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Add FastEgo Stage 1 mocap package for 93 sessions

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  1. packages/fastego_mocap_ray_tracker_gap30_93_v1/README.md +136 -0
  2. packages/fastego_mocap_ray_tracker_gap30_93_v1/dataset_manifest.json +39 -0
  3. packages/fastego_mocap_ray_tracker_gap30_93_v1/fastego_mocap_ray_tracker_gap30_93_v1.zip +3 -0
  4. packages/fastego_mocap_ray_tracker_gap30_93_v1/fastego_mocap_ray_tracker_gap30_93_v1.zip.sha256 +1 -0
  5. packages/fastego_mocap_ray_tracker_gap30_93_v1/session_index.jsonl +93 -0
  6. packages/fastego_mocap_ray_tracker_gap30_93_v1/statistics.json +1737 -0
packages/fastego_mocap_ray_tracker_gap30_93_v1/README.md ADDED
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+ # FastEgo Mocap Dataset: fastego_mocap_ray_tracker_gap30_93_v1
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+
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+ This package contains only FastEgo Stage 1 motion-capture products. It does
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+ not contain raw RGB videos, Retarget results, robot actions, MuJoCo qpos,
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+ AprilTag calibration intermediates, or model caches.
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+
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+ ## Scope
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+
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+ - Sessions: 93
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+ - Frames: 19,197
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+ - Output rate: 30 Hz
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+ - Maximum gesture interpolation gap: 30 frames / 1.0 second
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+ - Human motion schema: `fastego.human_motion/v2`
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+ - Coordinate convention: metric right-handed SLAM world
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+ - Units: meters, seconds, radians
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+ - Hand order: `[left, right]`
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+
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+ Excluded calibration sessions:
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+
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+ - `session_035744`
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+ - `session_035756`
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+ - `session_035808`
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+
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+ ## Directory Layout
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+
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+ ```text
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+ README.md
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+ dataset_manifest.json
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+ statistics.json
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+ session_index.jsonl
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+ SHA256SUMS
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+ sessions/<session_id>/
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+ human_motion.npz
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+ manifest.json
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+ report.json
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+ previews/
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+ *.mp4
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+ ```
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+
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+ `human_motion.npz` is the canonical data product. `report.json` contains the
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+ compact coverage and algorithm parameters for that Session. `manifest.json`
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+ identifies the schema and artifact names.
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+
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+ ## NPZ Arrays
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+
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+ ```text
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+ frame_index int64 (N,)
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+ time_s float64 (N,) exact k / 30
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+ timestamp_unix_ns int64 (N,)
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+ camera_pose_world float64 (N,4,4) T_world_camera
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+ T_world_tracker float64 (N,2,4,4) [left,right]
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+ T_world_visual_anchor float64 (N,2,4,4)
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+ T_world_wrist_fused float64 (N,2,4,4)
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+ tracker_motion_delta float64 (N,2,4,4)
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+ mano_pose float64 (N,2,D_pose)
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+ mano_shape float64 (N,2,D_shape)
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+ joints_wrist_m float64 (N,2,21,3)
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+ joints_world_m float64 (N,2,21,3)
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+ source string (N,2)
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+ confidence float64 (N,2)
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+ quality_valid bool (N,2)
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+ metadata_json string scalar
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+ ```
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+
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+ NaN values are expected where a modality or hand is invalid. Consumers must
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+ use `quality_valid` and `source`; they must not infer validity from finite
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+ Tracker poses alone.
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+
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+ ## Source Labels
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+
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+ ```text
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+ observed WiLoR/HaWoR visual observation
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+ tracked successful Tracker-guided visual retry
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+ interpolated bounded two-sided gesture interpolation
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+ model_inferred motion-model gesture inference
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+ invalid no accepted hand gesture
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+ ```
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+
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+ In this release, interpolation may bridge at most 30 output slots. Tracker
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+ motion alone never makes finger articulation valid. Interpolated frames are
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+ not equivalent to visually observed frames and should receive lower training
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+ weight when gesture accuracy matters.
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+
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+ ## Fusion Method
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+
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+ The wrist is estimated with visual-ray-constrained, Tracker-guided world-space
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+ depth optimization:
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+
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+ ```text
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+ RGB/WiLoR wrist ray, bbox, confidence
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+ HaWoR initial depth and wrist-local 21 joints
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+ SLAM T_world_camera
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+ Tracker relative translation and rotation evidence
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+ ```
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+
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+ The optimizer changes wrist depth only along the existing image ray. Its loss
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+ combines confidence-weighted HaWoR depth, world-space acceleration, and
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+ Tracker relative displacement. Tracker absolute position is not treated as an
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+ anatomical wrist measurement. Skeleton scale and wrist depth are adjusted
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+ together with a maximum correction of +/-3.5%.
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+
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+ The cached WiLoR result provides a real detector bbox and confidence but does
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+ not provide an independent 21-keypoint wrist pixel. The wrist ray therefore
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+ comes from the HaWoR wrist projection in rectified RGB; the detector bbox is
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+ the independent RGB scale cue.
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+
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+ ## Dataset Coverage
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+
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+ Weighted coverage across all frames:
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+
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+ ```text
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+ Left hand: 84.60%
113
+ Right hand: 96.81%
114
+ Both hands: 82.85%
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+ Observed only: 61.56% both hands
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+ ```
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+
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+ The difference between `Both hands` and `Observed only` includes accepted
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+ interpolated hand gestures. See `statistics.json` and `session_index.jsonl`
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+ for per-Session values.
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+
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+ ## Preview Videos
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+
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+ The preview videos are randomly selected Stage 1-only comparisons. The left
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+ panel is the original visual observation and the right panel is fused Mocap.
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+ No robot or Retarget panel is included.
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+
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+ - `previews/session_041633_stage1.mp4`
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+ - `previews/session_040924_stage1.mp4`
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+
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+ ## Integrity
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+
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+ `SHA256SUMS` contains one SHA-256 digest for every packaged file except the
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+ checksum file itself. All 93 NPZ files were validated for schema, shape,
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+ strict 30 Hz timing, source labels, and embedded Session identity before the
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+ archive was created.
packages/fastego_mocap_ray_tracker_gap30_93_v1/dataset_manifest.json ADDED
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+ {
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+ "schema": "fastego.mocap_dataset/v1",
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+ "dataset_id": "fastego_mocap_ray_tracker_gap30_93_v1",
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+ "created_utc": "2026-08-31T02:20:39.360285+00:00",
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+ "session_count": 93,
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+ "total_frame_count": 19197,
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+ "fps": 30.0,
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+ "maximum_interpolation_gap_frames": 30,
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+ "excluded_sessions": [
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+ "session_035744",
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+ "session_035756",
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+ "session_035808"
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+ ],
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+ "human_motion_schema": "fastego.human_motion/v2",
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+ "coordinate_frame": "slam_world",
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+ "units": {
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+ "position": "m",
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+ "time": "s",
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+ "angle": "rad"
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+ },
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+ "hand_order": [
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+ "left",
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+ "right"
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+ ],
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+ "coverage": {
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+ "left": 0.8459655154451217,
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+ "right": 0.9681200187529302,
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+ "dual_hand": 0.8285148721154347,
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+ "observed_dual_hand": 0.6156170234932542
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+ },
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+ "artifacts": {
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+ "session_index": "session_index.jsonl",
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+ "statistics": "statistics.json",
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+ "previews": [
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+ "previews/session_041633_stage1.mp4",
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+ "previews/session_040924_stage1.mp4"
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+ ]
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+ }
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+ }
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1717
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1718
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1719
+ {
1720
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1721
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1722
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1735
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1736
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1737
+ }