+
},
|
| 567 |
+
"observed_fraction": 0.6139,
|
| 568 |
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"observed_fraction_of_valid": 0.6145,
|
| 569 |
+
"palm_axis_vs_markers_deg": {
|
| 570 |
+
"gsi": 33.62,
|
| 571 |
+
"smplx": 1.25
|
| 572 |
+
},
|
| 573 |
+
"hand_marker_to_mesh_mm": {
|
| 574 |
+
"flat": {
|
| 575 |
+
"median": 6.8,
|
| 576 |
+
"p90": 7.6
|
| 577 |
+
},
|
| 578 |
+
"registered": {
|
| 579 |
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"median": 6.5,
|
| 580 |
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"p90": 7.3
|
| 581 |
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}
|
| 582 |
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}
|
| 583 |
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},
|
| 584 |
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"right": {
|
| 585 |
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"offset_deg": 20.87,
|
| 586 |
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"offset_rotvec": [
|
| 587 |
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0.1449,
|
| 588 |
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0.1959,
|
| 589 |
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0.2707
|
| 590 |
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],
|
| 591 |
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"dev_deg": {
|
| 592 |
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"median": 10.78,
|
| 593 |
+
"p90": 31.7
|
| 594 |
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},
|
| 595 |
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"samples": 1106,
|
| 596 |
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"accepted": 980,
|
| 597 |
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"wrist_pos_err_mm_median": 364.6,
|
| 598 |
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"per_camera": {
|
| 599 |
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"head": {
|
| 600 |
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"samples": 1106,
|
| 601 |
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"accepted": 980,
|
| 602 |
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"gate_deg": 30.0,
|
| 603 |
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"offset_deg": 20.87,
|
| 604 |
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"tier": "primary",
|
| 605 |
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"dev_deg_median": 10.78,
|
| 606 |
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"wrist_pos_err_mm_median": 364.6
|
| 607 |
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}
|
| 608 |
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},
|
| 609 |
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"frames_by_state": {
|
| 610 |
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"ace_sample": 4027,
|
| 611 |
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"interpolated": 2758,
|
| 612 |
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"mean_hand": 891,
|
| 613 |
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|
| 614 |
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},
|
| 615 |
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"observed_fraction": 0.883,
|
| 616 |
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"observed_fraction_of_valid": 0.8839,
|
| 617 |
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"palm_axis_vs_markers_deg": {
|
| 618 |
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"gsi": 20.25,
|
| 619 |
+
"smplx": 0.88
|
| 620 |
+
},
|
| 621 |
+
"hand_marker_to_mesh_mm": {
|
| 622 |
+
"flat": {
|
| 623 |
+
"median": 6.3,
|
| 624 |
+
"p90": 9.6
|
| 625 |
+
},
|
| 626 |
+
"registered": {
|
| 627 |
+
"median": 6.9,
|
| 628 |
+
"p90": 10.8
|
| 629 |
+
}
|
| 630 |
+
}
|
| 631 |
+
}
|
| 632 |
+
},
|
| 633 |
+
"max_dev_deg": 30.0,
|
| 634 |
+
"max_gap_s": 1.0,
|
| 635 |
+
"cameras_used": [
|
| 636 |
+
"head"
|
| 637 |
+
],
|
| 638 |
+
"generated_at_utc": "2026-11-03T22:41:28.758559+00:00",
|
| 639 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 640 |
+
"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 |
+
"wrist_flip_suspect": []
|
| 642 |
+
},
|
| 643 |
"release": {
|
| 644 |
"release_path": "actions/locomotion_posture_dynamics/D14/session_010",
|
| 645 |
"family": "locomotion_posture_dynamics",
|
| 646 |
"primitive": "D14",
|
| 647 |
"source_session": "20260923/D14/20260923_105227_session28"
|
| 648 |
+
},
|
| 649 |
+
"task": {
|
| 650 |
+
"primitive": "D14",
|
| 651 |
+
"instruction": "Mime a tennis serve with no racket: toss, reach up, strike and follow through. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 652 |
}
|
| 653 |
}
|
actions/locomotion_posture_dynamics/D14/session_010/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:caf8e16ac70e164a68d8905abb784e330b4cbe7e05adcbf8a232f67ab31b16e0
|
| 3 |
+
size 1434862
|
actions/locomotion_posture_dynamics/D14/session_010/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:ad3dabc9fb48f5f84fedc1962a5b94b6bde52cae5ff673bee6d71a4621f58b72
|
| 3 |
+
size 5087862
|
actions/locomotion_posture_dynamics/D14/session_011/annotations.json
ADDED
|
@@ -0,0 +1,39 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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": "D14",
|
| 6 |
+
"instruction": "Mime a tennis serve with no racket: toss, reach up, strike and follow through. Repeat the movement at your own pace until the operator says stop; do not rush.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 68.966622,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03913429850489303
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "40c6f758-80df-4bdd-a2fc-5b5b9c3a7997",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "D14",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 33.558,
|
| 23 |
+
"t_start": 0.0391,
|
| 24 |
+
"t_end": 33.5971,
|
| 25 |
+
"instruction": "Mime a tennis serve with no racket: toss, reach up, strike and follow through. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"id": "668ee05f-7763-4183-ac37-c228795e3f9d",
|
| 29 |
+
"segment": "segment1",
|
| 30 |
+
"action": "D14",
|
| 31 |
+
"quality": "valid",
|
| 32 |
+
"start_s": 34.204,
|
| 33 |
+
"end_s": 65.809,
|
| 34 |
+
"t_start": 34.2431,
|
| 35 |
+
"t_end": 65.8481,
|
| 36 |
+
"instruction": "Mime a tennis serve with no racket: toss, reach up, strike and follow through. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/locomotion_posture_dynamics/D14/session_011/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:15125696ea9005a42c7c7940f779162dafe3da843069d41a09ef4dfa80b138f5
|
| 3 |
+
size 398996
|
actions/locomotion_posture_dynamics/D14/session_011/meta.json
CHANGED
|
@@ -324,8 +324,8 @@
|
|
| 324 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 325 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 326 |
"hands": {
|
| 327 |
-
"observed":
|
| 328 |
-
"hand_pose": "
|
| 329 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 330 |
"hand_marker_offsets_m": {
|
| 331 |
"left": {
|
|
@@ -541,10 +541,124 @@
|
|
| 541 |
},
|
| 542 |
"applied": 1
|
| 543 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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| 544 |
"release": {
|
| 545 |
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|
| 546 |
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|
| 547 |
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|
| 548 |
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|
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|
| 549 |
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|
| 550 |
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|
|
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| 324 |
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|
| 325 |
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|
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|
| 327 |
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|
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|
| 329 |
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|
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|
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|
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|
| 631 |
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|
| 633 |
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|
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|
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],
|
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|
| 650 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 651 |
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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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| 652 |
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"wrist_flip_suspect": []
|
| 653 |
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},
|
| 654 |
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|
| 655 |
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|
| 656 |
"family": "locomotion_posture_dynamics",
|
| 657 |
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|
| 658 |
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|
| 659 |
+
},
|
| 660 |
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"task": {
|
| 661 |
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"primitive": "D14",
|
| 662 |
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"instruction": "Mime a tennis serve with no racket: toss, reach up, strike and follow through. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 663 |
}
|
| 664 |
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|
actions/locomotion_posture_dynamics/D14/session_011/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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size 1984892
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actions/locomotion_posture_dynamics/D14/session_011/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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actions/locomotion_posture_dynamics/D14/session_012/annotations.json
ADDED
|
@@ -0,0 +1,39 @@
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|
| 1 |
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{
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"schema_version": 1,
|
| 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 |
+
"primitive": "D14",
|
| 6 |
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"instruction": "Mime a tennis serve with no racket: toss, reach up, strike and follow through. Repeat the movement at your own pace until the operator says stop; do not rush.",
|
| 7 |
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"segments": [
|
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{
|
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"id": "segment1",
|
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|
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|
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|
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],
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{
|
| 17 |
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"id": "798aed2e-bcde-4a40-86d8-d0ca1fc96eb8",
|
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"segment": "segment1",
|
| 19 |
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|
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|
| 23 |
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|
| 24 |
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|
| 25 |
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"instruction": "Mime a tennis serve with no racket: toss, reach up, strike and follow through. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 26 |
+
},
|
| 27 |
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{
|
| 28 |
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"id": "ad68b686-47d3-4b20-9628-bb7e8d0b6c3d",
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"segment": "segment1",
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"action": "D14",
|
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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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"instruction": "Mime a tennis serve with no racket: toss, reach up, strike and follow through. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/locomotion_posture_dynamics/D14/session_012/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:bc1e6636830127e31912f3b81e0558a34f7358b63a4b021e479ea9ace64dbf77
|
| 3 |
+
size 540648
|
actions/locomotion_posture_dynamics/D14/session_012/meta.json
CHANGED
|
@@ -509,5 +509,9 @@
|
|
| 509 |
"family": "locomotion_posture_dynamics",
|
| 510 |
"primitive": "D14",
|
| 511 |
"source_session": "20260930/D14/20260930_053549_session47"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 512 |
}
|
| 513 |
}
|
|
|
|
| 509 |
"family": "locomotion_posture_dynamics",
|
| 510 |
"primitive": "D14",
|
| 511 |
"source_session": "20260930/D14/20260930_053549_session47"
|
| 512 |
+
},
|
| 513 |
+
"task": {
|
| 514 |
+
"primitive": "D14",
|
| 515 |
+
"instruction": "Mime a tennis serve with no racket: toss, reach up, strike and follow through. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 516 |
}
|
| 517 |
}
|
actions/locomotion_posture_dynamics/D14/session_012/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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oid sha256:85065a1dcae390b1f450fdea0b26a49a84f18e7bc0b8a211ccbbb6b03a3c04dd
|
| 3 |
+
size 1898756
|
actions/locomotion_posture_dynamics/D14/session_013/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": "D14",
|
| 6 |
+
"instruction": "Mime a tennis serve with no racket: toss, reach up, strike and follow through. Repeat the movement at your own pace until the operator says stop; do not rush.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 68.966533,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03722786875120998
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "78c0927c-e26a-4c99-ac79-373c49d3a724",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "D14",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1.088,
|
| 22 |
+
"end_s": 34.912,
|
| 23 |
+
"t_start": 1.1252,
|
| 24 |
+
"t_end": 34.9492,
|
| 25 |
+
"instruction": "Mime a tennis serve with no racket: toss, reach up, strike and follow through. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"id": "0b3a8636-b988-4e34-abaf-01d4fd4605ad",
|
| 29 |
+
"segment": "segment1",
|
| 30 |
+
"action": "D14",
|
| 31 |
+
"quality": "valid",
|
| 32 |
+
"start_s": 39.24,
|
| 33 |
+
"end_s": 65.096,
|
| 34 |
+
"t_start": 39.2772,
|
| 35 |
+
"t_end": 65.1332,
|
| 36 |
+
"instruction": "Mime a tennis serve with no racket: toss, reach up, strike and follow through. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/locomotion_posture_dynamics/D14/session_013/cameras/gsi_online_calibration.json
ADDED
|
@@ -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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|
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|
|
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| 117 |
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|
| 123 |
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|
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|
actions/locomotion_posture_dynamics/D14/session_013/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:25a7ca42063dc62ce778c2c22bcd3a91e6f4dcfbfca2b5f9fd3918accb39fad8
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| 3 |
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size 398950
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actions/locomotion_posture_dynamics/D14/session_013/meta.json
CHANGED
|
@@ -325,8 +325,8 @@
|
|
| 325 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 326 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 327 |
"hands": {
|
| 328 |
-
"observed":
|
| 329 |
-
"hand_pose": "
|
| 330 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 331 |
"hand_marker_offsets_m": {
|
| 332 |
"left": {
|
|
@@ -506,10 +506,124 @@
|
|
| 506 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 507 |
"remaining_gyro_frame_deg": 1.4551900000990419
|
| 508 |
},
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 509 |
"release": {
|
| 510 |
"release_path": "actions/locomotion_posture_dynamics/D14/session_013",
|
| 511 |
"family": "locomotion_posture_dynamics",
|
| 512 |
"primitive": "D14",
|
| 513 |
"source_session": "20261013/D14/20261013_113144_session205"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 514 |
}
|
| 515 |
}
|
|
|
|
| 325 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 326 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 327 |
"hands": {
|
| 328 |
+
"observed": true,
|
| 329 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 330 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 331 |
"hand_marker_offsets_m": {
|
| 332 |
"left": {
|
|
|
|
| 506 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 507 |
"remaining_gyro_frame_deg": 1.4551900000990419
|
| 508 |
},
|
| 509 |
+
"hands_registration": {
|
| 510 |
+
"cameras": {},
|
| 511 |
+
"hands": {
|
| 512 |
+
"left": {
|
| 513 |
+
"offset_deg": 22.24,
|
| 514 |
+
"offset_rotvec": [
|
| 515 |
+
0.1699,
|
| 516 |
+
-0.3386,
|
| 517 |
+
0.0844
|
| 518 |
+
],
|
| 519 |
+
"dev_deg": {
|
| 520 |
+
"median": 18.11,
|
| 521 |
+
"p90": 41.8
|
| 522 |
+
},
|
| 523 |
+
"samples": 915,
|
| 524 |
+
"accepted": 731,
|
| 525 |
+
"wrist_pos_err_mm_median": 68.6,
|
| 526 |
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"per_camera": {
|
| 527 |
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"head": {
|
| 528 |
+
"samples": 915,
|
| 529 |
+
"accepted": 731,
|
| 530 |
+
"gate_deg": 30.0,
|
| 531 |
+
"offset_deg": 22.24,
|
| 532 |
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"tier": "primary",
|
| 533 |
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"dev_deg_median": 18.11,
|
| 534 |
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"wrist_pos_err_mm_median": 68.6
|
| 535 |
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}
|
| 536 |
+
},
|
| 537 |
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"frames_by_state": {
|
| 538 |
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"ace_sample": 3140,
|
| 539 |
+
"interpolated": 4952,
|
| 540 |
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"mean_hand": 184,
|
| 541 |
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"no_body_fit": 8
|
| 542 |
+
},
|
| 543 |
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"observed_fraction": 0.9768,
|
| 544 |
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"observed_fraction_of_valid": 0.9778,
|
| 545 |
+
"palm_axis_vs_markers_deg": {
|
| 546 |
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"gsi": 23.8,
|
| 547 |
+
"smplx": 1.07
|
| 548 |
+
},
|
| 549 |
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"hand_marker_to_mesh_mm": {
|
| 550 |
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"flat": {
|
| 551 |
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"median": 7.1,
|
| 552 |
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"p90": 9.7
|
| 553 |
+
},
|
| 554 |
+
"registered": {
|
| 555 |
+
"median": 7.2,
|
| 556 |
+
"p90": 8.0
|
| 557 |
+
}
|
| 558 |
+
}
|
| 559 |
+
},
|
| 560 |
+
"right": {
|
| 561 |
+
"offset_deg": 10.31,
|
| 562 |
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"offset_rotvec": [
|
| 563 |
+
0.0277,
|
| 564 |
+
-0.0296,
|
| 565 |
+
0.1753
|
| 566 |
+
],
|
| 567 |
+
"dev_deg": {
|
| 568 |
+
"median": 19.1,
|
| 569 |
+
"p90": 42.48
|
| 570 |
+
},
|
| 571 |
+
"samples": 810,
|
| 572 |
+
"accepted": 638,
|
| 573 |
+
"wrist_pos_err_mm_median": 338.7,
|
| 574 |
+
"per_camera": {
|
| 575 |
+
"head": {
|
| 576 |
+
"samples": 810,
|
| 577 |
+
"accepted": 638,
|
| 578 |
+
"gate_deg": 30.0,
|
| 579 |
+
"offset_deg": 10.31,
|
| 580 |
+
"tier": "primary",
|
| 581 |
+
"dev_deg_median": 19.1,
|
| 582 |
+
"wrist_pos_err_mm_median": 338.7
|
| 583 |
+
}
|
| 584 |
+
},
|
| 585 |
+
"frames_by_state": {
|
| 586 |
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"ace_sample": 2710,
|
| 587 |
+
"interpolated": 4174,
|
| 588 |
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"mean_hand": 1392,
|
| 589 |
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"no_body_fit": 8
|
| 590 |
+
},
|
| 591 |
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"observed_fraction": 0.831,
|
| 592 |
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"observed_fraction_of_valid": 0.8318,
|
| 593 |
+
"palm_axis_vs_markers_deg": {
|
| 594 |
+
"gsi": 15.37,
|
| 595 |
+
"smplx": 0.85
|
| 596 |
+
},
|
| 597 |
+
"hand_marker_to_mesh_mm": {
|
| 598 |
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"flat": {
|
| 599 |
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"median": 6.9,
|
| 600 |
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"p90": 9.9
|
| 601 |
+
},
|
| 602 |
+
"registered": {
|
| 603 |
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"median": 7.1,
|
| 604 |
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"p90": 9.5
|
| 605 |
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}
|
| 606 |
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}
|
| 607 |
+
}
|
| 608 |
+
},
|
| 609 |
+
"max_dev_deg": 30.0,
|
| 610 |
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"max_gap_s": 1.0,
|
| 611 |
+
"cameras_used": [
|
| 612 |
+
"head"
|
| 613 |
+
],
|
| 614 |
+
"generated_at_utc": "2026-11-03T22:10:17.480083+00:00",
|
| 615 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 616 |
+
"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",
|
| 617 |
+
"wrist_flip_suspect": []
|
| 618 |
+
},
|
| 619 |
"release": {
|
| 620 |
"release_path": "actions/locomotion_posture_dynamics/D14/session_013",
|
| 621 |
"family": "locomotion_posture_dynamics",
|
| 622 |
"primitive": "D14",
|
| 623 |
"source_session": "20261013/D14/20261013_113144_session205"
|
| 624 |
+
},
|
| 625 |
+
"task": {
|
| 626 |
+
"primitive": "D14",
|
| 627 |
+
"instruction": "Mime a tennis serve with no racket: toss, reach up, strike and follow through. Repeat the movement at your own pace until the operator says stop; do not rush."
|
| 628 |
}
|
| 629 |
}
|
actions/locomotion_posture_dynamics/D14/session_013/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
|
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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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| 2 |
+
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|
| 3 |
+
size 1265833
|
actions/locomotion_posture_dynamics/D14/session_013/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
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|
| 3 |
-
size
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|
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size 5800778
|
actions/locomotion_posture_dynamics/D14/session_014/cameras/poses.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
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|
|
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|
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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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|
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size 643276
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actions/locomotion_posture_dynamics/D14/session_014/meta.json
ADDED
|
@@ -0,0 +1,544 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261028/D14/20261028_121406_session136",
|
| 4 |
+
"session_id": "20261028_121406_session136",
|
| 5 |
+
"primitive": "D14",
|
| 6 |
+
"batch": "20261028",
|
| 7 |
+
"participant": "xiaobo",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e3296774a321bb51",
|
| 11 |
+
"left": "39042f5fb5da3b12",
|
| 12 |
+
"right": "65a3481473d6e2a0"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-30T07:10:58.564674+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": 73.35833333333333,
|
| 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": -0.093076,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.095,
|
| 31 |
+
"peak_corr": 0.998,
|
| 32 |
+
"reference_imu_first_sample_s": 41343.566832653,
|
| 33 |
+
"windows": {
|
| 34 |
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"n_windows": 6,
|
| 35 |
+
"window_corr_median": 0.9983655423120132,
|
| 36 |
+
"drift_ppm": -1.542239695456557,
|
| 37 |
+
"drift_se_ppm": 5.80386459496264,
|
| 38 |
+
"drift_ms_over_take": -0.11312328166173846,
|
| 39 |
+
"lag_scatter_ms": 0.19823971585626074,
|
| 40 |
+
"lag_range_ms": 0.5294744987793809
|
| 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 |
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[
|
| 57 |
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0.0,
|
| 58 |
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1.0,
|
| 59 |
+
0.0
|
| 60 |
+
]
|
| 61 |
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],
|
| 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 |
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"calibration": {
|
| 68 |
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"device": "e3296774a321bb51",
|
| 69 |
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"status": "ok",
|
| 70 |
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"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
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"sensors": {
|
| 74 |
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"imu_head_right": {
|
| 75 |
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"n_acc": 14841,
|
| 76 |
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"n_gyro": 14835,
|
| 77 |
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"t_start": -0.1000218712943672,
|
| 78 |
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"t_end": 73.55823444670379
|
| 79 |
+
},
|
| 80 |
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"imu_head_left": {
|
| 81 |
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"n_acc": 14775,
|
| 82 |
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"n_gyro": 14770,
|
| 83 |
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"t_start": 0.005217587706218871,
|
| 84 |
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"t_end": 73.72308504970708
|
| 85 |
+
},
|
| 86 |
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"imu_wrist_right": {
|
| 87 |
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"n_acc": 14843,
|
| 88 |
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"n_gyro": 14843,
|
| 89 |
+
"t_start": -0.9394190322928546,
|
| 90 |
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"t_end": 72.22229472670726
|
| 91 |
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},
|
| 92 |
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"imu_wrist_left": {
|
| 93 |
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"n_acc": 14731,
|
| 94 |
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"n_gyro": 14742,
|
| 95 |
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"t_start": -0.7744234212951335,
|
| 96 |
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"t_end": 72.22114938770385
|
| 97 |
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},
|
| 98 |
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"mag_head": {
|
| 99 |
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"n": 7381,
|
| 100 |
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"t_start": 0.08365112870517692,
|
| 101 |
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"t_end": 73.88363178970751
|
| 102 |
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},
|
| 103 |
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"mag_wrist_right": {
|
| 104 |
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"n": 7315,
|
| 105 |
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"t_start": -0.9218855462968998,
|
| 106 |
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"t_end": 72.2185068967082
|
| 107 |
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},
|
| 108 |
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"mag_wrist_left": {
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"n": 7298,
|
| 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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| 115 |
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| 116 |
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|
| 117 |
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| 118 |
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|
| 119 |
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| 120 |
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| 121 |
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| 122 |
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"file": "robocap_segment1_video_left.mp4",
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| 123 |
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"t_start": 0.03989427614572265,
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| 124 |
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"t_end": 73.34000527614255,
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| 125 |
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"clock": "device",
|
| 126 |
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"calibrated": true
|
| 127 |
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},
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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": 41343.69723,
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| 131 |
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"frames": 2200,
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| 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": 0.039688510776549044,
|
| 137 |
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"t_end": 73.33978851077693,
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| 138 |
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"clock": "device",
|
| 139 |
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"calibrated": true
|
| 140 |
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},
|
| 141 |
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"left_front": {
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| 142 |
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"fps": 30.0,
|
| 143 |
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"start_device_s": 41343.697242,
|
| 144 |
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"frames": 2200,
|
| 145 |
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"pts_gaps": 0,
|
| 146 |
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"timing": "pts",
|
| 147 |
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"timeshift_cam_imu_s": 0.0026728712083183277,
|
| 148 |
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"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
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"t_start": 0.0400064959175586,
|
| 150 |
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|
| 151 |
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"clock": "device",
|
| 152 |
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"calibrated": true
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| 153 |
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},
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| 154 |
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"right_front": {
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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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| 166 |
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},
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|
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| 171 |
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|
| 173 |
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| 174 |
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| 175 |
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|
| 177 |
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"corr": 0.883,
|
| 178 |
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"err_ms": 1.3
|
| 179 |
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},
|
| 180 |
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"nominal": {
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"offset_ms": -150.0,
|
| 182 |
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"corr": 0.172,
|
| 183 |
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"err_ms": 152.4
|
| 184 |
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}
|
| 185 |
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},
|
| 186 |
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"file": "robocap_segment1_video_left_eye.mp4",
|
| 187 |
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"t_start": 0.039723010799142464,
|
| 188 |
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|
| 189 |
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"clock": "device",
|
| 190 |
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"calibrated": true
|
| 191 |
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},
|
| 192 |
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"right_eye": {
|
| 193 |
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"fps": 30.0,
|
| 194 |
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"start_device_s": 41343.697222,
|
| 195 |
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"frames": 2200,
|
| 196 |
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"pts_gaps": 0,
|
| 197 |
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"timing": "pts",
|
| 198 |
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"timeshift_cam_imu_s": 0.002315656053021164,
|
| 199 |
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"file": "robocap_segment1_video_right_eye.mp4",
|
| 200 |
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"t_start": 0.03962928076355525,
|
| 201 |
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|
| 202 |
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"clock": "device",
|
| 203 |
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"calibrated": true
|
| 204 |
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},
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| 205 |
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"wrist_left": {
|
| 206 |
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"fps": 30.0,
|
| 207 |
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"start_device_s": 41342.876449,
|
| 208 |
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"frames": 2189,
|
| 209 |
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"pts_gaps": 0,
|
| 210 |
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"timing": "pts",
|
| 211 |
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|
| 212 |
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"file": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
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| 213 |
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"t_start": -0.7834593752923604,
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"clock": "device",
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| 216 |
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|
| 217 |
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},
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"wrist_right": {
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| 219 |
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|
| 220 |
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"start_device_s": 41342.717739,
|
| 221 |
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"frames": 2194,
|
| 222 |
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"pts_gaps": 0,
|
| 223 |
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"timing": "pts",
|
| 224 |
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"timeshift_cam_imu_s": null,
|
| 225 |
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"file": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
|
| 226 |
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"t_start": -0.9421693752956992,
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| 227 |
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"t_end": 72.15822162470424,
|
| 228 |
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"clock": "device",
|
| 229 |
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"calibrated": false
|
| 230 |
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},
|
| 231 |
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"third_person": {
|
| 232 |
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"file": "mocap/mocap-D14-S02-xiaobo-02p2-1.mp4",
|
| 233 |
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"frames": 2201,
|
| 234 |
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"fps": 30.0,
|
| 235 |
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"clock": "nokov (frame index)",
|
| 236 |
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"t_start": 0.0,
|
| 237 |
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"t_end": 73.33333333333333
|
| 238 |
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}
|
| 239 |
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}
|
| 240 |
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},
|
| 241 |
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"flags": [],
|
| 242 |
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"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
|
| 243 |
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"rig_tracker": {
|
| 244 |
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"definition": "e3296774a321bb51/20261028-afternoon/labels-235140/session-d7397b25026156e2",
|
| 245 |
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"R_tracker0_imu0": [
|
| 246 |
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[
|
| 247 |
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|
| 248 |
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0.30296081,
|
| 249 |
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-0.6662476
|
| 250 |
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],
|
| 251 |
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[
|
| 252 |
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|
| 253 |
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|
| 254 |
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|
| 255 |
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],
|
| 256 |
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[
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| 257 |
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|
| 258 |
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|
| 259 |
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-0.4593655
|
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]
|
| 261 |
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],
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],
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|
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"gyro_samples": 2565,
|
| 269 |
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|
| 270 |
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"status": "video_solve",
|
| 271 |
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|
| 272 |
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|
| 273 |
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|
| 274 |
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"status": "ok",
|
| 275 |
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"reason": "",
|
| 276 |
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|
| 277 |
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|
| 278 |
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"gyro_deg": 1.651
|
| 279 |
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}
|
| 280 |
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},
|
| 281 |
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"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 282 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 283 |
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},
|
| 284 |
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"canonical": {
|
| 285 |
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"generated_at_utc": "2026-10-30T18:42:30.592017+00:00",
|
| 286 |
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"generated_by": "scripts/canonicalise_dataset.py",
|
| 287 |
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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)",
|
| 288 |
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"R_canon_nokov": [
|
| 289 |
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[
|
| 290 |
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0.9999849425,
|
| 291 |
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0.0054876377,
|
| 292 |
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2.47109e-05
|
| 293 |
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],
|
| 294 |
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[
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| 295 |
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-2.47109e-05,
|
| 296 |
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0.0090057756,
|
| 297 |
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| 298 |
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],
|
| 299 |
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[
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| 300 |
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-0.0054876377,
|
| 301 |
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0.9999443894,
|
| 302 |
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0.0090057756
|
| 303 |
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]
|
| 304 |
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],
|
| 305 |
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"scale_nokov_to_canon": 0.001,
|
| 306 |
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"T_canon_nokov_mm": [
|
| 307 |
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[
|
| 308 |
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0.000999984942,
|
| 309 |
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5.487638e-06,
|
| 310 |
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2.4711e-08,
|
| 311 |
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0.0
|
| 312 |
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],
|
| 313 |
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[
|
| 314 |
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-2.4711e-08,
|
| 315 |
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9.005776e-06,
|
| 316 |
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-0.000999959447,
|
| 317 |
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0.0
|
| 318 |
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],
|
| 319 |
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[
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| 320 |
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-5.487638e-06,
|
| 321 |
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0.000999944389,
|
| 322 |
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|
| 323 |
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|
| 324 |
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],
|
| 325 |
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[
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| 326 |
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|
| 327 |
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|
| 328 |
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|
| 329 |
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1.0
|
| 330 |
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]
|
| 331 |
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],
|
| 332 |
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"block": "20261028-afternoon",
|
| 333 |
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"block_assignment": "trc",
|
| 334 |
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"tilt_removed_deg": 0.6042526163605274,
|
| 335 |
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"plane_status": "ok",
|
| 336 |
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"floor": {
|
| 337 |
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"sole_marker_p1_mm": 38.1,
|
| 338 |
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"headtop_p95_mm": 1705.6
|
| 339 |
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},
|
| 340 |
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"gravity_check": {
|
| 341 |
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"static_samples": 2159,
|
| 342 |
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"g_world_mean_m_s2": [
|
| 343 |
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0.0738,
|
| 344 |
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-0.0914,
|
| 345 |
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9.7604
|
| 346 |
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],
|
| 347 |
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| 1 |
+
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| 2 |
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| 7 |
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| 9 |
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| 19 |
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| 20 |
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| 22 |
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