Remove contracts directory and update CSV reading instructions
Browse files- README.md +2 -3
- contracts/ardy_414.json +0 -491
- contracts/bones_g1_csv.json +0 -70
- contracts/g1_robot.json +0 -3285
- contracts/g1_skeleton34.json +0 -579
README.md
CHANGED
|
@@ -44,7 +44,6 @@ Files are stored directly in the repository root:
|
|
| 44 |
512 MiB of uncompressed CSV data is assigned to each full shard.
|
| 45 |
- `metadata/{train,val,test}.jsonl`: portable sample metadata, captions, splits,
|
| 46 |
archive locations, extracted file locations, and original file SHA-256s.
|
| 47 |
-
- `contracts/`: original CSV, robot, skeleton and feature schema references.
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| 48 |
- `dataset_info.json`: measured counts, sizes, source-manifest hashes and shard
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| 49 |
checksums.
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| 50 |
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@@ -86,8 +85,8 @@ for shard in data/*/*.tar.gz; do tar -xzf "$shard"; done
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| 86 |
## CSV representation
|
| 87 |
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| 88 |
Each CSV has **36 columns**: frame index, three root translations, three root
|
| 89 |
-
Euler angles, and 29 joint angles.
|
| 90 |
-
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| 91 |
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| 92 |
- Frame indices start at zero; time is `Frame / 25` seconds.
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| 93 |
- Root translation is in **centimetres**; multiply by `0.01` for metres.
|
|
|
|
| 44 |
512 MiB of uncompressed CSV data is assigned to each full shard.
|
| 45 |
- `metadata/{train,val,test}.jsonl`: portable sample metadata, captions, splits,
|
| 46 |
archive locations, extracted file locations, and original file SHA-256s.
|
|
|
|
| 47 |
- `dataset_info.json`: measured counts, sizes, source-manifest hashes and shard
|
| 48 |
checksums.
|
| 49 |
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| 85 |
## CSV representation
|
| 86 |
|
| 87 |
Each CSV has **36 columns**: frame index, three root translations, three root
|
| 88 |
+
Euler angles, and 29 joint angles. Each CSV contains its ordered column names
|
| 89 |
+
in the header row; units and rotation conventions are described below.
|
| 90 |
|
| 91 |
- Frame indices start at zero; time is `Frame / 25` seconds.
|
| 92 |
- Root translation is in **centimetres**; multiply by `0.01` for metres.
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contracts/ardy_414.json
DELETED
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@@ -1,491 +0,0 @@
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{
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"blocks": {
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"foot_contacts": [
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410,
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],
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"global_root_heading": [
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],
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"global_rot_data": [
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],
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"local_joints_positions": [
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],
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"root_pos": [
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],
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"velocities": [
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]
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},
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"canonicalization": "single starting hip heading and planar root translation, absolute root height retained",
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"chosen_normalizer": "/data4/zts/result/bones_seed_ardy_train",
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"contacts": {
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"nodes": [
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"left_ankle_roll_skel",
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"left_toe_base",
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"right_ankle_roll_skel",
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"right_toe_base"
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],
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"rule": "both strict less-than",
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"speed_m_s": 0.15,
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"world_height_m": 0.1
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},
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"dimension": 414,
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"dual_root_blocks": {
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"body": [
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9,
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],
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"global_root": [
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"local_root": [
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]
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},
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"dual_root_stats_dim": 418,
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"explicit_stats_indices": [
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],
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-
"fps": 25,
|
| 474 |
-
"freeze_policy": "existing G1 tokenizer/decoder normalizer remains pinned; new stats diagnostic only",
|
| 475 |
-
"heading": "atan2((right_hip-left_hip).z, -(right_hip-left_hip).x), encoded cos/sin",
|
| 476 |
-
"inverse": "global 6D -> local rotations -> FK; primary positions from rotations",
|
| 477 |
-
"local_root_semantics": [
|
| 478 |
-
"angular velocity",
|
| 479 |
-
"local planar velocity x",
|
| 480 |
-
"local planar velocity z",
|
| 481 |
-
"global root y"
|
| 482 |
-
],
|
| 483 |
-
"mean_hash": "7f6c122861029c32842c24655d310093facba3b657b3173686b8fc06e9c67a7c",
|
| 484 |
-
"normalization": "(x-mean)/sqrt(std^2+1e-5), after canonicalization; inverse first unnormalizes",
|
| 485 |
-
"positions": "root m; non-root root-relative X/Z but world Y retains root height; no heading-local position rotation",
|
| 486 |
-
"rotation_6d": "first two columns, concatenated column vectors (verify geometry implementation)",
|
| 487 |
-
"std_hash": "873bd4fc91646180657c857337947c96251185de175e4996a1bb3d8b1f5f0f1b",
|
| 488 |
-
"tokenizer_reconstruction_new_sources": null,
|
| 489 |
-
"tokenizer_reconstruction_reason": "downstream gates not run",
|
| 490 |
-
"velocities": "world m/s, forward difference*25; last valid velocity repeats previous; mask lengths excludes padding"
|
| 491 |
-
}
|
|
|
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|
|
contracts/bones_g1_csv.json
DELETED
|
@@ -1,70 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"delimiter": ",",
|
| 3 |
-
"empty_lines": "reject",
|
| 4 |
-
"export_precision": "12 significant decimal digits",
|
| 5 |
-
"format_id": "bones_g1_frame_cm_euler_xyz_deg_hinge_deg_v1",
|
| 6 |
-
"fps_evidence": {
|
| 7 |
-
"field": "move_duration_frames @120fps",
|
| 8 |
-
"path": "/data4/zts/datasets/bones_seed/README.md",
|
| 9 |
-
"sha256": "1a97246f811199ecd8193ff57d603a4f5229974ed874d99a930806c6a107747a"
|
| 10 |
-
},
|
| 11 |
-
"frame_start": 0,
|
| 12 |
-
"golden_hash": "7591fe63e0d7a2d73b29ddf72ae2993865f05b0b227201c66df497ab2daf09ff",
|
| 13 |
-
"golden_path": "/data4/zts/datasets/bones_seed/g1/csv/240918/body_check_001__A548.csv",
|
| 14 |
-
"header": [
|
| 15 |
-
"Frame",
|
| 16 |
-
"root_translateX",
|
| 17 |
-
"root_translateY",
|
| 18 |
-
"root_translateZ",
|
| 19 |
-
"root_rotateX",
|
| 20 |
-
"root_rotateY",
|
| 21 |
-
"root_rotateZ",
|
| 22 |
-
"left_hip_pitch_joint_dof",
|
| 23 |
-
"left_hip_roll_joint_dof",
|
| 24 |
-
"left_hip_yaw_joint_dof",
|
| 25 |
-
"left_knee_joint_dof",
|
| 26 |
-
"left_ankle_pitch_joint_dof",
|
| 27 |
-
"left_ankle_roll_joint_dof",
|
| 28 |
-
"right_hip_pitch_joint_dof",
|
| 29 |
-
"right_hip_roll_joint_dof",
|
| 30 |
-
"right_hip_yaw_joint_dof",
|
| 31 |
-
"right_knee_joint_dof",
|
| 32 |
-
"right_ankle_pitch_joint_dof",
|
| 33 |
-
"right_ankle_roll_joint_dof",
|
| 34 |
-
"waist_yaw_joint_dof",
|
| 35 |
-
"waist_roll_joint_dof",
|
| 36 |
-
"waist_pitch_joint_dof",
|
| 37 |
-
"left_shoulder_pitch_joint_dof",
|
| 38 |
-
"left_shoulder_roll_joint_dof",
|
| 39 |
-
"left_shoulder_yaw_joint_dof",
|
| 40 |
-
"left_elbow_joint_dof",
|
| 41 |
-
"left_wrist_roll_joint_dof",
|
| 42 |
-
"left_wrist_pitch_joint_dof",
|
| 43 |
-
"left_wrist_yaw_joint_dof",
|
| 44 |
-
"right_shoulder_pitch_joint_dof",
|
| 45 |
-
"right_shoulder_roll_joint_dof",
|
| 46 |
-
"right_shoulder_yaw_joint_dof",
|
| 47 |
-
"right_elbow_joint_dof",
|
| 48 |
-
"right_wrist_roll_joint_dof",
|
| 49 |
-
"right_wrist_pitch_joint_dof",
|
| 50 |
-
"right_wrist_yaw_joint_dof"
|
| 51 |
-
],
|
| 52 |
-
"hinge_unit": "degrees",
|
| 53 |
-
"loader": {
|
| 54 |
-
"format": "retargeted_from_gmr",
|
| 55 |
-
"function": "ardy.data_processing.skeleton.load_csv_g1_animation",
|
| 56 |
-
"returns_translation_unit": "cm; caller multiplies 0.01"
|
| 57 |
-
},
|
| 58 |
-
"official_source_fps": 120,
|
| 59 |
-
"production_fps": 25,
|
| 60 |
-
"qpos_format": "explicit wxyz/m/rad, never shape inferred",
|
| 61 |
-
"root_euler": {
|
| 62 |
-
"convention": "SciPy lower-case extrinsic active",
|
| 63 |
-
"sequence": "xyz",
|
| 64 |
-
"unit": "degrees"
|
| 65 |
-
},
|
| 66 |
-
"root_translation_unit": "cm",
|
| 67 |
-
"schema_hash": "5d0bac6e65db8d407f942634c428590acafda8c9bd5204b2e5f22eed2cb12c38",
|
| 68 |
-
"sidecar_required": true,
|
| 69 |
-
"time_policy": "[start,end), t<=last real sample, no extrapolation"
|
| 70 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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|
|
contracts/g1_robot.json
DELETED
|
@@ -1,3285 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"asset_hash": "a2c42cb98ee6874097c634c7b78eb41e6640060b6f378864eda97c4ab8ce7dec",
|
| 3 |
-
"bodies": [
|
| 4 |
-
{
|
| 5 |
-
"id": 0,
|
| 6 |
-
"inertia": [
|
| 7 |
-
0.0,
|
| 8 |
-
0.0,
|
| 9 |
-
0.0
|
| 10 |
-
],
|
| 11 |
-
"mass": 0.0,
|
| 12 |
-
"name": "world",
|
| 13 |
-
"parent": 0,
|
| 14 |
-
"rest_pos": [
|
| 15 |
-
0.0,
|
| 16 |
-
0.0,
|
| 17 |
-
0.0
|
| 18 |
-
],
|
| 19 |
-
"rest_quat_wxyz": [
|
| 20 |
-
1.0,
|
| 21 |
-
0.0,
|
| 22 |
-
0.0,
|
| 23 |
-
0.0
|
| 24 |
-
]
|
| 25 |
-
},
|
| 26 |
-
{
|
| 27 |
-
"id": 1,
|
| 28 |
-
"inertia": [
|
| 29 |
-
0.010549,
|
| 30 |
-
0.0093089,
|
| 31 |
-
0.0079184
|
| 32 |
-
],
|
| 33 |
-
"mass": 3.813,
|
| 34 |
-
"name": "pelvis",
|
| 35 |
-
"parent": 0,
|
| 36 |
-
"rest_pos": [
|
| 37 |
-
0.0,
|
| 38 |
-
0.0,
|
| 39 |
-
0.793
|
| 40 |
-
],
|
| 41 |
-
"rest_quat_wxyz": [
|
| 42 |
-
1.0,
|
| 43 |
-
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|
contracts/g1_skeleton34.json
DELETED
|
@@ -1,579 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"basis": [
|
| 3 |
-
[
|
| 4 |
-
0.0,
|
| 5 |
-
1.0,
|
| 6 |
-
0.0
|
| 7 |
-
],
|
| 8 |
-
[
|
| 9 |
-
0.0,
|
| 10 |
-
0.0,
|
| 11 |
-
1.0
|
| 12 |
-
],
|
| 13 |
-
[
|
| 14 |
-
1.0,
|
| 15 |
-
0.0,
|
| 16 |
-
0.0
|
| 17 |
-
]
|
| 18 |
-
],
|
| 19 |
-
"fixed_endpoints": 4,
|
| 20 |
-
"foot_channels": [
|
| 21 |
-
"left_ankle_roll_skel",
|
| 22 |
-
"left_toe_base",
|
| 23 |
-
"right_ankle_roll_skel",
|
| 24 |
-
"right_toe_base"
|
| 25 |
-
],
|
| 26 |
-
"joints_asset_hash": "16b6c234face0b93143a45db7677f02da4a62835300da5401b6acf89dc7d985e",
|
| 27 |
-
"nbjoints": 34,
|
| 28 |
-
"nodes": [
|
| 29 |
-
{
|
| 30 |
-
"name": "pelvis_skel",
|
| 31 |
-
"neutral_position": [
|
| 32 |
-
0.0,
|
| 33 |
-
0.0,
|
| 34 |
-
0.0
|
| 35 |
-
],
|
| 36 |
-
"offset_ardy_m": [
|
| 37 |
-
0.0,
|
| 38 |
-
0.0,
|
| 39 |
-
0.0
|
| 40 |
-
],
|
| 41 |
-
"parent": -1,
|
| 42 |
-
"physical_joint": "floating_base_joint",
|
| 43 |
-
"role": "free-root"
|
| 44 |
-
},
|
| 45 |
-
{
|
| 46 |
-
"name": "left_hip_pitch_skel",
|
| 47 |
-
"neutral_position": [
|
| 48 |
-
0.064452,
|
| 49 |
-
-0.10270000000000001,
|
| 50 |
-
-3.7115199802428826e-17
|
| 51 |
-
],
|
| 52 |
-
"offset_ardy_m": [
|
| 53 |
-
0.064452,
|
| 54 |
-
-0.10270000000000001,
|
| 55 |
-
-3.7115199802428826e-17
|
| 56 |
-
],
|
| 57 |
-
"parent": 0,
|
| 58 |
-
"physical_joint": "left_hip_pitch_joint",
|
| 59 |
-
"role": "hinge-body"
|
| 60 |
-
},
|
| 61 |
-
{
|
| 62 |
-
"name": "left_hip_roll_skel",
|
| 63 |
-
"neutral_position": [
|
| 64 |
-
0.116452,
|
| 65 |
-
-0.13316499999999998,
|
| 66 |
-
-5.5426108147571535e-17
|
| 67 |
-
],
|
| 68 |
-
"offset_ardy_m": [
|
| 69 |
-
0.052000000000000005,
|
| 70 |
-
-0.030464999999999964,
|
| 71 |
-
-1.831090834514271e-17
|
| 72 |
-
],
|
| 73 |
-
"parent": 1,
|
| 74 |
-
"physical_joint": "left_hip_roll_joint",
|
| 75 |
-
"role": "hinge-body"
|
| 76 |
-
},
|
| 77 |
-
{
|
| 78 |
-
"name": "left_hip_yaw_skel",
|
| 79 |
-
"neutral_position": [
|
| 80 |
-
0.116452,
|
| 81 |
-
-0.257285,
|
| 82 |
-
0.025000999999999916
|
| 83 |
-
],
|
| 84 |
-
"offset_ardy_m": [
|
| 85 |
-
0.0,
|
| 86 |
-
-0.12412000000000001,
|
| 87 |
-
0.02500099999999997
|
| 88 |
-
],
|
| 89 |
-
"parent": 2,
|
| 90 |
-
"physical_joint": "left_hip_yaw_joint",
|
| 91 |
-
"role": "hinge-body"
|
| 92 |
-
},
|
| 93 |
-
{
|
| 94 |
-
"name": "left_knee_skel",
|
| 95 |
-
"neutral_position": [
|
| 96 |
-
0.11860089999999998,
|
| 97 |
-
-0.434625,
|
| 98 |
-
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|
| 99 |
-
],
|
| 100 |
-
"offset_ardy_m": [
|
| 101 |
-
0.0021488999999999814,
|
| 102 |
-
-0.17734,
|
| 103 |
-
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|
| 104 |
-
],
|
| 105 |
-
"parent": 3,
|
| 106 |
-
"physical_joint": "left_knee_joint",
|
| 107 |
-
"role": "hinge-body"
|
| 108 |
-
},
|
| 109 |
-
{
|
| 110 |
-
"name": "left_ankle_pitch_skel",
|
| 111 |
-
"neutral_position": [
|
| 112 |
-
0.11850645499999997,
|
| 113 |
-
-0.734635,
|
| 114 |
-
-0.05327200000000018
|
| 115 |
-
],
|
| 116 |
-
"offset_ardy_m": [
|
| 117 |
-
-9.444500000001244e-05,
|
| 118 |
-
-0.30001000000000005,
|
| 119 |
-
-6.245004513516506e-17
|
| 120 |
-
],
|
| 121 |
-
"parent": 4,
|
| 122 |
-
"physical_joint": "left_ankle_pitch_joint",
|
| 123 |
-
"role": "hinge-body"
|
| 124 |
-
},
|
| 125 |
-
{
|
| 126 |
-
"name": "left_ankle_roll_skel",
|
| 127 |
-
"neutral_position": [
|
| 128 |
-
0.11850645499999997,
|
| 129 |
-
-0.752193,
|
| 130 |
-
-0.05327200000000018
|
| 131 |
-
],
|
| 132 |
-
"offset_ardy_m": [
|
| 133 |
-
0.0,
|
| 134 |
-
-0.017557999999999963,
|
| 135 |
-
0.0
|
| 136 |
-
],
|
| 137 |
-
"parent": 5,
|
| 138 |
-
"physical_joint": "left_ankle_roll_joint",
|
| 139 |
-
"role": "hinge-body"
|
| 140 |
-
},
|
| 141 |
-
{
|
| 142 |
-
"name": "left_toe_base",
|
| 143 |
-
"neutral_position": [
|
| 144 |
-
0.11850645499999997,
|
| 145 |
-
-0.787193,
|
| 146 |
-
0.0867279999999998
|
| 147 |
-
],
|
| 148 |
-
"offset_ardy_m": [
|
| 149 |
-
0.0,
|
| 150 |
-
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|
| 151 |
-
0.13999999999999999
|
| 152 |
-
],
|
| 153 |
-
"parent": 6,
|
| 154 |
-
"physical_joint": null,
|
| 155 |
-
"role": "fixed FK endpoint"
|
| 156 |
-
},
|
| 157 |
-
{
|
| 158 |
-
"name": "right_hip_pitch_skel",
|
| 159 |
-
"neutral_position": [
|
| 160 |
-
-0.064452,
|
| 161 |
-
-0.10270000000000001,
|
| 162 |
-
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|
| 163 |
-
],
|
| 164 |
-
"offset_ardy_m": [
|
| 165 |
-
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|
| 166 |
-
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|
| 167 |
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|
| 168 |
-
],
|
| 169 |
-
"parent": 0,
|
| 170 |
-
"physical_joint": "right_hip_pitch_joint",
|
| 171 |
-
"role": "hinge-body"
|
| 172 |
-
},
|
| 173 |
-
{
|
| 174 |
-
"name": "right_hip_roll_skel",
|
| 175 |
-
"neutral_position": [
|
| 176 |
-
-0.116452,
|
| 177 |
-
-0.13316499999999998,
|
| 178 |
-
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|
| 179 |
-
],
|
| 180 |
-
"offset_ardy_m": [
|
| 181 |
-
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|
| 182 |
-
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|
| 183 |
-
4.781730567060543e-18
|
| 184 |
-
],
|
| 185 |
-
"parent": 8,
|
| 186 |
-
"physical_joint": "right_hip_roll_joint",
|
| 187 |
-
"role": "hinge-body"
|
| 188 |
-
},
|
| 189 |
-
{
|
| 190 |
-
"name": "right_hip_yaw_skel",
|
| 191 |
-
"neutral_position": [
|
| 192 |
-
-0.116452,
|
| 193 |
-
-0.257285,
|
| 194 |
-
0.025000999999999968
|
| 195 |
-
],
|
| 196 |
-
"offset_ardy_m": [
|
| 197 |
-
0.0,
|
| 198 |
-
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|
| 199 |
-
0.02500099999999997
|
| 200 |
-
],
|
| 201 |
-
"parent": 9,
|
| 202 |
-
"physical_joint": "right_hip_yaw_joint",
|
| 203 |
-
"role": "hinge-body"
|
| 204 |
-
},
|
| 205 |
-
{
|
| 206 |
-
"name": "right_knee_skel",
|
| 207 |
-
"neutral_position": [
|
| 208 |
-
-0.11860090000000001,
|
| 209 |
-
-0.434625,
|
| 210 |
-
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|
| 211 |
-
],
|
| 212 |
-
"offset_ardy_m": [
|
| 213 |
-
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|
| 214 |
-
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|
| 215 |
-
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|
| 216 |
-
],
|
| 217 |
-
"parent": 10,
|
| 218 |
-
"physical_joint": "right_knee_joint",
|
| 219 |
-
"role": "hinge-body"
|
| 220 |
-
},
|
| 221 |
-
{
|
| 222 |
-
"name": "right_ankle_pitch_skel",
|
| 223 |
-
"neutral_position": [
|
| 224 |
-
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|
| 225 |
-
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|
| 226 |
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|
| 227 |
-
],
|
| 228 |
-
"offset_ardy_m": [
|
| 229 |
-
9.444499999999856e-05,
|
| 230 |
-
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|
| 231 |
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|
| 232 |
-
],
|
| 233 |
-
"parent": 11,
|
| 234 |
-
"physical_joint": "right_ankle_pitch_joint",
|
| 235 |
-
"role": "hinge-body"
|
| 236 |
-
},
|
| 237 |
-
{
|
| 238 |
-
"name": "right_ankle_roll_skel",
|
| 239 |
-
"neutral_position": [
|
| 240 |
-
-0.11850645500000001,
|
| 241 |
-
-0.752193,
|
| 242 |
-
-0.05327200000000013
|
| 243 |
-
],
|
| 244 |
-
"offset_ardy_m": [
|
| 245 |
-
0.0,
|
| 246 |
-
-0.017557999999999963,
|
| 247 |
-
0.0
|
| 248 |
-
],
|
| 249 |
-
"parent": 12,
|
| 250 |
-
"physical_joint": "right_ankle_roll_joint",
|
| 251 |
-
"role": "hinge-body"
|
| 252 |
-
},
|
| 253 |
-
{
|
| 254 |
-
"name": "right_toe_base",
|
| 255 |
-
"neutral_position": [
|
| 256 |
-
-0.11850645500000001,
|
| 257 |
-
-0.787193,
|
| 258 |
-
0.08672799999999986
|
| 259 |
-
],
|
| 260 |
-
"offset_ardy_m": [
|
| 261 |
-
0.0,
|
| 262 |
-
-0.03500000000000003,
|
| 263 |
-
0.13999999999999999
|
| 264 |
-
],
|
| 265 |
-
"parent": 13,
|
| 266 |
-
"physical_joint": null,
|
| 267 |
-
"role": "fixed FK endpoint"
|
| 268 |
-
},
|
| 269 |
-
{
|
| 270 |
-
"name": "waist_yaw_skel",
|
| 271 |
-
"neutral_position": [
|
| 272 |
-
0.0,
|
| 273 |
-
0.0,
|
| 274 |
-
0.0
|
| 275 |
-
],
|
| 276 |
-
"offset_ardy_m": [
|
| 277 |
-
0.0,
|
| 278 |
-
0.0,
|
| 279 |
-
0.0
|
| 280 |
-
],
|
| 281 |
-
"parent": 0,
|
| 282 |
-
"physical_joint": "waist_yaw_joint",
|
| 283 |
-
"role": "hinge-body"
|
| 284 |
-
},
|
| 285 |
-
{
|
| 286 |
-
"name": "waist_roll_skel",
|
| 287 |
-
"neutral_position": [
|
| 288 |
-
-8.800737916203616e-19,
|
| 289 |
-
0.04400000000000004,
|
| 290 |
-
-0.00396349999999999
|
| 291 |
-
],
|
| 292 |
-
"offset_ardy_m": [
|
| 293 |
-
-8.800737916203616e-19,
|
| 294 |
-
0.04400000000000004,
|
| 295 |
-
-0.00396349999999999
|
| 296 |
-
],
|
| 297 |
-
"parent": 15,
|
| 298 |
-
"physical_joint": "waist_roll_joint",
|
| 299 |
-
"role": "hinge-body"
|
| 300 |
-
},
|
| 301 |
-
{
|
| 302 |
-
"name": "waist_pitch_skel",
|
| 303 |
-
"neutral_position": [
|
| 304 |
-
-8.800737916203616e-19,
|
| 305 |
-
0.04400000000000004,
|
| 306 |
-
-0.00396349999999999
|
| 307 |
-
],
|
| 308 |
-
"offset_ardy_m": [
|
| 309 |
-
0.0,
|
| 310 |
-
0.0,
|
| 311 |
-
0.0
|
| 312 |
-
],
|
| 313 |
-
"parent": 16,
|
| 314 |
-
"physical_joint": "waist_pitch_joint",
|
| 315 |
-
"role": "hinge-body"
|
| 316 |
-
},
|
| 317 |
-
{
|
| 318 |
-
"name": "left_shoulder_pitch_skel",
|
| 319 |
-
"neutral_position": [
|
| 320 |
-
0.10022,
|
| 321 |
-
0.29178000000000004,
|
| 322 |
-
-7.199999999956797e-06
|
| 323 |
-
],
|
| 324 |
-
"offset_ardy_m": [
|
| 325 |
-
0.10022,
|
| 326 |
-
0.24778,
|
| 327 |
-
0.003956300000000033
|
| 328 |
-
],
|
| 329 |
-
"parent": 17,
|
| 330 |
-
"physical_joint": "left_shoulder_pitch_joint",
|
| 331 |
-
"role": "hinge-body"
|
| 332 |
-
},
|
| 333 |
-
{
|
| 334 |
-
"name": "left_shoulder_roll_skel",
|
| 335 |
-
"neutral_position": [
|
| 336 |
-
0.13821999999999998,
|
| 337 |
-
0.2779490000000001,
|
| 338 |
-
-7.199999999968305e-06
|
| 339 |
-
],
|
| 340 |
-
"offset_ardy_m": [
|
| 341 |
-
0.03799999999999998,
|
| 342 |
-
-0.013830999999999927,
|
| 343 |
-
-1.1508636654344179e-17
|
| 344 |
-
],
|
| 345 |
-
"parent": 18,
|
| 346 |
-
"physical_joint": "left_shoulder_roll_joint",
|
| 347 |
-
"role": "hinge-body"
|
| 348 |
-
},
|
| 349 |
-
{
|
| 350 |
-
"name": "left_shoulder_yaw_skel",
|
| 351 |
-
"neutral_position": [
|
| 352 |
-
0.14446,
|
| 353 |
-
0.17474900000000004,
|
| 354 |
-
-7.199999999992606e-06
|
| 355 |
-
],
|
| 356 |
-
"offset_ardy_m": [
|
| 357 |
-
0.006240000000000023,
|
| 358 |
-
-0.10320000000000007,
|
| 359 |
-
-2.4300528223778622e-17
|
| 360 |
-
],
|
| 361 |
-
"parent": 19,
|
| 362 |
-
"physical_joint": "left_shoulder_yaw_joint",
|
| 363 |
-
"role": "hinge-body"
|
| 364 |
-
},
|
| 365 |
-
{
|
| 366 |
-
"name": "left_elbow_skel",
|
| 367 |
-
"neutral_position": [
|
| 368 |
-
0.14446,
|
| 369 |
-
0.09423099999999995,
|
| 370 |
-
0.01577579999999999
|
| 371 |
-
],
|
| 372 |
-
"offset_ardy_m": [
|
| 373 |
-
0.0,
|
| 374 |
-
-0.08051800000000009,
|
| 375 |
-
0.01578299999999998
|
| 376 |
-
],
|
| 377 |
-
"parent": 20,
|
| 378 |
-
"physical_joint": "left_elbow_joint",
|
| 379 |
-
"role": "hinge-body"
|
| 380 |
-
},
|
| 381 |
-
{
|
| 382 |
-
"name": "left_wrist_roll_skel",
|
| 383 |
-
"neutral_position": [
|
| 384 |
-
0.14634791000000003,
|
| 385 |
-
0.08423100000000006,
|
| 386 |
-
0.1157758
|
| 387 |
-
],
|
| 388 |
-
"offset_ardy_m": [
|
| 389 |
-
0.0018879100000000204,
|
| 390 |
-
-0.009999999999999898,
|
| 391 |
-
0.1
|
| 392 |
-
],
|
| 393 |
-
"parent": 21,
|
| 394 |
-
"physical_joint": "left_wrist_roll_joint",
|
| 395 |
-
"role": "hinge-body"
|
| 396 |
-
},
|
| 397 |
-
{
|
| 398 |
-
"name": "left_wrist_pitch_skel",
|
| 399 |
-
"neutral_position": [
|
| 400 |
-
0.14634791000000003,
|
| 401 |
-
0.08423100000000006,
|
| 402 |
-
0.1537758
|
| 403 |
-
],
|
| 404 |
-
"offset_ardy_m": [
|
| 405 |
-
0.0,
|
| 406 |
-
0.0,
|
| 407 |
-
0.03799999999999999
|
| 408 |
-
],
|
| 409 |
-
"parent": 22,
|
| 410 |
-
"physical_joint": "left_wrist_pitch_joint",
|
| 411 |
-
"role": "hinge-body"
|
| 412 |
-
},
|
| 413 |
-
{
|
| 414 |
-
"name": "left_wrist_yaw_skel",
|
| 415 |
-
"neutral_position": [
|
| 416 |
-
0.14634791000000003,
|
| 417 |
-
0.08423100000000006,
|
| 418 |
-
0.1997758
|
| 419 |
-
],
|
| 420 |
-
"offset_ardy_m": [
|
| 421 |
-
0.0,
|
| 422 |
-
0.0,
|
| 423 |
-
0.04600000000000001
|
| 424 |
-
],
|
| 425 |
-
"parent": 23,
|
| 426 |
-
"physical_joint": "left_wrist_yaw_joint",
|
| 427 |
-
"role": "hinge-body"
|
| 428 |
-
},
|
| 429 |
-
{
|
| 430 |
-
"name": "left_hand_roll_skel",
|
| 431 |
-
"neutral_position": [
|
| 432 |
-
0.14634791000000003,
|
| 433 |
-
0.08423100000000006,
|
| 434 |
-
0.29977580000000004
|
| 435 |
-
],
|
| 436 |
-
"offset_ardy_m": [
|
| 437 |
-
0.0,
|
| 438 |
-
0.0,
|
| 439 |
-
0.10000000000000003
|
| 440 |
-
],
|
| 441 |
-
"parent": 24,
|
| 442 |
-
"physical_joint": null,
|
| 443 |
-
"role": "fixed FK endpoint"
|
| 444 |
-
},
|
| 445 |
-
{
|
| 446 |
-
"name": "right_shoulder_pitch_skel",
|
| 447 |
-
"neutral_position": [
|
| 448 |
-
-0.10021,
|
| 449 |
-
0.29178000000000004,
|
| 450 |
-
-7.199999999912388e-06
|
| 451 |
-
],
|
| 452 |
-
"offset_ardy_m": [
|
| 453 |
-
-0.10021,
|
| 454 |
-
0.24778,
|
| 455 |
-
0.0039563000000000775
|
| 456 |
-
],
|
| 457 |
-
"parent": 17,
|
| 458 |
-
"physical_joint": "right_shoulder_pitch_joint",
|
| 459 |
-
"role": "hinge-body"
|
| 460 |
-
},
|
| 461 |
-
{
|
| 462 |
-
"name": "right_shoulder_roll_skel",
|
| 463 |
-
"neutral_position": [
|
| 464 |
-
-0.13820999999999997,
|
| 465 |
-
0.2779490000000001,
|
| 466 |
-
-7.199999999907021e-06
|
| 467 |
-
],
|
| 468 |
-
"offset_ardy_m": [
|
| 469 |
-
-0.03799999999999998,
|
| 470 |
-
-0.013830999999999927,
|
| 471 |
-
5.366800753803247e-18
|
| 472 |
-
],
|
| 473 |
-
"parent": 26,
|
| 474 |
-
"physical_joint": "right_shoulder_roll_joint",
|
| 475 |
-
"role": "hinge-body"
|
| 476 |
-
},
|
| 477 |
-
{
|
| 478 |
-
"name": "right_shoulder_yaw_skel",
|
| 479 |
-
"neutral_position": [
|
| 480 |
-
-0.14445,
|
| 481 |
-
0.17474900000000004,
|
| 482 |
-
-7.19999999992855e-06
|
| 483 |
-
],
|
| 484 |
-
"offset_ardy_m": [
|
| 485 |
-
-0.006240000000000023,
|
| 486 |
-
-0.10320000000000007,
|
| 487 |
-
-2.1529036420362552e-17
|
| 488 |
-
],
|
| 489 |
-
"parent": 27,
|
| 490 |
-
"physical_joint": "right_shoulder_yaw_joint",
|
| 491 |
-
"role": "hinge-body"
|
| 492 |
-
},
|
| 493 |
-
{
|
| 494 |
-
"name": "right_elbow_skel",
|
| 495 |
-
"neutral_position": [
|
| 496 |
-
-0.14445,
|
| 497 |
-
0.09423099999999995,
|
| 498 |
-
0.01577580000000005
|
| 499 |
-
],
|
| 500 |
-
"offset_ardy_m": [
|
| 501 |
-
0.0,
|
| 502 |
-
-0.08051800000000009,
|
| 503 |
-
0.01578299999999998
|
| 504 |
-
],
|
| 505 |
-
"parent": 28,
|
| 506 |
-
"physical_joint": "right_elbow_joint",
|
| 507 |
-
"role": "hinge-body"
|
| 508 |
-
},
|
| 509 |
-
{
|
| 510 |
-
"name": "right_wrist_roll_skel",
|
| 511 |
-
"neutral_position": [
|
| 512 |
-
-0.14633790999999996,
|
| 513 |
-
0.08423100000000006,
|
| 514 |
-
0.11577580000000004
|
| 515 |
-
],
|
| 516 |
-
"offset_ardy_m": [
|
| 517 |
-
-0.001887909999999965,
|
| 518 |
-
-0.009999999999999898,
|
| 519 |
-
0.09999999999999999
|
| 520 |
-
],
|
| 521 |
-
"parent": 29,
|
| 522 |
-
"physical_joint": "right_wrist_roll_joint",
|
| 523 |
-
"role": "hinge-body"
|
| 524 |
-
},
|
| 525 |
-
{
|
| 526 |
-
"name": "right_wrist_pitch_skel",
|
| 527 |
-
"neutral_position": [
|
| 528 |
-
-0.14633790999999996,
|
| 529 |
-
0.08423100000000006,
|
| 530 |
-
0.15377580000000007
|
| 531 |
-
],
|
| 532 |
-
"offset_ardy_m": [
|
| 533 |
-
0.0,
|
| 534 |
-
0.0,
|
| 535 |
-
0.038000000000000034
|
| 536 |
-
],
|
| 537 |
-
"parent": 30,
|
| 538 |
-
"physical_joint": "right_wrist_pitch_joint",
|
| 539 |
-
"role": "hinge-body"
|
| 540 |
-
},
|
| 541 |
-
{
|
| 542 |
-
"name": "right_wrist_yaw_skel",
|
| 543 |
-
"neutral_position": [
|
| 544 |
-
-0.14633790999999996,
|
| 545 |
-
0.08423100000000006,
|
| 546 |
-
0.1997758000000001
|
| 547 |
-
],
|
| 548 |
-
"offset_ardy_m": [
|
| 549 |
-
0.0,
|
| 550 |
-
0.0,
|
| 551 |
-
0.04600000000000001
|
| 552 |
-
],
|
| 553 |
-
"parent": 31,
|
| 554 |
-
"physical_joint": "right_wrist_yaw_joint",
|
| 555 |
-
"role": "hinge-body"
|
| 556 |
-
},
|
| 557 |
-
{
|
| 558 |
-
"name": "right_hand_roll_skel",
|
| 559 |
-
"neutral_position": [
|
| 560 |
-
-0.14633790999999996,
|
| 561 |
-
0.08423100000000006,
|
| 562 |
-
0.2997758000000001
|
| 563 |
-
],
|
| 564 |
-
"offset_ardy_m": [
|
| 565 |
-
0.0,
|
| 566 |
-
0.0,
|
| 567 |
-
0.1
|
| 568 |
-
],
|
| 569 |
-
"parent": 32,
|
| 570 |
-
"physical_joint": null,
|
| 571 |
-
"role": "fixed FK endpoint"
|
| 572 |
-
}
|
| 573 |
-
],
|
| 574 |
-
"physical_hinges": 29,
|
| 575 |
-
"rest_rotations": "local hinge rotations are C * (body_rest_rotation * axis_angle) * C.T; extra endpoints identity",
|
| 576 |
-
"root_nodes": 1,
|
| 577 |
-
"units": "m",
|
| 578 |
-
"world": "Y-up,Z-forward"
|
| 579 |
-
}
|
|
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