e3d65b7
| 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 | <!doctype html>
<html lang="en"><head><meta charset="utf-8">
<meta name="viewport" content="width=device-width,initial-scale=1">
<title>Jizhi Stereo Ego Viewer</title>
<style>
:root{color-scheme:dark}
*{box-sizing:border-box}
html,body{margin:0;height:100%}
body{background:#07090d;color:#e6e8ee;font:14px/1.5 -apple-system,"Helvetica Neue",Arial,sans-serif}
a{color:#6f92c8}
.wrap{display:flex;height:100vh;overflow:hidden}
.main{flex:1;overflow-y:auto}
header{padding:14px 20px 10px}
header h1{margin:0 0 3px;font-size:19px}
.sub{color:#8890a0;font-size:12.5px}.sub code{color:#c7ccd6;background:#12151c;padding:1px 5px;border-radius:4px}
.badges{display:flex;flex-wrap:wrap;gap:6px;margin-top:7px}
.bdg{background:#12151c;border:1px solid #1c2028;border-radius:999px;padding:2px 9px;font-size:11px;color:#9aa1ad}
.bdg b{color:#e6e8ee}
.bdg.tag{color:#07090d;background:#6f9fe0;border-color:#6f9fe0;font-weight:700}
.layout{display:grid;grid-template-columns:minmax(0,1fr) 320px;gap:14px;padding:0 20px}
@media(max-width:1360px){.layout{grid-template-columns:1fr}}
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.vp video{width:100%;height:100%;object-fit:contain;display:block}
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.spans-head b{color:#6f9fe0}
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.tl i{height:100%}
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.note b{color:#d9c48a}
</style></head>
<body>
<div class="wrap">
<div class="main" id="main"></div>
</div>
<script id="D" type="application/json">{"eps": [{"slug": "craft_20260629_sticker_ep000", "task": "craft_20260629_sticker", "ep": 0, "task_name": "Photo keychain crafting station", "instruction": "Trim photo stickers, mount them in acrylic keychain frames and round badge cases, and attach key rings", "duration": 79.0, "nframes": 2370, "fps": 30, "session": "session_00017", "location": "irvine", "device": "aef452889295f829", "hw": "Jizhi Stereo", "taxo": {"environment_l1": "Creative Workshops", "environment_l2": "Handcraft Workshop", "environment_l3": "Craft Station", "skill_group": "Assembly & Installation", "job_family": "Assembler", "task_difficulty": "Medium", "naics_primary_code": "339999", "naics_primary_title": "All Other Miscellaneous Manufacturing", "taxonomy_source": "OpenAI Robotics Data Requirements 08-21-2026 (Environment/Skill Group/Jobs taxonomies)"}, "region": "US", "tags": ["US"], "n_segments": 26, "skills": {"Place": 9, "Hang": 7, "Pick": 3, "Insert": 3, "Tear": 2, "Straighten": 1, "Pull": 1}, "skill_list": ["Hang", "Insert", "Pick", "Place", "Pull", "Straighten", "Tear"], "qc": {"status": "pass", "total": 10, "passed": 10, "warnings": 0, "failures": 0}, "state_dim": 18, "codebase_version": "v3.0", "robot_type": "ego_stereo", "imu_valid": 1.0, "measured_fps": 29.94, "segments": [{"skill": "Tear", "label": "Both hands peel the backing paper off a round photo sticker", "ts": 0.0, "te": 3.5, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a round badge case from the right side of the table", "ts": 3.5, "te": 5.75, "mistake": false}, {"skill": "Insert", "label": "Both hands insert the round photo into the badge case", "ts": 5.75, "te": 10.0, "mistake": false}, {"skill": "Tear", "label": "Both hands peel the yellow backing paper off the next round photo sticker", "ts": 10.0, "te": 20.5, "mistake": false}, {"skill": "Insert", "label": "Both hands fit the round photo into the badge case and press it closed", "ts": 20.5, "te": 22.75, "mistake": false}, {"skill": "Place", "label": "The right hand places the finished round badge on the table and picks up another badge case", "ts": 22.75, "te": 24.0, "mistake": false}, {"skill": "Insert", "label": "Both hands press the round photo into the badge case", "ts": 24.0, "te": 29.25, "mistake": false}, {"skill": "Place", "label": "The right hand places the finished round badge at the top of the table", "ts": 29.25, "te": 30.5, "mistake": false}, {"skill": "Pick", "label": "Both hands pick up a finished square acrylic keychain frame from the top row", "ts": 30.5, "te": 32.25, "mistake": false}, {"skill": "Straighten", "label": "Both hands inspect and square up the acrylic keychain frame", "ts": 32.25, "te": 35.0, "mistake": false}, {"skill": "Place", "label": "Both hands set the keychain frames down in a row", "ts": 35.0, "te": 36.0, "mistake": false}, {"skill": "Hang", "label": "Both hands thread a key ring onto a square acrylic keychain frame", "ts": 36.0, "te": 41.75, "mistake": false}, {"skill": "Place", "label": "The left hand places the finished keychain at the top of the table", "ts": 41.75, "te": 43.0, "mistake": false}, {"skill": "Hang", "label": "Both hands open a key ring and attach it to the next keychain frame", "ts": 43.0, "te": 47.25, "mistake": false}, {"skill": "Pull", "label": "The right hand pulls the key ring to seat it on the frame", "ts": 47.25, "te": 49.0, "mistake": false}, {"skill": "Hang", "label": "Both hands thread the key ring through the keychain frame", "ts": 49.0, "te": 51.25, "mistake": false}, {"skill": "Place", "label": "The right hand places the finished keychain at the top right and picks up the next frame", "ts": 51.25, "te": 53.0, "mistake": false}, {"skill": "Hang", "label": "Both hands attach a key ring to the next acrylic keychain frame", "ts": 53.0, "te": 57.25, "mistake": false}, {"skill": "Place", "label": "The left hand places the finished keychain at the top of the table", "ts": 57.25, "te": 58.5, "mistake": false}, {"skill": "Hang", "label": "Both hands thread a key ring onto another keychain frame", "ts": 58.5, "te": 63.75, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a key ring from the right side of the table", "ts": 63.75, "te": 66.0, "mistake": false}, {"skill": "Hang", "label": "Both hands attach the key ring to the keychain frame", "ts": 66.0, "te": 67.75, "mistake": false}, {"skill": "Place", "label": "The right hand places the finished keychain at the top right of the table", "ts": 67.75, "te": 69.75, "mistake": false}, {"skill": "Hang", "label": "Both hands thread a key ring onto the last keychain frame", "ts": 69.75, "te": 75.0, "mistake": false}, {"skill": "Place", "label": "The right hand places the finished keychain at the top of the table", "ts": 75.0, "te": 76.25, "mistake": false}, {"skill": "Place", "label": "The right hand arranges the finished keychains at the top right of the table", "ts": 76.25, "te": 79.0, "mistake": false}]}], "skc": {"Clip": "#4f83cc", "Close": "#e0913a", "CloseBox": "#5aa469", "Cut": "#c0504d", "Dip": "#8064a2", "Drop": "#4bacc6", "Flip": "#d98594", "Fold": "#9b8f2e", "HandOver": "#7f8fa6", "Hang": "#674ea7", "Insert": "#3d9970", "Knead": "#b8860b", "Open": "#a0522d", "Paint": "#2e8b8b", "Pick": "#b5651d", "Place": "#6a5acd", "Plug": "#556b2f", "Pour": "#8b3a62", "Press": "#487eb0", "PressButton": "#cc8e35", "Pull": "#6b8e23", "Rinse": "#9370db", "Rotate": "#20b2aa", "Scan": "#cd853f", "Scoop": "#4f83cc", "Screw (tighten)": "#e0913a", "Smear": "#5aa469", "Stack": "#c0504d", "Stir": "#8064a2", "Straighten": "#4bacc6", "Takedown": "#d98594", "Takeout (remove)": "#9b8f2e", "Tear": "#7f8fa6", "Wipe": "#674ea7", "dip": "#3d9970", "plug": "#b8860b"}, "hf": "https://huggingface.co/datasets/faradayfuture/egoSample"}</script>
<script>
const D = JSON.parse(document.getElementById('D').textContent);
const EPS = D.eps, SKC = D.skc, HF = D.hf;
const CAMS = ["head_stereo_left","head_stereo_right"];
const AX = {x:"#e0616f", y:"#41c76b", z:"#4f8ff7"};
const AXR = ['#ff0000','#00ff00','#0000ff'];
let cur=-1, vids=[], master=null, playing=false, EP=null, SIG=null, raf=0, syncTimer=0, _toggle=null, _lastCi=-2;
let orbO={yaw:0.6,pitch:-0.45,drag:0};
const esc = s => (s||'').replace(/[&<>"]/g,c=>({'&':'&','<':'<','>':'>','"':'"'}[c]));
const fmt = t => { t=Math.max(0,t); const m=Math.floor(t/60), s=t%60; return m+":"+s.toFixed(2).padStart(5,'0'); };
const skc = s => SKC[s]||'#666';
/* ---------- episode select (hash = slug) ---------- */
function select(i){
if(i===cur) return;
cur=i; EP=EPS[i]; SIG=null;
cancelAnimationFrame(raf); clearInterval(syncTimer); syncTimer=0; playing=false;
document.getElementById('main').scrollTop=0;
render(); loadSig(EP.slug);
}
function loadSig(slug){
const prev=document.getElementById('sigjs'); if(prev) prev.remove();
window.EPDATA=window.EPDATA||{};
const done=()=>{ SIG=window.EPDATA[slug]; if(!SIG) return; SIG._fw=null; sizeCanvases(); drawCharts();
updateUI(master?master.currentTime:0);
const go=()=>{ if(_toggle && !playing) _toggle(); };
if(!master){} else if(master.readyState>=3) go(); else master.addEventListener('canplay',go,{once:true}); };
if(window.EPDATA[slug]){ done(); return; }
const s=document.createElement('script'); s.id='sigjs'; s.src='epdata/'+slug+'.js';
s.onload=done; s.onerror=()=>{ SIG=null; }; document.body.appendChild(s);
}
/* ---------- render ---------- */
function render(){
_lastCi=-2;
const e=EP, dur=e.duration, segs=e.segments;
const tile=k=>`<div class="vp"><video data-k="${k}" src="media/${e.slug}/${CAMS[k]}.mp4" muted playsinline preload="auto"></video><span class="lbl">${CAMS[k]}</span></div>`;
const chips = segs.map((s,idx)=>`<div class="chip" data-i="${idx}" style="background:${skc(s.skill)}" title="${esc(s.skill)} — ${esc(s.label)}">${idx+1}</div>`).join('');
const slist = segs.map((s,idx)=>`
<div class="si" data-i="${idx}">
<div><span class="n" style="background:${skc(s.skill)}">${idx+1}</span><span class="k">${esc(s.skill)}</span>
<span class="lb"> · ${fmt(s.ts)}–${fmt(s.te)}</span></div>
<div class="m">${esc(s.label)}</div>
</div>`).join('');
const legend = Object.keys(e.skills).sort().map(s=>`<span class="it"><span class="sw" style="background:${skc(s)}"></span>${esc(s)} <b style="color:#e6e8ee">${e.skills[s]}</b></span>`).join('');
const HFDIR = HF+'/tree/main/jizhi_'+e.slug;
const raw = f => HF+'/resolve/main/jizhi_'+e.slug+'/'+f;
const camDl = CAMS.map(c=>`<a class="fc dl" href="media/${e.slug}/${c}.mp4" download="${e.slug}_${c}.mp4">${c}.mp4</a>`).join('');
const refChips = ['data/file-000.parquet','meta/ff/segments.parquet','meta/ff/episode_meta.parquet',
'meta/ff/camera_params.json','meta/ff/quality.json','meta/info.json']
.map(f=>`<a class="fc dl" href="${raw(f)}" target="_blank" rel="noopener">${f}</a>`).join('');
document.getElementById('main').innerHTML = `
<header>
<h1>${esc(e.task_name)}</h1>
<div class="sub"><code>${esc(e.task)}</code> · ${esc(e.session)} · episode ${e.ep} · ${fmt(dur)} @ ${e.fps}fps · ${esc(e.location)}</div>
<div class="badges">${(e.tags||[]).map(t=>`<span class="bdg tag">${esc(t)}</span>`).join('')}<span class="bdg">instruction: <b>${esc(e.instruction)}</b></span></div>
${e.taxo?`<div class="badges"><span class="bdg">environment <b>${esc(e.taxo.environment_l1)} › ${esc(e.taxo.environment_l2)} › ${esc(e.taxo.environment_l3)}</b></span><span class="bdg">skill group <b>${esc(e.taxo.skill_group)}</b></span><span class="bdg">job <b>${esc(e.taxo.job_family)}</b></span><span class="bdg">difficulty <b>${esc(e.taxo.task_difficulty)}</b></span><span class="bdg">NAICS <b>${esc(e.taxo.naics_primary_code)}</b></span></div>`:''}
</header>
<div class="layout">
<div class="panel">
<div class="vgrid">${tile(0)}${tile(1)}</div>
<div class="three">
<div class="cbox">
<span class="lbl">head orientation 3d · <span style="color:#ff5c5c">x</span> <span style="color:#41c76b">y</span> <span style="color:#4f8ff7">z</span></span>
<canvas id="cOri"></canvas><span class="hint">drag to orbit</span>
</div>
<div class="cbox">
<span class="lbl">head heading track · heading / elevation <span style="color:#6ea8ff">(last 10 s)</span> · click to seek</span>
<canvas id="cGaze"></canvas>
</div>
</div>
</div>
<div class="panel">
<div class="spans-head">temporal spans (${e.n_segments}) · <b>${esc(e.task_name)}</b></div>
<div class="tl" id="tl"></div>
<div class="chips" id="chips">${chips}</div>
<div class="slist" id="slist">${slist}</div>
</div>
</div>
<div class="legend">${legend}</div>
<div class="panel controls">
<button id="play" aria-label="play / pause">▶</button>
<input type="range" id="seek" min="0" max="1000" value="0" aria-label="seek">
<span class="t" id="tlab">0:00.00 / ${fmt(dur)}</span>
<select id="rate" aria-label="playback speed"><option value="1">1×</option><option value="2">2×</option><option value="4">4×</option></select>
</div>
<div class="badges" style="padding:0 20px;margin-top:8px">
<span class="bdg"><b>${e.nframes}</b> frames</span>
<span class="bdg"><b>${e.n_segments}</b> skill spans</span>
<span class="bdg"><b>${e.skill_list.length}</b> skills</span>
<span class="bdg">state dim <b>${e.state_dim}</b></span>
<span class="bdg">2 cams · 1920×1080 stereo</span>
<span class="bdg">IMU 200 Hz</span>
<span class="bdg">${esc(e.hw)}</span><span class="bdg">collected in <b>${esc(e.region)}</b></span>
<span class="bdg">QC <b style="color:${e.qc.failures?'#ff5c5c':'#6fe08a'}">${e.qc.passed}/${e.qc.total}</b>${e.qc.warnings?` · ${e.qc.warnings} warn`:''}</span>
</div>
<div class="note"><b>Camera calibration.</b> Camera calibration is part of the licensed deliverable for US sales data and is therefore not distributed with public Samples.
The 3D panel shows head <i>orientation</i> from the device IMU (AHRS quaternion); this rig does not record hand pose or head position.</div>
<div class="panel readout">
<div class="rt">current-time readout</div>
<div class="rg">
<div class="ro"><span class="k">time</span><span class="v" id="roT">0.00s</span></div>
<div class="ro"><span class="k">current skill</span><span class="v b" id="roSk">–</span></div>
<div class="ro"><span class="k">span</span><span class="v" id="roSp">–</span></div>
<div class="ro"><span class="k">head |ω| gyro</span><span class="v" id="roW">–</span></div>
<div class="ro"><span class="k">head |a| accel</span><span class="v" id="roA">–</span></div>
<div class="ro"><span class="k">roll / pitch / yaw</span><span class="v" id="roE">–</span></div>
<div class="ro"><span class="k">IMU valid</span><span class="v hi">${(e.imu_valid*100).toFixed(1)}%</span></div>
<div class="ro"><span class="k">measured fps</span><span class="v">${e.measured_fps}</span></div>
<div class="ro"><span class="k">stereo sync</span><span class="v hi">< 11 µs</span></div>
</div>
</div>
<div class="charts">
<div class="panel chp"><div class="l">head IMU · gyro <span class="u">rad/s</span>
<span class="leg"><i style="background:${AX.x}"></i>x<i style="background:${AX.y}"></i>y<i style="background:${AX.z}"></i>z</span></div>
<canvas id="chG"></canvas></div>
<div class="panel chp"><div class="l">head IMU · accel <span class="u">m/s²</span>
<span class="leg"><i style="background:${AX.x}"></i>x<i style="background:${AX.y}"></i>y<i style="background:${AX.z}"></i>z</span></div>
<canvas id="chA"></canvas></div>
<div class="panel chp"><div class="l">head IMU · attitude <span class="u">deg · head_imu/angle</span>
<span class="leg"><i style="background:${AX.x}"></i>roll<i style="background:${AX.y}"></i>pitch<i style="background:${AX.z}"></i>yaw</span></div>
<canvas id="chN"></canvas></div>
<div class="panel chp"><div class="l">head IMU · magnetometer <span class="u">raw units</span>
<span class="leg"><i style="background:${AX.x}"></i>x<i style="background:${AX.y}"></i>y<i style="background:${AX.z}"></i>z</span></div>
<canvas id="chM"></canvas></div>
</div>
<div class="panel" style="margin:14px 20px 30px;padding:11px 16px">
<div class="rt">episode clips — click to download (640×360 preview)</div>
<div class="files" style="padding:0 0 6px">${camDl}</div>
<div class="rt" style="margin-top:8px">dataset files · <a href="${HFDIR}" target="_blank" rel="noopener" style="text-transform:none;color:#7fe0a0">full episode on HuggingFace →</a></div>
<div class="files">${refChips}</div>
</div>`;
wire();
}
/* ---------- wiring ---------- */
function wire(){
const e=EP, dur=e.duration, segs=e.segments;
vids=[...document.querySelectorAll('.vp video')];
master=vids[0];
const seek=document.getElementById('seek'), playBtn=document.getElementById('play'), rate=document.getElementById('rate');
playBtn.onclick=toggle; _toggle=toggle;
function toggle(){
playing=!playing;
playBtn.innerHTML = playing?'❙❙':'▶';
if(playing){
vids.forEach(v=>v.play().catch(()=>{}));
tick(); clearInterval(syncTimer);
syncTimer=setInterval(()=>{ if(playing && master) syncSlaves(master.currentTime,false); },250);
} else {
vids.forEach(v=>v.pause()); master.playbackRate=+rate.value; clearInterval(syncTimer); syncTimer=0;
syncSlaves(master.currentTime,true);
}
}
rate.onchange=()=>{ vids.forEach(v=>v.playbackRate=+rate.value); };
seek.oninput=()=>setTime(seek.value/1000*dur);
const tl=document.getElementById('tl'); tl.innerHTML='';
segs.forEach(s=>{ const b=document.createElement('i');
b.style.width=((s.te-s.ts)/dur*100)+'%'; b.style.background=skc(s.skill);
b.title=`${s.skill} — ${s.label}`; b.onclick=ev=>{ev.stopPropagation(); setTime(s.ts+0.01);}; tl.appendChild(b); });
tl.onclick=ev=>{ const r=tl.getBoundingClientRect(); setTime((ev.clientX-r.left)/r.width*dur); };
document.querySelectorAll('#chips .chip').forEach(c=>c.onclick=()=>setTime(segs[+c.dataset.i].ts+0.01));
document.querySelectorAll('#slist .si').forEach(c=>c.onclick=()=>setTime(segs[+c.dataset.i].ts+0.01));
CHIDS.forEach(id=>{ const c=document.getElementById(id);
if(c) c.onclick=ev=>{ const r=c.getBoundingClientRect(); setTime((ev.clientX-r.left)/r.width*dur); }; });
document.getElementById('cGaze').onclick=gazeClick;
bindOrbit('cOri',orbO);
master.addEventListener('seeked',()=>syncSlaves(master.currentTime,true));
master.addEventListener('loadeddata',()=>{ sizeCanvases(); updateUI(master.currentTime); });
document.onkeydown=ev=>{
if(ev.target && ev.target.tagName==='SELECT') return;
if(ev.code==='Space'){ev.preventDefault(); toggle();}
else if(ev.code==='ArrowRight'){ev.preventDefault(); const n=segs.find(s=>s.ts>master.currentTime+0.05); if(n) setTime(n.ts+0.01);}
else if(ev.code==='ArrowLeft'){ev.preventDefault(); const p=[...segs].reverse().find(s=>s.ts<master.currentTime-0.3); setTime(p?p.ts+0.01:0);}
};
sizeCanvases(); setTime(0);
}
/* ---------- stereo sync: left tile is the clock; right tile is trimmed by playbackRate (no per-frame seeks) ---------- */
function inBuf(v,t){ const b=v.buffered; for(let i=0;i<b.length;i++) if(t>=b.start(i)-0.2 && t<=b.end(i)+0.2) return true; return false; }
function syncSlaves(t,hard){
const base=+(document.getElementById('rate')||{value:1}).value;
for(const v of vids){
if(v===master || v.readyState<1) continue;
if(hard){ v.playbackRate=base; if(!v.seeking && Math.abs(v.currentTime-t)>0.04){ try{v.currentTime=t;}catch(e){} } continue; }
if(!playing) continue;
if(v.paused && !v.ended) v.play().catch(()=>{});
const drift=v.currentTime-t, ad=Math.abs(drift);
if(ad>0.75){ if(!v.seeking && inBuf(v,t)){ try{v.currentTime=t;}catch(e){} } v.playbackRate=base; }
else if(ad>0.035){ v.playbackRate=base*Math.max(0.5,Math.min(1.6,1-drift*3)); }
else v.playbackRate=base;
}
}
function setTime(t){
const dur=EP.duration; t=Math.max(0,Math.min(dur-0.01,t));
try{ if(Math.abs(master.currentTime-t)>0.03) master.currentTime=t; }catch(e){}
syncSlaves(t,true); updateUI(t);
}
function tick(){
if(!playing) return;
const t=master.currentTime, dur=EP.duration;
updateUI(t);
if(t>=dur-0.05){ try{master.currentTime=0;}catch(e){} syncSlaves(0,true); vids.forEach(v=>v.play().catch(()=>{})); }
raf=requestAnimationFrame(tick);
}
function curSpan(t){ const s=EP.segments; for(let i=0;i<s.length;i++) if(t>=s[i].ts && t<s[i].te) return i; return -1; }
function fidx(t){ return Math.max(0,Math.min(SIG.n-1,Math.round(t*SIG.fps))); }
function updateUI(t){
const dur=EP.duration, segs=EP.segments;
document.getElementById('seek').value=t/dur*1000;
document.getElementById('tlab').textContent=fmt(t)+' / '+fmt(dur);
document.getElementById('roT').textContent=t.toFixed(2)+'s';
const ci=curSpan(t);
document.getElementById('roSk').textContent=ci>=0?segs[ci].skill:'–';
document.getElementById('roSp').textContent=ci>=0?`${ci+1} / ${segs.length}`:'–';
const slEls=document.querySelectorAll('#slist .si'), chEls=document.querySelectorAll('#chips .chip');
if(ci!==_lastCi){
slEls.forEach((el,k)=>el.classList.toggle('on',k===ci));
chEls.forEach((el,k)=>el.classList.toggle('on',k===ci));
if(ci>=0){
const sl=document.getElementById('slist'), el=slEls[ci], top=el.offsetTop-sl.offsetTop, bot=top+el.offsetHeight;
if(top<sl.scrollTop || bot>sl.scrollTop+sl.clientHeight) sl.scrollTop=top-sl.clientHeight/2+el.offsetHeight/2;
const cc=document.getElementById('chips'), ce=chEls[ci], ct=ce.offsetTop-cc.offsetTop;
if(ct<cc.scrollTop || ct+ce.offsetHeight>cc.scrollTop+cc.clientHeight) cc.scrollTop=ct-cc.clientHeight/2;
}
_lastCi=ci;
}
if(SIG){
const j=fidx(t), g=SIG.headImu.gyro[j], a=SIG.headImu.acc[j], n=SIG.headImu.angle[j];
document.getElementById('roW').textContent=Math.hypot(g[0],g[1],g[2]).toFixed(2)+' rad/s';
document.getElementById('roA').textContent=Math.hypot(a[0],a[1],a[2]).toFixed(2)+' m/s²';
document.getElementById('roE').textContent=n.map(x=>x.toFixed(0)+'°').join(' / ');
drawOri(j); drawGaze(j); drawPlayheads(t);
}
}
/* ---------- 3D head orientation ---------- */
function q2R(q){ const n=Math.hypot(q[0],q[1],q[2],q[3])||1, x=q[0]/n,y=q[1]/n,z=q[2]/n,w=q[3]/n;
return [[1-2*(y*y+z*z),2*(x*y-z*w),2*(x*z+y*w)],[2*(x*y+z*w),1-2*(x*x+z*z),2*(y*z-x*w)],[2*(x*z-y*w),2*(y*z+x*w),1-2*(x*x+y*y)]]; }
function bindOrbit(id,st){
const c=document.getElementById(id); if(!c) return; let px,py;
c.onpointerdown=e=>{ st.drag=1; px=e.clientX; py=e.clientY; c.style.cursor='grabbing'; c.setPointerCapture(e.pointerId); };
c.onpointermove=e=>{ if(!st.drag) return; st.yaw+=(e.clientX-px)*0.01; st.pitch+=(e.clientY-py)*0.01; px=e.clientX; py=e.clientY;
if(SIG) drawOri(fidx(master.currentTime)); };
c.onpointerup=c.onpointercancel=()=>{ st.drag=0; c.style.cursor='grab'; };
}
/* world frame of the IMU quaternion is z-up; view it with z pointing up on screen */
function proj(p,st,cx,cy,sc){
const cy_=Math.cos(st.yaw),sy=Math.sin(st.yaw),cp=Math.cos(st.pitch),sp=Math.sin(st.pitch);
const x=p[0]*cy_-p[1]*sy, y=p[0]*sy+p[1]*cy_, z=p[2];
const yv=y*sp+z*cp; // tilt the camera
return [cx+x*sc, cy-yv*sc];
}
function drawOri(j){
const c=document.getElementById('cOri'); if(!c||!SIG) return;
const g=c.getContext('2d'), w=c.width, h=c.height; g.fillStyle='#111116'; g.fillRect(0,0,w,h);
const sc=Math.min(w,h)*0.32, cx=w/2, cy=h/2+h*0.05, P=p=>proj(p,orbO,cx,cy,sc);
// ground grid in the world xy plane (z = -1)
g.lineWidth=1;
for(let i=-4;i<=4;i++){ const v=i/4*1.2;
g.strokeStyle=i===0?'#2a3a5a':'#1d2230';
let A=P([v,-1.2,-1]),B=P([v,1.2,-1]); g.beginPath(); g.moveTo(A[0],A[1]); g.lineTo(B[0],B[1]); g.stroke();
A=P([-1.2,v,-1]); B=P([1.2,v,-1]); g.beginPath(); g.moveTo(A[0],A[1]); g.lineTo(B[0],B[1]); g.stroke(); }
// trail of the device x-axis tip over the last 5 s
const q=SIG.headQuat, n0=Math.max(0,j-SIG.fps*5);
g.strokeStyle='#6ea8ff'; g.globalAlpha=0.55; g.beginPath();
for(let k=n0;k<=j;k+=2){ const Rk=q2R(q[k]); const p=P([Rk[0][0],Rk[1][0],Rk[2][0]]); k===n0?g.moveTo(p[0],p[1]):g.lineTo(p[0],p[1]); }
g.stroke(); g.globalAlpha=1;
const Rj=q2R(q[j]), O=P([0,0,0]);
// device box
const corners=[]; for(const sx of[-1,1])for(const sy of[-1,1])for(const sz of[-1,1]){
const b=[sx*0.45,sy*0.3,sz*0.15]; corners.push(P([Rj[0][0]*b[0]+Rj[0][1]*b[1]+Rj[0][2]*b[2],Rj[1][0]*b[0]+Rj[1][1]*b[1]+Rj[1][2]*b[2],Rj[2][0]*b[0]+Rj[2][1]*b[1]+Rj[2][2]*b[2]])); }
g.strokeStyle='#8a93a6'; g.lineWidth=1;
[[0,1],[2,3],[4,5],[6,7],[0,2],[1,3],[4,6],[5,7],[0,4],[1,5],[2,6],[3,7]].forEach(([a,b])=>{ g.beginPath(); g.moveTo(corners[a][0],corners[a][1]); g.lineTo(corners[b][0],corners[b][1]); g.stroke(); });
[0,1,2].forEach(ax=>{ const p=P([Rj[0][ax],Rj[1][ax],Rj[2][ax]]); g.strokeStyle=AXR[ax]; g.lineWidth=2.2;
g.beginPath(); g.moveTo(O[0],O[1]); g.lineTo(p[0],p[1]); g.stroke(); });
// world gravity reference
const gz=P([0,0,0.9]); g.strokeStyle='#556'; g.setLineDash([3,3]); g.lineWidth=1; g.beginPath(); g.moveTo(O[0],O[1]); g.lineTo(gz[0],gz[1]); g.stroke(); g.setLineDash([]);
g.fillStyle='#556'; g.font='10px ui-monospace,monospace'; g.fillText('world z',gz[0]+4,gz[1]);
}
/* heading track: yaw (x) vs pitch (y) of the IMU attitude */
function gazeFit(){
if(SIG._fw) return SIG._fw;
// device body +y is the forward (viewing) direction: heading = azimuth of +y in the z-up world, elev = its elevation
const yawU=[], el=[]; let prev=null, off=0;
for(const q of SIG.headQuat){ const R=q2R(q), fx=R[0][1], fy=R[1][1], fz=R[2][1];
let y=Math.atan2(fy,fx)*180/Math.PI; if(prev!==null){ const d=y-prev; if(d>180) off-=360; else if(d<-180) off+=360; } prev=y;
yawU.push(y+off); el.push(Math.asin(Math.max(-1,Math.min(1,fz)))*180/Math.PI); }
const qt=(arr,f)=>{ const s=arr.slice().sort((a,b)=>a-b); return s[Math.round(f*(s.length-1))]; };
const f={yaw:yawU, el, y0:qt(yawU,0.01), y1:qt(yawU,0.99), p0:qt(el,0.01), p1:qt(el,0.99)};
const padY=Math.max(4,(f.y1-f.y0)*0.08), padP=Math.max(4,(f.p1-f.p0)*0.1);
f.y0-=padY; f.y1+=padY; f.p0-=padP; f.p1+=padP;
return (SIG._fw=f);
}
function drawGaze(j){
const c=document.getElementById('cGaze'); if(!c||!SIG) return;
const g=c.getContext('2d'), w=c.width, h=c.height; g.fillStyle='#111116'; g.fillRect(0,0,w,h);
const f=gazeFit(), m=26;
const X=v=>m+(v-f.y0)/(f.y1-f.y0)*(w-2*m), Y=v=>h-m+6-(v-f.p0)/(f.p1-f.p0)*(h-2*m);
g.strokeStyle='#1d2230'; g.lineWidth=1;
for(let i=0;i<=4;i++){ const x=m+i/4*(w-2*m), y=m-6+i/4*(h-2*m); g.beginPath(); g.moveTo(x,m-6); g.lineTo(x,h-m+6); g.stroke(); g.beginPath(); g.moveTo(m,y); g.lineTo(w-m,y); g.stroke(); }
// whole-episode cloud
g.fillStyle='#2a3450';
for(let k=0;k<SIG.n;k+=6) g.fillRect(X(f.yaw[k])-0.5,Y(f.el[k])-0.5,1.5,1.5);
// last 10 s
const n0=Math.max(0,j-SIG.fps*10);
g.strokeStyle='#6ea8ff'; g.lineWidth=1.5; g.beginPath();
for(let k=n0;k<=j;k++){ const x=X(f.yaw[k]), y=Y(f.el[k]); k===n0?g.moveTo(x,y):g.lineTo(x,y); } g.stroke();
g.fillStyle='#fff'; g.beginPath(); g.arc(X(f.yaw[j]),Y(f.el[j]),3.5,0,7); g.fill();
g.fillStyle='#667'; g.font='10px ui-monospace,monospace';
g.fillText('heading '+f.y0.toFixed(0)+'°',m,h-4); const s1='heading '+f.y1.toFixed(0)+'°'; g.fillText(s1,w-m-g.measureText(s1).width,h-4);
g.fillText('elev '+f.p1.toFixed(0)+'°',4,m+14); g.fillText('elev '+f.p0.toFixed(0)+'°',4,h-m);
}
function gazeClick(ev){
if(!SIG) return; const c=ev.currentTarget, r=c.getBoundingClientRect(), f=gazeFit(), m=26;
const sx=(ev.clientX-r.left)*c.width/r.width, sy=(ev.clientY-r.top)*c.height/r.height;
const w=c.width, h=c.height, X=v=>m+(v-f.y0)/(f.y1-f.y0)*(w-2*m), Y=v=>h-m+6-(v-f.p0)/(f.p1-f.p0)*(h-2*m);
let best=0, bd=1e18; for(let k=0;k<SIG.n;k+=2){ const d=(X(f.yaw[k])-sx)**2+(Y(f.el[k])-sy)**2; if(d<bd){bd=d;best=k;} }
setTime(best/SIG.fps);
}
/* ---------- charts ---------- */
const CHIDS=['chG','chA','chN','chM'];
function sizeCanvases(){
document.querySelectorAll('.chp canvas').forEach(c=>{ c.width=c.clientWidth*devicePixelRatio; c.height=76*devicePixelRatio;
const g=c.getContext('2d'); g.setTransform(1,0,0,1,0,0); g.scale(devicePixelRatio,devicePixelRatio); });
['cOri','cGaze'].forEach(id=>{ const c=document.getElementById(id); if(c){ c.width=c.clientWidth*devicePixelRatio; c.height=c.clientHeight*devicePixelRatio; } });
CACHE={};
}
window.addEventListener('resize',()=>{ if(EP){ sizeCanvases(); if(SIG){ drawCharts(); updateUI(master?master.currentTime:0); } } });
let CACHE={};
function chartSeries(){
if(SIG._cs) return SIG._cs;
const col=(arr,k)=>arr.map(r=>r[k]), H=SIG.headImu;
return (SIG._cs={
chG:[0,1,2].map(k=>({data:col(H.gyro,k),c:[AX.x,AX.y,AX.z][k]})),
chA:[0,1,2].map(k=>({data:col(H.acc,k),c:[AX.x,AX.y,AX.z][k]})),
chN:[0,1,2].map(k=>({data:col(H.angle,k),c:[AX.x,AX.y,AX.z][k]})),
chM:[0,1,2].map(k=>({data:col(H.mag,k),c:[AX.x,AX.y,AX.z][k]}))});
}
/* 18k samples per series: draw min/max per pixel column once into an offscreen bitmap, then just blit + playhead */
function renderChart(id,series){
const c=document.getElementById(id); if(!c) return null;
const w=c.clientWidth, h=76, off=document.createElement('canvas');
off.width=c.width; off.height=c.height; const g=off.getContext('2d'); g.scale(devicePixelRatio,devicePixelRatio);
g.fillStyle='#0b0e13'; g.fillRect(0,0,w,h);
let mn=1e9,mx=-1e9; series.forEach(s=>s.data.forEach(v=>{ if(v<mn)mn=v; if(v>mx)mx=v; })); if(mn===mx){mn-=1;mx+=1;}
const N=SIG.n, Y=v=>h-4-(v-mn)/(mx-mn)*(h-8);
if(mn<0&&mx>0){ g.strokeStyle='#1c2028'; g.beginPath(); g.moveTo(0,Y(0)); g.lineTo(w,Y(0)); g.stroke(); }
series.forEach(s=>{ g.strokeStyle=s.c; g.lineWidth=1; g.beginPath();
for(let px=0;px<w;px++){ const a=Math.floor(px/w*N), b=Math.max(a+1,Math.floor((px+1)/w*N)); let lo=1e9,hi=-1e9;
for(let i=a;i<b&&i<N;i++){ const v=s.data[i]; if(v<lo)lo=v; if(v>hi)hi=v; }
if(px===0) g.moveTo(px,Y(lo)); g.lineTo(px,Y(lo)); g.lineTo(px,Y(hi)); }
g.stroke(); });
return off;
}
function drawCharts(){ if(!SIG) return; const S=chartSeries(); CHIDS.forEach(id=>CACHE[id]=renderChart(id,S[id])); drawPlayheads(master?master.currentTime:0); }
function drawPlayheads(t){
if(!SIG) return; const frac=t/EP.duration;
CHIDS.forEach(id=>{ const c=document.getElementById(id); if(!c) return; if(!CACHE[id]) CACHE[id]=renderChart(id,chartSeries()[id]);
const g=c.getContext('2d'); g.save(); g.setTransform(1,0,0,1,0,0); g.drawImage(CACHE[id],0,0); g.restore();
g.strokeStyle='#fff'; g.globalAlpha=.55; g.lineWidth=1; g.beginPath(); g.moveTo(frac*c.clientWidth,0); g.lineTo(frac*c.clientWidth,76); g.stroke(); g.globalAlpha=1; });
}
function fromHash(){ const s=decodeURIComponent(location.hash.slice(1)); const i=EPS.findIndex(e=>e.slug===s); select(i>=0?i:0); }
window.addEventListener('hashchange',fromHash);
fromHash();
</script>
</body></html>
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