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Shoelace independent 3D replay
A self-contained replay of the group-meeting head/wrist v7 result: two deforming shoelace surfaces, dual Sharpa hands, dual YAM arms, shoe, table, cameras and reference videos.
Download and run
curl -L --fail --retry 3 -o shoelace_replay_20261008_v1.zip 'https://huggingface.co/datasets/SourORZ/shoelace-replay/resolve/main/shoelace_replay_20261008_v1.zip?download=true'
unzip shoelace_replay_20261008_v1.zip
cd shoelace_replay_20261008_v1
conda env create -f environment.yml
conda activate shoelace-replay
python replay.py --check
python replay.py
Open http://127.0.0.1:8765. Supports play/pause, time scrubbing, speed, three robot camera views, fixed views and free orbit. On a headless Linux NVIDIA machine use python replay.py --gl egl --no-browser and forward port 8765 through SSH. See REPLAY_README.md for full installation and rendering instructions.
Contents and scope
- Object meshes, textures and per-frame deforming shoelace surface vertices.
- Sharpa/YAM assets, joint/wrist motion, displayed geometry transforms and camera tracks.
- Reference group-meeting video and cropped human three-view video.
- Standalone player, pinned dependencies, data format documentation and integrity/verification records.
977 frames at 29.977 fps (about 32.6 seconds), source time 140.8116–173.3801 seconds. This replays September 29 reconstructed motion and visual robot IK. No dynamics integration is performed. Hand/arm motion holds the original exit pose after source time 162 seconds while the shoelace continues. The package is recorded visualization, not evidence of contact-driven manipulation success. Reference clips are presentation videos, not raw RGB-D recordings. Wrist cameras and box housing are display configurations.
中文：解压后按包内 README 安装即可浏览、拖动时间和切换视角。该包独立于原研究工作区，播放已保存的动作与变形，不运行物理积分。
Integrity and validation
Archive size: 273,056,200 bytes. SHA-256:
b450847f88aa4d8cfe1b5269548c059242870c4d7442e29a5753c9032af54d2a
The sibling .zip.sha256 file verifies the archive; python replay.py --check verifies 160 packaged files. The ZIP was independently extracted and checked. All 977 frames of a standalone three-view re-render and the human-reference clip were decoded. Verification records are included. Linux/EGL was tested; other operating systems and graphics backends were not tested.
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