Release update 2026-11-05: new sessions, instructions, annotations (part 65)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- actions/locomotion_primitives/P33/session_084/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P33/session_084/meta.json +116 -2
- actions/locomotion_primitives/P33/session_084/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P33/session_084/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P33/session_085/annotations.json +28 -0
- actions/locomotion_primitives/P33/session_085/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P33/session_085/meta.json +116 -2
- actions/locomotion_primitives/P33/session_085/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P33/session_085/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P33/session_086/annotations.json +28 -0
- actions/locomotion_primitives/P33/session_086/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P33/session_086/meta.json +116 -2
- actions/locomotion_primitives/P33/session_086/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P33/session_086/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P33/session_087/annotations.json +28 -0
- actions/locomotion_primitives/P33/session_087/cameras/gsi_online_calibration.json +255 -0
- actions/locomotion_primitives/P33/session_087/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P33/session_087/meta.json +116 -2
- actions/locomotion_primitives/P33/session_087/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P33/session_087/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P33/session_088/annotations.json +28 -0
- actions/locomotion_primitives/P33/session_088/cameras/gsi_online_calibration.json +256 -0
- actions/locomotion_primitives/P33/session_088/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P33/session_088/meta.json +116 -2
- actions/locomotion_primitives/P33/session_088/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P33/session_088/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P33/session_089/annotations.json +28 -0
- actions/locomotion_primitives/P33/session_089/cameras/gsi_online_calibration.json +226 -0
- actions/locomotion_primitives/P33/session_089/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P33/session_089/meta.json +116 -2
- actions/locomotion_primitives/P33/session_089/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P33/session_089/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P33/session_090/annotations.json +28 -0
- actions/locomotion_primitives/P33/session_090/cameras/gsi_online_calibration.json +265 -0
- actions/locomotion_primitives/P33/session_090/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P33/session_090/meta.json +116 -2
- actions/locomotion_primitives/P33/session_090/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P33/session_090/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P33/session_091/annotations.json +28 -0
- actions/locomotion_primitives/P33/session_091/cameras/gsi_online_calibration.json +255 -0
- actions/locomotion_primitives/P33/session_091/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P33/session_091/meta.json +116 -2
- actions/locomotion_primitives/P33/session_091/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P33/session_091/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P33/session_092/annotations.json +28 -0
- actions/locomotion_primitives/P33/session_092/cameras/gsi_online_calibration.json +217 -0
- actions/locomotion_primitives/P33/session_092/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P33/session_092/meta.json +116 -2
- actions/locomotion_primitives/P33/session_092/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P33/session_092/motions/smplx.npz +2 -2
actions/locomotion_primitives/P33/session_084/cameras/slam.npz
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:aa13bc087c4f2e689227fcda6c8b041193ab93830ef850c828bad8a54308cd1f
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size 744339
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actions/locomotion_primitives/P33/session_084/meta.json
CHANGED
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@@ -362,8 +362,8 @@
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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| 364 |
"hands": {
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| 365 |
-
"observed":
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| 366 |
-
"hand_pose": "
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| 367 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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| 368 |
"hand_marker_offsets_m": {
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| 369 |
"left": {
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@@ -503,10 +503,124 @@
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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}
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},
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"release": {
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"release_path": "actions/locomotion_primitives/P33/session_084",
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"family": "locomotion_primitives",
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"primitive": "P33",
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| 510 |
"source_session": "20261013/P33/20261013_080620_session132"
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}
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}
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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| 363 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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"hands": {
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+
"observed": true,
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"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
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"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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"hand_marker_offsets_m": {
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"left": {
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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}
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},
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"hands_registration": {
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"cameras": {},
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"hands": {
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"left": {
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"offset_deg": 21.09,
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"offset_rotvec": [
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-0.0067,
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-0.0001,
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0.368
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],
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"dev_deg": {
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"median": 11.48,
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"p90": 22.17
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},
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"samples": 3201,
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"accepted": 3111,
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"wrist_pos_err_mm_median": 142.7,
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"per_camera": {
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"head": {
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"samples": 3201,
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"accepted": 3111,
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"gate_deg": 30.0,
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"offset_deg": 21.09,
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"tier": "primary",
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"dev_deg_median": 11.48,
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"wrist_pos_err_mm_median": 142.7
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}
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},
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"frames_by_state": {
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"ace_sample": 12678,
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"interpolated": 2790,
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"mean_hand": 16,
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"no_body_fit": 0
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},
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"observed_fraction": 0.999,
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"observed_fraction_of_valid": 0.999,
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"palm_axis_vs_markers_deg": {
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"gsi": 13.92,
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"smplx": 0.55
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},
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"hand_marker_to_mesh_mm": {
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"flat": {
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"median": 16.8,
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"p90": 21.4
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},
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"registered": {
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"median": 13.5,
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"p90": 17.6
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}
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}
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},
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"right": {
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"offset_deg": 21.38,
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"offset_rotvec": [
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0.1219,
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0.352,
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0.0212
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],
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"dev_deg": {
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"median": 17.35,
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"p90": 34.61
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},
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"samples": 2365,
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"accepted": 2015,
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"wrist_pos_err_mm_median": 129.2,
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"per_camera": {
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"head": {
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"samples": 2365,
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"accepted": 2015,
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"gate_deg": 30.0,
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"offset_deg": 21.38,
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"tier": "primary",
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"dev_deg_median": 17.35,
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"wrist_pos_err_mm_median": 129.2
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}
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},
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"frames_by_state": {
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"ace_sample": 8486,
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"interpolated": 6518,
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| 585 |
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"mean_hand": 480,
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| 586 |
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"no_body_fit": 0
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| 587 |
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},
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"observed_fraction": 0.969,
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| 589 |
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"observed_fraction_of_valid": 0.969,
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| 590 |
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"palm_axis_vs_markers_deg": {
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| 591 |
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"gsi": 25.2,
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"smplx": 0.31
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},
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"hand_marker_to_mesh_mm": {
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"flat": {
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"median": 7.2,
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"p90": 11.5
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},
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"registered": {
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"median": 6.7,
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"p90": 10.9
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}
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}
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}
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},
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"max_dev_deg": 30.0,
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| 607 |
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"max_gap_s": 1.0,
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"cameras_used": [
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"head"
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],
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| 611 |
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"generated_at_utc": "2026-11-03T22:07:25.189232+00:00",
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"generated_by": "scripts/register_hands_smplx.py",
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"conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
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"wrist_flip_suspect": []
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},
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"release": {
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"release_path": "actions/locomotion_primitives/P33/session_084",
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"family": "locomotion_primitives",
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"primitive": "P33",
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"source_session": "20261013/P33/20261013_080620_session132"
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},
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"task": {
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"primitive": "P33",
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"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
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}
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}
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actions/locomotion_primitives/P33/session_084/motions/hands_mano.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:1f69557883874ef9b999836e0fce88fea81ce36faf4a067056b90ba3ed506083
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size 3856853
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actions/locomotion_primitives/P33/session_084/motions/smplx.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:
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size
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version https://git-lfs.github.com/spec/v1
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size 11140907
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actions/locomotion_primitives/P33/session_085/annotations.json
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{
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"schema_version": 1,
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"source": "vendor annotation.json (schema 2, revision 1)",
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"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
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"primitive": "P33",
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"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
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"segments": [
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{
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"id": "segment1",
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"duration_s": 133.966622,
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"video": "left_eye",
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"video_t_start": 0.038848786369059196
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}
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],
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"episodes": [
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{
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"id": "ab1becb2-5c54-4fc6-878e-ef15d4681782",
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"segment": "segment1",
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| 19 |
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"action": "P33",
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| 20 |
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"quality": "valid",
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| 21 |
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"start_s": 0.864,
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| 22 |
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"end_s": 126.37,
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| 23 |
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"t_start": 0.9028,
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| 24 |
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"t_end": 126.4088,
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"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
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}
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]
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}
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actions/locomotion_primitives/P33/session_085/cameras/slam.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:ccbbf831de8f33b8faab9b8ff598ec66acb727c705bc247a192b118f94e27eb9
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size 772838
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actions/locomotion_primitives/P33/session_085/meta.json
CHANGED
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@@ -363,8 +363,8 @@
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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| 364 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 365 |
"hands": {
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| 366 |
-
"observed":
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| 367 |
-
"hand_pose": "
|
| 368 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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| 369 |
"hand_marker_offsets_m": {
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"left": {
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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}
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},
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| 512 |
"release": {
|
| 513 |
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|
| 514 |
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|
| 515 |
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|
| 516 |
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|
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| 517 |
}
|
| 518 |
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| 363 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 364 |
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|
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|
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|
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|
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|
| 369 |
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|
| 370 |
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|
| 509 |
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|
| 510 |
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| 511 |
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|
| 513 |
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|
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],
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"generated_by": "scripts/register_hands_smplx.py",
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"wrist_flip_suspect": []
|
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|
| 624 |
"family": "locomotion_primitives",
|
| 625 |
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| 626 |
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},
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"task": {
|
| 629 |
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"primitive": "P33",
|
| 630 |
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"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
|
| 631 |
}
|
| 632 |
}
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actions/locomotion_primitives/P33/session_085/motions/hands_mano.npz
ADDED
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CHANGED
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version https://git-lfs.github.com/spec/v1
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actions/locomotion_primitives/P33/session_086/annotations.json
ADDED
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@@ -0,0 +1,28 @@
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{
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|
| 5 |
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"primitive": "P33",
|
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"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
|
| 7 |
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|
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{
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|
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|
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"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
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}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomotion_primitives/P33/session_086/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 743063
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actions/locomotion_primitives/P33/session_086/meta.json
CHANGED
|
@@ -363,8 +363,8 @@
|
|
| 363 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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| 364 |
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|
| 365 |
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"observed":
|
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|
| 368 |
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|
| 369 |
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|
| 370 |
"left": {
|
|
@@ -514,10 +514,124 @@
|
|
| 514 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 515 |
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|
| 516 |
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|
|
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|
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|
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| 517 |
"release": {
|
| 518 |
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|
| 519 |
"family": "locomotion_primitives",
|
| 520 |
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|
| 521 |
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|
|
|
|
|
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|
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|
|
| 522 |
}
|
| 523 |
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|
|
|
|
| 363 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 364 |
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|
| 365 |
"hands": {
|
| 366 |
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"observed": true,
|
| 367 |
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"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 368 |
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|
| 369 |
"hand_marker_offsets_m": {
|
| 370 |
"left": {
|
|
|
|
| 514 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 515 |
}
|
| 516 |
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|
| 517 |
+
"hands_registration": {
|
| 518 |
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"cameras": {},
|
| 519 |
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|
| 520 |
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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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|
| 528 |
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|
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|
| 530 |
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},
|
| 531 |
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|
| 532 |
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|
| 533 |
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|
| 534 |
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|
| 535 |
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"head": {
|
| 536 |
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|
| 537 |
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|
| 538 |
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|
| 539 |
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"offset_deg": 18.03,
|
| 540 |
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"tier": "primary",
|
| 541 |
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|
| 542 |
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"wrist_pos_err_mm_median": 151.3
|
| 543 |
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}
|
| 544 |
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},
|
| 545 |
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"frames_by_state": {
|
| 546 |
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"ace_sample": 10868,
|
| 547 |
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|
| 548 |
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|
| 549 |
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|
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},
|
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|
| 552 |
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|
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|
| 554 |
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|
| 555 |
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"smplx": 0.57
|
| 556 |
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},
|
| 557 |
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"hand_marker_to_mesh_mm": {
|
| 558 |
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|
| 559 |
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"median": 12.4,
|
| 560 |
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"p90": 17.3
|
| 561 |
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},
|
| 562 |
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|
| 563 |
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"median": 11.1,
|
| 564 |
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"p90": 15.0
|
| 565 |
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}
|
| 566 |
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}
|
| 567 |
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},
|
| 568 |
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"right": {
|
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|
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|
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0.285,
|
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-0.0542
|
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],
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actions/locomotion_primitives/P33/session_087/cameras/gsi_online_calibration.json
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|
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|
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|
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actions/locomotion_primitives/P33/session_087/cameras/slam.npz
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|
@@ -504,10 +504,124 @@
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| 504 |
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| 504 |
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|
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|
| 615 |
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|
| 616 |
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|
| 617 |
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|
| 619 |
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|
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|
| 621 |
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|
| 622 |
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|
| 623 |
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|
| 624 |
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"primitive": "P33",
|
| 625 |
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"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
|
| 626 |
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|
| 627 |
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|
actions/locomotion_primitives/P33/session_087/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
+
size 3757951
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actions/locomotion_primitives/P33/session_087/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
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|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
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size 11028988
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actions/locomotion_primitives/P33/session_088/annotations.json
ADDED
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@@ -0,0 +1,28 @@
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| 1 |
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{
|
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|
| 3 |
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"source": "vendor annotation.json (schema 2, revision 1)",
|
| 4 |
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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": "P33",
|
| 6 |
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"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
|
| 7 |
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| 8 |
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{
|
| 9 |
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"id": "segment1",
|
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|
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|
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| 20 |
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|
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|
| 25 |
+
"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomotion_primitives/P33/session_088/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,256 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 14,
|
| 5 |
+
"median_px": 0.376
|
| 6 |
+
},
|
| 7 |
+
"cameras": {
|
| 8 |
+
"left": {
|
| 9 |
+
"accepted": true,
|
| 10 |
+
"against": [
|
| 11 |
+
"left_front",
|
| 12 |
+
"right_front",
|
| 13 |
+
"left_eye",
|
| 14 |
+
"right_eye"
|
| 15 |
+
],
|
| 16 |
+
"delta_deg": 1.297,
|
| 17 |
+
"gate_fail": [],
|
| 18 |
+
"held_out_px_after": 0.587,
|
| 19 |
+
"held_out_px_before": 6.53,
|
| 20 |
+
"inliers": 2240,
|
| 21 |
+
"position_fitted": false,
|
| 22 |
+
"rotvec_deg": [
|
| 23 |
+
0.046,
|
| 24 |
+
-0.4373,
|
| 25 |
+
-1.2202
|
| 26 |
+
],
|
| 27 |
+
"split_deg": 0.0567,
|
| 28 |
+
"usable": true
|
| 29 |
+
},
|
| 30 |
+
"left_eye": {
|
| 31 |
+
"accepted": true,
|
| 32 |
+
"against": [
|
| 33 |
+
"left_front",
|
| 34 |
+
"right_front",
|
| 35 |
+
"right_eye",
|
| 36 |
+
"left",
|
| 37 |
+
"right"
|
| 38 |
+
],
|
| 39 |
+
"delta_deg": 2.4412,
|
| 40 |
+
"gate_fail": [],
|
| 41 |
+
"held_out_px_after": 0.407,
|
| 42 |
+
"held_out_px_before": 5.885,
|
| 43 |
+
"inliers": 4780,
|
| 44 |
+
"position_fitted": true,
|
| 45 |
+
"position_mm": [
|
| 46 |
+
0.97,
|
| 47 |
+
-13.56,
|
| 48 |
+
11.17
|
| 49 |
+
],
|
| 50 |
+
"position_sigma_mm": 0.387,
|
| 51 |
+
"position_split_mm": 3.658,
|
| 52 |
+
"rotvec_deg": [
|
| 53 |
+
-0.2297,
|
| 54 |
+
0.8412,
|
| 55 |
+
-2.2801
|
| 56 |
+
],
|
| 57 |
+
"split_deg": 0.0189,
|
| 58 |
+
"usable": true
|
| 59 |
+
},
|
| 60 |
+
"left_front": {
|
| 61 |
+
"role": "rig origin"
|
| 62 |
+
},
|
| 63 |
+
"right": {
|
| 64 |
+
"accepted": true,
|
| 65 |
+
"against": [
|
| 66 |
+
"left_front",
|
| 67 |
+
"right_front",
|
| 68 |
+
"left_eye",
|
| 69 |
+
"right_eye"
|
| 70 |
+
],
|
| 71 |
+
"delta_deg": 1.6958,
|
| 72 |
+
"gate_fail": [],
|
| 73 |
+
"held_out_px_after": 0.513,
|
| 74 |
+
"held_out_px_before": 6.308,
|
| 75 |
+
"inliers": 2584,
|
| 76 |
+
"position_fitted": false,
|
| 77 |
+
"rotvec_deg": [
|
| 78 |
+
1.6817,
|
| 79 |
+
-0.2106,
|
| 80 |
+
-0.0564
|
| 81 |
+
],
|
| 82 |
+
"split_deg": 0.0619,
|
| 83 |
+
"usable": true
|
| 84 |
+
},
|
| 85 |
+
"right_eye": {
|
| 86 |
+
"accepted": true,
|
| 87 |
+
"against": [
|
| 88 |
+
"left_front",
|
| 89 |
+
"right_front",
|
| 90 |
+
"left_eye",
|
| 91 |
+
"left",
|
| 92 |
+
"right"
|
| 93 |
+
],
|
| 94 |
+
"delta_deg": 1.0635,
|
| 95 |
+
"gate_fail": [],
|
| 96 |
+
"held_out_px_after": 0.389,
|
| 97 |
+
"held_out_px_before": 3.582,
|
| 98 |
+
"inliers": 4313,
|
| 99 |
+
"position_fitted": true,
|
| 100 |
+
"position_mm": [
|
| 101 |
+
11.71,
|
| 102 |
+
-13.51,
|
| 103 |
+
6.75
|
| 104 |
+
],
|
| 105 |
+
"position_sigma_mm": 0.281,
|
| 106 |
+
"position_split_mm": 3.623,
|
| 107 |
+
"rotvec_deg": [
|
| 108 |
+
0.2059,
|
| 109 |
+
-0.3609,
|
| 110 |
+
-0.979
|
| 111 |
+
],
|
| 112 |
+
"split_deg": 0.0336,
|
| 113 |
+
"usable": true
|
| 114 |
+
},
|
| 115 |
+
"right_front": {
|
| 116 |
+
"accepted": true,
|
| 117 |
+
"against": [
|
| 118 |
+
"left_front",
|
| 119 |
+
"left_eye",
|
| 120 |
+
"right_eye",
|
| 121 |
+
"left",
|
| 122 |
+
"right"
|
| 123 |
+
],
|
| 124 |
+
"delta_deg": 2.1583,
|
| 125 |
+
"gate_fail": [],
|
| 126 |
+
"held_out_px_after": 0.34,
|
| 127 |
+
"held_out_px_before": 6.644,
|
| 128 |
+
"inliers": 6426,
|
| 129 |
+
"position_fitted": false,
|
| 130 |
+
"rotvec_deg": [
|
| 131 |
+
-0.3013,
|
| 132 |
+
-0.0799,
|
| 133 |
+
-2.1357
|
| 134 |
+
],
|
| 135 |
+
"split_deg": 0.0246,
|
| 136 |
+
"usable": true
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"code_fingerprint": "711ecf5b3dd408f8",
|
| 140 |
+
"device_id": "e17c9efadb69e7b1",
|
| 141 |
+
"factory_root_name": "e17c9efadb69e7b1",
|
| 142 |
+
"files": {
|
| 143 |
+
"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 144 |
+
"sha256": "d0a94d5289dae3908299dd2f1be152ab9d93159c41d2a3fe90e130d4b81075fd",
|
| 145 |
+
"source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
|
| 146 |
+
},
|
| 147 |
+
"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 148 |
+
"sha256": "a5419d1fe4887ec091513e7bc23497728283ed040838407776c3f7843453cc37",
|
| 149 |
+
"source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
|
| 150 |
+
},
|
| 151 |
+
"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 152 |
+
"sha256": "4b53b46180d2a396310596ee61f4dd73bcee70c179fa1571257ba102cde2efc4",
|
| 153 |
+
"source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
|
| 154 |
+
},
|
| 155 |
+
"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 156 |
+
"sha256": "a570ef55299d48e6bad64e4a26de4aa36d95b76be09a8726f1aef971a7610d50",
|
| 157 |
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"source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
"input_fingerprint": "1b4a63aac830e283",
|
| 161 |
+
"kind": "online_calibration",
|
| 162 |
+
"output_sha256": "3c7d41644b24b00c89fe0fad39d79ecfcdd8f37501a1d602c24f99f1114a08ee",
|
| 163 |
+
"overlap": {
|
| 164 |
+
"left-right": 0.501,
|
| 165 |
+
"left_eye-left": 0.707,
|
| 166 |
+
"left_eye-right": 0.671,
|
| 167 |
+
"left_front-left": 0.478,
|
| 168 |
+
"left_front-left_eye": 0.72,
|
| 169 |
+
"left_front-right": 0.448,
|
| 170 |
+
"left_front-right_eye": 0.732,
|
| 171 |
+
"left_front-right_front": 1.0,
|
| 172 |
+
"right_eye-left": 0.696,
|
| 173 |
+
"right_eye-left_eye": 1.0,
|
| 174 |
+
"right_eye-right": 0.673,
|
| 175 |
+
"right_front-left": 0.464,
|
| 176 |
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"right_front-left_eye": 0.723,
|
| 177 |
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"right_front-right": 0.466,
|
| 178 |
+
"right_front-right_eye": 0.734
|
| 179 |
+
},
|
| 180 |
+
"picture_change": {
|
| 181 |
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"left": 36.686,
|
| 182 |
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"left_eye": 33.511,
|
| 183 |
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|
| 184 |
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"right": 37.365,
|
| 185 |
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|
| 186 |
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|
| 187 |
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},
|
| 188 |
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"runtime": {
|
| 189 |
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"numpy": "2.4.6",
|
| 190 |
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|
| 191 |
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|
| 192 |
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},
|
| 193 |
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|
| 194 |
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| 195 |
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},
|
| 255 |
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"version": 1
|
| 256 |
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}
|
actions/locomotion_primitives/P33/session_088/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b9774b286bc5567a960d98f58e67acd7fb89bab6396d8fe57da760af3a9663ff
|
| 3 |
+
size 744639
|
actions/locomotion_primitives/P33/session_088/meta.json
CHANGED
|
@@ -363,8 +363,8 @@
|
|
| 363 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 364 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 365 |
"hands": {
|
| 366 |
-
"observed":
|
| 367 |
-
"hand_pose": "
|
| 368 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 369 |
"hand_marker_offsets_m": {
|
| 370 |
"left": {
|
|
@@ -504,10 +504,124 @@
|
|
| 504 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 505 |
}
|
| 506 |
},
|
|
|
|
|
|
|
|
|
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|
|
| 507 |
"release": {
|
| 508 |
"release_path": "actions/locomotion_primitives/P33/session_088",
|
| 509 |
"family": "locomotion_primitives",
|
| 510 |
"primitive": "P33",
|
| 511 |
"source_session": "20261013/P33/20261013_105518_session193"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 512 |
}
|
| 513 |
}
|
|
|
|
| 363 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 364 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 365 |
"hands": {
|
| 366 |
+
"observed": true,
|
| 367 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 368 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 369 |
"hand_marker_offsets_m": {
|
| 370 |
"left": {
|
|
|
|
| 504 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 505 |
}
|
| 506 |
},
|
| 507 |
+
"hands_registration": {
|
| 508 |
+
"cameras": {},
|
| 509 |
+
"hands": {
|
| 510 |
+
"left": {
|
| 511 |
+
"offset_deg": 24.53,
|
| 512 |
+
"offset_rotvec": [
|
| 513 |
+
-0.005,
|
| 514 |
+
-0.3372,
|
| 515 |
+
0.2639
|
| 516 |
+
],
|
| 517 |
+
"dev_deg": {
|
| 518 |
+
"median": 10.67,
|
| 519 |
+
"p90": 20.67
|
| 520 |
+
},
|
| 521 |
+
"samples": 3116,
|
| 522 |
+
"accepted": 3017,
|
| 523 |
+
"wrist_pos_err_mm_median": 66.8,
|
| 524 |
+
"per_camera": {
|
| 525 |
+
"head": {
|
| 526 |
+
"samples": 3116,
|
| 527 |
+
"accepted": 3017,
|
| 528 |
+
"gate_deg": 30.0,
|
| 529 |
+
"offset_deg": 24.53,
|
| 530 |
+
"tier": "primary",
|
| 531 |
+
"dev_deg_median": 10.67,
|
| 532 |
+
"wrist_pos_err_mm_median": 66.8
|
| 533 |
+
}
|
| 534 |
+
},
|
| 535 |
+
"frames_by_state": {
|
| 536 |
+
"ace_sample": 12332,
|
| 537 |
+
"interpolated": 3140,
|
| 538 |
+
"mean_hand": 8,
|
| 539 |
+
"no_body_fit": 0
|
| 540 |
+
},
|
| 541 |
+
"observed_fraction": 0.9995,
|
| 542 |
+
"observed_fraction_of_valid": 0.9995,
|
| 543 |
+
"palm_axis_vs_markers_deg": {
|
| 544 |
+
"gsi": 22.25,
|
| 545 |
+
"smplx": 0.43
|
| 546 |
+
},
|
| 547 |
+
"hand_marker_to_mesh_mm": {
|
| 548 |
+
"flat": {
|
| 549 |
+
"median": 9.2,
|
| 550 |
+
"p90": 11.9
|
| 551 |
+
},
|
| 552 |
+
"registered": {
|
| 553 |
+
"median": 7.7,
|
| 554 |
+
"p90": 8.4
|
| 555 |
+
}
|
| 556 |
+
}
|
| 557 |
+
},
|
| 558 |
+
"right": {
|
| 559 |
+
"offset_deg": 15.32,
|
| 560 |
+
"offset_rotvec": [
|
| 561 |
+
0.145,
|
| 562 |
+
0.2145,
|
| 563 |
+
0.0666
|
| 564 |
+
],
|
| 565 |
+
"dev_deg": {
|
| 566 |
+
"median": 15.68,
|
| 567 |
+
"p90": 29.94
|
| 568 |
+
},
|
| 569 |
+
"samples": 2394,
|
| 570 |
+
"accepted": 2155,
|
| 571 |
+
"wrist_pos_err_mm_median": 63.1,
|
| 572 |
+
"per_camera": {
|
| 573 |
+
"head": {
|
| 574 |
+
"samples": 2394,
|
| 575 |
+
"accepted": 2155,
|
| 576 |
+
"gate_deg": 30.0,
|
| 577 |
+
"offset_deg": 15.32,
|
| 578 |
+
"tier": "primary",
|
| 579 |
+
"dev_deg_median": 15.68,
|
| 580 |
+
"wrist_pos_err_mm_median": 63.1
|
| 581 |
+
}
|
| 582 |
+
},
|
| 583 |
+
"frames_by_state": {
|
| 584 |
+
"ace_sample": 9076,
|
| 585 |
+
"interpolated": 6256,
|
| 586 |
+
"mean_hand": 148,
|
| 587 |
+
"no_body_fit": 0
|
| 588 |
+
},
|
| 589 |
+
"observed_fraction": 0.9904,
|
| 590 |
+
"observed_fraction_of_valid": 0.9904,
|
| 591 |
+
"palm_axis_vs_markers_deg": {
|
| 592 |
+
"gsi": 18.36,
|
| 593 |
+
"smplx": 0.47
|
| 594 |
+
},
|
| 595 |
+
"hand_marker_to_mesh_mm": {
|
| 596 |
+
"flat": {
|
| 597 |
+
"median": 8.8,
|
| 598 |
+
"p90": 15.3
|
| 599 |
+
},
|
| 600 |
+
"registered": {
|
| 601 |
+
"median": 8.9,
|
| 602 |
+
"p90": 14.8
|
| 603 |
+
}
|
| 604 |
+
}
|
| 605 |
+
}
|
| 606 |
+
},
|
| 607 |
+
"max_dev_deg": 30.0,
|
| 608 |
+
"max_gap_s": 1.0,
|
| 609 |
+
"cameras_used": [
|
| 610 |
+
"head"
|
| 611 |
+
],
|
| 612 |
+
"generated_at_utc": "2026-11-03T22:07:19.718027+00:00",
|
| 613 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 614 |
+
"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",
|
| 615 |
+
"wrist_flip_suspect": []
|
| 616 |
+
},
|
| 617 |
"release": {
|
| 618 |
"release_path": "actions/locomotion_primitives/P33/session_088",
|
| 619 |
"family": "locomotion_primitives",
|
| 620 |
"primitive": "P33",
|
| 621 |
"source_session": "20261013/P33/20261013_105518_session193"
|
| 622 |
+
},
|
| 623 |
+
"task": {
|
| 624 |
+
"primitive": "P33",
|
| 625 |
+
"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
|
| 626 |
}
|
| 627 |
}
|
actions/locomotion_primitives/P33/session_088/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:36b455227c6c78e6e3568d2ec337e3f7cdf0b99d81c4bf26136297cf70d689b1
|
| 3 |
+
size 3819376
|
actions/locomotion_primitives/P33/session_088/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 sha256:7fedc8de70307b3066690cb8a24a5fa56e653e49577a7da315420b374ed31d60
|
| 3 |
+
size 11166018
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actions/locomotion_primitives/P33/session_089/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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": "P33",
|
| 6 |
+
"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 126.766733,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.0394292604028134
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "3602137b-5583-4f99-9d6c-d253aedb3ce5",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "P33",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1.102,
|
| 22 |
+
"end_s": 124.451,
|
| 23 |
+
"t_start": 1.1414,
|
| 24 |
+
"t_end": 124.4904,
|
| 25 |
+
"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomotion_primitives/P33/session_089/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,226 @@
|
|
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|
|
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|
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|
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|
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|
|
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|
|
|
|
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|
|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 15,
|
| 5 |
+
"median_px": 0.406
|
| 6 |
+
},
|
| 7 |
+
"cameras": {
|
| 8 |
+
"left": {
|
| 9 |
+
"accepted": true,
|
| 10 |
+
"against": [
|
| 11 |
+
"left_front",
|
| 12 |
+
"right_front",
|
| 13 |
+
"left_eye",
|
| 14 |
+
"right_eye",
|
| 15 |
+
"right"
|
| 16 |
+
],
|
| 17 |
+
"delta_deg": 2.4178,
|
| 18 |
+
"gate_fail": [],
|
| 19 |
+
"held_out_px_after": 0.507,
|
| 20 |
+
"held_out_px_before": 5.203,
|
| 21 |
+
"inliers": 1138,
|
| 22 |
+
"position_fitted": false,
|
| 23 |
+
"rotvec_deg": [
|
| 24 |
+
1.9098,
|
| 25 |
+
-1.3527,
|
| 26 |
+
0.6069
|
| 27 |
+
],
|
| 28 |
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actions/locomotion_primitives/P33/session_089/cameras/slam.npz
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CHANGED
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@@ -378,8 +378,8 @@
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|
@@ -530,10 +530,124 @@
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| 530 |
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| 378 |
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|
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|
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|
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|
| 644 |
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|
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|
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|
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| 653 |
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ADDED
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@@ -0,0 +1,28 @@
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|
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|
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|
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"primitive": "P33",
|
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| 27 |
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|
| 28 |
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actions/locomotion_primitives/P33/session_090/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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@@ -527,10 +527,124 @@
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| 638 |
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| 641 |
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| 643 |
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| 644 |
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| 647 |
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|
| 648 |
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| 649 |
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|
| 650 |
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actions/locomotion_primitives/P33/session_090/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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size 3861197
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actions/locomotion_primitives/P33/session_090/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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actions/locomotion_primitives/P33/session_091/annotations.json
ADDED
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@@ -0,0 +1,28 @@
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| 1 |
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{
|
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"schema_version": 1,
|
| 3 |
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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": "P33",
|
| 6 |
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"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
|
| 7 |
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| 8 |
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{
|
| 9 |
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|
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|
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| 20 |
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| 22 |
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| 24 |
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|
| 25 |
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"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
|
| 26 |
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}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomotion_primitives/P33/session_091/cameras/gsi_online_calibration.json
ADDED
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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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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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| 20 |
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| 21 |
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|
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|
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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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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|
| 40 |
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| 46 |
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|
| 47 |
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|
| 48 |
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| 49 |
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| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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},
|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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"left_front",
|
| 67 |
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"right_front",
|
| 68 |
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|
| 69 |
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"right_eye"
|
| 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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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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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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"left",
|
| 92 |
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"right"
|
| 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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|
| 108 |
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|
| 109 |
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|
| 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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|
| 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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|
| 129 |
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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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"factory_root_name": "c9205ac6e17d2d5c",
|
| 142 |
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|
| 143 |
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|
| 144 |
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"sha256": "8e94d7f90d5f1d93d2cbb24a26b96482aa6eca0776ffd465437f18ac57456bf9",
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| 145 |
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|
| 146 |
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},
|
| 147 |
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"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 148 |
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"sha256": "f8161ba75555bcae97582aeed21715c048dfbce6bcfa572f67c6fac7a7b75c7c",
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| 150 |
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| 151 |
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| 152 |
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"sha256": "f4d1e0b79831b4e1c6ff9899488fbd4646754ffad3106246af879c2913c88981",
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| 156 |
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| 159 |
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| 160 |
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|
| 161 |
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|
| 162 |
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|
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
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|
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|
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|
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|
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|
| 180 |
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|
| 181 |
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|
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|
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}
|
actions/locomotion_primitives/P33/session_091/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 sha256:79cc8d7baf29438fcad6d56cedc38db1cde083d66f07e8780042f1c88eea1f3c
|
| 3 |
+
size 713533
|
actions/locomotion_primitives/P33/session_091/meta.json
CHANGED
|
@@ -378,8 +378,8 @@
|
|
| 378 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 379 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 380 |
"hands": {
|
| 381 |
-
"observed":
|
| 382 |
-
"hand_pose": "
|
| 383 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 384 |
"hand_marker_offsets_m": {
|
| 385 |
"left": {
|
|
@@ -530,10 +530,124 @@
|
|
| 530 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 531 |
}
|
| 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_primitives/P33/session_091",
|
| 535 |
"family": "locomotion_primitives",
|
| 536 |
"primitive": "P33",
|
| 537 |
"source_session": "20261019/P33/20261019_025148_session31"
|
|
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|
| 538 |
}
|
| 539 |
}
|
|
|
|
| 378 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 379 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 380 |
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|
| 381 |
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"observed": true,
|
| 382 |
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"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 383 |
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|
| 384 |
"hand_marker_offsets_m": {
|
| 385 |
"left": {
|
|
|
|
| 530 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 531 |
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|
| 532 |
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|
| 533 |
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|
| 534 |
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|
| 535 |
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|
| 536 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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0.2672,
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0.1317,
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0.1009
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],
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| 592 |
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"median": 17.97,
|
| 593 |
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"p90": 38.98
|
| 594 |
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},
|
| 595 |
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"samples": 3316,
|
| 596 |
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"accepted": 2719,
|
| 597 |
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"wrist_pos_err_mm_median": 68.8,
|
| 598 |
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"per_camera": {
|
| 599 |
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"head": {
|
| 600 |
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"samples": 3316,
|
| 601 |
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"accepted": 2719,
|
| 602 |
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"gate_deg": 30.0,
|
| 603 |
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"offset_deg": 18.02,
|
| 604 |
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"tier": "primary",
|
| 605 |
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|
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|
| 607 |
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|
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},
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|
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|
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|
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"observed_fraction": 0.9592,
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|
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"gsi": 17.82,
|
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"smplx": 0.5
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},
|
| 621 |
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"hand_marker_to_mesh_mm": {
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"flat": {
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"median": 9.9,
|
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"p90": 12.9
|
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},
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| 626 |
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"registered": {
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"median": 9.6,
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|
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"head"
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],
|
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"generated_at_utc": "2026-11-03T21:07:37.221746+00:00",
|
| 639 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 640 |
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"conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
|
| 641 |
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"wrist_flip_suspect": []
|
| 642 |
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},
|
| 643 |
"release": {
|
| 644 |
"release_path": "actions/locomotion_primitives/P33/session_091",
|
| 645 |
"family": "locomotion_primitives",
|
| 646 |
"primitive": "P33",
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| 647 |
"source_session": "20261019/P33/20261019_025148_session31"
|
| 648 |
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},
|
| 649 |
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"task": {
|
| 650 |
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"primitive": "P33",
|
| 651 |
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"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
|
| 652 |
}
|
| 653 |
}
|
actions/locomotion_primitives/P33/session_091/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 4309257
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actions/locomotion_primitives/P33/session_091/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 10667649
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actions/locomotion_primitives/P33/session_092/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
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|
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|
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| 1 |
+
{
|
| 2 |
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|
| 3 |
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"source": "vendor annotation.json (schema 2, revision 1)",
|
| 4 |
+
"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
|
| 5 |
+
"primitive": "P33",
|
| 6 |
+
"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
|
| 7 |
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"segments": [
|
| 8 |
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{
|
| 9 |
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"id": "segment1",
|
| 10 |
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|
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"video": "left_eye",
|
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}
|
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],
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"episodes": [
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{
|
| 17 |
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"id": "92a27a58-aafc-48c1-9743-8ba675ae4c8b",
|
| 18 |
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"segment": "segment1",
|
| 19 |
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"action": "P33",
|
| 20 |
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"quality": "valid",
|
| 21 |
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"start_s": 1.581,
|
| 22 |
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"end_s": 136.596,
|
| 23 |
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"t_start": 1.623,
|
| 24 |
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"t_end": 136.638,
|
| 25 |
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"instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomotion_primitives/P33/session_092/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,217 @@
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
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"groups_dropped": [],
|
| 4 |
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"groups_used": 14,
|
| 5 |
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|
| 6 |
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},
|
| 7 |
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"cameras": {
|
| 8 |
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"left": {
|
| 9 |
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"accepted": true,
|
| 10 |
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"against": [
|
| 11 |
+
"left_front",
|
| 12 |
+
"right_front",
|
| 13 |
+
"left_eye",
|
| 14 |
+
"right_eye"
|
| 15 |
+
],
|
| 16 |
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"delta_deg": 1.6538,
|
| 17 |
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"gate_fail": [],
|
| 18 |
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"held_out_px_after": 0.349,
|
| 19 |
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"held_out_px_before": 21.169,
|
| 20 |
+
"inliers": 1733,
|
| 21 |
+
"position_fitted": false,
|
| 22 |
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"rotvec_deg": [
|
| 23 |
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-1.4232,
|
| 24 |
+
-0.1825,
|
| 25 |
+
-0.8225
|
| 26 |
+
],
|
| 27 |
+
"split_deg": 0.0317,
|
| 28 |
+
"usable": true
|
| 29 |
+
},
|
| 30 |
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"left_eye": {
|
| 31 |
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"accepted": true,
|
| 32 |
+
"against": [
|
| 33 |
+
"left_front",
|
| 34 |
+
"right_front",
|
| 35 |
+
"right_eye",
|
| 36 |
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"left",
|
| 37 |
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"right"
|
| 38 |
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],
|
| 39 |
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"delta_deg": 2.6852,
|
| 40 |
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"gate_fail": [],
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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"position_mm": [
|
| 46 |
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7.0,
|
| 47 |
+
-20.68,
|
| 48 |
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-4.24
|
| 49 |
+
],
|
| 50 |
+
"position_sigma_mm": 0.475,
|
| 51 |
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|
| 52 |
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"rotvec_deg": [
|
| 53 |
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1.6903,
|
| 54 |
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|
| 55 |
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1.8757
|
| 56 |
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],
|
| 57 |
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"split_deg": 0.0828,
|
| 58 |
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"usable": true
|
| 59 |
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},
|
| 60 |
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"left_front": {
|
| 61 |
+
"role": "rig origin"
|
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@@ -529,10 +529,124 @@
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|
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|
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|
| 651 |
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|
| 652 |
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|
actions/locomotion_primitives/P33/session_092/motions/hands_mano.npz
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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actions/locomotion_primitives/P33/session_092/motions/smplx.npz
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