Release update 2026-11-05: new sessions, instructions, annotations (part 50)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +10 -0
- actions/locomotion_primitives/P07/session_014/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P07/session_015/annotations.json +149 -0
- actions/locomotion_primitives/P07/session_015/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P07/session_015/meta.json +116 -2
- actions/locomotion_primitives/P07/session_015/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P07/session_015/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P07/session_016/annotations.json +127 -0
- actions/locomotion_primitives/P07/session_016/cameras/gsi_online_calibration.json +255 -0
- actions/locomotion_primitives/P07/session_016/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P07/session_016/meta.json +116 -2
- actions/locomotion_primitives/P07/session_016/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P07/session_016/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P07/session_017/annotations.json +127 -0
- actions/locomotion_primitives/P07/session_017/cameras/gsi_online_calibration.json +250 -0
- actions/locomotion_primitives/P07/session_017/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P07/session_017/meta.json +116 -2
- actions/locomotion_primitives/P07/session_017/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P07/session_017/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P07/session_018/annotations.json +171 -0
- actions/locomotion_primitives/P07/session_018/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P07/session_018/meta.json +116 -2
- actions/locomotion_primitives/P07/session_018/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P07/session_018/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P07/session_019/annotations.json +127 -0
- actions/locomotion_primitives/P07/session_019/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P07/session_019/meta.json +116 -2
- actions/locomotion_primitives/P07/session_019/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P07/session_019/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P07/session_020/annotations.json +127 -0
- actions/locomotion_primitives/P07/session_020/cameras/gsi_online_calibration.json +255 -0
- actions/locomotion_primitives/P07/session_020/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P07/session_020/meta.json +116 -2
- actions/locomotion_primitives/P07/session_020/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P07/session_020/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P07/session_021/annotations.json +127 -0
- actions/locomotion_primitives/P07/session_021/cameras/gsi_online_calibration.json +252 -0
- actions/locomotion_primitives/P07/session_021/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P07/session_021/meta.json +116 -2
- actions/locomotion_primitives/P07/session_021/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P07/session_021/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P07/session_022/annotations.json +127 -0
- actions/locomotion_primitives/P07/session_022/cameras/gsi_online_calibration.json +256 -0
- actions/locomotion_primitives/P07/session_022/cameras/slam.npz +3 -0
- actions/locomotion_primitives/P07/session_022/meta.json +116 -2
- actions/locomotion_primitives/P07/session_022/motions/hands_mano.npz +3 -0
- actions/locomotion_primitives/P07/session_022/motions/smplx.npz +2 -2
- actions/locomotion_primitives/P07/session_023/annotations.json +127 -0
- actions/locomotion_primitives/P07/session_023/cameras/gsi_online_calibration.json +253 -0
- actions/locomotion_primitives/P07/session_023/cameras/slam.npz +3 -0
.gitattributes
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actions/locomotion_posture_dynamics/D60/session_009/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_posture_dynamics/D60/session_009/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_posture_dynamics/D60/session_009/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_posture_dynamics/D60/session_009/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P08/session_018/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P08/session_018/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomotion_primitives/P07/session_014/motions/smplx.npz
CHANGED
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@@ -1,3 +1,3 @@
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size 7454857
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actions/locomotion_primitives/P07/session_015/annotations.json
ADDED
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@@ -0,0 +1,149 @@
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{
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"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
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}
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]
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}
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actions/locomotion_primitives/P07/session_015/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:dbf009d87065135152b13b0adc9cc4674d63890e19d62d8892adac0aec2b8925
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size 1109273
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actions/locomotion_primitives/P07/session_015/meta.json
CHANGED
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@@ -304,8 +304,8 @@
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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"hands": {
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-
"observed":
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-
"hand_pose": "
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"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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@@ -489,10 +489,124 @@
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"generated_by": "scripts/correct_processed_rig.py",
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"remaining_gyro_frame_deg": 0.9928874315723447
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},
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| 492 |
"release": {
|
| 493 |
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|
| 494 |
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|
| 495 |
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|
| 496 |
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|
|
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|
| 497 |
}
|
| 498 |
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|
|
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|
| 304 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 305 |
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|
| 306 |
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|
| 307 |
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"observed": true,
|
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|
| 309 |
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|
| 310 |
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|
| 311 |
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|
| 489 |
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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",
|
| 600 |
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"wrist_flip_suspect": []
|
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| 602 |
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"primitive": "P07",
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"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
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| 611 |
}
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| 612 |
}
|
actions/locomotion_primitives/P07/session_015/motions/hands_mano.npz
ADDED
|
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version https://git-lfs.github.com/spec/v1
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size 5671780
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actions/locomotion_primitives/P07/session_015/motions/smplx.npz
CHANGED
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@@ -1,3 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 16438282
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actions/locomotion_primitives/P07/session_016/annotations.json
ADDED
|
@@ -0,0 +1,127 @@
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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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|
| 56 |
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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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|
| 92 |
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|
| 93 |
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|
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|
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|
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|
| 103 |
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},
|
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{
|
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|
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|
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|
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|
| 114 |
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},
|
| 115 |
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{
|
| 116 |
+
"id": "87f48cd8-65a4-4275-b230-eae0239caeb6",
|
| 117 |
+
"segment": "segment1",
|
| 118 |
+
"action": "P07",
|
| 119 |
+
"quality": "valid",
|
| 120 |
+
"start_s": 111.423,
|
| 121 |
+
"end_s": 119.182,
|
| 122 |
+
"t_start": 111.4619,
|
| 123 |
+
"t_end": 119.2209,
|
| 124 |
+
"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
|
| 125 |
+
}
|
| 126 |
+
]
|
| 127 |
+
}
|
actions/locomotion_primitives/P07/session_016/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,255 @@
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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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"median_px": 0.343
|
| 6 |
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},
|
| 7 |
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"cameras": {
|
| 8 |
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"left": {
|
| 9 |
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"accepted": true,
|
| 10 |
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"against": [
|
| 11 |
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"left_front",
|
| 12 |
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"right_front",
|
| 13 |
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"left_eye",
|
| 14 |
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"right_eye"
|
| 15 |
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],
|
| 16 |
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"delta_deg": 1.0272,
|
| 17 |
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"gate_fail": [],
|
| 18 |
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"held_out_px_after": 0.461,
|
| 19 |
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|
| 20 |
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|
| 21 |
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"position_fitted": false,
|
| 22 |
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"rotvec_deg": [
|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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],
|
| 27 |
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"split_deg": 0.1359,
|
| 28 |
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"usable": true
|
| 29 |
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},
|
| 30 |
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"left_eye": {
|
| 31 |
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"accepted": true,
|
| 32 |
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"against": [
|
| 33 |
+
"left_front",
|
| 34 |
+
"right_front",
|
| 35 |
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"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": 1.9368,
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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"inliers": 3232,
|
| 44 |
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"position_fitted": true,
|
| 45 |
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"position_mm": [
|
| 46 |
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1.08,
|
| 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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|
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|
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| 54 |
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|
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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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"left_eye",
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| 69 |
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|
| 70 |
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],
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| 73 |
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| 74 |
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| 75 |
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| 83 |
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| 84 |
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},
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| 86 |
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| 87 |
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| 88 |
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"left_front",
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| 89 |
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"right_front",
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| 90 |
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"left_eye",
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"left",
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],
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| 94 |
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| 100 |
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"position_mm": [
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| 101 |
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7.85,
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| 102 |
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| 105 |
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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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| 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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},
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| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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"files": {
|
| 143 |
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|
| 144 |
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| 146 |
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},
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| 147 |
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|
| 148 |
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},
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| 151 |
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|
| 152 |
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| 156 |
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| 160 |
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| 161 |
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| 162 |
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|
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}
|
actions/locomotion_primitives/P07/session_016/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:7d1de1fe3a82e4fd97af4f5a7e8864939bc846fe692b689a85da670d2c2f5cbd
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| 3 |
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size 736375
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actions/locomotion_primitives/P07/session_016/meta.json
CHANGED
|
@@ -329,8 +329,8 @@
|
|
| 329 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 330 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 331 |
"hands": {
|
| 332 |
-
"observed":
|
| 333 |
-
"hand_pose": "
|
| 334 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 335 |
"hand_marker_offsets_m": {
|
| 336 |
"left": {
|
|
@@ -519,10 +519,124 @@
|
|
| 519 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 520 |
"remaining_gyro_frame_deg": 0.596521336574548
|
| 521 |
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| 522 |
"release": {
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|
| 524 |
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| 527 |
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| 528 |
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|
| 329 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 330 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 331 |
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|
| 332 |
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"observed": true,
|
| 333 |
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|
| 334 |
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|
| 335 |
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| 336 |
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| 519 |
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"generated_at_utc": "2026-11-03T23:05:41.830784+00:00",
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|
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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",
|
| 630 |
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"wrist_flip_suspect": []
|
| 631 |
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|
| 632 |
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|
| 635 |
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"primitive": "P07",
|
| 640 |
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"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
|
| 641 |
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|
| 642 |
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|
actions/locomotion_primitives/P07/session_016/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
|
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|
|
|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:ca2f5ffa75cb19ae1510fd20dc8de79bd59fc9023cd5050f39b66c5a13485d21
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| 3 |
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size 3797859
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actions/locomotion_primitives/P07/session_016/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:
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size
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version https://git-lfs.github.com/spec/v1
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size 10823831
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actions/locomotion_primitives/P07/session_017/annotations.json
ADDED
|
@@ -0,0 +1,127 @@
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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 |
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"primitive": "P07",
|
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"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop.",
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|
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|
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"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
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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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"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
|
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},
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{
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"id": "cbe9ee2b-940e-472e-ba82-798feae27cec",
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"segment": "segment1",
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|
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|
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|
| 68 |
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|
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"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
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| 70 |
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},
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{
|
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"segment": "segment1",
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|
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"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
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| 81 |
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{
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|
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|
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|
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"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"action": "P07",
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| 97 |
+
"quality": "valid",
|
| 98 |
+
"start_s": 76.903,
|
| 99 |
+
"end_s": 83.798,
|
| 100 |
+
"t_start": 76.942,
|
| 101 |
+
"t_end": 83.837,
|
| 102 |
+
"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
|
| 103 |
+
},
|
| 104 |
+
{
|
| 105 |
+
"id": "fe3d09e4-3aa9-4ceb-a623-ee4827fc9908",
|
| 106 |
+
"segment": "segment1",
|
| 107 |
+
"action": "P07",
|
| 108 |
+
"quality": "valid",
|
| 109 |
+
"start_s": 87.508,
|
| 110 |
+
"end_s": 94.684,
|
| 111 |
+
"t_start": 87.547,
|
| 112 |
+
"t_end": 94.723,
|
| 113 |
+
"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
|
| 114 |
+
},
|
| 115 |
+
{
|
| 116 |
+
"id": "f644f9e2-c190-4f71-91ca-444ae5252cff",
|
| 117 |
+
"segment": "segment1",
|
| 118 |
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"action": "P07",
|
| 119 |
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"quality": "valid",
|
| 120 |
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"start_s": 97.052,
|
| 121 |
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"end_s": 104.186,
|
| 122 |
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"t_start": 97.091,
|
| 123 |
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"t_end": 104.225,
|
| 124 |
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"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
|
| 125 |
+
}
|
| 126 |
+
]
|
| 127 |
+
}
|
actions/locomotion_primitives/P07/session_017/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,250 @@
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 6 |
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|
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|
| 12 |
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|
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|
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|
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|
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| 32 |
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| 34 |
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|
| 35 |
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| 36 |
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| 244 |
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|
| 245 |
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|
| 246 |
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|
| 248 |
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|
| 249 |
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"version": 1
|
| 250 |
+
}
|
actions/locomotion_primitives/P07/session_017/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
|
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|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:b427e03e820b68c635a42cbb1ba4691395569860e6424069e0525f65f67bb591
|
| 3 |
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size 656285
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actions/locomotion_primitives/P07/session_017/meta.json
CHANGED
|
@@ -333,8 +333,8 @@
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|
| 333 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 334 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 335 |
"hands": {
|
| 336 |
-
"observed":
|
| 337 |
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|
| 338 |
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|
| 339 |
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|
| 340 |
"left": {
|
|
@@ -521,10 +521,124 @@
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|
| 521 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 522 |
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|
| 523 |
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| 524 |
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|
| 525 |
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|
| 526 |
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|
| 527 |
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|
| 528 |
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|
| 529 |
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|
| 530 |
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|
| 333 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 334 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 335 |
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|
| 336 |
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"observed": true,
|
| 337 |
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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",
|
| 338 |
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|
| 339 |
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| 521 |
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|
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"smplx": 0.65
|
| 563 |
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},
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"hand_marker_to_mesh_mm": {
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| 566 |
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"median": 18.2,
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},
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| 572 |
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"right": {
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"median": 8.14,
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| 585 |
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},
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"tier": "primary",
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"generated_at_utc": "2026-11-03T22:56:03.789992+00:00",
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|
| 631 |
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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",
|
| 632 |
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"wrist_flip_suspect": []
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| 633 |
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| 634 |
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|
| 635 |
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| 636 |
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|
| 637 |
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|
| 638 |
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|
| 639 |
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},
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| 640 |
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"task": {
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| 641 |
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"primitive": "P07",
|
| 642 |
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"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
|
| 643 |
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|
| 644 |
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|
actions/locomotion_primitives/P07/session_017/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:025b7705eea60d3eddb8ceb4537acbacdf7468dab50be8cf6ccf4ad34ce015d1
|
| 3 |
+
size 3814008
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actions/locomotion_primitives/P07/session_017/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
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| 2 |
-
oid sha256:
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| 3 |
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size
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version https://git-lfs.github.com/spec/v1
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size 9810029
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actions/locomotion_primitives/P07/session_018/annotations.json
ADDED
|
@@ -0,0 +1,171 @@
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| 1 |
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{
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"schema_version": 1,
|
| 3 |
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"source": "vendor annotation.json (schema 2, revision 1)",
|
| 4 |
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"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
|
| 5 |
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"primitive": "P07",
|
| 6 |
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"instruction": "Stand still 2 s; begin walking naturally; walk forward; 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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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
|
| 26 |
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},
|
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{
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| 28 |
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"id": "fe075be2-c40e-4548-825e-503253ace8ef",
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| 29 |
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"segment": "segment1",
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| 30 |
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"action": "P07",
|
| 31 |
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"quality": "valid",
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|
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|
| 34 |
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|
| 35 |
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"t_end": 16.9824,
|
| 36 |
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"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
|
| 37 |
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},
|
| 38 |
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{
|
| 39 |
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"id": "51413206-5888-4ae3-8544-229387ed7e4b",
|
| 40 |
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"segment": "segment1",
|
| 41 |
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"action": "P07",
|
| 42 |
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"quality": "valid",
|
| 43 |
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"start_s": 16.952,
|
| 44 |
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"end_s": 24.886,
|
| 45 |
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"t_start": 16.9824,
|
| 46 |
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"t_end": 24.9164,
|
| 47 |
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"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
|
| 48 |
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},
|
| 49 |
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{
|
| 50 |
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"id": "ca273008-1bac-4cb3-8020-a722ded2c897",
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| 51 |
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"segment": "segment1",
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| 52 |
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"action": "P07",
|
| 53 |
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"quality": "valid",
|
| 54 |
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|
| 55 |
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|
| 56 |
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"t_start": 24.9164,
|
| 57 |
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"t_end": 33.1874,
|
| 58 |
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"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
|
| 59 |
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},
|
| 60 |
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{
|
| 61 |
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"id": "d707a40e-0417-42e0-abcf-385cb0f8bae1",
|
| 62 |
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"segment": "segment1",
|
| 63 |
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"action": "P07",
|
| 64 |
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"quality": "valid",
|
| 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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| 160 |
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|
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|
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|
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|
| 171 |
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}
|
actions/locomotion_primitives/P07/session_018/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 658046
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actions/locomotion_primitives/P07/session_018/meta.json
CHANGED
|
@@ -326,8 +326,8 @@
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|
| 326 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 327 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 328 |
"hands": {
|
| 329 |
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"observed":
|
| 330 |
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|
| 331 |
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|
| 332 |
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|
| 333 |
"left": {
|
|
@@ -514,10 +514,124 @@
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|
| 514 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 515 |
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|
| 516 |
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| 517 |
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| 518 |
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|
| 519 |
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| 520 |
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| 326 |
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|
| 327 |
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|
| 328 |
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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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|
| 621 |
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| 622 |
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"generated_at_utc": "2026-11-03T22:56:02.276564+00:00",
|
| 623 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 624 |
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|
| 625 |
+
"wrist_flip_suspect": []
|
| 626 |
+
},
|
| 627 |
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|
| 628 |
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|
| 629 |
"family": "locomotion_primitives",
|
| 630 |
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|
| 631 |
"source_session": "20260919/P07/20260919_075530_session125"
|
| 632 |
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|
| 633 |
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|
| 634 |
+
"primitive": "P07",
|
| 635 |
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"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
|
| 636 |
}
|
| 637 |
}
|
actions/locomotion_primitives/P07/session_018/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
|
|
|
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:df8913dcc0e3f95b97ce601f1e7d74fcfc57c072ad033b726f36c4a66def24f6
|
| 3 |
+
size 2674054
|
actions/locomotion_primitives/P07/session_018/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:
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| 3 |
-
size
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| 1 |
version https://git-lfs.github.com/spec/v1
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oid sha256:ec222da88c969a1a9fb8b3518d44aa8577293321e51b4cf6168cbc362c1a7d3a
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size 9723431
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actions/locomotion_primitives/P07/session_019/annotations.json
ADDED
|
@@ -0,0 +1,127 @@
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| 116 |
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| 125 |
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| 126 |
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| 127 |
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actions/locomotion_primitives/P07/session_019/cameras/slam.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 570103
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actions/locomotion_primitives/P07/session_019/meta.json
CHANGED
|
@@ -323,8 +323,8 @@
|
|
| 323 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 324 |
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|
| 325 |
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|
| 326 |
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"observed":
|
| 327 |
-
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|
| 328 |
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|
| 329 |
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|
| 330 |
"left": {
|
|
@@ -508,10 +508,124 @@
|
|
| 508 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 509 |
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|
| 510 |
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| 511 |
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| 512 |
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|
| 513 |
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| 514 |
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| 516 |
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|
| 323 |
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|
| 324 |
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|
| 325 |
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|
| 326 |
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|
| 327 |
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| 328 |
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| 329 |
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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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|
| 550 |
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},
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| 551 |
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},
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| 556 |
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}
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| 572 |
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| 603 |
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|
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|
| 613 |
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|
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| 616 |
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"generated_at_utc": "2026-11-03T22:26:14.018402+00:00",
|
| 617 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 618 |
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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",
|
| 619 |
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"wrist_flip_suspect": []
|
| 620 |
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},
|
| 621 |
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|
| 622 |
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|
| 623 |
"family": "locomotion_primitives",
|
| 624 |
"primitive": "P07",
|
| 625 |
"source_session": "20260929/P07/20260929_060858_session113"
|
| 626 |
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},
|
| 627 |
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"task": {
|
| 628 |
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"primitive": "P07",
|
| 629 |
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"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
|
| 630 |
}
|
| 631 |
}
|
actions/locomotion_primitives/P07/session_019/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
|
|
|
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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+
oid sha256:8ed1be4160cf9e13c9bb2d1fcbe5c18cbf78c38c687e73fa2bfdf2b459f5c847
|
| 3 |
+
size 3007974
|
actions/locomotion_primitives/P07/session_019/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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|
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|
| 1 |
version https://git-lfs.github.com/spec/v1
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+
oid sha256:cced0df68c9dfe0d295e423416efe6b8a265717d14504a200b7cd2aa65bea678
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size 8232171
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actions/locomotion_primitives/P07/session_020/annotations.json
ADDED
|
@@ -0,0 +1,127 @@
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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 |
+
"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": "P07",
|
| 6 |
+
"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 128.966733,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.039159555259326684
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "21c766de-fe75-49b3-a199-020852045660",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "P07",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1,
|
| 22 |
+
"end_s": 8.254,
|
| 23 |
+
"t_start": 1.0392,
|
| 24 |
+
"t_end": 8.2932,
|
| 25 |
+
"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"id": "6b898382-f21a-4baa-b406-8a8ec3287cba",
|
| 29 |
+
"segment": "segment1",
|
| 30 |
+
"action": "P07",
|
| 31 |
+
"quality": "valid",
|
| 32 |
+
"start_s": 10.613,
|
| 33 |
+
"end_s": 17.613,
|
| 34 |
+
"t_start": 10.6522,
|
| 35 |
+
"t_end": 17.6522,
|
| 36 |
+
"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"id": "2b3101ad-47b4-409d-b737-45c154b5ebb5",
|
| 40 |
+
"segment": "segment1",
|
| 41 |
+
"action": "P07",
|
| 42 |
+
"quality": "valid",
|
| 43 |
+
"start_s": 23.054,
|
| 44 |
+
"end_s": 30.087,
|
| 45 |
+
"t_start": 23.0932,
|
| 46 |
+
"t_end": 30.1262,
|
| 47 |
+
"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
|
| 48 |
+
},
|
| 49 |
+
{
|
| 50 |
+
"id": "c33ac27c-67e9-490f-9815-9dfb5b20ff2b",
|
| 51 |
+
"segment": "segment1",
|
| 52 |
+
"action": "P07",
|
| 53 |
+
"quality": "valid",
|
| 54 |
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"start_s": 35.554,
|
| 55 |
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"end_s": 44.554,
|
| 56 |
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"t_start": 35.5932,
|
| 57 |
+
"t_end": 44.5932,
|
| 58 |
+
"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"id": "ffa2e4b8-8c6e-458f-afb9-687286872c23",
|
| 62 |
+
"segment": "segment1",
|
| 63 |
+
"action": "P07",
|
| 64 |
+
"quality": "valid",
|
| 65 |
+
"start_s": 47.886,
|
| 66 |
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"end_s": 57.222,
|
| 67 |
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|
| 68 |
+
"t_end": 57.2612,
|
| 69 |
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"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
|
| 70 |
+
},
|
| 71 |
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{
|
| 72 |
+
"id": "3ee6d520-6303-490b-985b-c393f3cb427d",
|
| 73 |
+
"segment": "segment1",
|
| 74 |
+
"action": "P07",
|
| 75 |
+
"quality": "valid",
|
| 76 |
+
"start_s": 61.03,
|
| 77 |
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"end_s": 68.278,
|
| 78 |
+
"t_start": 61.0692,
|
| 79 |
+
"t_end": 68.3172,
|
| 80 |
+
"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"id": "7063862d-7ad9-4223-adde-64d7d41211d4",
|
| 84 |
+
"segment": "segment1",
|
| 85 |
+
"action": "P07",
|
| 86 |
+
"quality": "valid",
|
| 87 |
+
"start_s": 72.437,
|
| 88 |
+
"end_s": 79.882,
|
| 89 |
+
"t_start": 72.4762,
|
| 90 |
+
"t_end": 79.9212,
|
| 91 |
+
"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"id": "f29b7e93-7df9-41ae-9802-3fa633609291",
|
| 95 |
+
"segment": "segment1",
|
| 96 |
+
"action": "P07",
|
| 97 |
+
"quality": "valid",
|
| 98 |
+
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|
| 99 |
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|
| 100 |
+
"t_start": 83.5602,
|
| 101 |
+
"t_end": 91.5602,
|
| 102 |
+
"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
|
| 103 |
+
},
|
| 104 |
+
{
|
| 105 |
+
"id": "9c1a8aaa-f78c-4b27-b8bf-97b59582d009",
|
| 106 |
+
"segment": "segment1",
|
| 107 |
+
"action": "P07",
|
| 108 |
+
"quality": "valid",
|
| 109 |
+
"start_s": 95.592,
|
| 110 |
+
"end_s": 102.464,
|
| 111 |
+
"t_start": 95.6312,
|
| 112 |
+
"t_end": 102.5032,
|
| 113 |
+
"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
|
| 114 |
+
},
|
| 115 |
+
{
|
| 116 |
+
"id": "4bcf4db4-003b-4dce-baa3-694ef2c89d25",
|
| 117 |
+
"segment": "segment1",
|
| 118 |
+
"action": "P07",
|
| 119 |
+
"quality": "valid",
|
| 120 |
+
"start_s": 107.502,
|
| 121 |
+
"end_s": 114.637,
|
| 122 |
+
"t_start": 107.5412,
|
| 123 |
+
"t_end": 114.6762,
|
| 124 |
+
"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
|
| 125 |
+
}
|
| 126 |
+
]
|
| 127 |
+
}
|
actions/locomotion_primitives/P07/session_020/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,255 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 15,
|
| 5 |
+
"median_px": 0.349
|
| 6 |
+
},
|
| 7 |
+
"cameras": {
|
| 8 |
+
"left": {
|
| 9 |
+
"accepted": true,
|
| 10 |
+
"against": [
|
| 11 |
+
"left_front",
|
| 12 |
+
"right_front",
|
| 13 |
+
"left_eye",
|
| 14 |
+
"right_eye",
|
| 15 |
+
"right"
|
| 16 |
+
],
|
| 17 |
+
"delta_deg": 1.2538,
|
| 18 |
+
"gate_fail": [],
|
| 19 |
+
"held_out_px_after": 0.511,
|
| 20 |
+
"held_out_px_before": 5.732,
|
| 21 |
+
"inliers": 2188,
|
| 22 |
+
"position_fitted": false,
|
| 23 |
+
"rotvec_deg": [
|
| 24 |
+
-0.1519,
|
| 25 |
+
-0.5038,
|
| 26 |
+
-1.138
|
| 27 |
+
],
|
| 28 |
+
"split_deg": 0.0179,
|
| 29 |
+
"usable": true
|
| 30 |
+
},
|
| 31 |
+
"left_eye": {
|
| 32 |
+
"accepted": true,
|
| 33 |
+
"against": [
|
| 34 |
+
"left_front",
|
| 35 |
+
"right_front",
|
| 36 |
+
"right_eye",
|
| 37 |
+
"left",
|
| 38 |
+
"right"
|
| 39 |
+
],
|
| 40 |
+
"delta_deg": 2.5288,
|
| 41 |
+
"gate_fail": [],
|
| 42 |
+
"held_out_px_after": 0.364,
|
| 43 |
+
"held_out_px_before": 6.336,
|
| 44 |
+
"inliers": 2939,
|
| 45 |
+
"position_fitted": true,
|
| 46 |
+
"position_mm": [
|
| 47 |
+
3.0,
|
| 48 |
+
-10.36,
|
| 49 |
+
0.74
|
| 50 |
+
],
|
| 51 |
+
"position_sigma_mm": 0.355,
|
| 52 |
+
"position_split_mm": 1.811,
|
| 53 |
+
"rotvec_deg": [
|
| 54 |
+
0.133,
|
| 55 |
+
0.8715,
|
| 56 |
+
-2.3702
|
| 57 |
+
],
|
| 58 |
+
"split_deg": 0.073,
|
| 59 |
+
"usable": true
|
| 60 |
+
},
|
| 61 |
+
"left_front": {
|
| 62 |
+
"role": "rig origin"
|
| 63 |
+
},
|
| 64 |
+
"right": {
|
| 65 |
+
"accepted": true,
|
| 66 |
+
"against": [
|
| 67 |
+
"left_front",
|
| 68 |
+
"right_front",
|
| 69 |
+
"left_eye",
|
| 70 |
+
"right_eye",
|
| 71 |
+
"left"
|
| 72 |
+
],
|
| 73 |
+
"delta_deg": 1.3694,
|
| 74 |
+
"gate_fail": [],
|
| 75 |
+
"held_out_px_after": 0.571,
|
| 76 |
+
"held_out_px_before": 5.579,
|
| 77 |
+
"inliers": 1116,
|
| 78 |
+
"position_fitted": false,
|
| 79 |
+
"rotvec_deg": [
|
| 80 |
+
1.2344,
|
| 81 |
+
-0.3632,
|
| 82 |
+
-0.4684
|
| 83 |
+
],
|
| 84 |
+
"split_deg": 0.1303,
|
| 85 |
+
"usable": true
|
| 86 |
+
},
|
| 87 |
+
"right_eye": {
|
| 88 |
+
"accepted": true,
|
| 89 |
+
"against": [
|
| 90 |
+
"left_front",
|
| 91 |
+
"right_front",
|
| 92 |
+
"left_eye",
|
| 93 |
+
"left",
|
| 94 |
+
"right"
|
| 95 |
+
],
|
| 96 |
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"delta_deg": 1.1295,
|
| 97 |
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"gate_fail": [],
|
| 98 |
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"held_out_px_after": 0.331,
|
| 99 |
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"held_out_px_before": 3.637,
|
| 100 |
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actions/locomotion_primitives/P07/session_020/motions/hands_mano.npz
ADDED
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@@ -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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actions/locomotion_primitives/P07/session_021/annotations.json
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@@ -0,0 +1,127 @@
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| 1 |
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|
actions/locomotion_primitives/P07/session_021/cameras/gsi_online_calibration.json
ADDED
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| 628 |
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|
| 629 |
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|
| 630 |
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|
| 631 |
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|
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|
| 635 |
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"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
|
| 636 |
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|
| 637 |
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actions/locomotion_primitives/P07/session_021/motions/smplx.npz
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actions/locomotion_primitives/P07/session_022/annotations.json
ADDED
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@@ -0,0 +1,127 @@
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|
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|
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|
| 5 |
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|
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|
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|
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|
| 125 |
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|
| 126 |
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|
| 127 |
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}
|
actions/locomotion_primitives/P07/session_022/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,256 @@
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|
| 3 |
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|
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|
| 8 |
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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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|
| 36 |
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| 38 |
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|
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|
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|
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|
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|
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|
| 628 |
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|
| 629 |
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|
| 630 |
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|
| 631 |
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|
| 632 |
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|
| 633 |
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|
| 634 |
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|
| 635 |
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|
| 639 |
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"instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
|
| 640 |
}
|
| 641 |
}
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actions/locomotion_primitives/P07/session_022/motions/hands_mano.npz
ADDED
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actions/locomotion_primitives/P07/session_022/motions/smplx.npz
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version https://git-lfs.github.com/spec/v1
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actions/locomotion_primitives/P07/session_023/annotations.json
ADDED
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@@ -0,0 +1,127 @@
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|
| 127 |
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|
actions/locomotion_primitives/P07/session_023/cameras/gsi_online_calibration.json
ADDED
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@@ -0,0 +1,253 @@
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{
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|
| 4 |
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|
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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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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|
| 29 |
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|
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
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|
| 36 |
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|
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|
actions/locomotion_primitives/P07/session_023/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 737282
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