Release update 2026-11-05: 5760 sessions, instructions, annotations (part 48)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +9 -0
- actions/environment_coupled_wholebody/EC04/session_006/raw/mocap/Body0.csv +3 -0
- actions/environment_coupled_wholebody/EC04/session_006/raw/mocap/Body0.trc +3 -0
- actions/environment_coupled_wholebody/EC04/session_006/raw/mocap/Tracker0.csv +0 -0
- actions/environment_coupled_wholebody/EC04/session_006/raw/mocap/Tracker0.trc +0 -0
- actions/environment_coupled_wholebody/EC04/session_006/raw/sensors/robocap_imu_left.db +3 -0
- actions/environment_coupled_wholebody/EC04/session_006/raw/sensors/robocap_imu_right.db +3 -0
- actions/environment_coupled_wholebody/EC04/session_006/raw/sensors/robocap_mag_middle.db +3 -0
- actions/environment_coupled_wholebody/EC04/session_006/raw/sensors/robowrist_imu_left.db +3 -0
- actions/environment_coupled_wholebody/EC04/session_006/raw/sensors/robowrist_imu_right.db +3 -0
- actions/environment_coupled_wholebody/EC04/session_006/raw/sensors/robowrist_mag_left.db +3 -0
- actions/environment_coupled_wholebody/EC04/session_006/raw/sensors/robowrist_mag_right.db +3 -0
- actions/environment_coupled_wholebody/EC04/session_006/sensors/head_imu.npz +3 -0
- actions/environment_coupled_wholebody/EC04/session_006/sensors/head_mag.npz +3 -0
- actions/environment_coupled_wholebody/EC04/session_006/sensors/wrist_imu.npz +3 -0
- actions/environment_coupled_wholebody/EC04/session_006/sensors/wrist_mag.npz +3 -0
- actions/environment_coupled_wholebody/EC04/session_006/videos/frame_timestamps.npz +3 -0
- actions/environment_coupled_wholebody/EC04/session_006/videos/head_left.mp4 +3 -0
- actions/environment_coupled_wholebody/EC04/session_006/videos/head_left_eye.mp4 +3 -0
- actions/environment_coupled_wholebody/EC04/session_006/videos/head_left_front.mp4 +3 -0
- actions/environment_coupled_wholebody/EC04/session_006/videos/head_right.mp4 +3 -0
- actions/environment_coupled_wholebody/EC04/session_006/videos/head_right_eye.mp4 +3 -0
- actions/environment_coupled_wholebody/EC04/session_006/videos/head_right_front.mp4 +3 -0
- actions/environment_coupled_wholebody/EC04/session_006/videos/third_person.mp4 +3 -0
- actions/environment_coupled_wholebody/EC04/session_006/videos/wrist_left.mp4 +3 -0
- actions/environment_coupled_wholebody/EC04/session_006/videos/wrist_right.mp4 +3 -0
- actions/environment_coupled_wholebody/EC05/session_001/annotations.json +28 -0
- actions/environment_coupled_wholebody/EC05/session_001/cameras/gsi_online_calibration.json +254 -0
- actions/environment_coupled_wholebody/EC05/session_001/cameras/slam.npz +3 -0
- actions/environment_coupled_wholebody/EC05/session_001/meta.json +116 -2
- actions/environment_coupled_wholebody/EC05/session_001/motions/hands_mano.npz +3 -0
- actions/environment_coupled_wholebody/EC05/session_001/motions/smplx.npz +2 -2
- actions/environment_coupled_wholebody/EC05/session_002/annotations.json +28 -0
- actions/environment_coupled_wholebody/EC05/session_002/cameras/gsi_online_calibration.json +257 -0
- actions/environment_coupled_wholebody/EC05/session_002/cameras/slam.npz +3 -0
- actions/environment_coupled_wholebody/EC05/session_002/meta.json +116 -2
- actions/environment_coupled_wholebody/EC05/session_002/motions/hands_mano.npz +3 -0
- actions/environment_coupled_wholebody/EC05/session_002/motions/smplx.npz +2 -2
- actions/environment_coupled_wholebody/EC05/session_003/annotations.json +28 -0
- actions/environment_coupled_wholebody/EC05/session_003/cameras/gsi_online_calibration.json +255 -0
- actions/environment_coupled_wholebody/EC05/session_003/cameras/slam.npz +3 -0
- actions/environment_coupled_wholebody/EC05/session_003/meta.json +116 -2
- actions/environment_coupled_wholebody/EC05/session_003/motions/hands_mano.npz +3 -0
- actions/environment_coupled_wholebody/EC05/session_003/motions/smplx.npz +2 -2
- actions/environment_coupled_wholebody/EC05/session_004/annotations.json +28 -0
- actions/environment_coupled_wholebody/EC05/session_004/cameras/slam.npz +3 -0
- actions/environment_coupled_wholebody/EC05/session_004/meta.json +116 -2
- actions/environment_coupled_wholebody/EC05/session_004/motions/hands_mano.npz +3 -0
- actions/environment_coupled_wholebody/EC05/session_004/motions/smplx.npz +2 -2
- actions/environment_coupled_wholebody/EC05/session_005/annotations.json +28 -0
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| 1 |
+
{
|
| 2 |
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| 3 |
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|
| 4 |
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| 5 |
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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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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 18 |
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| 19 |
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| 29 |
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| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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| 38 |
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| 39 |
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| 47 |
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| 48 |
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| 53 |
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| 55 |
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| 57 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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| 77 |
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| 78 |
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| 80 |
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| 82 |
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| 83 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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| 94 |
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|
| 95 |
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| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
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|
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|
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|
| 111 |
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|
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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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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
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|
| 130 |
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|
| 131 |
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|
| 132 |
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| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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| 145 |
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| 146 |
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| 148 |
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| 149 |
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|
| 150 |
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| 154 |
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| 162 |
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| 163 |
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"version": 1
|
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}
|
actions/environment_coupled_wholebody/EC05/session_001/cameras/slam.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 sha256:2063a836ecc613035321b2ee2d3e968190e40db1227a1e5258dc66b74dabcb6d
|
| 3 |
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size 598399
|
actions/environment_coupled_wholebody/EC05/session_001/meta.json
CHANGED
|
@@ -327,8 +327,8 @@
|
|
| 327 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 328 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 329 |
"hands": {
|
| 330 |
-
"observed":
|
| 331 |
-
"hand_pose": "
|
| 332 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 333 |
"hand_marker_offsets_m": {
|
| 334 |
"left": {
|
|
@@ -507,10 +507,124 @@
|
|
| 507 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 508 |
"remaining_gyro_frame_deg": 1.7607378428661795
|
| 509 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
| 510 |
"release": {
|
| 511 |
"release_path": "actions/environment_coupled_wholebody/EC05/session_001",
|
| 512 |
"family": "environment_coupled_wholebody",
|
| 513 |
"primitive": "EC05",
|
| 514 |
"source_session": "20260916/EC05/20260916_121256_session196"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 515 |
}
|
| 516 |
}
|
|
|
|
| 327 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 328 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 329 |
"hands": {
|
| 330 |
+
"observed": true,
|
| 331 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 332 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 333 |
"hand_marker_offsets_m": {
|
| 334 |
"left": {
|
|
|
|
| 507 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 508 |
"remaining_gyro_frame_deg": 1.7607378428661795
|
| 509 |
},
|
| 510 |
+
"hands_registration": {
|
| 511 |
+
"cameras": {},
|
| 512 |
+
"hands": {
|
| 513 |
+
"left": {
|
| 514 |
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"offset_deg": 45.46,
|
| 515 |
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"offset_rotvec": [
|
| 516 |
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0.0123,
|
| 517 |
+
0.4765,
|
| 518 |
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-0.6342
|
| 519 |
+
],
|
| 520 |
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"dev_deg": {
|
| 521 |
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"median": 13.06,
|
| 522 |
+
"p90": 20.06
|
| 523 |
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},
|
| 524 |
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"samples": 3005,
|
| 525 |
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"accepted": 2910,
|
| 526 |
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"wrist_pos_err_mm_median": 28.2,
|
| 527 |
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"per_camera": {
|
| 528 |
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"head": {
|
| 529 |
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"samples": 3005,
|
| 530 |
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"accepted": 2910,
|
| 531 |
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"gate_deg": 30.0,
|
| 532 |
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"offset_deg": 45.46,
|
| 533 |
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"tier": "primary",
|
| 534 |
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"dev_deg_median": 13.06,
|
| 535 |
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"wrist_pos_err_mm_median": 28.2
|
| 536 |
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}
|
| 537 |
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},
|
| 538 |
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|
| 539 |
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|
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|
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|
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|
| 543 |
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"observed_fraction": 0.9324,
|
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|
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"palm_axis_vs_markers_deg": {
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| 547 |
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"gsi": 32.2,
|
| 548 |
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"smplx": 1.82
|
| 549 |
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},
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| 550 |
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"hand_marker_to_mesh_mm": {
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| 551 |
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"flat": {
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| 552 |
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"median": 8.6,
|
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"p90": 9.9
|
| 554 |
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},
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| 555 |
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"registered": {
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| 556 |
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"median": 7.3,
|
| 557 |
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"p90": 8.9
|
| 558 |
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}
|
| 559 |
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}
|
| 560 |
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},
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| 561 |
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"right": {
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| 562 |
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"offset_deg": 32.02,
|
| 563 |
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"offset_rotvec": [
|
| 564 |
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-0.136,
|
| 565 |
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-0.2478,
|
| 566 |
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0.4821
|
| 567 |
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],
|
| 568 |
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"dev_deg": {
|
| 569 |
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"median": 10.63,
|
| 570 |
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"p90": 26.08
|
| 571 |
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},
|
| 572 |
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"samples": 3082,
|
| 573 |
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"accepted": 2847,
|
| 574 |
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"wrist_pos_err_mm_median": 19.5,
|
| 575 |
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"per_camera": {
|
| 576 |
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"head": {
|
| 577 |
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"samples": 3082,
|
| 578 |
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"accepted": 2847,
|
| 579 |
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"gate_deg": 30.0,
|
| 580 |
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"offset_deg": 32.02,
|
| 581 |
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"tier": "primary",
|
| 582 |
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"dev_deg_median": 10.63,
|
| 583 |
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"wrist_pos_err_mm_median": 19.5
|
| 584 |
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}
|
| 585 |
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},
|
| 586 |
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"frames_by_state": {
|
| 587 |
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"ace_sample": 11388,
|
| 588 |
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"interpolated": 44,
|
| 589 |
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"mean_hand": 1047,
|
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"no_body_fit": 5
|
| 591 |
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},
|
| 592 |
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"observed_fraction": 0.9157,
|
| 593 |
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"observed_fraction_of_valid": 0.9161,
|
| 594 |
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"palm_axis_vs_markers_deg": {
|
| 595 |
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"gsi": 17.54,
|
| 596 |
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"smplx": 0.73
|
| 597 |
+
},
|
| 598 |
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"hand_marker_to_mesh_mm": {
|
| 599 |
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"flat": {
|
| 600 |
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"median": 9.7,
|
| 601 |
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"p90": 16.0
|
| 602 |
+
},
|
| 603 |
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"registered": {
|
| 604 |
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"median": 9.5,
|
| 605 |
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"p90": 15.2
|
| 606 |
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}
|
| 607 |
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}
|
| 608 |
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}
|
| 609 |
+
},
|
| 610 |
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"max_dev_deg": 30.0,
|
| 611 |
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"max_gap_s": 1.0,
|
| 612 |
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"cameras_used": [
|
| 613 |
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"head"
|
| 614 |
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],
|
| 615 |
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"generated_at_utc": "2026-11-03T23:07:54.970806+00:00",
|
| 616 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 617 |
+
"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 |
+
"wrist_flip_suspect": []
|
| 619 |
+
},
|
| 620 |
"release": {
|
| 621 |
"release_path": "actions/environment_coupled_wholebody/EC05/session_001",
|
| 622 |
"family": "environment_coupled_wholebody",
|
| 623 |
"primitive": "EC05",
|
| 624 |
"source_session": "20260916/EC05/20260916_121256_session196"
|
| 625 |
+
},
|
| 626 |
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"task": {
|
| 627 |
+
"primitive": "EC05",
|
| 628 |
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"instruction": "Push the cart through the gap between the poles without touching them, then bring it back through."
|
| 629 |
}
|
| 630 |
}
|
actions/environment_coupled_wholebody/EC05/session_001/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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| 2 |
+
oid sha256:80d44bbb91e5b8665b1d4ce6f6ad76ca4d5723735ab5e11645a136cf42ed3292
|
| 3 |
+
size 4100636
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actions/environment_coupled_wholebody/EC05/session_001/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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|
| 3 |
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size
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version https://git-lfs.github.com/spec/v1
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|
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size 8694800
|
actions/environment_coupled_wholebody/EC05/session_002/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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": "EC05",
|
| 6 |
+
"instruction": "Push the cart through the gap between the poles without touching them, then bring it back through.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
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"duration_s": 98.966633,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.039118026826638896
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
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{
|
| 17 |
+
"id": "05c1a1de-3e01-46cb-93e4-513c1ef75604",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "EC05",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 2.081,
|
| 22 |
+
"end_s": 89.19,
|
| 23 |
+
"t_start": 2.1201,
|
| 24 |
+
"t_end": 89.2291,
|
| 25 |
+
"instruction": "Push the cart through the gap between the poles without touching them, then bring it back through."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/environment_coupled_wholebody/EC05/session_002/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,257 @@
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|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 15,
|
| 5 |
+
"median_px": 0.365
|
| 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 |
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"delta_deg": 1.4591,
|
| 18 |
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"gate_fail": [],
|
| 19 |
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"held_out_px_after": 0.615,
|
| 20 |
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"held_out_px_before": 4.481,
|
| 21 |
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"inliers": 1761,
|
| 22 |
+
"position_fitted": false,
|
| 23 |
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"rotvec_deg": [
|
| 24 |
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|
| 25 |
+
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|
| 26 |
+
-1.2702
|
| 27 |
+
],
|
| 28 |
+
"split_deg": 0.0604,
|
| 29 |
+
"usable": true
|
| 30 |
+
},
|
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@@ -571,10 +571,124 @@
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|
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|
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actions/environment_coupled_wholebody/EC05/session_003/annotations.json
ADDED
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|
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|
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"primitive": "EC05",
|
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|
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actions/environment_coupled_wholebody/EC05/session_003/cameras/gsi_online_calibration.json
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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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|
| 28 |
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|
| 29 |
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|
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|
| 31 |
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|
| 32 |
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|
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|
| 34 |
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|
| 35 |
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|
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|
| 37 |
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|
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|
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|
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|
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| 637 |
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{
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| 5 |
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|
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| 26 |
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| 27 |
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|
| 28 |
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}
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ADDED
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:d559a4e2570cfbaba0278a722d19e9be5388242bb300be324741a77de6f8ca7b
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| 3 |
+
size 627717
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actions/environment_coupled_wholebody/EC05/session_004/meta.json
CHANGED
|
@@ -325,8 +325,8 @@
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|
| 325 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 326 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 327 |
"hands": {
|
| 328 |
-
"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": {
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|
@@ -506,10 +506,124 @@
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|
| 506 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 507 |
"remaining_gyro_frame_deg": 1.1905780109137607
|
| 508 |
},
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"release": {
|
| 510 |
"release_path": "actions/environment_coupled_wholebody/EC05/session_004",
|
| 511 |
"family": "environment_coupled_wholebody",
|
| 512 |
"primitive": "EC05",
|
| 513 |
"source_session": "20260924/EC05/20260924_023900_session32"
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| 514 |
}
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| 515 |
}
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| 325 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 326 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 327 |
"hands": {
|
| 328 |
+
"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": {
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| 506 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 507 |
"remaining_gyro_frame_deg": 1.1905780109137607
|
| 508 |
},
|
| 509 |
+
"hands_registration": {
|
| 510 |
+
"cameras": {},
|
| 511 |
+
"hands": {
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| 512 |
+
"left": {
|
| 513 |
+
"offset_deg": 21.76,
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| 514 |
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"offset_rotvec": [
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| 515 |
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0.0421,
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| 516 |
+
0.27,
|
| 517 |
+
-0.2637
|
| 518 |
+
],
|
| 519 |
+
"dev_deg": {
|
| 520 |
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"median": 17.52,
|
| 521 |
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"p90": 51.26
|
| 522 |
+
},
|
| 523 |
+
"samples": 2788,
|
| 524 |
+
"accepted": 1871,
|
| 525 |
+
"wrist_pos_err_mm_median": 63.8,
|
| 526 |
+
"per_camera": {
|
| 527 |
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"head": {
|
| 528 |
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"samples": 2788,
|
| 529 |
+
"accepted": 1871,
|
| 530 |
+
"gate_deg": 30.0,
|
| 531 |
+
"offset_deg": 21.76,
|
| 532 |
+
"tier": "primary",
|
| 533 |
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"dev_deg_median": 17.52,
|
| 534 |
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"wrist_pos_err_mm_median": 63.8
|
| 535 |
+
}
|
| 536 |
+
},
|
| 537 |
+
"frames_by_state": {
|
| 538 |
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"ace_sample": 7485,
|
| 539 |
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"interpolated": 694,
|
| 540 |
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"mean_hand": 4897,
|
| 541 |
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"no_body_fit": 8
|
| 542 |
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},
|
| 543 |
+
"observed_fraction": 0.6251,
|
| 544 |
+
"observed_fraction_of_valid": 0.6255,
|
| 545 |
+
"palm_axis_vs_markers_deg": {
|
| 546 |
+
"gsi": 22.47,
|
| 547 |
+
"smplx": 3.48
|
| 548 |
+
},
|
| 549 |
+
"hand_marker_to_mesh_mm": {
|
| 550 |
+
"flat": {
|
| 551 |
+
"median": 6.9,
|
| 552 |
+
"p90": 10.9
|
| 553 |
+
},
|
| 554 |
+
"registered": {
|
| 555 |
+
"median": 6.7,
|
| 556 |
+
"p90": 10.7
|
| 557 |
+
}
|
| 558 |
+
}
|
| 559 |
+
},
|
| 560 |
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"right": {
|
| 561 |
+
"offset_deg": 26.31,
|
| 562 |
+
"offset_rotvec": [
|
| 563 |
+
0.0151,
|
| 564 |
+
-0.2238,
|
| 565 |
+
0.4006
|
| 566 |
+
],
|
| 567 |
+
"dev_deg": {
|
| 568 |
+
"median": 9.19,
|
| 569 |
+
"p90": 22.02
|
| 570 |
+
},
|
| 571 |
+
"samples": 3136,
|
| 572 |
+
"accepted": 2982,
|
| 573 |
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"wrist_pos_err_mm_median": 85.5,
|
| 574 |
+
"per_camera": {
|
| 575 |
+
"head": {
|
| 576 |
+
"samples": 3136,
|
| 577 |
+
"accepted": 2982,
|
| 578 |
+
"gate_deg": 30.0,
|
| 579 |
+
"offset_deg": 26.31,
|
| 580 |
+
"tier": "primary",
|
| 581 |
+
"dev_deg_median": 9.19,
|
| 582 |
+
"wrist_pos_err_mm_median": 85.5
|
| 583 |
+
}
|
| 584 |
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},
|
| 585 |
+
"frames_by_state": {
|
| 586 |
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"ace_sample": 11951,
|
| 587 |
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"interpolated": 844,
|
| 588 |
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"mean_hand": 281,
|
| 589 |
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"no_body_fit": 8
|
| 590 |
+
},
|
| 591 |
+
"observed_fraction": 0.9779,
|
| 592 |
+
"observed_fraction_of_valid": 0.9785,
|
| 593 |
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"palm_axis_vs_markers_deg": {
|
| 594 |
+
"gsi": 16.29,
|
| 595 |
+
"smplx": 1.26
|
| 596 |
+
},
|
| 597 |
+
"hand_marker_to_mesh_mm": {
|
| 598 |
+
"flat": {
|
| 599 |
+
"median": 7.9,
|
| 600 |
+
"p90": 11.8
|
| 601 |
+
},
|
| 602 |
+
"registered": {
|
| 603 |
+
"median": 7.7,
|
| 604 |
+
"p90": 11.6
|
| 605 |
+
}
|
| 606 |
+
}
|
| 607 |
+
}
|
| 608 |
+
},
|
| 609 |
+
"max_dev_deg": 30.0,
|
| 610 |
+
"max_gap_s": 1.0,
|
| 611 |
+
"cameras_used": [
|
| 612 |
+
"head"
|
| 613 |
+
],
|
| 614 |
+
"generated_at_utc": "2026-11-03T22:37:06.568310+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/environment_coupled_wholebody/EC05/session_004",
|
| 621 |
"family": "environment_coupled_wholebody",
|
| 622 |
"primitive": "EC05",
|
| 623 |
"source_session": "20260924/EC05/20260924_023900_session32"
|
| 624 |
+
},
|
| 625 |
+
"task": {
|
| 626 |
+
"primitive": "EC05",
|
| 627 |
+
"instruction": "Push the cart through the gap between the poles without touching them, then bring it back through."
|
| 628 |
}
|
| 629 |
}
|
actions/environment_coupled_wholebody/EC05/session_004/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7ad76dc8ba8ab27946646102793380dfe120c8997a1a2941e62eb644eea48536
|
| 3 |
+
size 4016301
|
actions/environment_coupled_wholebody/EC05/session_004/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:e0e46533c8fa0fa9ae42021edbea2458f8c4a089b68fb321a0b0e6288d8e708d
|
| 3 |
+
size 8663157
|
actions/environment_coupled_wholebody/EC05/session_005/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
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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": "EC05",
|
| 6 |
+
"instruction": "Push the cart through the gap between the poles without touching them, then bring it back through.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 103.966789,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03972966136901501
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "fa05429b-dffe-47e6-818c-9b387fc3c837",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "EC05",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1.727,
|
| 22 |
+
"end_s": 98.461,
|
| 23 |
+
"t_start": 1.7667,
|
| 24 |
+
"t_end": 98.5007,
|
| 25 |
+
"instruction": "Push the cart through the gap between the poles without touching them, then bring it back through."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|