diff --git a/actions/locomanipulation/LM84/session_005/motions/smplx.npz b/actions/locomanipulation/LM84/session_005/motions/smplx.npz index 9bc1cd6680f2591f808fabdb71ffb6a0341cd508..065e5c6e9befcd9527a0db7fd9acc8ed75c98642 100644 --- a/actions/locomanipulation/LM84/session_005/motions/smplx.npz +++ b/actions/locomanipulation/LM84/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3cae3874c7ca58cdac86aa45e90622ee1e49c6a36f8c06605970174d0d918eb4 -size 6234437 +oid sha256:2cc4bd102ab3009007cc89e75cad375daace98a45ae9618e97f8d813363b3862 +size 11363221 diff --git a/actions/locomanipulation/LM84/session_006/meta.json b/actions/locomanipulation/LM84/session_006/meta.json index 04bcf03c487b81141ebcbed33dfcb67861234ac9..74dd5ad130b46846e92f203016fee4e51c86aada 100644 --- a/actions/locomanipulation/LM84/session_006/meta.json +++ b/actions/locomanipulation/LM84/session_006/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -437,14 +437,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -2.98662, - 0.4392, - 0.86995 + 2.98662, + -0.4392, + -0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 171.5, - "opposite_sign_bend_deg": 26.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.925, + "inlier_spread_deg": 11.22, + "marker_Q_to_gsi_deg": { + "1": 172.1, + "-1": 10.7 + } + }, + "wrist_bend_deg_median": 168.8, + "opposite_sign_bend_deg": 40.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.53, "hand_vs_marker_frame_deg": { "before": 178.63, @@ -456,15 +467,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 168.97, + "twist_moved_deg": -166.57, "wrist_twist_deg_after": { - "median": 2.69, + "median": -2.4, "iqr": [ - -1.9, - 8.1 + -6.4, + 3.6 ] }, - "wrist_total_deg_median_after": 39.7, + "wrist_total_deg_median_after": 26.0, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -477,10 +488,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - 0.0, + -0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.933, + "inlier_spread_deg": 12.85, + "marker_Q_to_gsi_deg": { + "1": 8.0, + "-1": 179.1 + } + }, "wrist_bend_deg_median": 16.4, "opposite_sign_bend_deg": 173.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -497,7 +519,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -6.4, 3.8 @@ -512,10 +534,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:47:04.025294+00:00", + "generated_at_utc": "2026-11-06T14:14:03.670241+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.83, + "offset_rotvec": [ + 0.1059, + -0.1508, + -0.0421 + ], + "dev_deg": { + "median": 11.61, + "p90": 23.78 + }, + "samples": 3624, + "accepted": 3356, + "wrist_pos_err_mm_median": 42.7, + "per_camera": { + "head": { + "samples": 3624, + "accepted": 3356, + "gate_deg": 30.0, + "offset_deg": 10.83, + "tier": "primary", + "dev_deg_median": 11.61, + "wrist_pos_err_mm_median": 42.7 + } + }, + "frames_by_state": { + "ace_sample": 13648, + "interpolated": 1524, + "mean_hand": 904, + "no_body_fit": 0 + }, + "observed_fraction": 0.9438, + "observed_fraction_of_valid": 0.9438, + "palm_axis_vs_markers_deg": { + "gsi": 13.87, + "smplx": 1.63 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.1, + "p90": 11.9 + }, + "registered": { + "median": 9.3, + "p90": 12.3 + } + } + }, + "right": { + "offset_deg": 7.79, + "offset_rotvec": [ + -0.0219, + -0.0594, + 0.1204 + ], + "dev_deg": { + "median": 13.63, + "p90": 23.95 + }, + "samples": 3644, + "accepted": 3422, + "wrist_pos_err_mm_median": 43.0, + "per_camera": { + "head": { + "samples": 3644, + "accepted": 3422, + "gate_deg": 30.0, + "offset_deg": 7.79, + "tier": "primary", + "dev_deg_median": 13.63, + "wrist_pos_err_mm_median": 43.0 + } + }, + "frames_by_state": { + "ace_sample": 13906, + "interpolated": 1498, + "mean_hand": 672, + "no_body_fit": 0 + }, + "observed_fraction": 0.9582, + "observed_fraction_of_valid": 0.9582, + "palm_axis_vs_markers_deg": { + "gsi": 12.38, + "smplx": 2.12 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.9, + "p90": 11.7 + }, + "registered": { + "median": 7.4, + "p90": 10.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:46:34.241343+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM84/session_006", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM84/session_006/motions/smplx.npz b/actions/locomanipulation/LM84/session_006/motions/smplx.npz index c565cf7217c5d189d0c28a661b2904a56990e9b4..aba308bd570fc6d145f7a2c83a162f9ef7c14ae5 100644 --- a/actions/locomanipulation/LM84/session_006/motions/smplx.npz +++ b/actions/locomanipulation/LM84/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d0e6da193172efd9c13500013a25bef0c155159ac16c82aa37950cf4d294f869 -size 6194458 +oid sha256:b750fe5ff7a4a0c972d235c3565ecf73285ab5f47ff8c209c51eba69631a1319 +size 11372051 diff --git a/actions/locomanipulation/LM85/session_016/meta.json b/actions/locomanipulation/LM85/session_016/meta.json index b21aaa591d4d4c7cef030b0c04a2731fc116a033..68a117a464bdcf7cbc64e8caaed7d7cf58ffd055 100644 --- a/actions/locomanipulation/LM85/session_016/meta.json +++ b/actions/locomanipulation/LM85/session_016/meta.json @@ -327,8 +327,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -403,10 +403,21 @@ 0.2415, 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 175.5, - "opposite_sign_bend_deg": 38.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.91, + "inlier_spread_deg": 3.3, + "marker_Q_to_gsi_deg": { + "1": 163.2, + "-1": 18.4 + } + }, + "wrist_bend_deg_median": 174.3, + "opposite_sign_bend_deg": 14.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.44, "hand_vs_marker_frame_deg": { "before": 179.39, @@ -417,15 +428,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 174.95, + "twist_moved_deg": -173.83, "wrist_twist_deg_after": { - "median": 0.54, + "median": -1.11, "iqr": [ - -3.1, - 3.1 + -3.7, + 0.9 ] }, - "wrist_total_deg_median_after": 14.5, + "wrist_total_deg_median_after": 38.5, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -438,11 +449,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ + -0.0, 0.0, - 0.0, - -0.0 + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.998, + "inlier_spread_deg": 3.8, + "marker_Q_to_gsi_deg": { + "1": 14.1, + "-1": 167.0 + } + }, "wrist_bend_deg_median": 32.1, "opposite_sign_bend_deg": 175.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -458,9 +480,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -0.9, 2.3 @@ -473,7 +495,7 @@ }, "frames_used": 1249 }, - "generated_at_utc": "2026-10-28T06:23:07.111494+00:00", + "generated_at_utc": "2026-11-06T13:52:03.135668+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -553,6 +575,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.7274022558132177 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.04, + "offset_rotvec": [ + -0.2942, + -0.0189, + -0.0393 + ], + "dev_deg": { + "median": 3.99, + "p90": 18.79 + }, + "samples": 3033, + "accepted": 2768, + "wrist_pos_err_mm_median": 23.8, + "per_camera": { + "head": { + "samples": 3033, + "accepted": 2768, + "gate_deg": 30.0, + "offset_deg": 17.04, + "tier": "primary", + "dev_deg_median": 3.99, + "wrist_pos_err_mm_median": 23.8 + } + }, + "frames_by_state": { + "ace_sample": 11074, + "interpolated": 26, + "mean_hand": 1384, + "no_body_fit": 0 + }, + "observed_fraction": 0.8891, + "observed_fraction_of_valid": 0.8891, + "palm_axis_vs_markers_deg": { + "gsi": 16.12, + "smplx": 0.88 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.0, + "p90": 11.0 + }, + "registered": { + "median": 9.5, + "p90": 11.3 + } + } + }, + "right": { + "offset_deg": 14.16, + "offset_rotvec": [ + -0.2174, + -0.1145, + -0.0257 + ], + "dev_deg": { + "median": 3.82, + "p90": 8.82 + }, + "samples": 3056, + "accepted": 3050, + "wrist_pos_err_mm_median": 19.7, + "per_camera": { + "head": { + "samples": 3056, + "accepted": 3050, + "gate_deg": 30.0, + "offset_deg": 14.16, + "tier": "primary", + "dev_deg_median": 3.82, + "wrist_pos_err_mm_median": 19.7 + } + }, + "frames_by_state": { + "ace_sample": 12204, + "interpolated": 96, + "mean_hand": 184, + "no_body_fit": 0 + }, + "observed_fraction": 0.9853, + "observed_fraction_of_valid": 0.9853, + "palm_axis_vs_markers_deg": { + "gsi": 15.5, + "smplx": 1.09 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.9, + "p90": 10.9 + }, + "registered": { + "median": 9.0, + "p90": 9.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:00:17.035838+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM85/session_016", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM85/session_016/motions/smplx.npz b/actions/locomanipulation/LM85/session_016/motions/smplx.npz index 0a96a5d95017c5a123b1150730a25cd74c1c707e..eae7fead2a9340e99e1204de342ae8cb81d083bc 100644 --- a/actions/locomanipulation/LM85/session_016/motions/smplx.npz +++ b/actions/locomanipulation/LM85/session_016/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6c7cdce75b5fd1ecd4919af58f1c2d7875210f8f297f8f6b6c618239834ab18e -size 4772274 +oid sha256:e70ea75834edf9ad00656e31fc777ed49c797a9a9e05538be28dc95e3c23b3fd +size 8713369 diff --git a/actions/locomanipulation/LM85/session_017/meta.json b/actions/locomanipulation/LM85/session_017/meta.json index d1f9e266777f6209a211ad7ada8279dbb00c8d2a..ae33ee76ad3573d58c7df2c10972684a5449c926 100644 --- a/actions/locomanipulation/LM85/session_017/meta.json +++ b/actions/locomanipulation/LM85/session_017/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -400,14 +400,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 175.1, - "opposite_sign_bend_deg": 34.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.939, + "inlier_spread_deg": 3.49, + "marker_Q_to_gsi_deg": { + "1": 160.0, + "-1": 21.0 + } + }, + "wrist_bend_deg_median": 174.6, + "opposite_sign_bend_deg": 15.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.57, "hand_vs_marker_frame_deg": { "before": 179.53, @@ -418,15 +429,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 174.74, + "twist_moved_deg": -174.27, "wrist_twist_deg_after": { - "median": 0.5, + "median": -0.47, "iqr": [ - -2.1, - 2.5 + -2.9, + 1.3 ] }, - "wrist_total_deg_median_after": 15.9, + "wrist_total_deg_median_after": 34.8, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -440,10 +451,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - 0.0, - 0.0 + -0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 1.0, + "inlier_spread_deg": 2.61, + "marker_Q_to_gsi_deg": { + "1": 14.4, + "-1": 166.6 + } + }, "wrist_bend_deg_median": 30.7, "opposite_sign_bend_deg": 175.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -461,7 +483,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -1.9, 1.1 @@ -474,7 +496,7 @@ }, "frames_used": 1369 }, - "generated_at_utc": "2026-10-28T06:23:07.403689+00:00", + "generated_at_utc": "2026-11-06T13:52:04.739290+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -518,6 +540,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.7456414104416562 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 22.42, + "offset_rotvec": [ + -0.3913, + 0.0031, + -0.0058 + ], + "dev_deg": { + "median": 3.69, + "p90": 11.88 + }, + "samples": 3418, + "accepted": 3207, + "wrist_pos_err_mm_median": 19.1, + "per_camera": { + "head": { + "samples": 3418, + "accepted": 3207, + "gate_deg": 30.0, + "offset_deg": 22.42, + "tier": "primary", + "dev_deg_median": 3.69, + "wrist_pos_err_mm_median": 19.1 + } + }, + "frames_by_state": { + "ace_sample": 12830, + "interpolated": 102, + "mean_hand": 752, + "no_body_fit": 0 + }, + "observed_fraction": 0.945, + "observed_fraction_of_valid": 0.945, + "palm_axis_vs_markers_deg": { + "gsi": 19.85, + "smplx": 0.64 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.9, + "p90": 11.6 + }, + "registered": { + "median": 8.3, + "p90": 11.6 + } + } + }, + "right": { + "offset_deg": 14.47, + "offset_rotvec": [ + -0.2273, + -0.1092, + -0.0135 + ], + "dev_deg": { + "median": 2.6, + "p90": 6.79 + }, + "samples": 3375, + "accepted": 3373, + "wrist_pos_err_mm_median": 20.5, + "per_camera": { + "head": { + "samples": 3375, + "accepted": 3373, + "gate_deg": 30.0, + "offset_deg": 14.47, + "tier": "primary", + "dev_deg_median": 2.6, + "wrist_pos_err_mm_median": 20.5 + } + }, + "frames_by_state": { + "ace_sample": 13490, + "interpolated": 34, + "mean_hand": 160, + "no_body_fit": 0 + }, + "observed_fraction": 0.9883, + "observed_fraction_of_valid": 0.9883, + "palm_axis_vs_markers_deg": { + "gsi": 15.01, + "smplx": 0.57 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.1, + "p90": 11.8 + }, + "registered": { + "median": 11.2, + "p90": 12.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:00:15.843950+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM85/session_017", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM85/session_017/motions/smplx.npz b/actions/locomanipulation/LM85/session_017/motions/smplx.npz index dfbf7a0704787271f792de65df2aec5a1c643905..1c029bd620d0dbc6028c9e2aff51df72765573ef 100644 --- a/actions/locomanipulation/LM85/session_017/motions/smplx.npz +++ b/actions/locomanipulation/LM85/session_017/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:041cbd993632baa8ae093078ea744407c095a88e73bb4a44bafe8efc3fb71fba -size 5246574 +oid sha256:305562ecdcda84caa8c6b35f1354e7cc29c2562ef598fa3312245de0478b5022 +size 9698591 diff --git a/actions/locomanipulation/LM85/session_018/meta.json b/actions/locomanipulation/LM85/session_018/meta.json index d8d17277877647be791dc1fca78427b08ec746f1..d109749352af3f2b33f13d9d3793acd8be323983 100644 --- a/actions/locomanipulation/LM85/session_018/meta.json +++ b/actions/locomanipulation/LM85/session_018/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -394,10 +394,21 @@ -0.2415, -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 176.1, - "opposite_sign_bend_deg": 34.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2425, + "inlier_frac": 0.608, + "inlier_spread_deg": 15.4, + "marker_Q_to_gsi_deg": { + "1": 178.4, + "-1": 15.9 + } + }, + "wrist_bend_deg_median": 176.0, + "opposite_sign_bend_deg": 11.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.05, "hand_vs_marker_frame_deg": { "before": 179.57, @@ -408,15 +419,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 175.96, + "twist_moved_deg": -175.74, "wrist_twist_deg_after": { - "median": 0.53, + "median": -0.22, "iqr": [ - -0.9, - 1.9 + -1.5, + 1.2 ] }, - "wrist_total_deg_median_after": 11.9, + "wrist_total_deg_median_after": 34.6, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -429,11 +440,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, - 0.0 + -0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.829, + "inlier_spread_deg": 7.75, + "marker_Q_to_gsi_deg": { + "1": 19.3, + "-1": 163.2 + } + }, "wrist_bend_deg_median": 27.7, "opposite_sign_bend_deg": 177.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -449,7 +471,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -3.0, 1.6 @@ -464,7 +486,7 @@ }, "frames_used": 1429 }, - "generated_at_utc": "2026-10-28T06:23:07.965335+00:00", + "generated_at_utc": "2026-11-06T13:52:07.541875+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -508,6 +530,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.6452583255795377 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 15.9, + "offset_rotvec": [ + 0.1522, + -0.006, + 0.2319 + ], + "dev_deg": { + "median": 24.02, + "p90": 60.58 + }, + "samples": 2425, + "accepted": 1563, + "wrist_pos_err_mm_median": 49.7, + "per_camera": { + "head": { + "samples": 2425, + "accepted": 1563, + "gate_deg": 30.0, + "offset_deg": 15.9, + "tier": "primary", + "dev_deg_median": 24.02, + "wrist_pos_err_mm_median": 49.7 + } + }, + "frames_by_state": { + "ace_sample": 6306, + "interpolated": 1762, + "mean_hand": 6216, + "no_body_fit": 0 + }, + "observed_fraction": 0.5648, + "observed_fraction_of_valid": 0.5648, + "palm_axis_vs_markers_deg": { + "gsi": 20.13, + "smplx": 0.79 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.6, + "p90": 9.9 + }, + "registered": { + "median": 8.7, + "p90": 10.4 + } + } + }, + "right": { + "offset_deg": 17.11, + "offset_rotvec": [ + -0.1845, + -0.063, + -0.2263 + ], + "dev_deg": { + "median": 10.72, + "p90": 46.16 + }, + "samples": 3299, + "accepted": 2765, + "wrist_pos_err_mm_median": 47.2, + "per_camera": { + "head": { + "samples": 3299, + "accepted": 2765, + "gate_deg": 30.0, + "offset_deg": 17.11, + "tier": "primary", + "dev_deg_median": 10.72, + "wrist_pos_err_mm_median": 47.2 + } + }, + "frames_by_state": { + "ace_sample": 11056, + "interpolated": 696, + "mean_hand": 2532, + "no_body_fit": 0 + }, + "observed_fraction": 0.8227, + "observed_fraction_of_valid": 0.8227, + "palm_axis_vs_markers_deg": { + "gsi": 19.91, + "smplx": 0.88 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.6, + "p90": 11.9 + }, + "registered": { + "median": 8.3, + "p90": 10.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:00:16.740816+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM85/session_018", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM85/session_018/motions/smplx.npz b/actions/locomanipulation/LM85/session_018/motions/smplx.npz index 8efa4d1de43d96445ecc3e734ae15b6d1b2346eb..622ab2e62316c4d214ab38e083f1d495c8a5de03 100644 --- a/actions/locomanipulation/LM85/session_018/motions/smplx.npz +++ b/actions/locomanipulation/LM85/session_018/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6d61b8c17998d5dddb76175802cba86121ff3ca370a58f0c7eed67f0552385e3 -size 5459218 +oid sha256:658906125101a68397b6b3ba4f5c20c9ba3e40c9394fa4c873442036c70c8d71 +size 9010583 diff --git a/actions/locomanipulation/LM85/session_019/meta.json b/actions/locomanipulation/LM85/session_019/meta.json index 81d0c82ecc4964c60a7e9e4fb6c248c0f98a0507..d6d93389c31a46f725e07fb5147699f289966474 100644 --- a/actions/locomanipulation/LM85/session_019/meta.json +++ b/actions/locomanipulation/LM85/session_019/meta.json @@ -327,8 +327,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -398,10 +398,21 @@ -0.2415, -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 174.8, - "opposite_sign_bend_deg": 31.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1828, + "inlier_frac": 0.611, + "inlier_spread_deg": 15.47, + "marker_Q_to_gsi_deg": { + "1": 166.2, + "-1": 19.5 + } + }, + "wrist_bend_deg_median": 172.1, + "opposite_sign_bend_deg": 17.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.4, "hand_vs_marker_frame_deg": { "before": 179.43, @@ -412,15 +423,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 172.48, + "twist_moved_deg": -171.65, "wrist_twist_deg_after": { - "median": 3.2, + "median": -0.83, "iqr": [ - 0.0, - 7.5 + -3.4, + 3.1 ] }, - "wrist_total_deg_median_after": 17.4, + "wrist_total_deg_median_after": 31.8, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -435,9 +446,20 @@ "Q_rotvec": [ 0.0, -0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2152, + "inlier_frac": 0.669, + "inlier_spread_deg": 9.38, + "marker_Q_to_gsi_deg": { + "1": 15.4, + "-1": 166.3 + } + }, "wrist_bend_deg_median": 28.8, "opposite_sign_bend_deg": 176.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -454,7 +476,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -2.8, 1.9 @@ -468,7 +490,7 @@ }, "frames_used": 1308 }, - "generated_at_utc": "2026-10-28T06:23:09.112873+00:00", + "generated_at_utc": "2026-11-06T13:52:10.362242+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -512,6 +534,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.7132119783433694 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 16.19, + "offset_rotvec": [ + -0.0446, + -0.0532, + 0.2739 + ], + "dev_deg": { + "median": 25.03, + "p90": 77.95 + }, + "samples": 1828, + "accepted": 1164, + "wrist_pos_err_mm_median": 52.2, + "per_camera": { + "head": { + "samples": 1828, + "accepted": 1164, + "gate_deg": 30.0, + "offset_deg": 16.19, + "tier": "primary", + "dev_deg_median": 25.03, + "wrist_pos_err_mm_median": 52.2 + } + }, + "frames_by_state": { + "ace_sample": 4716, + "interpolated": 1464, + "mean_hand": 6899, + "no_body_fit": 5 + }, + "observed_fraction": 0.4723, + "observed_fraction_of_valid": 0.4725, + "palm_axis_vs_markers_deg": { + "gsi": 24.0, + "smplx": 0.91 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.2, + "p90": 11.5 + }, + "registered": { + "median": 8.9, + "p90": 12.1 + } + } + }, + "right": { + "offset_deg": 11.51, + "offset_rotvec": [ + -0.0752, + -0.072, + -0.1717 + ], + "dev_deg": { + "median": 16.64, + "p90": 59.29 + }, + "samples": 2152, + "accepted": 1472, + "wrist_pos_err_mm_median": 48.0, + "per_camera": { + "head": { + "samples": 2152, + "accepted": 1472, + "gate_deg": 30.0, + "offset_deg": 11.51, + "tier": "primary", + "dev_deg_median": 16.64, + "wrist_pos_err_mm_median": 48.0 + } + }, + "frames_by_state": { + "ace_sample": 5908, + "interpolated": 964, + "mean_hand": 6207, + "no_body_fit": 5 + }, + "observed_fraction": 0.5252, + "observed_fraction_of_valid": 0.5254, + "palm_axis_vs_markers_deg": { + "gsi": 19.71, + "smplx": 0.81 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.8, + "p90": 9.5 + }, + "registered": { + "median": 7.8, + "p90": 8.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:00:02.939187+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM85/session_019", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM85/session_019/motions/smplx.npz b/actions/locomanipulation/LM85/session_019/motions/smplx.npz index 9c4f266624f80edf2b23913f9cde23acbbcddfe6..b21659ba671f95d472e711c36c7727e718fd68e3 100644 --- a/actions/locomanipulation/LM85/session_019/motions/smplx.npz +++ b/actions/locomanipulation/LM85/session_019/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5ef8f5dc7e355c0a6e5c15b5904b8ad6f9a80bdcb2f6427fe390469dd27b4b82 -size 5018978 +oid sha256:3a49d150f3fa7a5308533ac2eb6166ec764d09b032d87c7fb3a971409647f839 +size 7411030 diff --git a/actions/locomanipulation/LM85/session_040/meta.json b/actions/locomanipulation/LM85/session_040/meta.json index 52d712eb3317a5a9dd7ba88abd108c19478f7c37..48d9449df9518e5e372d5766d968286dfbca450c 100644 --- a/actions/locomanipulation/LM85/session_040/meta.json +++ b/actions/locomanipulation/LM85/session_040/meta.json @@ -409,19 +409,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - -2.98442, - 0.43848, - 0.87784 + 0.0, + -0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 174.5, - "opposite_sign_bend_deg": 53.4, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 670, + "inlier_frac": 0.521, + "inlier_spread_deg": 13.02, + "marker_Q_to_gsi_deg": { + "1": 37.2, + "-1": 149.8 + } + }, + "wrist_bend_deg_median": 20.4, + "opposite_sign_bend_deg": 173.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.63, "hand_vs_marker_frame_deg": { - "before": 178.6, + "before": 1.63, "after": 1.63 }, "markers_on_wrist": [ @@ -429,12 +440,12 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -173.51, + "twist_moved_deg": -0.3, "wrist_twist_deg_after": { - "median": -0.3, + "median": -0.0, "iqr": [ - -2.8, - 1.0 + -2.5, + 1.3 ] }, "wrist_total_deg_median_after": 20.2, @@ -457,6 +468,17 @@ 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 483, + "inlier_frac": 0.64, + "inlier_spread_deg": 14.16, + "marker_Q_to_gsi_deg": { + "1": 17.0, + "-1": 169.2 + } + }, "wrist_bend_deg_median": 15.5, "opposite_sign_bend_deg": 177.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -473,7 +495,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -1.4, 1.2 @@ -487,7 +509,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:35:28.713203+00:00", + "generated_at_utc": "2026-11-06T14:02:12.335870+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/locomanipulation/LM85/session_040/motions/smplx.npz b/actions/locomanipulation/LM85/session_040/motions/smplx.npz index 8501ee7283ea66f3e3ca263bff556f8b77bccd43..aef3e13380354fdbb033e77f3365cb1721e23453 100644 --- a/actions/locomanipulation/LM85/session_040/motions/smplx.npz +++ b/actions/locomanipulation/LM85/session_040/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:619224aca7385c1a135caecfba37fc65d078b311c6ab8d7c54f7c93597c6b6d8 -size 8054119 +oid sha256:f3ac214ab3e8023714a8abf722ac89aaf815a181cd57f35cb470d0953066f1f6 +size 8054311 diff --git a/actions/locomanipulation/LM85/session_047/meta.json b/actions/locomanipulation/LM85/session_047/meta.json index 4d534304d3a1a71add0d8ecca67f9704d1fc556a..c741d12734282e52a1f1984a7216f5eedbcce4c8 100644 --- a/actions/locomanipulation/LM85/session_047/meta.json +++ b/actions/locomanipulation/LM85/session_047/meta.json @@ -376,8 +376,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -436,19 +436,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + 2.98827, + -0.45012, + -0.85862 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 33.2, - "opposite_sign_bend_deg": 172.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.896, + "inlier_spread_deg": 7.27, + "marker_Q_to_gsi_deg": { + "1": 179.4, + "-1": 20.3 + } + }, + "wrist_bend_deg_median": 172.4, + "opposite_sign_bend_deg": 33.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.88, "hand_vs_marker_frame_deg": { - "before": 1.88, + "before": 179.12, "after": 1.88 }, "markers_on_wrist": [ @@ -456,15 +467,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": -171.19, "wrist_twist_deg_after": { - "median": -0.0, + "median": -0.67, "iqr": [ - -3.7, - 2.9 + -5.3, + 1.9 ] }, - "wrist_total_deg_median_after": 32.9, + "wrist_total_deg_median_after": 31.8, "markers_on_forearm": [ "LElbowIn", "LForearm", @@ -478,11 +489,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + -0.0, + -0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.959, + "inlier_spread_deg": 6.41, + "marker_Q_to_gsi_deg": { + "1": 17.9, + "-1": 163.0 + } + }, "wrist_bend_deg_median": 12.5, "opposite_sign_bend_deg": 176.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -496,7 +518,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -513,7 +535,7 @@ }, "frames_used": 1428 }, - "generated_at_utc": "2026-10-28T06:41:34.374136+00:00", + "generated_at_utc": "2026-11-06T14:07:57.040354+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -576,6 +598,116 @@ }, "applied": 3 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 20.4, + "offset_rotvec": [ + -0.1202, + -0.21, + -0.2611 + ], + "dev_deg": { + "median": 7.74, + "p90": 29.82 + }, + "samples": 4123, + "accepted": 3711, + "wrist_pos_err_mm_median": 46.1, + "per_camera": { + "head": { + "samples": 4123, + "accepted": 3711, + "gate_deg": 30.0, + "offset_deg": 20.4, + "tier": "primary", + "dev_deg_median": 7.74, + "wrist_pos_err_mm_median": 46.1 + } + }, + "frames_by_state": { + "ace_sample": 14846, + "interpolated": 54, + "mean_hand": 1686, + "no_body_fit": 6 + }, + "observed_fraction": 0.898, + "observed_fraction_of_valid": 0.8983, + "palm_axis_vs_markers_deg": { + "gsi": 12.53, + "smplx": 1.58 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.6, + "p90": 10.7 + }, + "registered": { + "median": 5.9, + "p90": 10.0 + } + } + }, + "right": { + "offset_deg": 18.56, + "offset_rotvec": [ + 0.3179, + 0.0619, + -0.004 + ], + "dev_deg": { + "median": 6.57, + "p90": 18.28 + }, + "samples": 4045, + "accepted": 3875, + "wrist_pos_err_mm_median": 19.0, + "per_camera": { + "head": { + "samples": 4045, + "accepted": 3875, + "gate_deg": 30.0, + "offset_deg": 18.56, + "tier": "primary", + "dev_deg_median": 6.57, + "wrist_pos_err_mm_median": 19.0 + } + }, + "frames_by_state": { + "ace_sample": 15514, + "interpolated": 258, + "mean_hand": 814, + "no_body_fit": 6 + }, + "observed_fraction": 0.9506, + "observed_fraction_of_valid": 0.9509, + "palm_axis_vs_markers_deg": { + "gsi": 18.79, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:33:46.740711+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM85/session_047", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM85/session_047/motions/smplx.npz b/actions/locomanipulation/LM85/session_047/motions/smplx.npz index 513d9c1b7b7bd98280e37cb91e87feb31378d8a1..1fce93646b6b068f9e4dfcc8551a2f55b71bfd26 100644 --- a/actions/locomanipulation/LM85/session_047/motions/smplx.npz +++ b/actions/locomanipulation/LM85/session_047/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0d4ddf490ee106332fb15bee64c2470e73b9d235181cad9b9300aebd69531978 -size 6390162 +oid sha256:076cf8c4aa7e19a9665c77be6c26f88dc96f84a05ed9d32902b938588bb13347 +size 11581377 diff --git a/actions/locomanipulation/LM85/session_050/meta.json b/actions/locomanipulation/LM85/session_050/meta.json index a3e9ee69d7a85d31a8a371de2922b44d469ee408..60adec20580042c360b3e5d20dc00b61c833efe6 100644 --- a/actions/locomanipulation/LM85/session_050/meta.json +++ b/actions/locomanipulation/LM85/session_050/meta.json @@ -390,8 +390,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -456,10 +456,21 @@ -0.44501, -0.87886 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 177.2, - "opposite_sign_bend_deg": 14.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 340, + "inlier_frac": 0.632, + "inlier_spread_deg": 13.91, + "marker_Q_to_gsi_deg": { + "1": 175.9, + "-1": 36.2 + } + }, + "wrist_bend_deg_median": 163.5, + "opposite_sign_bend_deg": 30.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.03, "hand_vs_marker_frame_deg": { "before": 179.66, @@ -470,15 +481,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 163.58, + "twist_moved_deg": -163.11, "wrist_twist_deg_after": { - "median": 16.0, + "median": -0.47, "iqr": [ - 13.3, - 19.1 + -2.7, + 1.8 ] }, - "wrist_total_deg_median_after": 31.0, + "wrist_total_deg_median_after": 14.7, "markers_on_forearm": [ "LElbow", "LForearm", @@ -492,11 +503,18 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, + -0.0, + -0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI not reliable)", + "gsi": { + "reliable": false, + "frames": 279, + "inlier_frac": 0.513, + "inlier_spread_deg": 13.86 + }, "wrist_bend_deg_median": 23.9, "opposite_sign_bend_deg": 175.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -510,9 +528,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -2.0, 2.8 @@ -527,10 +545,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:44:21.416161+00:00", + "generated_at_utc": "2026-11-06T14:09:39.443023+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 45.94, + "offset_rotvec": [ + 0.6503, + 0.2563, + 0.3929 + ], + "dev_deg": { + "median": 29.56, + "p90": 147.36 + }, + "samples": 340, + "accepted": 176, + "wrist_pos_err_mm_median": 94.0, + "per_camera": { + "head": { + "samples": 340, + "accepted": 176, + "gate_deg": 30.0, + "offset_deg": 45.94, + "tier": "primary", + "dev_deg_median": 29.56, + "wrist_pos_err_mm_median": 94.0 + } + }, + "frames_by_state": { + "ace_sample": 668, + "interpolated": 332, + "mean_hand": 14837, + "no_body_fit": 7 + }, + "observed_fraction": 0.0631, + "observed_fraction_of_valid": 0.0631, + "palm_axis_vs_markers_deg": { + "gsi": 26.02, + "smplx": 0.47 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.6, + "p90": 6.2 + }, + "registered": { + "median": 5.9, + "p90": 8.8 + } + } + }, + "right": { + "offset_deg": 13.44, + "offset_rotvec": [ + 0.0972, + -0.2013, + -0.0711 + ], + "dev_deg": { + "median": 29.7, + "p90": 78.08 + }, + "samples": 279, + "accepted": 141, + "wrist_pos_err_mm_median": 90.3, + "per_camera": { + "head": { + "samples": 279, + "accepted": 141, + "gate_deg": 30.0, + "offset_deg": 13.44, + "tier": "primary", + "dev_deg_median": 29.7, + "wrist_pos_err_mm_median": 90.3 + } + }, + "frames_by_state": { + "ace_sample": 558, + "interpolated": 78, + "mean_hand": 15201, + "no_body_fit": 7 + }, + "observed_fraction": 0.0401, + "observed_fraction_of_valid": 0.0402, + "palm_axis_vs_markers_deg": { + "gsi": 29.81, + "smplx": 2.3 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 19.2, + "p90": 32.0 + }, + "registered": { + "median": 18.8, + "p90": 30.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:37:37.344879+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM85/session_050", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM85/session_050/motions/smplx.npz b/actions/locomanipulation/LM85/session_050/motions/smplx.npz index 90dc45731e90366abcbe5887a7d9a440c8fdd83b..99f93abc0b5bec9285300010e0923b809e915a76 100644 --- a/actions/locomanipulation/LM85/session_050/motions/smplx.npz +++ b/actions/locomanipulation/LM85/session_050/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:669d791f9c21c4dbedf5cb282b47a27709c35be66a97307913dbaea11f600d73 -size 6092789 +oid sha256:8e856c02305b64939544c6a469fa4bebb36185fe6a43a7599ba2f0f444289a5a +size 6585375 diff --git a/actions/locomanipulation/LM86/session_008/meta.json b/actions/locomanipulation/LM86/session_008/meta.json index 1410d3bda6df477925df73201a2d75b429191c91..6c8dc69af88fc6f4522618d61bff4ffb2bff91ac 100644 --- a/actions/locomanipulation/LM86/session_008/meta.json +++ b/actions/locomanipulation/LM86/session_008/meta.json @@ -325,8 +325,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -387,14 +387,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 174.2, - "opposite_sign_bend_deg": 40.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.951, + "inlier_spread_deg": 5.99, + "marker_Q_to_gsi_deg": { + "1": 172.5, + "-1": 10.3 + } + }, + "wrist_bend_deg_median": 171.4, + "opposite_sign_bend_deg": 14.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.62, "hand_vs_marker_frame_deg": { "before": 178.51, @@ -405,15 +416,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 170.77, + "twist_moved_deg": -169.65, "wrist_twist_deg_after": { - "median": 5.01, + "median": -1.62, "iqr": [ - -0.5, - 8.7 + -7.9, + 1.8 ] }, - "wrist_total_deg_median_after": 14.8, + "wrist_total_deg_median_after": 40.4, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -426,11 +437,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, + -0.0, + -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.997, + "inlier_spread_deg": 8.93, + "marker_Q_to_gsi_deg": { + "1": 2.5, + "-1": 179.6 + } + }, "wrist_bend_deg_median": 31.6, "opposite_sign_bend_deg": 174.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -444,7 +466,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -461,7 +483,7 @@ }, "frames_used": 1488 }, - "generated_at_utc": "2026-10-28T06:26:12.714502+00:00", + "generated_at_utc": "2026-11-06T13:59:33.856617+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -541,6 +563,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.860882913257013 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.34, + "offset_rotvec": [ + -0.1303, + 0.1233, + -0.0204 + ], + "dev_deg": { + "median": 6.22, + "p90": 14.84 + }, + "samples": 3670, + "accepted": 3489, + "wrist_pos_err_mm_median": 51.8, + "per_camera": { + "head": { + "samples": 3670, + "accepted": 3489, + "gate_deg": 30.0, + "offset_deg": 10.34, + "tier": "primary", + "dev_deg_median": 6.22, + "wrist_pos_err_mm_median": 51.8 + } + }, + "frames_by_state": { + "ace_sample": 13954, + "interpolated": 86, + "mean_hand": 839, + "no_body_fit": 5 + }, + "observed_fraction": 0.9433, + "observed_fraction_of_valid": 0.9436, + "palm_axis_vs_markers_deg": { + "gsi": 10.6, + "smplx": 2.46 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.1, + "p90": 5.6 + }, + "registered": { + "median": 4.2, + "p90": 5.7 + } + } + }, + "right": { + "offset_deg": 2.33, + "offset_rotvec": [ + 0.0158, + -0.0352, + -0.0131 + ], + "dev_deg": { + "median": 8.91, + "p90": 17.19 + }, + "samples": 3625, + "accepted": 3613, + "wrist_pos_err_mm_median": 35.2, + "per_camera": { + "head": { + "samples": 3625, + "accepted": 3613, + "gate_deg": 30.0, + "offset_deg": 2.33, + "tier": "primary", + "dev_deg_median": 8.91, + "wrist_pos_err_mm_median": 35.2 + } + }, + "frames_by_state": { + "ace_sample": 14448, + "interpolated": 68, + "mean_hand": 363, + "no_body_fit": 5 + }, + "observed_fraction": 0.9753, + "observed_fraction_of_valid": 0.9756, + "palm_axis_vs_markers_deg": { + "gsi": 5.36, + "smplx": 1.8 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.5, + "p90": 9.9 + }, + "registered": { + "median": 7.4, + "p90": 9.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:15:59.044320+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM86/session_008", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM86/session_008/motions/smplx.npz b/actions/locomanipulation/LM86/session_008/motions/smplx.npz index 15ca19c737b37cb9f2305474c8037c4ba45c02b9..90651908810f778fbefbb75ff20f95582314f74c 100644 --- a/actions/locomanipulation/LM86/session_008/motions/smplx.npz +++ b/actions/locomanipulation/LM86/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a5c766a26392542231842cc4c8018c50968039271d5d09e62d745454048c1c8a -size 5700316 +oid sha256:723f2f87d8dc7e6e08470e4e9e197c6bccc0c75a1e90b54ffc232d0055fc0b20 +size 10508278 diff --git a/actions/locomanipulation/LM86/session_009/meta.json b/actions/locomanipulation/LM86/session_009/meta.json index f8f36fb646567daf516e01ef42116ced40087c29..c2d1b26ed4e8d85811cc625228f886f0648040b8 100644 --- a/actions/locomanipulation/LM86/session_009/meta.json +++ b/actions/locomanipulation/LM86/session_009/meta.json @@ -325,8 +325,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -387,14 +387,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.93, + "inlier_spread_deg": 4.6, + "marker_Q_to_gsi_deg": { + "1": 177.8, + "-1": 15.8 + } + }, "wrist_bend_deg_median": 176.4, - "opposite_sign_bend_deg": 41.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "opposite_sign_bend_deg": 12.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.92, "hand_vs_marker_frame_deg": { "before": 179.51, @@ -405,15 +416,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 176.26, + "twist_moved_deg": -176.04, "wrist_twist_deg_after": { - "median": 0.15, + "median": -0.2, "iqr": [ - -0.7, - 1.0 + -1.1, + 0.6 ] }, - "wrist_total_deg_median_after": 12.3, + "wrist_total_deg_median_after": 41.4, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -424,19 +435,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -3.02066, + -0.33716, + -0.79468 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 26.7, - "opposite_sign_bend_deg": 174.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.848, + "inlier_spread_deg": 4.51, + "marker_Q_to_gsi_deg": { + "1": 175.7, + "-1": 16.0 + } + }, + "wrist_bend_deg_median": 173.8, + "opposite_sign_bend_deg": 26.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.46, "hand_vs_marker_frame_deg": { - "before": 6.46, + "before": 179.6, "after": 6.46 }, "markers_on_wrist": [ @@ -444,15 +466,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.33, + "twist_moved_deg": 173.08, "wrist_twist_deg_after": { - "median": 0.0, + "median": 0.64, "iqr": [ - -1.7, - 1.6 + -1.1, + 2.3 ] }, - "wrist_total_deg_median_after": 27.1, + "wrist_total_deg_median_after": 41.3, "markers_on_forearm": [ "RWristIn", "RWristOut" @@ -460,7 +482,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:26:12.896929+00:00", + "generated_at_utc": "2026-11-06T13:59:36.435551+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -504,6 +526,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8842685782254929 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 15.86, + "offset_rotvec": [ + -0.1184, + 0.0613, + -0.2425 + ], + "dev_deg": { + "median": 4.54, + "p90": 11.49 + }, + "samples": 3968, + "accepted": 3685, + "wrist_pos_err_mm_median": 54.7, + "per_camera": { + "head": { + "samples": 3968, + "accepted": 3685, + "gate_deg": 30.0, + "offset_deg": 15.86, + "tier": "primary", + "dev_deg_median": 4.54, + "wrist_pos_err_mm_median": 54.7 + } + }, + "frames_by_state": { + "ace_sample": 14758, + "interpolated": 170, + "mean_hand": 1156, + "no_body_fit": 0 + }, + "observed_fraction": 0.9281, + "observed_fraction_of_valid": 0.9281, + "palm_axis_vs_markers_deg": { + "gsi": 7.24, + "smplx": 0.73 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.7, + "p90": 17.3 + }, + "registered": { + "median": 11.6, + "p90": 18.1 + } + } + }, + "right": { + "offset_deg": 15.88, + "offset_rotvec": [ + 0.0083, + -0.0418, + 0.2739 + ], + "dev_deg": { + "median": 5.08, + "p90": 176.23 + }, + "samples": 3990, + "accepted": 3391, + "wrist_pos_err_mm_median": 37.4, + "per_camera": { + "head": { + "samples": 3990, + "accepted": 3391, + "gate_deg": 30.0, + "offset_deg": 15.88, + "tier": "primary", + "dev_deg_median": 5.08, + "wrist_pos_err_mm_median": 37.4 + } + }, + "frames_by_state": { + "ace_sample": 13576, + "interpolated": 40, + "mean_hand": 2468, + "no_body_fit": 0 + }, + "observed_fraction": 0.8466, + "observed_fraction_of_valid": 0.8466, + "palm_axis_vs_markers_deg": { + "gsi": 9.5, + "smplx": 1.44 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.3, + "p90": 15.8 + }, + "registered": { + "median": 12.2, + "p90": 15.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:15:52.540445+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM86/session_009", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM86/session_009/motions/smplx.npz b/actions/locomanipulation/LM86/session_009/motions/smplx.npz index 0bd6e662f96f7a12252e811c0aa100fa440b9fd7..e442e3d87b819b79293c9fd9dc638e040abcb2fa 100644 --- a/actions/locomanipulation/LM86/session_009/motions/smplx.npz +++ b/actions/locomanipulation/LM86/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6502f7f595eaccf88328e0903610320a10c61c9b2b059eb86972f5e36157bffd -size 6154462 +oid sha256:ea29aada1e00451e00bfa61df0cbe533cb8cde02d31fe8da21f1e2c785e3f333 +size 10940701 diff --git a/actions/locomanipulation/LM86/session_010/meta.json b/actions/locomanipulation/LM86/session_010/meta.json index db65687445793d39e31f7ac1679370e69652ea03..956fea85b036617c27c4a75b5b03d5dccee3e481 100644 --- a/actions/locomanipulation/LM86/session_010/meta.json +++ b/actions/locomanipulation/LM86/session_010/meta.json @@ -324,8 +324,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -400,10 +400,21 @@ -0.2415, -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 172.2, - "opposite_sign_bend_deg": 39.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.954, + "inlier_spread_deg": 7.28, + "marker_Q_to_gsi_deg": { + "1": 171.5, + "-1": 13.8 + } + }, + "wrist_bend_deg_median": 167.1, + "opposite_sign_bend_deg": 15.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.25, "hand_vs_marker_frame_deg": { "before": 178.99, @@ -414,15 +425,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 166.66, + "twist_moved_deg": -164.39, "wrist_twist_deg_after": { - "median": 10.27, + "median": -2.27, "iqr": [ - 2.6, - 17.1 + -11.6, + 5.5 ] }, - "wrist_total_deg_median_after": 15.4, + "wrist_total_deg_median_after": 40.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -440,6 +451,17 @@ -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.992, + "inlier_spread_deg": 8.22, + "marker_Q_to_gsi_deg": { + "1": 10.8, + "-1": 176.3 + } + }, "wrist_bend_deg_median": 23.9, "opposite_sign_bend_deg": 175.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -470,7 +492,7 @@ }, "frames_used": 1428 }, - "generated_at_utc": "2026-10-28T06:26:12.591818+00:00", + "generated_at_utc": "2026-11-06T13:59:32.666383+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -514,6 +536,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8674484724900372 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 14.22, + "offset_rotvec": [ + -0.1348, + 0.2072, + -0.0219 + ], + "dev_deg": { + "median": 7.55, + "p90": 13.44 + }, + "samples": 3554, + "accepted": 3389, + "wrist_pos_err_mm_median": 55.0, + "per_camera": { + "head": { + "samples": 3554, + "accepted": 3389, + "gate_deg": 30.0, + "offset_deg": 14.22, + "tier": "primary", + "dev_deg_median": 7.55, + "wrist_pos_err_mm_median": 55.0 + } + }, + "frames_by_state": { + "ace_sample": 13556, + "interpolated": 132, + "mean_hand": 592, + "no_body_fit": 4 + }, + "observed_fraction": 0.9583, + "observed_fraction_of_valid": 0.9585, + "palm_axis_vs_markers_deg": { + "gsi": 15.72, + "smplx": 1.8 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.2, + "p90": 6.3 + }, + "registered": { + "median": 5.0, + "p90": 5.7 + } + } + }, + "right": { + "offset_deg": 10.4, + "offset_rotvec": [ + -0.0126, + -0.1742, + -0.0493 + ], + "dev_deg": { + "median": 8.39, + "p90": 14.08 + }, + "samples": 3474, + "accepted": 3450, + "wrist_pos_err_mm_median": 83.1, + "per_camera": { + "head": { + "samples": 3474, + "accepted": 3450, + "gate_deg": 30.0, + "offset_deg": 10.4, + "tier": "primary", + "dev_deg_median": 8.39, + "wrist_pos_err_mm_median": 83.1 + } + }, + "frames_by_state": { + "ace_sample": 13806, + "interpolated": 170, + "mean_hand": 304, + "no_body_fit": 4 + }, + "observed_fraction": 0.9784, + "observed_fraction_of_valid": 0.9787, + "palm_axis_vs_markers_deg": { + "gsi": 12.74, + "smplx": 2.28 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 16.3, + "p90": 21.5 + }, + "registered": { + "median": 16.4, + "p90": 21.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:15:55.441366+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM86/session_010", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM86/session_010/motions/smplx.npz b/actions/locomanipulation/LM86/session_010/motions/smplx.npz index 0b1ddf0e1f59d36a1402c0ad79f4dace31f5a8b2..4bd7f3f3675b20c8d746b0136604eccb7372343f 100644 --- a/actions/locomanipulation/LM86/session_010/motions/smplx.npz +++ b/actions/locomanipulation/LM86/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2413fcd12d2cdc7319a9e42829e205bb964b18f4292bc8d1ab5a202648906389 -size 5490189 +oid sha256:d3a29a6c16380378ee21590f62baecdc6fee96020b76e732dc8c87d36c01935e +size 10139182 diff --git a/actions/locomanipulation/LM86/session_024/meta.json b/actions/locomanipulation/LM86/session_024/meta.json index aa5a9ec36055c30f8578ad1e1637b39fc930c993..0168af6a034ec14b7d2a43fbd46c8f299b92df3c 100644 --- a/actions/locomanipulation/LM86/session_024/meta.json +++ b/actions/locomanipulation/LM86/session_024/meta.json @@ -377,8 +377,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -442,19 +442,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + 2.98164, + -0.44128, + -0.88584 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 31.6, - "opposite_sign_bend_deg": 177.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.845, + "inlier_spread_deg": 7.15, + "marker_Q_to_gsi_deg": { + "1": 146.2, + "-1": 42.5 + } + }, + "wrist_bend_deg_median": 177.8, + "opposite_sign_bend_deg": 31.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.28, "hand_vs_marker_frame_deg": { - "before": 1.28, + "before": 179.68, "after": 1.28 }, "markers_on_wrist": [ @@ -462,15 +473,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -175.74, "wrist_twist_deg_after": { - "median": 0.0, + "median": -2.21, "iqr": [ - -2.1, - 2.3 + -4.4, + -0.1 ] }, - "wrist_total_deg_median_after": 32.1, + "wrist_total_deg_median_after": 11.9, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -483,11 +494,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ + 0.0, -0.0, - -0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.998, + "inlier_spread_deg": 5.44, + "marker_Q_to_gsi_deg": { + "1": 36.9, + "-1": 143.3 + } + }, "wrist_bend_deg_median": 38.6, "opposite_sign_bend_deg": 173.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -519,7 +541,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:41:34.722476+00:00", + "generated_at_utc": "2026-11-06T14:08:23.339062+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -559,6 +581,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 42.01, + "offset_rotvec": [ + 0.6903, + -0.0845, + 0.2323 + ], + "dev_deg": { + "median": 8.86, + "p90": 37.41 + }, + "samples": 3813, + "accepted": 3223, + "wrist_pos_err_mm_median": 51.2, + "per_camera": { + "head": { + "samples": 3813, + "accepted": 3223, + "gate_deg": 30.0, + "offset_deg": 42.01, + "tier": "primary", + "dev_deg_median": 8.86, + "wrist_pos_err_mm_median": 51.2 + } + }, + "frames_by_state": { + "ace_sample": 12982, + "interpolated": 1278, + "mean_hand": 1193, + "no_body_fit": 7 + }, + "observed_fraction": 0.9224, + "observed_fraction_of_valid": 0.9228, + "palm_axis_vs_markers_deg": { + "gsi": 33.16, + "smplx": 1.13 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 16.3, + "p90": 27.9 + }, + "registered": { + "median": 15.5, + "p90": 27.4 + } + } + }, + "right": { + "offset_deg": 36.92, + "offset_rotvec": [ + 0.6304, + 0.0623, + 0.1178 + ], + "dev_deg": { + "median": 5.43, + "p90": 10.5 + }, + "samples": 3846, + "accepted": 3840, + "wrist_pos_err_mm_median": 51.2, + "per_camera": { + "head": { + "samples": 3846, + "accepted": 3840, + "gate_deg": 30.0, + "offset_deg": 36.92, + "tier": "primary", + "dev_deg_median": 5.43, + "wrist_pos_err_mm_median": 51.2 + } + }, + "frames_by_state": { + "ace_sample": 15368, + "interpolated": 80, + "mean_hand": 5, + "no_body_fit": 7 + }, + "observed_fraction": 0.9992, + "observed_fraction_of_valid": 0.9997, + "palm_axis_vs_markers_deg": { + "gsi": 36.62, + "smplx": 1.39 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.3, + "p90": 24.4 + }, + "registered": { + "median": 13.6, + "p90": 24.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:33:42.744625+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM86/session_024", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM86/session_024/motions/smplx.npz b/actions/locomanipulation/LM86/session_024/motions/smplx.npz index b009bbf3b057a699d1bbd893492f28e5c9e68911..e9db9fdc599aead2c06064a32363a349cb6876eb 100644 --- a/actions/locomanipulation/LM86/session_024/motions/smplx.npz +++ b/actions/locomanipulation/LM86/session_024/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:83b2def67a08d3a6311f9e10b3ac938db8afaadd93fe6b144726974a6b59dcd7 -size 5956455 +oid sha256:1b658e61fea6013d19ed2993781ce2004d314053a2d4da0ca64c640f53cd35e2 +size 10977655 diff --git a/actions/locomanipulation/LM86/session_025/meta.json b/actions/locomanipulation/LM86/session_025/meta.json index 352d6af9f864c86b54f4a49f85e01e7af1fc3558..681d6c936007636421e69866a0b3fdcba766cac2 100644 --- a/actions/locomanipulation/LM86/session_025/meta.json +++ b/actions/locomanipulation/LM86/session_025/meta.json @@ -379,8 +379,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -444,19 +444,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + 2.98164, + -0.44128, + -0.88584 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 30.1, - "opposite_sign_bend_deg": 177.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.917, + "inlier_spread_deg": 6.44, + "marker_Q_to_gsi_deg": { + "1": 157.4, + "-1": 29.5 + } + }, + "wrist_bend_deg_median": 177.3, + "opposite_sign_bend_deg": 30.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.25, "hand_vs_marker_frame_deg": { - "before": 1.25, + "before": 179.75, "after": 1.25 }, "markers_on_wrist": [ @@ -464,15 +475,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.02, + "twist_moved_deg": -176.7, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.92, "iqr": [ - -1.8, - 1.7 + -2.5, + 0.6 ] }, - "wrist_total_deg_median_after": 30.1, + "wrist_total_deg_median_after": 13.3, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -485,11 +496,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, -0.0, - 0.0 + -0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.97, + "inlier_spread_deg": 4.19, + "marker_Q_to_gsi_deg": { + "1": 37.4, + "-1": 143.7 + } + }, "wrist_bend_deg_median": 40.9, "opposite_sign_bend_deg": 173.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -504,7 +526,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -520,7 +542,7 @@ }, "frames_used": 1465 }, - "generated_at_utc": "2026-10-28T06:41:35.123065+00:00", + "generated_at_utc": "2026-11-06T14:08:18.943407+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -557,6 +579,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 29.82, + "offset_rotvec": [ + 0.4836, + -0.0308, + 0.1898 + ], + "dev_deg": { + "median": 7.18, + "p90": 25.03 + }, + "samples": 3614, + "accepted": 3313, + "wrist_pos_err_mm_median": 46.3, + "per_camera": { + "head": { + "samples": 3614, + "accepted": 3313, + "gate_deg": 30.0, + "offset_deg": 29.82, + "tier": "primary", + "dev_deg_median": 7.18, + "wrist_pos_err_mm_median": 46.3 + } + }, + "frames_by_state": { + "ace_sample": 13304, + "interpolated": 552, + "mean_hand": 788, + "no_body_fit": 0 + }, + "observed_fraction": 0.9462, + "observed_fraction_of_valid": 0.9462, + "palm_axis_vs_markers_deg": { + "gsi": 22.7, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 37.45, + "offset_rotvec": [ + 0.6014, + -0.0651, + 0.2475 + ], + "dev_deg": { + "median": 4.38, + "p90": 10.55 + }, + "samples": 3647, + "accepted": 3542, + "wrist_pos_err_mm_median": 44.1, + "per_camera": { + "head": { + "samples": 3647, + "accepted": 3542, + "gate_deg": 30.0, + "offset_deg": 37.45, + "tier": "primary", + "dev_deg_median": 4.38, + "wrist_pos_err_mm_median": 44.1 + } + }, + "frames_by_state": { + "ace_sample": 14188, + "interpolated": 252, + "mean_hand": 204, + "no_body_fit": 0 + }, + "observed_fraction": 0.9861, + "observed_fraction_of_valid": 0.9861, + "palm_axis_vs_markers_deg": { + "gsi": 38.0, + "smplx": 1.21 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 17.2, + "p90": 29.0 + }, + "registered": { + "median": 16.6, + "p90": 27.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:33:35.440442+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM86/session_025", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM86/session_025/motions/smplx.npz b/actions/locomanipulation/LM86/session_025/motions/smplx.npz index 340429296d52aa16cc5363bb2150ba480ada2d9e..edbfa581a0e3cc95daf8a6cb8f71de97ff729a08 100644 --- a/actions/locomanipulation/LM86/session_025/motions/smplx.npz +++ b/actions/locomanipulation/LM86/session_025/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9cb09a4090e743bf2d045921f7357e6c965e5f08487bb00d0c13266bab33c230 -size 5630746 +oid sha256:a9c7470c5e8a900202bb250871d5fd4d406eec3df3a9145e5c9aa5c01ca7ca2e +size 10399456 diff --git a/actions/locomanipulation/LM86/session_026/meta.json b/actions/locomanipulation/LM86/session_026/meta.json index a42ddeaa77a5fa5cdbe4aeb1c5135acf8bdd3b62..57bb7b90f4ae089bc1cece8387da5ead322726fd 100644 --- a/actions/locomanipulation/LM86/session_026/meta.json +++ b/actions/locomanipulation/LM86/session_026/meta.json @@ -379,8 +379,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -444,35 +444,46 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 132.74, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -2.04314, + 0.89432, + 0.62701 ], "in_out_sign": 1, - "wrist_bend_deg_median": 28.2, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.86, + "inlier_spread_deg": 14.35, + "marker_Q_to_gsi_deg": { + "1": 132.7, + "-1": 55.1 + } + }, + "wrist_bend_deg_median": 125.3, "opposite_sign_bend_deg": 177.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.4, "hand_vs_marker_frame_deg": { "before": 1.4, - "after": 1.4 + "after": 132.64 }, "markers_on_wrist": [ "LHandIn", "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.02, + "twist_moved_deg": -122.98, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.09, "iqr": [ - -1.7, - 3.5 + -2.0, + 8.0 ] }, - "wrist_total_deg_median_after": 28.7, + "wrist_total_deg_median_after": 29.6, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -486,10 +497,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.969, + "inlier_spread_deg": 4.66, + "marker_Q_to_gsi_deg": { + "1": 31.1, + "-1": 149.5 + } + }, "wrist_bend_deg_median": 41.0, "opposite_sign_bend_deg": 172.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -521,7 +543,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:41:35.127069+00:00", + "generated_at_utc": "2026-11-06T14:08:26.846591+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -572,6 +594,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 4.55, + "offset_rotvec": [ + -0.0714, + 0.0158, + -0.031 + ], + "dev_deg": { + "median": 15.35, + "p90": 33.64 + }, + "samples": 3905, + "accepted": 3265, + "wrist_pos_err_mm_median": 33.4, + "per_camera": { + "head": { + "samples": 3905, + "accepted": 3265, + "gate_deg": 30.0, + "offset_deg": 4.55, + "tier": "primary", + "dev_deg_median": 15.35, + "wrist_pos_err_mm_median": 33.4 + } + }, + "frames_by_state": { + "ace_sample": 13188, + "interpolated": 1388, + "mean_hand": 1388, + "no_body_fit": 0 + }, + "observed_fraction": 0.9131, + "observed_fraction_of_valid": 0.9131, + "palm_axis_vs_markers_deg": { + "gsi": 45.11, + "smplx": 47.43 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 18.2, + "p90": 27.8 + }, + "registered": { + "median": 18.1, + "p90": 27.8 + } + } + }, + "right": { + "offset_deg": 31.14, + "offset_rotvec": [ + 0.5315, + -0.0164, + 0.1124 + ], + "dev_deg": { + "median": 4.77, + "p90": 11.96 + }, + "samples": 3932, + "accepted": 3814, + "wrist_pos_err_mm_median": 52.6, + "per_camera": { + "head": { + "samples": 3932, + "accepted": 3814, + "gate_deg": 30.0, + "offset_deg": 31.14, + "tier": "primary", + "dev_deg_median": 4.77, + "wrist_pos_err_mm_median": 52.6 + } + }, + "frames_by_state": { + "ace_sample": 15264, + "interpolated": 228, + "mean_hand": 472, + "no_body_fit": 0 + }, + "observed_fraction": 0.9704, + "observed_fraction_of_valid": 0.9704, + "palm_axis_vs_markers_deg": { + "gsi": 31.42, + "smplx": 1.61 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.8, + "p90": 22.7 + }, + "registered": { + "median": 14.4, + "p90": 20.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:33:43.742674+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM86/session_026", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM86/session_026/motions/smplx.npz b/actions/locomanipulation/LM86/session_026/motions/smplx.npz index a9a0739a559a9a2ce56d0e7dcf742e2c31e46d46..7cc23b92868b3686083dc7bfa66a456115d3854d 100644 --- a/actions/locomanipulation/LM86/session_026/motions/smplx.npz +++ b/actions/locomanipulation/LM86/session_026/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8716f5e39adf637fef0ad38384e2a2813602252c94e7675309dfb9507986a56f -size 6135796 +oid sha256:1cce7ccdba998d9d889ea4ea7fc710b614070b213510e14c3896fa02cbd54e32 +size 11245358 diff --git a/actions/locomotion_posture_dynamics/D03/session_010/meta.json b/actions/locomotion_posture_dynamics/D03/session_010/meta.json index b1ab4fd132b52598a9ec9960039f9c71aca76fec..e90e131dbd81c8968b2ba059ca5166bf9966bf85 100644 --- a/actions/locomotion_posture_dynamics/D03/session_010/meta.json +++ b/actions/locomotion_posture_dynamics/D03/session_010/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -393,14 +393,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -2.98839, - 0.43124, - 0.86786 + 2.98839, + -0.43124, + -0.86787 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 174.4, - "opposite_sign_bend_deg": 20.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1822, + "inlier_frac": 0.568, + "inlier_spread_deg": 18.1, + "marker_Q_to_gsi_deg": { + "1": 164.6, + "-1": 18.7 + } + }, + "wrist_bend_deg_median": 170.2, + "opposite_sign_bend_deg": 33.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.92, "hand_vs_marker_frame_deg": { "before": 178.93, @@ -411,15 +422,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 167.61, + "twist_moved_deg": -158.6, "wrist_twist_deg_after": { - "median": 9.81, + "median": -8.99, "iqr": [ - 5.6, - 20.6 + -14.8, + 14.7 ] }, - "wrist_total_deg_median_after": 35.9, + "wrist_total_deg_median_after": 29.8, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -432,11 +443,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, + -0.0, -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1773, + "inlier_frac": 0.655, + "inlier_spread_deg": 17.32, + "marker_Q_to_gsi_deg": { + "1": 9.4, + "-1": 179.8 + } + }, "wrist_bend_deg_median": 23.1, "opposite_sign_bend_deg": 175.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -453,7 +475,7 @@ "forearm_twist": { "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -15.8, 3.4 @@ -469,7 +491,7 @@ }, "frames_used": 949 }, - "generated_at_utc": "2026-10-28T06:31:45.566402+00:00", + "generated_at_utc": "2026-11-06T14:00:42.342289+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -582,6 +604,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 2.136087430916192 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.21, + "offset_rotvec": [ + 0.2315, + -0.1249, + 0.145 + ], + "dev_deg": { + "median": 27.25, + "p90": 153.55 + }, + "samples": 1822, + "accepted": 1016, + "wrist_pos_err_mm_median": 53.8, + "per_camera": { + "head": { + "samples": 1822, + "accepted": 1016, + "gate_deg": 30.0, + "offset_deg": 17.21, + "tier": "primary", + "dev_deg_median": 27.25, + "wrist_pos_err_mm_median": 53.8 + } + }, + "frames_by_state": { + "ace_sample": 4180, + "interpolated": 2472, + "mean_hand": 2832, + "no_body_fit": 0 + }, + "observed_fraction": 0.7014, + "observed_fraction_of_valid": 0.7014, + "palm_axis_vs_markers_deg": { + "gsi": 26.27, + "smplx": 5.13 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.4, + "p90": 13.9 + }, + "registered": { + "median": 8.6, + "p90": 12.5 + } + } + }, + "right": { + "offset_deg": 9.45, + "offset_rotvec": [ + 0.0847, + -0.0856, + -0.1127 + ], + "dev_deg": { + "median": 24.19, + "p90": 47.75 + }, + "samples": 1773, + "accepted": 1171, + "wrist_pos_err_mm_median": 74.6, + "per_camera": { + "head": { + "samples": 1773, + "accepted": 1171, + "gate_deg": 30.0, + "offset_deg": 9.45, + "tier": "primary", + "dev_deg_median": 24.19, + "wrist_pos_err_mm_median": 74.6 + } + }, + "frames_by_state": { + "ace_sample": 4864, + "interpolated": 3472, + "mean_hand": 1148, + "no_body_fit": 0 + }, + "observed_fraction": 0.879, + "observed_fraction_of_valid": 0.879, + "palm_axis_vs_markers_deg": { + "gsi": 21.97, + "smplx": 2.44 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.3, + "p90": 15.7 + }, + "registered": { + "median": 9.4, + "p90": 13.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:19:30.742784+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D03/session_010", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D03/session_010/motions/smplx.npz b/actions/locomotion_posture_dynamics/D03/session_010/motions/smplx.npz index 6d40e14e1680788309ad5f78a72726f95ed64965..a00ee46a65f91137c3e512a54d01088c2da62643 100644 --- a/actions/locomotion_posture_dynamics/D03/session_010/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D03/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a5c68968e31f7b560569e136903c9ac8d05530ce26b77fd7be051022002e8bf7 -size 3637046 +oid sha256:8395b45950b059ecc994a801f409600224f2cabd4cd7e54306b53855f865c371 +size 6276922 diff --git a/actions/locomotion_posture_dynamics/D05/session_009/meta.json b/actions/locomotion_posture_dynamics/D05/session_009/meta.json index 38db6025bd4bbd7685c8f451d18e253dd2bf833c..cd7c12117736cddedfb56bb22dbb42d15531f9e1 100644 --- a/actions/locomotion_posture_dynamics/D05/session_009/meta.json +++ b/actions/locomotion_posture_dynamics/D05/session_009/meta.json @@ -327,8 +327,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -397,19 +397,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - -0.0 + -2.99022, + 0.44902, + 0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 35.1, - "opposite_sign_bend_deg": 170.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1121, + "inlier_frac": 0.663, + "inlier_spread_deg": 7.2, + "marker_Q_to_gsi_deg": { + "1": 158.0, + "-1": 24.0 + } + }, + "wrist_bend_deg_median": 172.9, + "opposite_sign_bend_deg": 35.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 7.54, "hand_vs_marker_frame_deg": { - "before": 7.54, + "before": 176.36, "after": 7.54 }, "markers_on_wrist": [ @@ -418,15 +429,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 5.13, + "twist_moved_deg": -166.71, "wrist_twist_deg_after": { - "median": 0.0, + "median": -8.65, "iqr": [ - -4.9, - 40.8 + -11.2, + 36.2 ] }, - "wrist_total_deg_median_after": 36.6, + "wrist_total_deg_median_after": 37.0, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -438,11 +449,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, + -0.0, -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 742, + "inlier_frac": 0.845, + "inlier_spread_deg": 10.89, + "marker_Q_to_gsi_deg": { + "1": 25.5, + "-1": 156.1 + } + }, "wrist_bend_deg_median": 19.9, "opposite_sign_bend_deg": 174.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -473,7 +495,7 @@ }, "frames_used": 829 }, - "generated_at_utc": "2026-10-28T06:30:27.037667+00:00", + "generated_at_utc": "2026-11-06T13:59:23.163810+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -565,6 +587,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 18.4, + "offset_rotvec": [ + 0.1115, + -0.0107, + -0.3009 + ], + "dev_deg": { + "median": 22.99, + "p90": 170.7 + }, + "samples": 1121, + "accepted": 679, + "wrist_pos_err_mm_median": 295.0, + "per_camera": { + "head": { + "samples": 1121, + "accepted": 679, + "gate_deg": 30.0, + "offset_deg": 18.4, + "tier": "primary", + "dev_deg_median": 22.99, + "wrist_pos_err_mm_median": 295.0 + } + }, + "frames_by_state": { + "ace_sample": 2714, + "interpolated": 678, + "mean_hand": 4892, + "no_body_fit": 0 + }, + "observed_fraction": 0.4095, + "observed_fraction_of_valid": 0.4095, + "palm_axis_vs_markers_deg": { + "gsi": 25.71, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 28.4, + "offset_rotvec": [ + 0.3086, + -0.2338, + 0.3096 + ], + "dev_deg": { + "median": 18.63, + "p90": 34.84 + }, + "samples": 742, + "accepted": 628, + "wrist_pos_err_mm_median": 309.6, + "per_camera": { + "head": { + "samples": 742, + "accepted": 628, + "gate_deg": 30.0, + "offset_deg": 28.4, + "tier": "primary", + "dev_deg_median": 18.63, + "wrist_pos_err_mm_median": 309.6 + } + }, + "frames_by_state": { + "ace_sample": 2554, + "interpolated": 1858, + "mean_hand": 3872, + "no_body_fit": 0 + }, + "observed_fraction": 0.5326, + "observed_fraction_of_valid": 0.5326, + "palm_axis_vs_markers_deg": { + "gsi": 26.26, + "smplx": 1.2 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.1, + "p90": 15.4 + }, + "registered": { + "median": 8.1, + "p90": 13.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:17:25.636185+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D05/session_009", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D05/session_009/motions/smplx.npz b/actions/locomotion_posture_dynamics/D05/session_009/motions/smplx.npz index 81ed5c44cdbf9aeefd48432ca6a49241cc4d59b0..2cba5ccc8fb3ab82f79b49ad4143e62c65454ca6 100644 --- a/actions/locomotion_posture_dynamics/D05/session_009/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D05/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:505e379a1515e7d9b8cbbfef3325cb22eb8a6a486ca9617a61129903e97acc5f -size 3183615 +oid sha256:b5e1a9f28e95f683e29b191978f2af4471506b4bf349c528a8022edf2f44a205 +size 4743215 diff --git a/actions/locomotion_posture_dynamics/D05/session_014/meta.json b/actions/locomotion_posture_dynamics/D05/session_014/meta.json index c034e3797fc6ef00bbfc51f55d6696399c5cb537..0ef694a67ad18ebda5062fe947c416e2fcb5d44a 100644 --- a/actions/locomotion_posture_dynamics/D05/session_014/meta.json +++ b/actions/locomotion_posture_dynamics/D05/session_014/meta.json @@ -379,8 +379,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -446,14 +446,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 2.98163, + 2.98164, -0.44128, - -0.88585 + -0.88584 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 175.9, - "opposite_sign_bend_deg": 10.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1069, + "inlier_frac": 0.805, + "inlier_spread_deg": 16.62, + "marker_Q_to_gsi_deg": { + "1": 171.7, + "-1": 22.1 + } + }, + "wrist_bend_deg_median": 167.3, + "opposite_sign_bend_deg": 35.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.66, "hand_vs_marker_frame_deg": { "before": 179.19, @@ -464,15 +475,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 167.17, + "twist_moved_deg": -166.9, "wrist_twist_deg_after": { - "median": 11.28, + "median": -0.28, "iqr": [ - 7.0, - 15.6 + -3.5, + 2.3 ] }, - "wrist_total_deg_median_after": 35.7, + "wrist_total_deg_median_after": 10.2, "markers_on_forearm": [ "LElbowIn", "LForearm", @@ -486,11 +497,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, - -0.0, + 0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 689, + "inlier_frac": 0.927, + "inlier_spread_deg": 11.07, + "marker_Q_to_gsi_deg": { + "1": 5.2, + "-1": 177.1 + } + }, "wrist_bend_deg_median": 19.9, "opposite_sign_bend_deg": 176.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -521,10 +543,120 @@ }, "frames_used": 1342 }, - "generated_at_utc": "2026-10-28T06:40:03.491164+00:00", + "generated_at_utc": "2026-11-06T14:04:15.542839+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 26.93, + "offset_rotvec": [ + -0.0819, + -0.1083, + 0.45 + ], + "dev_deg": { + "median": 19.11, + "p90": 39.32 + }, + "samples": 1069, + "accepted": 829, + "wrist_pos_err_mm_median": 83.4, + "per_camera": { + "head": { + "samples": 1069, + "accepted": 829, + "gate_deg": 30.0, + "offset_deg": 26.93, + "tier": "primary", + "dev_deg_median": 19.11, + "wrist_pos_err_mm_median": 83.4 + } + }, + "frames_by_state": { + "ace_sample": 3344, + "interpolated": 2210, + "mean_hand": 7859, + "no_body_fit": 7 + }, + "observed_fraction": 0.4139, + "observed_fraction_of_valid": 0.4141, + "palm_axis_vs_markers_deg": { + "gsi": 19.17, + "smplx": 1.0 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.8, + "p90": 20.0 + }, + "registered": { + "median": 11.8, + "p90": 19.4 + } + } + }, + "right": { + "offset_deg": 6.39, + "offset_rotvec": [ + 0.0741, + -0.0816, + -0.0166 + ], + "dev_deg": { + "median": 11.78, + "p90": 26.25 + }, + "samples": 689, + "accepted": 641, + "wrist_pos_err_mm_median": 75.0, + "per_camera": { + "head": { + "samples": 689, + "accepted": 641, + "gate_deg": 30.0, + "offset_deg": 6.39, + "tier": "primary", + "dev_deg_median": 11.78, + "wrist_pos_err_mm_median": 75.0 + } + }, + "frames_by_state": { + "ace_sample": 2486, + "interpolated": 638, + "mean_hand": 10289, + "no_body_fit": 7 + }, + "observed_fraction": 0.2328, + "observed_fraction_of_valid": 0.2329, + "palm_axis_vs_markers_deg": { + "gsi": 10.03, + "smplx": 1.09 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 15.1, + "p90": 24.7 + }, + "registered": { + "median": 14.3, + "p90": 22.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:25:45.444822+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D05/session_014", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D05/session_014/motions/smplx.npz b/actions/locomotion_posture_dynamics/D05/session_014/motions/smplx.npz index 0c853b1f52aa5ba20448fd5530b3ce1c4ba67b06..2c030aeb5d467e171638de07a8ad159244c0c30d 100644 --- a/actions/locomotion_posture_dynamics/D05/session_014/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D05/session_014/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:215bac1c260e513789b6b28a22fd57bb99d22fbee4bf783a44ba3d2a7971a11c -size 5092711 +oid sha256:369978b426bb44b502406e31dafe167882ec490d335a3bfdf7489665b1174c26 +size 7074410 diff --git a/actions/locomotion_posture_dynamics/D14/session_007/meta.json b/actions/locomotion_posture_dynamics/D14/session_007/meta.json index d9c2f5e0108191d94239fdd72c9c0ac9119c88f7..aaa3a6df0a74a1ead863c75d4dc2cfc1e98874ed 100644 --- a/actions/locomotion_posture_dynamics/D14/session_007/meta.json +++ b/actions/locomotion_posture_dynamics/D14/session_007/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -400,14 +400,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 2.99022, - -0.44902, - -0.85238 + -2.99022, + 0.44902, + 0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 171.7, - "opposite_sign_bend_deg": 17.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 950, + "inlier_frac": 0.737, + "inlier_spread_deg": 14.16, + "marker_Q_to_gsi_deg": { + "1": 171.9, + "-1": 10.8 + } + }, + "wrist_bend_deg_median": 145.9, + "opposite_sign_bend_deg": 46.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.37, "hand_vs_marker_frame_deg": { "before": 178.42, @@ -419,15 +430,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 146.18, + "twist_moved_deg": -143.31, "wrist_twist_deg_after": { - "median": 30.38, + "median": -2.89, "iqr": [ - 10.7, - 36.8 + -24.1, + 3.7 ] }, - "wrist_total_deg_median_after": 46.2, + "wrist_total_deg_median_after": 17.7, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -437,19 +448,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 2.99225, + 0.43169, + 0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 25.5, - "opposite_sign_bend_deg": 172.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 879, + "inlier_frac": 0.751, + "inlier_spread_deg": 11.28, + "marker_Q_to_gsi_deg": { + "1": 173.4, + "-1": 12.3 + } + }, + "wrist_bend_deg_median": 172.8, + "opposite_sign_bend_deg": 25.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.92, "hand_vs_marker_frame_deg": { - "before": 2.92, + "before": 178.8, "after": 2.92 }, "markers_on_wrist": [ @@ -458,15 +480,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": 169.73, "wrist_twist_deg_after": { - "median": -0.0, + "median": 5.6, "iqr": [ - -4.9, - 9.3 + 1.5, + 13.1 ] }, - "wrist_total_deg_median_after": 25.4, + "wrist_total_deg_median_after": 22.4, "markers_on_forearm": [ "RForearm", "RWristIn" @@ -474,7 +496,7 @@ }, "frames_used": 709 }, - "generated_at_utc": "2026-10-28T06:17:53.489277+00:00", + "generated_at_utc": "2026-11-06T13:44:33.043687+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -518,6 +540,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.4325410962845582 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.31, + "offset_rotvec": [ + 0.173, + -0.0044, + 0.0494 + ], + "dev_deg": { + "median": 19.29, + "p90": 42.14 + }, + "samples": 950, + "accepted": 718, + "wrist_pos_err_mm_median": 81.6, + "per_camera": { + "head": { + "samples": 950, + "accepted": 718, + "gate_deg": 30.0, + "offset_deg": 10.31, + "tier": "primary", + "dev_deg_median": 19.29, + "wrist_pos_err_mm_median": 81.6 + } + }, + "frames_by_state": { + "ace_sample": 2950, + "interpolated": 2430, + "mean_hand": 1704, + "no_body_fit": 0 + }, + "observed_fraction": 0.7595, + "observed_fraction_of_valid": 0.7595, + "palm_axis_vs_markers_deg": { + "gsi": 15.08, + "smplx": 1.98 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.5, + "p90": 15.3 + }, + "registered": { + "median": 11.0, + "p90": 13.7 + } + } + }, + "right": { + "offset_deg": 11.68, + "offset_rotvec": [ + 0.0251, + -0.0215, + 0.2011 + ], + "dev_deg": { + "median": 15.15, + "p90": 113.98 + }, + "samples": 879, + "accepted": 655, + "wrist_pos_err_mm_median": 137.2, + "per_camera": { + "head": { + "samples": 879, + "accepted": 655, + "gate_deg": 30.0, + "offset_deg": 11.68, + "tier": "primary", + "dev_deg_median": 15.15, + "wrist_pos_err_mm_median": 137.2 + } + }, + "frames_by_state": { + "ace_sample": 2638, + "interpolated": 1510, + "mean_hand": 2936, + "no_body_fit": 0 + }, + "observed_fraction": 0.5855, + "observed_fraction_of_valid": 0.5855, + "palm_axis_vs_markers_deg": { + "gsi": 15.92, + "smplx": 1.3 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.3, + "p90": 7.0 + }, + "registered": { + "median": 6.4, + "p90": 9.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:45:18.540321+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D14/session_007", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D14/session_007/motions/smplx.npz b/actions/locomotion_posture_dynamics/D14/session_007/motions/smplx.npz index e97ba0022f996a7268187779aafc43f7379c59a6..829624543336435e206d85a4d5ac563a73ce5f90 100644 --- a/actions/locomotion_posture_dynamics/D14/session_007/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D14/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c304ea5a61ebc6e99da09558df8fde49e58de81ba67d7262c78fd6143476fd0b -size 2737036 +oid sha256:0ade0d2752bb19a386fe8d5f5914e0cc02ecb8ac8866655d13b8486081b1b908 +size 4575990 diff --git a/actions/locomotion_posture_dynamics/D14/session_012/meta.json b/actions/locomotion_posture_dynamics/D14/session_012/meta.json index 0bc634ffb978a0031b83f7e1a5340903cc2fe5f1..5184e26d2064e81e600734826161726b9060a9a5 100644 --- a/actions/locomotion_posture_dynamics/D14/session_012/meta.json +++ b/actions/locomotion_posture_dynamics/D14/session_012/meta.json @@ -384,35 +384,46 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 54.06, "Q_rotvec": [ - 2.98442, - -0.43848, - -0.87784 + 0.79313, + -0.49829, + 0.11316 ], "in_out_sign": 1, - "wrist_bend_deg_median": 172.7, - "opposite_sign_bend_deg": 37.7, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 1719, + "inlier_frac": 0.635, + "inlier_spread_deg": 14.27, + "marker_Q_to_gsi_deg": { + "1": 54.1, + "-1": 135.2 + } + }, + "wrist_bend_deg_median": 57.1, + "opposite_sign_bend_deg": 171.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.63, "hand_vs_marker_frame_deg": { - "before": 177.97, - "after": 3.63 + "before": 3.63, + "after": 53.75 }, "markers_on_wrist": [ "LHandIn", "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -171.89, + "twist_moved_deg": 49.42, "wrist_twist_deg_after": { - "median": -1.54, + "median": 0.0, "iqr": [ - -7.0, - 0.2 + -5.4, + 1.5 ] }, - "wrist_total_deg_median_after": 21.9, + "wrist_total_deg_median_after": 28.8, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -427,9 +438,20 @@ "Q_rotvec": [ 0.0, -0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 906, + "inlier_frac": 0.788, + "inlier_spread_deg": 15.57, + "marker_Q_to_gsi_deg": { + "1": 38.5, + "-1": 144.2 + } + }, "wrist_bend_deg_median": 19.8, "opposite_sign_bend_deg": 174.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -445,7 +467,7 @@ "forearm_twist": { "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -3.4, 7.5 @@ -460,7 +482,7 @@ }, "frames_used": 1129 }, - "generated_at_utc": "2026-10-28T06:31:50.770038+00:00", + "generated_at_utc": "2026-11-06T14:00:58.058405+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/locomotion_posture_dynamics/D14/session_012/motions/smplx.npz b/actions/locomotion_posture_dynamics/D14/session_012/motions/smplx.npz index 599900d38bede2b7192fdf2bce5a40ccf156e235..6e93f30f9739cecea19d42a6e9090bfca9d2349e 100644 --- a/actions/locomotion_posture_dynamics/D14/session_012/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D14/session_012/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a7f65b6a31931a9cbe22523d41584a223b44e3fefd7b8d3662d5aea8ec46b5bd -size 4327552 +oid sha256:aa85cfd4d3879a0a342af92701da7122caa0cd8844dffb3b31c1b63d1d2958b1 +size 4328350 diff --git a/actions/locomotion_posture_dynamics/D15/session_008/meta.json b/actions/locomotion_posture_dynamics/D15/session_008/meta.json index 3e86b4e3083127fb404b8db9c262916ce843e9c1..b02c6391a3a7a9b3cb38b0a6837733611ed3f283 100644 --- a/actions/locomotion_posture_dynamics/D15/session_008/meta.json +++ b/actions/locomotion_posture_dynamics/D15/session_008/meta.json @@ -343,8 +343,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -413,19 +413,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - 2.99022, - -0.44902, - -0.85237 + -0.0, + -0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 175.9, - "opposite_sign_bend_deg": 27.1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 933, + "inlier_frac": 0.706, + "inlier_spread_deg": 12.87, + "marker_Q_to_gsi_deg": { + "1": 17.3, + "-1": 168.1 + } + }, + "wrist_bend_deg_median": 97.4, + "opposite_sign_bend_deg": 88.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.94, "hand_vs_marker_frame_deg": { - "before": 178.26, + "before": 3.94, "after": 3.94 }, "markers_on_wrist": [ @@ -434,15 +445,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 83.15, + "twist_moved_deg": 96.29, "wrist_twist_deg_after": { - "median": 96.29, + "median": 0.11, "iqr": [ - 78.9, - 99.6 + -9.4, + 3.5 ] }, - "wrist_total_deg_median_after": 97.7, + "wrist_total_deg_median_after": 17.3, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -452,19 +463,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -2.99225, + -0.43169, + -0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 17.7, - "opposite_sign_bend_deg": 174.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 908, + "inlier_frac": 0.803, + "inlier_spread_deg": 11.98, + "marker_Q_to_gsi_deg": { + "1": 172.4, + "-1": 12.2 + } + }, + "wrist_bend_deg_median": 174.8, + "opposite_sign_bend_deg": 17.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.99, "hand_vs_marker_frame_deg": { - "before": 1.99, + "before": 178.71, "after": 1.99 }, "markers_on_wrist": [ @@ -473,15 +495,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 172.89, "wrist_twist_deg_after": { - "median": 0.0, + "median": 2.76, "iqr": [ - -3.0, - 5.8 + -0.1, + 6.7 ] }, - "wrist_total_deg_median_after": 17.6, + "wrist_total_deg_median_after": 29.2, "markers_on_forearm": [ "RForearm", "RWristIn" @@ -489,7 +511,7 @@ }, "frames_used": 682 }, - "generated_at_utc": "2026-10-28T06:17:53.798032+00:00", + "generated_at_utc": "2026-11-06T13:44:49.036513+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -580,6 +602,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.2775174863772993 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 15.74, + "offset_rotvec": [ + 0.2313, + 0.0295, + 0.1451 + ], + "dev_deg": { + "median": 17.34, + "p90": 165.18 + }, + "samples": 933, + "accepted": 660, + "wrist_pos_err_mm_median": 87.0, + "per_camera": { + "head": { + "samples": 933, + "accepted": 660, + "gate_deg": 30.0, + "offset_deg": 15.74, + "tier": "primary", + "dev_deg_median": 17.34, + "wrist_pos_err_mm_median": 87.0 + } + }, + "frames_by_state": { + "ace_sample": 2690, + "interpolated": 1482, + "mean_hand": 2645, + "no_body_fit": 267 + }, + "observed_fraction": 0.5889, + "observed_fraction_of_valid": 0.612, + "palm_axis_vs_markers_deg": { + "gsi": 19.33, + "smplx": 2.45 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.6, + "p90": 7.5 + }, + "registered": { + "median": 4.8, + "p90": 6.3 + } + } + }, + "right": { + "offset_deg": 8.5, + "offset_rotvec": [ + -0.0407, + 0.0237, + 0.1406 + ], + "dev_deg": { + "median": 16.02, + "p90": 39.48 + }, + "samples": 908, + "accepted": 732, + "wrist_pos_err_mm_median": 94.1, + "per_camera": { + "head": { + "samples": 908, + "accepted": 732, + "gate_deg": 30.0, + "offset_deg": 8.5, + "tier": "primary", + "dev_deg_median": 16.02, + "wrist_pos_err_mm_median": 94.1 + } + }, + "frames_by_state": { + "ace_sample": 3012, + "interpolated": 2228, + "mean_hand": 1577, + "no_body_fit": 267 + }, + "observed_fraction": 0.7397, + "observed_fraction_of_valid": 0.7687, + "palm_axis_vs_markers_deg": { + "gsi": 16.14, + "smplx": 1.48 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.8, + "p90": 7.2 + }, + "registered": { + "median": 6.7, + "p90": 9.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:45:18.944231+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D15/session_008", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D15/session_008/motions/smplx.npz b/actions/locomotion_posture_dynamics/D15/session_008/motions/smplx.npz index 602b23f59a4e098b9e7aae49a29f31d27be5603b..47abb930e9c59caab537377a23abd85e4ae0f148 100644 --- a/actions/locomotion_posture_dynamics/D15/session_008/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D15/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:bb80ad958d42d1234696f412489baa02c00da5a3fcb27e805bedb8471f540a0b -size 2630561 +oid sha256:da20b479bfce4e72286fb93d31b1575707e016a177a8c718ad805dbf365d562c +size 4365360 diff --git a/actions/locomotion_posture_dynamics/D19/session_014/meta.json b/actions/locomotion_posture_dynamics/D19/session_014/meta.json index ce3a448bf3c9b251bfbe33b17a6bb076ed0ae5ef..6a589ec27d51e61a8850a25080e7159634d61392 100644 --- a/actions/locomotion_posture_dynamics/D19/session_014/meta.json +++ b/actions/locomotion_posture_dynamics/D19/session_014/meta.json @@ -389,8 +389,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -462,10 +462,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - 0.0, + -0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2377, + "inlier_frac": 0.946, + "inlier_spread_deg": 14.4, + "marker_Q_to_gsi_deg": { + "1": 19.9, + "-1": 162.7 + } + }, "wrist_bend_deg_median": 18.5, "opposite_sign_bend_deg": 176.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -481,7 +492,7 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -500,19 +511,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -3.02356, + -0.33123, + -0.78611 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 22.9, - "opposite_sign_bend_deg": 176.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2474, + "inlier_frac": 0.494, + "inlier_spread_deg": 13.92, + "marker_Q_to_gsi_deg": { + "1": 168.9, + "-1": 15.9 + } + }, + "wrist_bend_deg_median": 176.0, + "opposite_sign_bend_deg": 22.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.44, "hand_vs_marker_frame_deg": { - "before": 5.44, + "before": 177.16, "after": 5.44 }, "markers_on_wrist": [ @@ -520,15 +542,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.01, + "twist_moved_deg": 79.8, "wrist_twist_deg_after": { - "median": -0.0, + "median": 99.03, "iqr": [ - -92.2, - 3.1 + 13.3, + 101.3 ] }, - "wrist_total_deg_median_after": 23.2, + "wrist_total_deg_median_after": 100.1, "markers_on_forearm": [ "RWristIn", "RWristOut" @@ -536,7 +558,7 @@ }, "frames_used": 1180 }, - "generated_at_utc": "2026-10-28T06:38:44.583906+00:00", + "generated_at_utc": "2026-11-06T14:03:31.939704+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -596,6 +618,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 18.96, + "offset_rotvec": [ + 0.3079, + -0.0788, + 0.0923 + ], + "dev_deg": { + "median": 15.29, + "p90": 26.97 + }, + "samples": 2377, + "accepted": 2252, + "wrist_pos_err_mm_median": 57.0, + "per_camera": { + "head": { + "samples": 2377, + "accepted": 2252, + "gate_deg": 30.0, + "offset_deg": 18.96, + "tier": "primary", + "dev_deg_median": 15.29, + "wrist_pos_err_mm_median": 57.0 + } + }, + "frames_by_state": { + "ace_sample": 9178, + "interpolated": 1702, + "mean_hand": 913, + "no_body_fit": 183 + }, + "observed_fraction": 0.9085, + "observed_fraction_of_valid": 0.9226, + "palm_axis_vs_markers_deg": { + "gsi": 22.41, + "smplx": 0.84 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.1, + "p90": 6.3 + }, + "registered": { + "median": 6.3, + "p90": 8.5 + } + } + }, + "right": { + "offset_deg": 34.89, + "offset_rotvec": [ + 0.5491, + -0.0442, + 0.2594 + ], + "dev_deg": { + "median": 33.24, + "p90": 149.49 + }, + "samples": 2474, + "accepted": 1038, + "wrist_pos_err_mm_median": 72.4, + "per_camera": { + "head": { + "samples": 2474, + "accepted": 1038, + "gate_deg": 30.0, + "offset_deg": 34.89, + "tier": "primary", + "dev_deg_median": 33.24, + "wrist_pos_err_mm_median": 72.4 + } + }, + "frames_by_state": { + "ace_sample": 4236, + "interpolated": 1600, + "mean_hand": 5957, + "no_body_fit": 183 + }, + "observed_fraction": 0.4873, + "observed_fraction_of_valid": 0.4949, + "palm_axis_vs_markers_deg": { + "gsi": 32.77, + "smplx": 2.79 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.8, + "p90": 9.9 + }, + "registered": { + "median": 8.0, + "p90": 10.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:25:02.939399+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D19/session_014", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D19/session_014/motions/smplx.npz b/actions/locomotion_posture_dynamics/D19/session_014/motions/smplx.npz index da6578421c1e91ff6f478640026c0754c0eae46c..391283cd7aa27b2e54ca70e9e1d086b6385e8b88 100644 --- a/actions/locomotion_posture_dynamics/D19/session_014/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D19/session_014/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:cfcdabcfc734544ae8fc78a66c9c7f59425e8a41d1521e431ecec63eb16d19d4 -size 4503112 +oid sha256:46ca1d1764ba252e5a49e4f4d53872cc26c56d7523b15d1aaf8800a5f182c662 +size 7458115 diff --git a/actions/locomotion_posture_dynamics/D20/session_010/meta.json b/actions/locomotion_posture_dynamics/D20/session_010/meta.json index 8f660712cfd8c2c7bea323a23984702c454b6e1b..ccb89e75cd5a517c0336ed82bf46ccbdd3b7b6a1 100644 --- a/actions/locomotion_posture_dynamics/D20/session_010/meta.json +++ b/actions/locomotion_posture_dynamics/D20/session_010/meta.json @@ -325,8 +325,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -395,19 +395,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - -0.0 + 2.99022, + -0.44902, + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 26.4, - "opposite_sign_bend_deg": 175.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1249, + "inlier_frac": 0.647, + "inlier_spread_deg": 17.2, + "marker_Q_to_gsi_deg": { + "1": 140.0, + "-1": 40.0 + } + }, + "wrist_bend_deg_median": 175.3, + "opposite_sign_bend_deg": 26.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.61, "hand_vs_marker_frame_deg": { - "before": 1.61, + "before": 179.73, "after": 1.61 }, "markers_on_wrist": [ @@ -415,15 +426,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": -174.35, "wrist_twist_deg_after": { - "median": 0.0, + "median": -1.35, "iqr": [ - -2.6, - 1.7 + -3.9, + 0.3 ] }, - "wrist_total_deg_median_after": 27.0, + "wrist_total_deg_median_after": 21.8, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -437,10 +448,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1665, + "inlier_frac": 0.885, + "inlier_spread_deg": 13.62, + "marker_Q_to_gsi_deg": { + "1": 24.3, + "-1": 158.2 + } + }, "wrist_bend_deg_median": 20.6, "opposite_sign_bend_deg": 176.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -456,9 +478,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -2.7, 3.4 @@ -471,7 +493,7 @@ }, "frames_used": 829 }, - "generated_at_utc": "2026-10-28T06:30:32.928992+00:00", + "generated_at_utc": "2026-11-06T13:59:27.335230+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -546,6 +568,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 35.58, + "offset_rotvec": [ + 0.5298, + 0.1001, + -0.3082 + ], + "dev_deg": { + "median": 25.83, + "p90": 135.93 + }, + "samples": 1249, + "accepted": 753, + "wrist_pos_err_mm_median": 101.9, + "per_camera": { + "head": { + "samples": 1249, + "accepted": 753, + "gate_deg": 30.0, + "offset_deg": 35.58, + "tier": "primary", + "dev_deg_median": 25.83, + "wrist_pos_err_mm_median": 101.9 + } + }, + "frames_by_state": { + "ace_sample": 3158, + "interpolated": 2930, + "mean_hand": 2196, + "no_body_fit": 0 + }, + "observed_fraction": 0.7349, + "observed_fraction_of_valid": 0.7349, + "palm_axis_vs_markers_deg": { + "gsi": 46.91, + "smplx": 1.11 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.4, + "p90": 6.0 + }, + "registered": { + "median": 4.7, + "p90": 6.8 + } + } + }, + "right": { + "offset_deg": 25.66, + "offset_rotvec": [ + 0.3871, + 0.022, + 0.2244 + ], + "dev_deg": { + "median": 16.62, + "p90": 29.1 + }, + "samples": 1665, + "accepted": 1519, + "wrist_pos_err_mm_median": 157.8, + "per_camera": { + "head": { + "samples": 1665, + "accepted": 1519, + "gate_deg": 30.0, + "offset_deg": 25.66, + "tier": "primary", + "dev_deg_median": 16.62, + "wrist_pos_err_mm_median": 157.8 + } + }, + "frames_by_state": { + "ace_sample": 6214, + "interpolated": 1896, + "mean_hand": 174, + "no_body_fit": 0 + }, + "observed_fraction": 0.979, + "observed_fraction_of_valid": 0.979, + "palm_axis_vs_markers_deg": { + "gsi": 26.62, + "smplx": 0.8 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.1, + "p90": 16.1 + }, + "registered": { + "median": 8.4, + "p90": 14.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:17:39.640682+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D20/session_010", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D20/session_010/motions/smplx.npz b/actions/locomotion_posture_dynamics/D20/session_010/motions/smplx.npz index d985211ded466c1efd750dbb9607170be9ffbcc9..37b1c6f19e37246e31161fc8c846a817e7013ba4 100644 --- a/actions/locomotion_posture_dynamics/D20/session_010/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D20/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:33bb090154ce42e5bc7fa85d1bc4d5b26227749fd82e90671a8de482ba7c5daf -size 3200717 +oid sha256:ba0d8313c8cbea00db763e80fd5e5899222f899533f1ff4d3976583022f02307 +size 5674808 diff --git a/actions/locomotion_posture_dynamics/D22/session_011/meta.json b/actions/locomotion_posture_dynamics/D22/session_011/meta.json index 4ffd7a0300b0b169a86bf9f526cd720450691e40..58cfb21b658dd578c3762d9fc129191a26142cf5 100644 --- a/actions/locomotion_posture_dynamics/D22/session_011/meta.json +++ b/actions/locomotion_posture_dynamics/D22/session_011/meta.json @@ -324,8 +324,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -394,19 +394,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - -0.0 + -2.99022, + 0.44902, + 0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 33.5, - "opposite_sign_bend_deg": 172.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1418, + "inlier_frac": 0.703, + "inlier_spread_deg": 13.39, + "marker_Q_to_gsi_deg": { + "1": 146.0, + "-1": 34.0 + } + }, + "wrist_bend_deg_median": 174.2, + "opposite_sign_bend_deg": 33.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.21, "hand_vs_marker_frame_deg": { - "before": 2.21, + "before": 179.17, "after": 2.21 }, "markers_on_wrist": [ @@ -415,15 +426,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 1.79, + "twist_moved_deg": -167.54, "wrist_twist_deg_after": { - "median": 0.0, + "median": -10.48, "iqr": [ - -14.9, - 2.8 + -24.4, + -6.9 ] }, - "wrist_total_deg_median_after": 33.7, + "wrist_total_deg_median_after": 18.0, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -435,11 +446,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, + -0.0, -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1266, + "inlier_frac": 0.767, + "inlier_spread_deg": 14.54, + "marker_Q_to_gsi_deg": { + "1": 29.4, + "-1": 152.6 + } + }, "wrist_bend_deg_median": 18.7, "opposite_sign_bend_deg": 175.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -470,7 +492,7 @@ }, "frames_used": 828 }, - "generated_at_utc": "2026-10-28T06:30:34.681104+00:00", + "generated_at_utc": "2026-11-06T13:59:27.344581+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -545,6 +567,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 37.2, + "offset_rotvec": [ + 0.5998, + -0.0754, + -0.2369 + ], + "dev_deg": { + "median": 18.07, + "p90": 72.99 + }, + "samples": 1418, + "accepted": 993, + "wrist_pos_err_mm_median": 86.2, + "per_camera": { + "head": { + "samples": 1418, + "accepted": 993, + "gate_deg": 30.0, + "offset_deg": 37.2, + "tier": "primary", + "dev_deg_median": 18.07, + "wrist_pos_err_mm_median": 86.2 + } + }, + "frames_by_state": { + "ace_sample": 4056, + "interpolated": 1856, + "mean_hand": 2365, + "no_body_fit": 7 + }, + "observed_fraction": 0.7137, + "observed_fraction_of_valid": 0.7143, + "palm_axis_vs_markers_deg": { + "gsi": 36.54, + "smplx": 1.75 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.9, + "p90": 12.7 + }, + "registered": { + "median": 6.6, + "p90": 10.8 + } + } + }, + "right": { + "offset_deg": 29.5, + "offset_rotvec": [ + 0.4348, + -0.205, + 0.1843 + ], + "dev_deg": { + "median": 19.65, + "p90": 39.6 + }, + "samples": 1266, + "accepted": 954, + "wrist_pos_err_mm_median": 172.2, + "per_camera": { + "head": { + "samples": 1266, + "accepted": 954, + "gate_deg": 30.0, + "offset_deg": 29.5, + "tier": "primary", + "dev_deg_median": 19.65, + "wrist_pos_err_mm_median": 172.2 + } + }, + "frames_by_state": { + "ace_sample": 3880, + "interpolated": 1856, + "mean_hand": 2541, + "no_body_fit": 7 + }, + "observed_fraction": 0.6924, + "observed_fraction_of_valid": 0.693, + "palm_axis_vs_markers_deg": { + "gsi": 30.66, + "smplx": 2.75 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.6, + "p90": 26.4 + }, + "registered": { + "median": 14.3, + "p90": 25.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:17:36.739074+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D22/session_011", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D22/session_011/motions/smplx.npz b/actions/locomotion_posture_dynamics/D22/session_011/motions/smplx.npz index 5bb484c690ec8e675589b0a73853776248b4dc33..c89becb335bf31003786c08624d4a999de14f8f1 100644 --- a/actions/locomotion_posture_dynamics/D22/session_011/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D22/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fc743964c81927b704a59fae1b30eebbb0cc631b77e33e96383243525973962b -size 3185885 +oid sha256:0d1464605b71e3b5b6d3c49d8a0529b8ec405440fa5ec49100da92ca85c3b89d +size 5348588 diff --git a/actions/locomotion_posture_dynamics/D23/session_006/meta.json b/actions/locomotion_posture_dynamics/D23/session_006/meta.json index 8ece657c0a6343e35d471ea6ef3b742738cd30b5..3d220bfe53aed3d1002a6e744a494498fadc8e5d 100644 --- a/actions/locomotion_posture_dynamics/D23/session_006/meta.json +++ b/actions/locomotion_posture_dynamics/D23/session_006/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -391,10 +391,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - 0.0, + -0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1934, + "inlier_frac": 0.81, + "inlier_spread_deg": 10.0, + "marker_Q_to_gsi_deg": { + "1": 16.9, + "-1": 177.5 + } + }, "wrist_bend_deg_median": 17.6, "opposite_sign_bend_deg": 173.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -408,9 +419,9 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -4.6, 13.5 @@ -429,19 +440,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + 2.98604, + 0.43137, + 0.87584 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 35.6, - "opposite_sign_bend_deg": 172.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1437, + "inlier_frac": 0.88, + "inlier_spread_deg": 9.76, + "marker_Q_to_gsi_deg": { + "1": 178.7, + "-1": 7.8 + } + }, + "wrist_bend_deg_median": 172.0, + "opposite_sign_bend_deg": 35.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.43, "hand_vs_marker_frame_deg": { - "before": 2.43, + "before": 179.27, "after": 2.43 }, "markers_on_wrist": [ @@ -449,15 +471,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.57, + "twist_moved_deg": 170.35, "wrist_twist_deg_after": { - "median": -0.0, + "median": 2.3, "iqr": [ - -1.9, - 4.4 + -0.3, + 8.5 ] }, - "wrist_total_deg_median_after": 35.9, + "wrist_total_deg_median_after": 27.5, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -466,7 +488,7 @@ }, "frames_used": 794 }, - "generated_at_utc": "2026-10-28T06:16:33.462265+00:00", + "generated_at_utc": "2026-11-06T13:43:29.335581+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -546,6 +568,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 15.24, + "offset_rotvec": [ + 0.0406, + 0.2557, + 0.0612 + ], + "dev_deg": { + "median": 12.56, + "p90": 35.58 + }, + "samples": 1934, + "accepted": 1620, + "wrist_pos_err_mm_median": 43.2, + "per_camera": { + "head": { + "samples": 1934, + "accepted": 1620, + "gate_deg": 30.0, + "offset_deg": 15.24, + "tier": "primary", + "dev_deg_median": 12.56, + "wrist_pos_err_mm_median": 43.2 + } + }, + "frames_by_state": { + "ace_sample": 6528, + "interpolated": 1152, + "mean_hand": 604, + "no_body_fit": 0 + }, + "observed_fraction": 0.9271, + "observed_fraction_of_valid": 0.9271, + "palm_axis_vs_markers_deg": { + "gsi": 18.33, + "smplx": 3.84 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.6, + "p90": 10.3 + }, + "registered": { + "median": 5.5, + "p90": 8.0 + } + } + }, + "right": { + "offset_deg": 7.97, + "offset_rotvec": [ + 0.0085, + 0.025, + 0.1365 + ], + "dev_deg": { + "median": 11.24, + "p90": 33.47 + }, + "samples": 1437, + "accepted": 1270, + "wrist_pos_err_mm_median": 59.6, + "per_camera": { + "head": { + "samples": 1437, + "accepted": 1270, + "gate_deg": 30.0, + "offset_deg": 7.97, + "tier": "primary", + "dev_deg_median": 11.24, + "wrist_pos_err_mm_median": 59.6 + } + }, + "frames_by_state": { + "ace_sample": 5158, + "interpolated": 1422, + "mean_hand": 1704, + "no_body_fit": 0 + }, + "observed_fraction": 0.7943, + "observed_fraction_of_valid": 0.7943, + "palm_axis_vs_markers_deg": { + "gsi": 7.93, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:43:22.747344+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D23/session_006", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D23/session_006/motions/smplx.npz b/actions/locomotion_posture_dynamics/D23/session_006/motions/smplx.npz index 9b6b98c5af3fa9f6dc8267dc1f7243c3cd1cc577..8b466b54cec8f5b5f1e0a4e8bf40fff328327bfe 100644 --- a/actions/locomotion_posture_dynamics/D23/session_006/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D23/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:08595a4ea2bca14f2a5211c436ff31b0a3e2eb18549845b717ed35091f9d516b -size 3176324 +oid sha256:87e97055bdd64b9cc8aa1620acfa320d16f22c013087af199a4cd20951601d28 +size 5652009 diff --git a/actions/locomotion_posture_dynamics/D23/session_010/meta.json b/actions/locomotion_posture_dynamics/D23/session_010/meta.json index f9b3c2dc8cc5604cc3061cf78af3fb66aea9705c..9ef349c0f713e0bfa4de774827e2411474b9d0bb 100644 --- a/actions/locomotion_posture_dynamics/D23/session_010/meta.json +++ b/actions/locomotion_posture_dynamics/D23/session_010/meta.json @@ -327,8 +327,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -399,14 +399,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -2.99023, - 0.44902, - 0.85237 + 2.99022, + -0.44902, + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 175.5, - "opposite_sign_bend_deg": 16.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1525, + "inlier_frac": 0.635, + "inlier_spread_deg": 17.32, + "marker_Q_to_gsi_deg": { + "1": 140.9, + "-1": 39.4 + } + }, + "wrist_bend_deg_median": 172.1, + "opposite_sign_bend_deg": 32.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.66, "hand_vs_marker_frame_deg": { "before": 179.03, @@ -418,15 +429,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 173.59, + "twist_moved_deg": -170.74, "wrist_twist_deg_after": { - "median": 2.42, + "median": -2.84, "iqr": [ - -4.1, - 4.5 + -12.2, + -0.6 ] }, - "wrist_total_deg_median_after": 32.2, + "wrist_total_deg_median_after": 16.9, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -443,6 +454,17 @@ 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1561, + "inlier_frac": 0.826, + "inlier_spread_deg": 13.95, + "marker_Q_to_gsi_deg": { + "1": 17.4, + "-1": 165.3 + } + }, "wrist_bend_deg_median": 14.9, "opposite_sign_bend_deg": 175.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -457,9 +479,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -4.8, 10.9 @@ -473,7 +495,7 @@ }, "frames_used": 829 }, - "generated_at_utc": "2026-10-28T06:30:35.482925+00:00", + "generated_at_utc": "2026-11-06T13:59:39.135386+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -517,6 +539,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.441174332200457 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 39.38, + "offset_rotvec": [ + 0.6314, + 0.101, + -0.252 + ], + "dev_deg": { + "median": 26.1, + "p90": 48.48 + }, + "samples": 1525, + "accepted": 956, + "wrist_pos_err_mm_median": 96.5, + "per_camera": { + "head": { + "samples": 1525, + "accepted": 956, + "gate_deg": 30.0, + "offset_deg": 39.38, + "tier": "primary", + "dev_deg_median": 26.1, + "wrist_pos_err_mm_median": 96.5 + } + }, + "frames_by_state": { + "ace_sample": 3968, + "interpolated": 2508, + "mean_hand": 1808, + "no_body_fit": 0 + }, + "observed_fraction": 0.7817, + "observed_fraction_of_valid": 0.7817, + "palm_axis_vs_markers_deg": { + "gsi": 43.25, + "smplx": 1.26 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.7, + "p90": 13.9 + }, + "registered": { + "median": 10.0, + "p90": 13.1 + } + } + }, + "right": { + "offset_deg": 16.55, + "offset_rotvec": [ + 0.2497, + -0.0698, + 0.1275 + ], + "dev_deg": { + "median": 15.72, + "p90": 39.14 + }, + "samples": 1561, + "accepted": 1286, + "wrist_pos_err_mm_median": 154.8, + "per_camera": { + "head": { + "samples": 1561, + "accepted": 1286, + "gate_deg": 30.0, + "offset_deg": 16.55, + "tier": "primary", + "dev_deg_median": 15.72, + "wrist_pos_err_mm_median": 154.8 + } + }, + "frames_by_state": { + "ace_sample": 5238, + "interpolated": 1986, + "mean_hand": 1060, + "no_body_fit": 0 + }, + "observed_fraction": 0.872, + "observed_fraction_of_valid": 0.872, + "palm_axis_vs_markers_deg": { + "gsi": 21.61, + "smplx": 1.0 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.3, + "p90": 20.5 + }, + "registered": { + "median": 11.3, + "p90": 18.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:17:33.837778+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D23/session_010", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D23/session_010/motions/smplx.npz b/actions/locomotion_posture_dynamics/D23/session_010/motions/smplx.npz index 56b04a5f8c3e142383da691f7734e6736019a0a9..27f1f145629338a2d5804f5ccb261f20041d52cd 100644 --- a/actions/locomotion_posture_dynamics/D23/session_010/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D23/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b9cddce41d81d7699d51be4839ecc0a17d3e56347506897d1f017bc4104147d9 -size 3183315 +oid sha256:644b85f322c95427977113267d8bbb7937298cd0bb101574bbabfdd169d705ef +size 5610679 diff --git a/actions/locomotion_posture_dynamics/D23/session_011/meta.json b/actions/locomotion_posture_dynamics/D23/session_011/meta.json index 548d5bc9daec4bbd176c69437175ed2dc5e41bad..fad3c233096ef4f912273731a9be99517dced9ff 100644 --- a/actions/locomotion_posture_dynamics/D23/session_011/meta.json +++ b/actions/locomotion_posture_dynamics/D23/session_011/meta.json @@ -385,12 +385,19 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, - -0.0, - -0.0 + 0.0, + 0.0, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 31.5, + "q_source": "markers (GSI not reliable)", + "gsi": { + "reliable": false, + "frames": 1992, + "inlier_frac": 0.34, + "inlier_spread_deg": 20.83 + }, + "wrist_bend_deg_median": 31.3, "opposite_sign_bend_deg": 164.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 9.6, @@ -403,7 +410,7 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.29, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -425,12 +432,23 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - 0.0, - -0.0 + -0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1629, + "inlier_frac": 0.777, + "inlier_spread_deg": 15.94, + "marker_Q_to_gsi_deg": { + "1": 23.9, + "-1": 157.3 + } + }, "wrist_bend_deg_median": 15.3, - "opposite_sign_bend_deg": 173.1, + "opposite_sign_bend_deg": 173.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.5, "hand_vs_marker_frame_deg": { @@ -442,7 +460,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.09, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -459,7 +477,7 @@ }, "frames_used": 889 }, - "generated_at_utc": "2026-10-28T06:30:36.386032+00:00", + "generated_at_utc": "2026-11-06T13:59:54.235368+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/locomotion_posture_dynamics/D23/session_011/motions/smplx.npz b/actions/locomotion_posture_dynamics/D23/session_011/motions/smplx.npz index aceedc35e69e69c88941d2dddc1038d82db2aafb..d932e452d96a4087f673e71413159a1bc0d2aab2 100644 --- a/actions/locomotion_posture_dynamics/D23/session_011/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D23/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c23529a112a3c4db0c3f86c0651dce679b23ae05cc035cc51f853cce736977f2 -size 3406543 +oid sha256:d315286c9eb17eb59625438b359cb65bee1b925b160d60f6aa3ac52df26fcb76 +size 3406494 diff --git a/actions/locomotion_posture_dynamics/D23/session_012/meta.json b/actions/locomotion_posture_dynamics/D23/session_012/meta.json index edd55a6dbd46a2675492dbd2d5f5b28d3877f7b6..0b7447498145834119d20be05d3bd1f7896cb9f4 100644 --- a/actions/locomotion_posture_dynamics/D23/session_012/meta.json +++ b/actions/locomotion_posture_dynamics/D23/session_012/meta.json @@ -344,8 +344,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -404,35 +404,46 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 128.33, "Q_rotvec": [ - -2.98442, - 0.43848, - 0.87784 + -1.95269, + 0.58211, + 0.93007 ], "in_out_sign": 1, - "wrist_bend_deg_median": 168.8, - "opposite_sign_bend_deg": 21.3, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 1371, + "inlier_frac": 0.443, + "inlier_spread_deg": 13.7, + "marker_Q_to_gsi_deg": { + "1": 128.3, + "-1": 56.1 + } + }, + "wrist_bend_deg_median": 115.2, + "opposite_sign_bend_deg": 166.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.09, "hand_vs_marker_frame_deg": { - "before": 176.79, - "after": 6.09 + "before": 6.09, + "after": 130.21 }, "markers_on_wrist": [ "LHandIn", "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 167.14, + "twist_moved_deg": -113.82, "wrist_twist_deg_after": { - "median": 9.08, + "median": -0.01, "iqr": [ - 0.3, - 13.1 + -17.7, + 3.6 ] }, - "wrist_total_deg_median_after": 38.5, + "wrist_total_deg_median_after": 32.9, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -445,11 +456,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, -0.0, + 0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1051, + "inlier_frac": 0.528, + "inlier_spread_deg": 14.19, + "marker_Q_to_gsi_deg": { + "1": 24.5, + "-1": 165.8 + } + }, "wrist_bend_deg_median": 40.7, "opposite_sign_bend_deg": 174.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -480,7 +502,7 @@ }, "frames_used": 889 }, - "generated_at_utc": "2026-10-28T06:31:54.742285+00:00", + "generated_at_utc": "2026-11-06T14:00:54.839701+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -524,6 +546,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.2053825084084502 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 8.71, + "offset_rotvec": [ + 0.1225, + 0.0209, + -0.0878 + ], + "dev_deg": { + "median": 39.56, + "p90": 164.25 + }, + "samples": 1371, + "accepted": 579, + "wrist_pos_err_mm_median": 75.0, + "per_camera": { + "head": { + "samples": 1371, + "accepted": 579, + "gate_deg": 30.0, + "offset_deg": 8.71, + "tier": "primary", + "dev_deg_median": 39.56, + "wrist_pos_err_mm_median": 75.0 + } + }, + "frames_by_state": { + "ace_sample": 2406, + "interpolated": 2244, + "mean_hand": 4234, + "no_body_fit": 0 + }, + "observed_fraction": 0.5234, + "observed_fraction_of_valid": 0.5234, + "palm_axis_vs_markers_deg": { + "gsi": 58.52, + "smplx": 52.66 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.0, + "p90": 23.1 + }, + "registered": { + "median": 12.1, + "p90": 23.3 + } + } + }, + "right": { + "offset_deg": 22.72, + "offset_rotvec": [ + 0.1628, + 0.3484, + -0.0966 + ], + "dev_deg": { + "median": 29.56, + "p90": 165.54 + }, + "samples": 1051, + "accepted": 531, + "wrist_pos_err_mm_median": 154.0, + "per_camera": { + "head": { + "samples": 1051, + "accepted": 531, + "gate_deg": 30.0, + "offset_deg": 22.72, + "tier": "primary", + "dev_deg_median": 29.56, + "wrist_pos_err_mm_median": 154.0 + } + }, + "frames_by_state": { + "ace_sample": 2176, + "interpolated": 968, + "mean_hand": 5740, + "no_body_fit": 0 + }, + "observed_fraction": 0.3539, + "observed_fraction_of_valid": 0.3539, + "palm_axis_vs_markers_deg": { + "gsi": 39.43, + "smplx": 4.1 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.8, + "p90": 12.3 + }, + "registered": { + "median": 9.6, + "p90": 10.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:19:14.741004+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D23/session_012", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D23/session_012/motions/smplx.npz b/actions/locomotion_posture_dynamics/D23/session_012/motions/smplx.npz index 0365a82a38cc76ae1626265a5b7d4f5010c6fea7..7ded41baf23b912e30feb9f011dd51450134364a 100644 --- a/actions/locomotion_posture_dynamics/D23/session_012/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D23/session_012/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2aead084f344ed791913f2a80560f6b0cd882bda07ffb3a202301d77a59b4892 -size 3402897 +oid sha256:de7d1413330f674810bd17a7719d885f500d51878d45296922a03273d26c9e28 +size 4867726 diff --git a/actions/locomotion_posture_dynamics/D25/session_006/meta.json b/actions/locomotion_posture_dynamics/D25/session_006/meta.json index 91d01c89f19e6ed8add53615218ab9981ec9207c..16bc19a92cda75180b6a7513f2e55755e791c491 100644 --- a/actions/locomotion_posture_dynamics/D25/session_006/meta.json +++ b/actions/locomotion_posture_dynamics/D25/session_006/meta.json @@ -330,8 +330,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -395,19 +395,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - 2.98447, - -0.44488, - -0.87443 + 0.0, + -0.0, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 175.8, - "opposite_sign_bend_deg": 14.9, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 780, + "inlier_frac": 0.541, + "inlier_spread_deg": 15.92, + "marker_Q_to_gsi_deg": { + "1": 18.7, + "-1": 163.4 + } + }, + "wrist_bend_deg_median": 49.7, + "opposite_sign_bend_deg": 137.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.99, "hand_vs_marker_frame_deg": { - "before": 178.74, + "before": 1.99, "after": 1.99 }, "markers_on_wrist": [ @@ -416,15 +427,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -137.55, + "twist_moved_deg": -38.79, "wrist_twist_deg_after": { - "median": -38.79, + "median": 0.0, "iqr": [ - -44.2, - -35.6 + -5.4, + 3.2 ] }, - "wrist_total_deg_median_after": 49.7, + "wrist_total_deg_median_after": 31.6, "markers_on_forearm": [ "LElbow", "LElbowIn", @@ -436,35 +447,46 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 142.9, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -2.30492, + -0.74075, + 0.59894 ], "in_out_sign": 1, - "wrist_bend_deg_median": 29.6, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 1849, + "inlier_frac": 0.537, + "inlier_spread_deg": 19.69, + "marker_Q_to_gsi_deg": { + "1": 142.9, + "-1": 72.2 + } + }, + "wrist_bend_deg_median": 142.4, "opposite_sign_bend_deg": 171.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.01, "hand_vs_marker_frame_deg": { "before": 2.01, - "after": 2.01 + "after": 143.31 }, "markers_on_wrist": [ "RHandIn", "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 133.31, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ - -1.3, - 0.8 + -1.6, + 1.7 ] }, - "wrist_total_deg_median_after": 29.6, + "wrist_total_deg_median_after": 71.5, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -473,7 +495,7 @@ }, "frames_used": 828 }, - "generated_at_utc": "2026-10-28T06:16:33.569115+00:00", + "generated_at_utc": "2026-11-06T13:43:38.233128+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -517,6 +539,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8094453691794443 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 20.48, + "offset_rotvec": [ + 0.328, + 0.1375, + 0.0359 + ], + "dev_deg": { + "median": 26.03, + "p90": 54.86 + }, + "samples": 780, + "accepted": 449, + "wrist_pos_err_mm_median": 95.1, + "per_camera": { + "head": { + "samples": 780, + "accepted": 449, + "gate_deg": 30.0, + "offset_deg": 20.48, + "tier": "primary", + "dev_deg_median": 26.03, + "wrist_pos_err_mm_median": 95.1 + } + }, + "frames_by_state": { + "ace_sample": 1773, + "interpolated": 574, + "mean_hand": 5929, + "no_body_fit": 8 + }, + "observed_fraction": 0.2833, + "observed_fraction_of_valid": 0.2836, + "palm_axis_vs_markers_deg": { + "gsi": 32.65, + "smplx": 4.77 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.2, + "p90": 13.8 + }, + "registered": { + "median": 10.3, + "p90": 15.4 + } + } + }, + "right": { + "offset_deg": 16.71, + "offset_rotvec": [ + -0.202, + 0.2101, + 0.0122 + ], + "dev_deg": { + "median": 33.86, + "p90": 64.68 + }, + "samples": 1849, + "accepted": 798, + "wrist_pos_err_mm_median": 99.9, + "per_camera": { + "head": { + "samples": 1849, + "accepted": 798, + "gate_deg": 30.0, + "offset_deg": 16.71, + "tier": "primary", + "dev_deg_median": 33.86, + "wrist_pos_err_mm_median": 99.9 + } + }, + "frames_by_state": { + "ace_sample": 3252, + "interpolated": 1644, + "mean_hand": 3380, + "no_body_fit": 8 + }, + "observed_fraction": 0.591, + "observed_fraction_of_valid": 0.5916, + "palm_axis_vs_markers_deg": { + "gsi": 61.17, + "smplx": 66.33 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 16.1, + "p90": 23.3 + }, + "registered": { + "median": 15.7, + "p90": 23.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:43:11.238293+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D25/session_006", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D25/session_006/motions/smplx.npz b/actions/locomotion_posture_dynamics/D25/session_006/motions/smplx.npz index 9436beef42bbab01554d4cf89f5f946a7db93af7..fe0c57b43aaf839464043a43dc3544fe845f30cd 100644 --- a/actions/locomotion_posture_dynamics/D25/session_006/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D25/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e96955ebb96c17021a343665c3f3e0c8b37873f324a4cd7b35873b69d9e49608 -size 3185796 +oid sha256:7197a38dbfdc34df99bd3a3ff349f50df80ff22de6fb3b924e106757139e2aee +size 4612704 diff --git a/actions/locomotion_posture_dynamics/D25/session_010/meta.json b/actions/locomotion_posture_dynamics/D25/session_010/meta.json index 72484d029f020dfd294e305d349cf4c302920fba..433a10cb556be38233c0d6db5554d59c8386d233 100644 --- a/actions/locomotion_posture_dynamics/D25/session_010/meta.json +++ b/actions/locomotion_posture_dynamics/D25/session_010/meta.json @@ -325,8 +325,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -397,14 +397,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -2.99023, + -2.99022, 0.44902, 0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 170.4, - "opposite_sign_bend_deg": 18.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1188, + "inlier_frac": 0.572, + "inlier_spread_deg": 15.99, + "marker_Q_to_gsi_deg": { + "1": 160.8, + "-1": 19.4 + } + }, + "wrist_bend_deg_median": 164.6, + "opposite_sign_bend_deg": 32.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.79, "hand_vs_marker_frame_deg": { "before": 178.43, @@ -417,15 +428,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 164.36, + "twist_moved_deg": -163.61, "wrist_twist_deg_after": { - "median": 14.04, + "median": -0.75, "iqr": [ - 5.7, - 25.5 + -10.7, + 13.0 ] }, - "wrist_total_deg_median_after": 32.8, + "wrist_total_deg_median_after": 18.1, "markers_on_forearm": [ "LForearm" ] @@ -436,13 +447,24 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 30.4, - "opposite_sign_bend_deg": 157.6, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1531, + "inlier_frac": 0.651, + "inlier_spread_deg": 15.52, + "marker_Q_to_gsi_deg": { + "1": 23.6, + "-1": 158.6 + } + }, + "wrist_bend_deg_median": 18.9, + "opposite_sign_bend_deg": 169.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.81, "hand_vs_marker_frame_deg": { @@ -454,9 +476,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 22.11, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -13.2, 10.5 @@ -471,7 +493,7 @@ }, "frames_used": 889 }, - "generated_at_utc": "2026-10-28T06:30:37.284367+00:00", + "generated_at_utc": "2026-11-06T14:00:06.340714+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -515,6 +537,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.4158265149956921 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 22.95, + "offset_rotvec": [ + 0.3649, + 0.1256, + -0.1069 + ], + "dev_deg": { + "median": 25.16, + "p90": 90.13 + }, + "samples": 1188, + "accepted": 665, + "wrist_pos_err_mm_median": 258.5, + "per_camera": { + "head": { + "samples": 1188, + "accepted": 665, + "gate_deg": 30.0, + "offset_deg": 22.95, + "tier": "primary", + "dev_deg_median": 25.16, + "wrist_pos_err_mm_median": 258.5 + } + }, + "frames_by_state": { + "ace_sample": 2704, + "interpolated": 2348, + "mean_hand": 3832, + "no_body_fit": 0 + }, + "observed_fraction": 0.5687, + "observed_fraction_of_valid": 0.5687, + "palm_axis_vs_markers_deg": { + "gsi": 31.53, + "smplx": 1.75 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.8, + "p90": 10.9 + }, + "registered": { + "median": 7.9, + "p90": 10.4 + } + } + }, + "right": { + "offset_deg": 33.59, + "offset_rotvec": [ + 0.5143, + -0.2786, + 0.0387 + ], + "dev_deg": { + "median": 25.3, + "p90": 67.85 + }, + "samples": 1531, + "accepted": 1004, + "wrist_pos_err_mm_median": 190.0, + "per_camera": { + "head": { + "samples": 1531, + "accepted": 1004, + "gate_deg": 30.0, + "offset_deg": 33.59, + "tier": "primary", + "dev_deg_median": 25.3, + "wrist_pos_err_mm_median": 190.0 + } + }, + "frames_by_state": { + "ace_sample": 4068, + "interpolated": 1632, + "mean_hand": 3184, + "no_body_fit": 0 + }, + "observed_fraction": 0.6416, + "observed_fraction_of_valid": 0.6416, + "palm_axis_vs_markers_deg": { + "gsi": 34.14, + "smplx": 2.27 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.3, + "p90": 23.1 + }, + "registered": { + "median": 13.1, + "p90": 22.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:17:34.140158+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D25/session_010", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D25/session_010/motions/smplx.npz b/actions/locomotion_posture_dynamics/D25/session_010/motions/smplx.npz index 7dc6bff46937b54ef2751dca7d51e2becd640770..62518e1336c6b6765e4881cf7b5bf65bed1ec221 100644 --- a/actions/locomotion_posture_dynamics/D25/session_010/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D25/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:eb17f760b8e2f6b24c358ae5417886f75e7254deb08a6fbf0bcc7be3277fea55 -size 3410400 +oid sha256:3beb430e773530e1ef591179969b8fdfe7f74b6348d27453de614c389029b223 +size 5497350 diff --git a/actions/locomotion_posture_dynamics/D25/session_011/meta.json b/actions/locomotion_posture_dynamics/D25/session_011/meta.json index 49b84f71de83cae337f532242946d353c636ed48..04d3695d59484dd0fe99d155442830fc9ad638a3 100644 --- a/actions/locomotion_posture_dynamics/D25/session_011/meta.json +++ b/actions/locomotion_posture_dynamics/D25/session_011/meta.json @@ -323,8 +323,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -383,19 +383,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - -0.0 + -2.98827, + 0.45012, + 0.85862 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 24.3, - "opposite_sign_bend_deg": 172.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2392, + "inlier_frac": 0.756, + "inlier_spread_deg": 11.76, + "marker_Q_to_gsi_deg": { + "1": 167.6, + "-1": 24.7 + } + }, + "wrist_bend_deg_median": 172.4, + "opposite_sign_bend_deg": 24.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.31, "hand_vs_marker_frame_deg": { - "before": 3.31, + "before": 179.34, "after": 3.31 }, "markers_on_wrist": [ @@ -403,15 +414,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 160.1, "wrist_twist_deg_after": { - "median": 0.0, + "median": 19.31, "iqr": [ - -6.8, - 12.5 + 13.2, + 31.3 ] }, - "wrist_total_deg_median_after": 24.5, + "wrist_total_deg_median_after": 26.2, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -424,11 +435,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, + 0.0, 0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2400, + "inlier_frac": 0.916, + "inlier_spread_deg": 8.54, + "marker_Q_to_gsi_deg": { + "1": 21.5, + "-1": 159.8 + } + }, "wrist_bend_deg_median": 22.1, "opposite_sign_bend_deg": 172.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -442,9 +464,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -19.5, 3.4 @@ -459,7 +481,7 @@ }, "frames_used": 1069 }, - "generated_at_utc": "2026-10-28T06:30:37.758883+00:00", + "generated_at_utc": "2026-11-06T14:00:11.536163+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -534,6 +556,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 23.75, + "offset_rotvec": [ + 0.2401, + 0.3035, + -0.1483 + ], + "dev_deg": { + "median": 15.05, + "p90": 79.44 + }, + "samples": 2392, + "accepted": 1809, + "wrist_pos_err_mm_median": 62.9, + "per_camera": { + "head": { + "samples": 2392, + "accepted": 1809, + "gate_deg": 30.0, + "offset_deg": 23.75, + "tier": "primary", + "dev_deg_median": 15.05, + "wrist_pos_err_mm_median": 62.9 + } + }, + "frames_by_state": { + "ace_sample": 7252, + "interpolated": 1000, + "mean_hand": 2432, + "no_body_fit": 0 + }, + "observed_fraction": 0.7724, + "observed_fraction_of_valid": 0.7724, + "palm_axis_vs_markers_deg": { + "gsi": 30.48, + "smplx": 2.52 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.8, + "p90": 22.1 + }, + "registered": { + "median": 13.2, + "p90": 20.5 + } + } + }, + "right": { + "offset_deg": 22.31, + "offset_rotvec": [ + 0.3647, + 0.136, + 0.0125 + ], + "dev_deg": { + "median": 9.21, + "p90": 27.14 + }, + "samples": 2400, + "accepted": 2201, + "wrist_pos_err_mm_median": 81.1, + "per_camera": { + "head": { + "samples": 2400, + "accepted": 2201, + "gate_deg": 30.0, + "offset_deg": 22.31, + "tier": "primary", + "dev_deg_median": 9.21, + "wrist_pos_err_mm_median": 81.1 + } + }, + "frames_by_state": { + "ace_sample": 8888, + "interpolated": 1444, + "mean_hand": 352, + "no_body_fit": 0 + }, + "observed_fraction": 0.9671, + "observed_fraction_of_valid": 0.9671, + "palm_axis_vs_markers_deg": { + "gsi": 22.81, + "smplx": 1.71 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.9, + "p90": 13.6 + }, + "registered": { + "median": 9.8, + "p90": 12.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:17:43.744538+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D25/session_011", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D25/session_011/motions/smplx.npz b/actions/locomotion_posture_dynamics/D25/session_011/motions/smplx.npz index 67b89febc11fc30b4d95172865871829dd9cb492..df3e903d9f4093960991e3aebe1ea73b9db61f85 100644 --- a/actions/locomotion_posture_dynamics/D25/session_011/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D25/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:df571739e54762924c42ba30adc260ad71d00ca2971b7d75419a53b2229cfc7c -size 4113177 +oid sha256:0f964b2a43514fb6be959ce4820e70a6fa9bc4f7ff8855e0acb433ef81b0142e +size 7328124 diff --git a/actions/locomotion_posture_dynamics/D25/session_012/meta.json b/actions/locomotion_posture_dynamics/D25/session_012/meta.json index 08e534339a6d2c09f559c922f42dc01ed116b826..27a3c3d87d6e81050eb1a41436354ae32b2bffb8 100644 --- a/actions/locomotion_posture_dynamics/D25/session_012/meta.json +++ b/actions/locomotion_posture_dynamics/D25/session_012/meta.json @@ -327,8 +327,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -389,14 +389,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -2.98442, - 0.43848, - 0.87784 + 2.98442, + -0.43848, + -0.87784 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 137.3, - "opposite_sign_bend_deg": 58.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1506, + "inlier_frac": 0.418, + "inlier_spread_deg": 15.8, + "marker_Q_to_gsi_deg": { + "1": 146.3, + "-1": 42.4 + } + }, + "wrist_bend_deg_median": 163.6, + "opposite_sign_bend_deg": 34.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.65, "hand_vs_marker_frame_deg": { "before": 178.93, @@ -407,15 +418,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -134.93, + "twist_moved_deg": -156.14, "wrist_twist_deg_after": { - "median": -0.04, + "median": -16.81, "iqr": [ - -13.2, - 12.9 + -37.8, + -3.9 ] }, - "wrist_total_deg_median_after": 34.2, + "wrist_total_deg_median_after": 31.4, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -428,13 +439,20 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, -0.0, - -0.0 + -0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI not reliable)", + "gsi": { + "reliable": false, + "frames": 1531, + "inlier_frac": 0.351, + "inlier_spread_deg": 15.37 + }, "wrist_bend_deg_median": 19.4, - "opposite_sign_bend_deg": 175.1, + "opposite_sign_bend_deg": 175.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.5, "hand_vs_marker_frame_deg": { @@ -446,9 +464,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.02, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -3.2, 22.1 @@ -463,7 +481,7 @@ }, "frames_used": 889 }, - "generated_at_utc": "2026-10-28T06:31:55.076813+00:00", + "generated_at_utc": "2026-11-06T14:00:56.135927+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -507,6 +525,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.5367500567852643 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 24.16, + "offset_rotvec": [ + 0.3676, + -0.1979, + 0.0594 + ], + "dev_deg": { + "median": 39.86, + "p90": 170.77 + }, + "samples": 1506, + "accepted": 557, + "wrist_pos_err_mm_median": 109.2, + "per_camera": { + "head": { + "samples": 1506, + "accepted": 557, + "gate_deg": 30.0, + "offset_deg": 24.16, + "tier": "primary", + "dev_deg_median": 39.86, + "wrist_pos_err_mm_median": 109.2 + } + }, + "frames_by_state": { + "ace_sample": 2332, + "interpolated": 2868, + "mean_hand": 3684, + "no_body_fit": 0 + }, + "observed_fraction": 0.5853, + "observed_fraction_of_valid": 0.5853, + "palm_axis_vs_markers_deg": { + "gsi": 48.46, + "smplx": 2.19 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.2, + "p90": 9.2 + }, + "registered": { + "median": 7.7, + "p90": 8.9 + } + } + }, + "right": { + "offset_deg": 30.94, + "offset_rotvec": [ + 0.5135, + -0.1646, + -0.0268 + ], + "dev_deg": { + "median": 35.02, + "p90": 57.1 + }, + "samples": 1531, + "accepted": 571, + "wrist_pos_err_mm_median": 167.3, + "per_camera": { + "head": { + "samples": 1531, + "accepted": 571, + "gate_deg": 30.0, + "offset_deg": 30.94, + "tier": "primary", + "dev_deg_median": 35.02, + "wrist_pos_err_mm_median": 167.3 + } + }, + "frames_by_state": { + "ace_sample": 2336, + "interpolated": 2436, + "mean_hand": 4112, + "no_body_fit": 0 + }, + "observed_fraction": 0.5371, + "observed_fraction_of_valid": 0.5371, + "palm_axis_vs_markers_deg": { + "gsi": 41.19, + "smplx": 2.35 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.2, + "p90": 17.3 + }, + "registered": { + "median": 13.1, + "p90": 15.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:19:18.446855+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D25/session_012", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D25/session_012/motions/smplx.npz b/actions/locomotion_posture_dynamics/D25/session_012/motions/smplx.npz index 40ec2fac7f8db5e2a28d1bc5f2556ff5e7d4bb1b..feb337d9ffae88ee361501448f4f459439b4a523 100644 --- a/actions/locomotion_posture_dynamics/D25/session_012/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D25/session_012/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8f571297f53aa81db9f7913446404a5ed9fccc44c57f3a2198a6d157d10b9455 -size 3408620 +oid sha256:bbdc8ae0bea12882ce145d717e6994a9c5c3c9ca14e5091f6be4c7d3a619ae0e +size 5328670 diff --git a/actions/locomotion_posture_dynamics/D26/session_006/meta.json b/actions/locomotion_posture_dynamics/D26/session_006/meta.json index eb08b03cf75c73cc6f8cfbf0a4b1f6c761887ace..0ec926eeb9d7a6792643d26e28d112c1a41734a8 100644 --- a/actions/locomotion_posture_dynamics/D26/session_006/meta.json +++ b/actions/locomotion_posture_dynamics/D26/session_006/meta.json @@ -331,8 +331,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -396,19 +396,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - 2.98447, - -0.44488, - -0.87443 + -0.0, + -0.0, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 175.3, - "opposite_sign_bend_deg": 22.6, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2015, + "inlier_frac": 0.876, + "inlier_spread_deg": 6.65, + "marker_Q_to_gsi_deg": { + "1": 19.7, + "-1": 174.3 + } + }, + "wrist_bend_deg_median": 23.2, + "opposite_sign_bend_deg": 166.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.92, "hand_vs_marker_frame_deg": { - "before": 178.4, + "before": 1.92, "after": 1.92 }, "markers_on_wrist": [ @@ -417,15 +428,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -168.21, + "twist_moved_deg": -9.15, "wrist_twist_deg_after": { - "median": -9.15, + "median": 0.0, "iqr": [ - -13.4, - -5.0 + -4.3, + 4.2 ] }, - "wrist_total_deg_median_after": 23.2, + "wrist_total_deg_median_after": 22.3, "markers_on_forearm": [ "LElbow", "LElbowIn", @@ -437,19 +448,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -2.98604, + -0.43137, + -0.87584 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 36.1, - "opposite_sign_bend_deg": 171.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1791, + "inlier_frac": 0.911, + "inlier_spread_deg": 7.53, + "marker_Q_to_gsi_deg": { + "1": 178.8, + "-1": 10.1 + } + }, + "wrist_bend_deg_median": 171.1, + "opposite_sign_bend_deg": 36.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.84, "hand_vs_marker_frame_deg": { - "before": 2.84, + "before": 179.24, "after": 2.84 }, "markers_on_wrist": [ @@ -457,15 +479,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.65, + "twist_moved_deg": 168.77, "wrist_twist_deg_after": { - "median": 0.0, + "median": 2.3, "iqr": [ - -2.3, - 4.0 + -0.9, + 8.7 ] }, - "wrist_total_deg_median_after": 36.2, + "wrist_total_deg_median_after": 33.2, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -474,7 +496,7 @@ }, "frames_used": 829 }, - "generated_at_utc": "2026-10-28T06:16:33.633928+00:00", + "generated_at_utc": "2026-11-06T13:43:44.944733+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -518,6 +540,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9692912018708604 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.13, + "offset_rotvec": [ + -0.0017, + 0.2988, + -0.0101 + ], + "dev_deg": { + "median": 8.91, + "p90": 36.6 + }, + "samples": 2015, + "accepted": 1772, + "wrist_pos_err_mm_median": 37.6, + "per_camera": { + "head": { + "samples": 2015, + "accepted": 1772, + "gate_deg": 30.0, + "offset_deg": 17.13, + "tier": "primary", + "dev_deg_median": 8.91, + "wrist_pos_err_mm_median": 37.6 + } + }, + "frames_by_state": { + "ace_sample": 7100, + "interpolated": 184, + "mean_hand": 1000, + "no_body_fit": 0 + }, + "observed_fraction": 0.8793, + "observed_fraction_of_valid": 0.8793, + "palm_axis_vs_markers_deg": { + "gsi": 19.99, + "smplx": 1.65 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 3.7, + "p90": 5.4 + }, + "registered": { + "median": 5.5, + "p90": 6.6 + } + } + }, + "right": { + "offset_deg": 11.8, + "offset_rotvec": [ + -0.0647, + 0.0297, + 0.1933 + ], + "dev_deg": { + "median": 9.41, + "p90": 25.74 + }, + "samples": 1791, + "accepted": 1643, + "wrist_pos_err_mm_median": 61.5, + "per_camera": { + "head": { + "samples": 1791, + "accepted": 1643, + "gate_deg": 30.0, + "offset_deg": 11.8, + "tier": "primary", + "dev_deg_median": 9.41, + "wrist_pos_err_mm_median": 61.5 + } + }, + "frames_by_state": { + "ace_sample": 6620, + "interpolated": 504, + "mean_hand": 1160, + "no_body_fit": 0 + }, + "observed_fraction": 0.86, + "observed_fraction_of_valid": 0.86, + "palm_axis_vs_markers_deg": { + "gsi": 6.31, + "smplx": 1.39 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.8, + "p90": 9.6 + }, + "registered": { + "median": 7.2, + "p90": 8.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:43:17.036484+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D26/session_006", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D26/session_006/motions/smplx.npz b/actions/locomotion_posture_dynamics/D26/session_006/motions/smplx.npz index fdfe53a6e86fdaf9dacca860bf1477c9ffb959b6..7154a1bd044f7da62070b2358a4fa226f119f657 100644 --- a/actions/locomotion_posture_dynamics/D26/session_006/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D26/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0fd4a2817da18f34101ea1ddf79fbc0a428c356f24cf3bb14d8373f212a98452 -size 3190771 +oid sha256:a3d7354b889a833c809d4c33c8bd0756c4dc20d03437b37e3e24099360dd29d3 +size 5631254 diff --git a/actions/locomotion_posture_dynamics/D26/session_012/meta.json b/actions/locomotion_posture_dynamics/D26/session_012/meta.json index 52551b0390e5159cea9aa9139376457b49d9abf2..80a84a145baf2dbb80634e80390c077dbc78600c 100644 --- a/actions/locomotion_posture_dynamics/D26/session_012/meta.json +++ b/actions/locomotion_posture_dynamics/D26/session_012/meta.json @@ -327,8 +327,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -387,35 +387,46 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 138.88, "Q_rotvec": [ - -0.0, - 0.0, - 0.0 + -2.0874, + 0.5894, + 1.08219 ], "in_out_sign": 1, - "wrist_bend_deg_median": 45.3, - "opposite_sign_bend_deg": 162.7, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 1714, + "inlier_frac": 0.459, + "inlier_spread_deg": 18.91, + "marker_Q_to_gsi_deg": { + "1": 138.9, + "-1": 47.7 + } + }, + "wrist_bend_deg_median": 132.4, + "opposite_sign_bend_deg": 171.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.06, "hand_vs_marker_frame_deg": { "before": 4.06, - "after": 4.06 + "after": 138.6 }, "markers_on_wrist": [ "LHandIn", "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -23.31, + "twist_moved_deg": -131.07, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ - -11.7, - 3.1 + -22.3, + 2.3 ] }, - "wrist_total_deg_median_after": 40.0, + "wrist_total_deg_median_after": 25.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -430,9 +441,20 @@ "Q_rotvec": [ -0.0, 0.0, - -0.0 + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1415, + "inlier_frac": 0.577, + "inlier_spread_deg": 16.01, + "marker_Q_to_gsi_deg": { + "1": 33.2, + "-1": 147.9 + } + }, "wrist_bend_deg_median": 40.7, "opposite_sign_bend_deg": 163.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -446,7 +468,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -463,7 +485,7 @@ }, "frames_used": 924 }, - "generated_at_utc": "2026-10-28T06:31:55.726256+00:00", + "generated_at_utc": "2026-11-06T14:01:00.063745+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -574,6 +596,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 18.41, + "offset_rotvec": [ + -0.2314, + 0.2154, + 0.0579 + ], + "dev_deg": { + "median": 33.93, + "p90": 164.9 + }, + "samples": 1714, + "accepted": 712, + "wrist_pos_err_mm_median": 101.3, + "per_camera": { + "head": { + "samples": 1714, + "accepted": 712, + "gate_deg": 30.0, + "offset_deg": 18.41, + "tier": "primary", + "dev_deg_median": 33.93, + "wrist_pos_err_mm_median": 101.3 + } + }, + "frames_by_state": { + "ace_sample": 2976, + "interpolated": 3084, + "mean_hand": 3548, + "no_body_fit": 8 + }, + "observed_fraction": 0.6302, + "observed_fraction_of_valid": 0.6307, + "palm_axis_vs_markers_deg": { + "gsi": 51.23, + "smplx": 47.13 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.9, + "p90": 19.2 + }, + "registered": { + "median": 12.8, + "p90": 20.0 + } + } + }, + "right": { + "offset_deg": 30.28, + "offset_rotvec": [ + 0.5042, + 0.1519, + 0.0444 + ], + "dev_deg": { + "median": 25.09, + "p90": 157.17 + }, + "samples": 1415, + "accepted": 833, + "wrist_pos_err_mm_median": 103.5, + "per_camera": { + "head": { + "samples": 1415, + "accepted": 833, + "gate_deg": 30.0, + "offset_deg": 30.28, + "tier": "primary", + "dev_deg_median": 25.09, + "wrist_pos_err_mm_median": 103.5 + } + }, + "frames_by_state": { + "ace_sample": 3456, + "interpolated": 2648, + "mean_hand": 3504, + "no_body_fit": 8 + }, + "observed_fraction": 0.6348, + "observed_fraction_of_valid": 0.6353, + "palm_axis_vs_markers_deg": { + "gsi": 37.44, + "smplx": 1.95 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.4, + "p90": 12.1 + }, + "registered": { + "median": 9.7, + "p90": 10.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:19:29.738684+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D26/session_012", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D26/session_012/motions/smplx.npz b/actions/locomotion_posture_dynamics/D26/session_012/motions/smplx.npz index 27b8f046189589d8d7027a23d748753409a12907..f40a8bf60dbf563cf1bca61b823dbbee6b607776 100644 --- a/actions/locomotion_posture_dynamics/D26/session_012/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D26/session_012/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d7d10beb8b2f4c75daf7948e9e387786809b11e749218bb32c82b3b7a822e063 -size 3689617 +oid sha256:3333558f1da9bb9ecee7104b272ddb615cf31ca141e336787d2717b7b6014b13 +size 5869207 diff --git a/actions/locomotion_posture_dynamics/D27/session_014/meta.json b/actions/locomotion_posture_dynamics/D27/session_014/meta.json index 9f64967b3dee79590cba48bf0b94990774b8620a..e03ac82c2507d4b57e813215eb0ec9c130da1474 100644 --- a/actions/locomotion_posture_dynamics/D27/session_014/meta.json +++ b/actions/locomotion_posture_dynamics/D27/session_014/meta.json @@ -363,8 +363,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -440,11 +440,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, + -0.0, 0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2321, + "inlier_frac": 0.869, + "inlier_spread_deg": 14.95, + "marker_Q_to_gsi_deg": { + "1": 11.5, + "-1": 172.3 + } + }, "wrist_bend_deg_median": 15.3, "opposite_sign_bend_deg": 174.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -478,19 +489,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -3.02356, + -0.33123, + -0.78611 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 37.4, - "opposite_sign_bend_deg": 150.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2394, + "inlier_frac": 0.631, + "inlier_spread_deg": 12.1, + "marker_Q_to_gsi_deg": { + "1": 178.5, + "-1": 12.7 + } + }, + "wrist_bend_deg_median": 164.0, + "opposite_sign_bend_deg": 28.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.86, "hand_vs_marker_frame_deg": { - "before": 3.86, + "before": 177.21, "after": 3.86 }, "markers_on_wrist": [ @@ -500,22 +522,22 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 22.27, + "twist_moved_deg": -13.59, "wrist_twist_deg_after": { - "median": 3.68, + "median": -142.75, "iqr": [ - -8.4, - 28.8 + -164.5, + 6.1 ] }, - "wrist_total_deg_median_after": 31.8, + "wrist_total_deg_median_after": 160.5, "markers_on_forearm": [ "RForearm" ] }, "frames_used": 1051 }, - "generated_at_utc": "2026-10-28T06:38:49.077003+00:00", + "generated_at_utc": "2026-11-06T14:03:36.935555+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -588,6 +610,116 @@ }, "applied": 4 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 11.62, + "offset_rotvec": [ + 0.1625, + -0.032, + 0.1171 + ], + "dev_deg": { + "median": 16.59, + "p90": 32.86 + }, + "samples": 2321, + "accepted": 2027, + "wrist_pos_err_mm_median": 63.0, + "per_camera": { + "head": { + "samples": 2321, + "accepted": 2027, + "gate_deg": 30.0, + "offset_deg": 11.62, + "tier": "primary", + "dev_deg_median": 16.59, + "wrist_pos_err_mm_median": 63.0 + } + }, + "frames_by_state": { + "ace_sample": 8328, + "interpolated": 3616, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.999, + "observed_fraction_of_valid": 0.999, + "palm_axis_vs_markers_deg": { + "gsi": 15.88, + "smplx": 2.41 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.3, + "p90": 17.1 + }, + "registered": { + "median": 11.6, + "p90": 17.4 + } + } + }, + "right": { + "offset_deg": 19.12, + "offset_rotvec": [ + -0.2137, + -0.2299, + -0.1131 + ], + "dev_deg": { + "median": 23.12, + "p90": 145.14 + }, + "samples": 2394, + "accepted": 1482, + "wrist_pos_err_mm_median": 65.7, + "per_camera": { + "head": { + "samples": 2394, + "accepted": 1482, + "gate_deg": 30.0, + "offset_deg": 19.12, + "tier": "primary", + "dev_deg_median": 23.12, + "wrist_pos_err_mm_median": 65.7 + } + }, + "frames_by_state": { + "ace_sample": 6016, + "interpolated": 3000, + "mean_hand": 2940, + "no_body_fit": 0 + }, + "observed_fraction": 0.7541, + "observed_fraction_of_valid": 0.7541, + "palm_axis_vs_markers_deg": { + "gsi": 19.82, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:25:08.338217+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D27/session_014", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D27/session_014/motions/smplx.npz b/actions/locomotion_posture_dynamics/D27/session_014/motions/smplx.npz index 1805b251de9d937fb738ba49f4cb5da28e1f80d5..b76b145d449a4531e06c411232ec8e88f65a0fe1 100644 --- a/actions/locomotion_posture_dynamics/D27/session_014/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D27/session_014/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b20f7b228f245e22f16783f7d5370b8ba3752ae7a1aa78acf9fe1aa02b9bc88c -size 4547218 +oid sha256:b075a03af199c413cb2c8802c6f7656247617f0d1bd4d3c2dd78c7f53c07dad7 +size 8146244 diff --git a/actions/locomotion_posture_dynamics/D33/session_006/meta.json b/actions/locomotion_posture_dynamics/D33/session_006/meta.json index f859dd9bdbd6944b421d25d801b71353ddf6d818..455cd7682229645bbe2f7afbc7f4f6fd5f2051c6 100644 --- a/actions/locomotion_posture_dynamics/D33/session_006/meta.json +++ b/actions/locomotion_posture_dynamics/D33/session_006/meta.json @@ -331,8 +331,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -391,19 +391,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - 2.98447, - -0.44488, - -0.87443 + -0.0, + -0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 176.7, - "opposite_sign_bend_deg": 27.0, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1125, + "inlier_frac": 0.833, + "inlier_spread_deg": 17.64, + "marker_Q_to_gsi_deg": { + "1": 23.3, + "-1": 158.4 + } + }, + "wrist_bend_deg_median": 18.0, + "opposite_sign_bend_deg": 175.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.31, "hand_vs_marker_frame_deg": { - "before": 179.36, + "before": 1.31, "after": 1.31 }, "markers_on_wrist": [ @@ -411,15 +422,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -175.5, + "twist_moved_deg": -2.71, "wrist_twist_deg_after": { - "median": -2.71, + "median": 0.0, "iqr": [ - -6.7, - -0.8 + -4.0, + 1.9 ] }, - "wrist_total_deg_median_after": 18.2, + "wrist_total_deg_median_after": 18.1, "markers_on_forearm": [ "LElbowIn", "LForearm", @@ -431,19 +442,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + 2.98604, + 0.43137, + 0.87584 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 35.3, - "opposite_sign_bend_deg": 175.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 754, + "inlier_frac": 0.838, + "inlier_spread_deg": 18.97, + "marker_Q_to_gsi_deg": { + "1": 172.2, + "-1": 17.2 + } + }, + "wrist_bend_deg_median": 175.0, + "opposite_sign_bend_deg": 35.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.11, "hand_vs_marker_frame_deg": { - "before": 5.11, + "before": 179.51, "after": 5.11 }, "markers_on_wrist": [ @@ -451,15 +473,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 173.97, "wrist_twist_deg_after": { - "median": 0.0, + "median": 1.93, "iqr": [ - -2.5, - 9.0 + 0.2, + 6.8 ] }, - "wrist_total_deg_median_after": 35.3, + "wrist_total_deg_median_after": 16.1, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -468,7 +490,7 @@ }, "frames_used": 769 }, - "generated_at_utc": "2026-10-28T06:16:37.875876+00:00", + "generated_at_utc": "2026-11-06T13:43:48.937296+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -512,6 +534,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 2.623324913294149 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.67, + "offset_rotvec": [ + 0.2928, + -0.0914, + 0.0318 + ], + "dev_deg": { + "median": 21.13, + "p90": 31.97 + }, + "samples": 1125, + "accepted": 968, + "wrist_pos_err_mm_median": 63.0, + "per_camera": { + "head": { + "samples": 1125, + "accepted": 968, + "gate_deg": 30.0, + "offset_deg": 17.67, + "tier": "primary", + "dev_deg_median": 21.13, + "wrist_pos_err_mm_median": 63.0 + } + }, + "frames_by_state": { + "ace_sample": 3928, + "interpolated": 1940, + "mean_hand": 1816, + "no_body_fit": 0 + }, + "observed_fraction": 0.7637, + "observed_fraction_of_valid": 0.7637, + "palm_axis_vs_markers_deg": { + "gsi": 27.16, + "smplx": 1.03 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.1, + "p90": 19.2 + }, + "registered": { + "median": 12.4, + "p90": 18.6 + } + } + }, + "right": { + "offset_deg": 20.83, + "offset_rotvec": [ + 0.0841, + 0.3533, + 0.0165 + ], + "dev_deg": { + "median": 20.8, + "p90": 35.58 + }, + "samples": 754, + "accepted": 609, + "wrist_pos_err_mm_median": 79.6, + "per_camera": { + "head": { + "samples": 754, + "accepted": 609, + "gate_deg": 30.0, + "offset_deg": 20.83, + "tier": "primary", + "dev_deg_median": 20.8, + "wrist_pos_err_mm_median": 79.6 + } + }, + "frames_by_state": { + "ace_sample": 2478, + "interpolated": 1898, + "mean_hand": 3308, + "no_body_fit": 0 + }, + "observed_fraction": 0.5695, + "observed_fraction_of_valid": 0.5695, + "palm_axis_vs_markers_deg": { + "gsi": 22.14, + "smplx": 0.78 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.4, + "p90": 7.6 + }, + "registered": { + "median": 6.9, + "p90": 7.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:43:14.639077+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D33/session_006", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D33/session_006/motions/smplx.npz b/actions/locomotion_posture_dynamics/D33/session_006/motions/smplx.npz index 54295638abcc20752a3e4ed51cfde1db726f33a8..e877178c16cc307d319e520eee0e98794e3bd8b6 100644 --- a/actions/locomotion_posture_dynamics/D33/session_006/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D33/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fa502ec825d8d0bd43013a69b3f6a1e8152f5fc124d48a5967e614293e2d8abb -size 2960607 +oid sha256:ddbf846325e2a6c39368785f0a2916d93afd47a6006cbf5ed8f7fa326f034ac7 +size 4981083 diff --git a/actions/locomotion_posture_dynamics/D33/session_010/meta.json b/actions/locomotion_posture_dynamics/D33/session_010/meta.json index e15a0ab76c296807dfde28a85e4fa02e5e184ddd..372fb6b0b39d3b5a0e8ab83346e4d9703d693dd3 100644 --- a/actions/locomotion_posture_dynamics/D33/session_010/meta.json +++ b/actions/locomotion_posture_dynamics/D33/session_010/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -400,14 +400,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -2.99023, + -2.99022, 0.44902, 0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 173.5, - "opposite_sign_bend_deg": 23.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1141, + "inlier_frac": 0.888, + "inlier_spread_deg": 13.36, + "marker_Q_to_gsi_deg": { + "1": 153.3, + "-1": 30.5 + } + }, + "wrist_bend_deg_median": 168.7, + "opposite_sign_bend_deg": 32.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.1, "hand_vs_marker_frame_deg": { "before": 177.67, @@ -420,15 +431,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 171.66, + "twist_moved_deg": -167.9, "wrist_twist_deg_after": { - "median": 1.79, + "median": -3.76, "iqr": [ - -21.3, - 5.1 + -26.2, + -0.9 ] }, - "wrist_total_deg_median_after": 32.2, + "wrist_total_deg_median_after": 24.0, "markers_on_forearm": [ "LWristOut" ] @@ -439,11 +450,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, -0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1154, + "inlier_frac": 0.749, + "inlier_spread_deg": 15.33, + "marker_Q_to_gsi_deg": { + "1": 37.2, + "-1": 143.1 + } + }, "wrist_bend_deg_median": 25.9, "opposite_sign_bend_deg": 164.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -458,7 +480,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -474,7 +496,7 @@ }, "frames_used": 828 }, - "generated_at_utc": "2026-10-28T06:30:42.873671+00:00", + "generated_at_utc": "2026-11-06T14:00:09.241788+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -518,6 +540,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.7995716998001243 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 40.23, + "offset_rotvec": [ + 0.5047, + -0.4717, + -0.1251 + ], + "dev_deg": { + "median": 19.15, + "p90": 31.35 + }, + "samples": 1141, + "accepted": 996, + "wrist_pos_err_mm_median": 229.3, + "per_camera": { + "head": { + "samples": 1141, + "accepted": 996, + "gate_deg": 30.0, + "offset_deg": 40.23, + "tier": "primary", + "dev_deg_median": 19.15, + "wrist_pos_err_mm_median": 229.3 + } + }, + "frames_by_state": { + "ace_sample": 4032, + "interpolated": 1332, + "mean_hand": 2913, + "no_body_fit": 7 + }, + "observed_fraction": 0.6475, + "observed_fraction_of_valid": 0.6481, + "palm_axis_vs_markers_deg": { + "gsi": 32.51, + "smplx": 3.49 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.8, + "p90": 20.3 + }, + "registered": { + "median": 9.7, + "p90": 18.4 + } + } + }, + "right": { + "offset_deg": 17.0, + "offset_rotvec": [ + 0.2726, + 0.112, + 0.0337 + ], + "dev_deg": { + "median": 31.42, + "p90": 144.53 + }, + "samples": 1154, + "accepted": 551, + "wrist_pos_err_mm_median": 307.1, + "per_camera": { + "head": { + "samples": 1154, + "accepted": 551, + "gate_deg": 30.0, + "offset_deg": 17.0, + "tier": "primary", + "dev_deg_median": 31.42, + "wrist_pos_err_mm_median": 307.1 + } + }, + "frames_by_state": { + "ace_sample": 2200, + "interpolated": 664, + "mean_hand": 5413, + "no_body_fit": 7 + }, + "observed_fraction": 0.3457, + "observed_fraction_of_valid": 0.346, + "palm_axis_vs_markers_deg": { + "gsi": 39.18, + "smplx": 7.19 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.4, + "p90": 20.2 + }, + "registered": { + "median": 13.4, + "p90": 18.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:17:31.635590+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D33/session_010", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D33/session_010/motions/smplx.npz b/actions/locomotion_posture_dynamics/D33/session_010/motions/smplx.npz index 8db1b7bdf3d7786977dfd55f5a04a4c4408c4d42..0864c0c350c072cb9fe13c3aa16e884a8111567b 100644 --- a/actions/locomotion_posture_dynamics/D33/session_010/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D33/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:224727965abee2fb78bf748d17cc1d3ad4b5d1e6b32d1a4b99d035dda9664614 -size 3187347 +oid sha256:aa401fcde50f259537df8bbe76db65addd12655e4f61057d59a324774bb45ec4 +size 4806015 diff --git a/actions/locomotion_posture_dynamics/D35/session_010/meta.json b/actions/locomotion_posture_dynamics/D35/session_010/meta.json index 31aaab4f2539c16f8b01f1935990240fd18a8c87..2c271c76060acb5e8efa7d996ebd24a3f47c4279 100644 --- a/actions/locomotion_posture_dynamics/D35/session_010/meta.json +++ b/actions/locomotion_posture_dynamics/D35/session_010/meta.json @@ -340,8 +340,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -412,14 +412,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 2.99022, - -0.44902, - -0.85237 + -2.99022, + 0.44902, + 0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 172.8, - "opposite_sign_bend_deg": 23.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 822, + "inlier_frac": 0.596, + "inlier_spread_deg": 16.25, + "marker_Q_to_gsi_deg": { + "1": 151.0, + "-1": 32.8 + } + }, + "wrist_bend_deg_median": 171.8, + "opposite_sign_bend_deg": 34.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.45, "hand_vs_marker_frame_deg": { "before": 179.28, @@ -431,15 +442,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 172.07, + "twist_moved_deg": -170.66, "wrist_twist_deg_after": { - "median": 0.72, + "median": -1.41, "iqr": [ - -3.7, - 3.8 + -5.4, + 1.0 ] }, - "wrist_total_deg_median_after": 34.6, + "wrist_total_deg_median_after": 23.6, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -451,11 +462,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 635, + "inlier_frac": 0.827, + "inlier_spread_deg": 17.47, + "marker_Q_to_gsi_deg": { + "1": 37.5, + "-1": 146.4 + } + }, "wrist_bend_deg_median": 17.8, "opposite_sign_bend_deg": 170.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -470,9 +492,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -11.5, 7.9 @@ -486,7 +508,7 @@ }, "frames_used": 649 }, - "generated_at_utc": "2026-10-28T06:30:43.604838+00:00", + "generated_at_utc": "2026-11-06T14:00:08.137843+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -530,6 +552,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0358629635128151 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 32.05, + "offset_rotvec": [ + 0.5163, + -0.0084, + -0.2151 + ], + "dev_deg": { + "median": 27.3, + "p90": 45.17 + }, + "samples": 822, + "accepted": 502, + "wrist_pos_err_mm_median": 64.8, + "per_camera": { + "head": { + "samples": 822, + "accepted": 502, + "gate_deg": 30.0, + "offset_deg": 32.05, + "tier": "primary", + "dev_deg_median": 27.3, + "wrist_pos_err_mm_median": 64.8 + } + }, + "frames_by_state": { + "ace_sample": 2090, + "interpolated": 2126, + "mean_hand": 2268, + "no_body_fit": 0 + }, + "observed_fraction": 0.6502, + "observed_fraction_of_valid": 0.6502, + "palm_axis_vs_markers_deg": { + "gsi": 41.82, + "smplx": 1.03 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.7, + "p90": 7.0 + }, + "registered": { + "median": 5.7, + "p90": 6.5 + } + } + }, + "right": { + "offset_deg": 40.8, + "offset_rotvec": [ + 0.6473, + -0.2512, + 0.1579 + ], + "dev_deg": { + "median": 19.54, + "p90": 38.03 + }, + "samples": 635, + "accepted": 502, + "wrist_pos_err_mm_median": 76.9, + "per_camera": { + "head": { + "samples": 635, + "accepted": 502, + "gate_deg": 30.0, + "offset_deg": 40.8, + "tier": "primary", + "dev_deg_median": 19.54, + "wrist_pos_err_mm_median": 76.9 + } + }, + "frames_by_state": { + "ace_sample": 2062, + "interpolated": 1670, + "mean_hand": 2752, + "no_body_fit": 0 + }, + "observed_fraction": 0.5756, + "observed_fraction_of_valid": 0.5756, + "palm_axis_vs_markers_deg": { + "gsi": 39.89, + "smplx": 1.52 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.9, + "p90": 13.8 + }, + "registered": { + "median": 8.4, + "p90": 14.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:17:27.237952+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D35/session_010", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D35/session_010/motions/smplx.npz b/actions/locomotion_posture_dynamics/D35/session_010/motions/smplx.npz index 7c570a9233914a094e208d2657020db608b0ce6f..7e13c6d3538289a296b312cf02ef36b78f704f79 100644 --- a/actions/locomotion_posture_dynamics/D35/session_010/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D35/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a332653ed8c0015d0a4103c57723e34e1406046d310d03a5531951e726f95feb -size 2505282 +oid sha256:24081098e1fc61e5f42d4b6c2b65fdebd0280df080db34cc2dbb3650a6642516 +size 3984143 diff --git a/actions/locomotion_posture_dynamics/D39/session_011/meta.json b/actions/locomotion_posture_dynamics/D39/session_011/meta.json index 9fde97fadba80d85d62affb36a3f81037129368e..4a0a9f47b50c7d11505fe8fefbdfa03a10acdb24 100644 --- a/actions/locomotion_posture_dynamics/D39/session_011/meta.json +++ b/actions/locomotion_posture_dynamics/D39/session_011/meta.json @@ -341,8 +341,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -411,20 +411,31 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 48.84, "Q_rotvec": [ - -2.98442, - 0.43848, - 0.87784 + 0.50721, + -0.6561, + 0.19692 ], "in_out_sign": 1, - "wrist_bend_deg_median": 173.0, - "opposite_sign_bend_deg": 43.1, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 1019, + "inlier_frac": 0.494, + "inlier_spread_deg": 16.1, + "marker_Q_to_gsi_deg": { + "1": 48.8, + "-1": 150.9 + } + }, + "wrist_bend_deg_median": 43.8, + "opposite_sign_bend_deg": 170.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.25, "hand_vs_marker_frame_deg": { - "before": 177.61, - "after": 3.25 + "before": 3.25, + "after": 48.58 }, "markers_on_wrist": [ "LWristIn", @@ -433,15 +444,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -169.97, + "twist_moved_deg": 27.87, "wrist_twist_deg_after": { - "median": -3.98, + "median": 0.0, "iqr": [ - -9.0, - 0.7 + -1.5, + 3.8 ] }, - "wrist_total_deg_median_after": 15.7, + "wrist_total_deg_median_after": 34.3, "markers_on_forearm": [ "LElbow", "LElbowIn", @@ -452,19 +463,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - -0.0 + 2.9858, + 0.42638, + 0.8791 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 46.4, - "opposite_sign_bend_deg": 175.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1038, + "inlier_frac": 0.55, + "inlier_spread_deg": 16.24, + "marker_Q_to_gsi_deg": { + "1": 173.7, + "-1": 14.2 + } + }, + "wrist_bend_deg_median": 175.3, + "opposite_sign_bend_deg": 46.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.04, "hand_vs_marker_frame_deg": { - "before": 6.04, + "before": 179.06, "after": 6.04 }, "markers_on_wrist": [ @@ -472,15 +494,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -1.36, + "twist_moved_deg": -166.01, "wrist_twist_deg_after": { - "median": -0.0, + "median": -13.66, "iqr": [ - -16.4, - 3.3 + -31.6, + -11.2 ] }, - "wrist_total_deg_median_after": 46.5, + "wrist_total_deg_median_after": 29.2, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -489,7 +511,7 @@ }, "frames_used": 829 }, - "generated_at_utc": "2026-10-28T06:32:00.746881+00:00", + "generated_at_utc": "2026-11-06T14:00:56.335065+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -533,6 +555,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.504199158591377 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 53.16, + "offset_rotvec": [ + -0.643, + 0.6536, + -0.1414 + ], + "dev_deg": { + "median": 46.96, + "p90": 75.13 + }, + "samples": 1019, + "accepted": 362, + "wrist_pos_err_mm_median": 160.6, + "per_camera": { + "head": { + "samples": 1019, + "accepted": 362, + "gate_deg": 30.0, + "offset_deg": 53.16, + "tier": "primary", + "dev_deg_median": 46.96, + "wrist_pos_err_mm_median": 160.6 + } + }, + "frames_by_state": { + "ace_sample": 1394, + "interpolated": 324, + "mean_hand": 6566, + "no_body_fit": 0 + }, + "observed_fraction": 0.2074, + "observed_fraction_of_valid": 0.2074, + "palm_axis_vs_markers_deg": { + "gsi": 41.05, + "smplx": 48.39 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.7, + "p90": 24.6 + }, + "registered": { + "median": 14.0, + "p90": 24.3 + } + } + }, + "right": { + "offset_deg": 13.64, + "offset_rotvec": [ + -0.1282, + -0.197, + -0.0373 + ], + "dev_deg": { + "median": 33.68, + "p90": 151.25 + }, + "samples": 1038, + "accepted": 447, + "wrist_pos_err_mm_median": 104.3, + "per_camera": { + "head": { + "samples": 1038, + "accepted": 447, + "gate_deg": 30.0, + "offset_deg": 13.64, + "tier": "primary", + "dev_deg_median": 33.68, + "wrist_pos_err_mm_median": 104.3 + } + }, + "frames_by_state": { + "ace_sample": 1786, + "interpolated": 936, + "mean_hand": 5562, + "no_body_fit": 0 + }, + "observed_fraction": 0.3286, + "observed_fraction_of_valid": 0.3286, + "palm_axis_vs_markers_deg": { + "gsi": 23.72, + "smplx": 7.86 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.3, + "p90": 17.2 + }, + "registered": { + "median": 13.2, + "p90": 16.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:19:09.146224+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D39/session_011", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D39/session_011/motions/smplx.npz b/actions/locomotion_posture_dynamics/D39/session_011/motions/smplx.npz index da6b33515f71093be3c5bdb06978ba37d310afdc..b23d17a8a06842c45292656e603741139e1f5b39 100644 --- a/actions/locomotion_posture_dynamics/D39/session_011/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D39/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a054d40c523c30b9025c5df9103aeb00e00fb275f82aefaf154c09b28f4876a7 -size 3154898 +oid sha256:93c3c4ed1c4039d0ee1852c9718963f259ad9d3c4f66211dcd2a48713ea5f5d6 +size 4194428 diff --git a/actions/locomotion_posture_dynamics/D40/session_008/meta.json b/actions/locomotion_posture_dynamics/D40/session_008/meta.json index 72f86c8d325721269b75b5ff7d7e8ea2c8193d98..d86c8d321fb556effc31b3055b067f09cb58c77e 100644 --- a/actions/locomotion_posture_dynamics/D40/session_008/meta.json +++ b/actions/locomotion_posture_dynamics/D40/session_008/meta.json @@ -325,8 +325,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -391,10 +391,21 @@ -0.45012, -0.85862 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 176.9, - "opposite_sign_bend_deg": 12.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2298, + "inlier_frac": 0.683, + "inlier_spread_deg": 13.94, + "marker_Q_to_gsi_deg": { + "1": 161.5, + "-1": 20.6 + } + }, + "wrist_bend_deg_median": 173.2, + "opposite_sign_bend_deg": 32.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.61, "hand_vs_marker_frame_deg": { "before": 179.47, @@ -405,15 +416,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 174.73, + "twist_moved_deg": -172.84, "wrist_twist_deg_after": { - "median": 2.42, + "median": -1.88, "iqr": [ - -4.0, - 4.3 + -7.5, + -0.0 ] }, - "wrist_total_deg_median_after": 32.7, + "wrist_total_deg_median_after": 12.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -427,10 +438,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - 0.0, - -0.0 + -0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2222, + "inlier_frac": 0.805, + "inlier_spread_deg": 12.26, + "marker_Q_to_gsi_deg": { + "1": 13.1, + "-1": 167.3 + } + }, "wrist_bend_deg_median": 12.4, "opposite_sign_bend_deg": 176.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -444,7 +466,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -461,7 +483,7 @@ }, "frames_used": 1069 }, - "generated_at_utc": "2026-10-28T06:30:47.967926+00:00", + "generated_at_utc": "2026-11-06T14:00:17.959371+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -505,6 +527,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.5963360765648467 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 25.19, + "offset_rotvec": [ + 0.4255, + -0.0932, + 0.0605 + ], + "dev_deg": { + "median": 19.63, + "p90": 53.45 + }, + "samples": 2298, + "accepted": 1638, + "wrist_pos_err_mm_median": 49.3, + "per_camera": { + "head": { + "samples": 2298, + "accepted": 1638, + "gate_deg": 30.0, + "offset_deg": 25.19, + "tier": "primary", + "dev_deg_median": 19.63, + "wrist_pos_err_mm_median": 49.3 + } + }, + "frames_by_state": { + "ace_sample": 6708, + "interpolated": 2640, + "mean_hand": 1336, + "no_body_fit": 0 + }, + "observed_fraction": 0.875, + "observed_fraction_of_valid": 0.875, + "palm_axis_vs_markers_deg": { + "gsi": 28.68, + "smplx": 1.43 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.0, + "p90": 9.2 + }, + "registered": { + "median": 6.6, + "p90": 8.9 + } + } + }, + "right": { + "offset_deg": 15.04, + "offset_rotvec": [ + 0.2226, + -0.0218, + 0.1376 + ], + "dev_deg": { + "median": 15.4, + "p90": 38.17 + }, + "samples": 2222, + "accepted": 1819, + "wrist_pos_err_mm_median": 47.8, + "per_camera": { + "head": { + "samples": 2222, + "accepted": 1819, + "gate_deg": 30.0, + "offset_deg": 15.04, + "tier": "primary", + "dev_deg_median": 15.4, + "wrist_pos_err_mm_median": 47.8 + } + }, + "frames_by_state": { + "ace_sample": 7446, + "interpolated": 3174, + "mean_hand": 64, + "no_body_fit": 0 + }, + "observed_fraction": 0.994, + "observed_fraction_of_valid": 0.994, + "palm_axis_vs_markers_deg": { + "gsi": 19.8, + "smplx": 0.98 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.2, + "p90": 8.7 + }, + "registered": { + "median": 7.0, + "p90": 7.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:17:42.339564+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D40/session_008", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D40/session_008/motions/smplx.npz b/actions/locomotion_posture_dynamics/D40/session_008/motions/smplx.npz index fd65965d1356a91c548bb00638b64efd5be7b9c9..a1c367c5d400396f5097f49b336a1d9ac944a522 100644 --- a/actions/locomotion_posture_dynamics/D40/session_008/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D40/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0f4db67a76be57bd71896437745ec68b9dbda163880ed122177aa81bca8e9ce1 -size 4088507 +oid sha256:d0ebe8712de188bbcaa6a5b10f827a540826b293f901eab6f1c0ebfb2f91f7fd +size 7479954 diff --git a/actions/locomotion_posture_dynamics/D40/session_009/meta.json b/actions/locomotion_posture_dynamics/D40/session_009/meta.json index 7443eaa9b17e4a6aa2e94670fb21ac666b3dfa33..b3af2429f78a6fed22065bc18ec16d1bd64d2b26 100644 --- a/actions/locomotion_posture_dynamics/D40/session_009/meta.json +++ b/actions/locomotion_posture_dynamics/D40/session_009/meta.json @@ -339,8 +339,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -399,19 +399,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -2.98442, + 0.43848, + 0.87784 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 20.1, - "opposite_sign_bend_deg": 173.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1382, + "inlier_frac": 0.447, + "inlier_spread_deg": 11.5, + "marker_Q_to_gsi_deg": { + "1": 178.4, + "-1": 5.4 + } + }, + "wrist_bend_deg_median": 173.1, + "opposite_sign_bend_deg": 20.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 12.17, "hand_vs_marker_frame_deg": { - "before": 12.17, + "before": 178.4, "after": 12.17 }, "markers_on_wrist": [ @@ -419,15 +430,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.01, + "twist_moved_deg": 171.18, "wrist_twist_deg_after": { - "median": 0.0, + "median": 6.53, "iqr": [ - -1.8, - 15.2 + 2.0, + 28.9 ] }, - "wrist_total_deg_median_after": 23.0, + "wrist_total_deg_median_after": 34.6, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -445,6 +456,17 @@ 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1606, + "inlier_frac": 0.614, + "inlier_spread_deg": 17.14, + "marker_Q_to_gsi_deg": { + "1": 32.7, + "-1": 163.5 + } + }, "wrist_bend_deg_median": 18.3, "opposite_sign_bend_deg": 175.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -460,7 +482,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -1.6, 5.9 @@ -475,7 +497,7 @@ }, "frames_used": 888 }, - "generated_at_utc": "2026-10-28T06:32:03.081576+00:00", + "generated_at_utc": "2026-11-06T14:01:04.136841+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -674,6 +696,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 11.71, + "offset_rotvec": [ + -0.1513, + 0.0352, + 0.1327 + ], + "dev_deg": { + "median": 42.09, + "p90": 148.23 + }, + "samples": 1382, + "accepted": 548, + "wrist_pos_err_mm_median": 99.1, + "per_camera": { + "head": { + "samples": 1382, + "accepted": 548, + "gate_deg": 30.0, + "offset_deg": 11.71, + "tier": "primary", + "dev_deg_median": 42.09, + "wrist_pos_err_mm_median": 99.1 + } + }, + "frames_by_state": { + "ace_sample": 2198, + "interpolated": 682, + "mean_hand": 5997, + "no_body_fit": 7 + }, + "observed_fraction": 0.3242, + "observed_fraction_of_valid": 0.3244, + "palm_axis_vs_markers_deg": { + "gsi": 38.97, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 30.78, + "offset_rotvec": [ + 0.1824, + -0.3053, + 0.4027 + ], + "dev_deg": { + "median": 24.63, + "p90": 50.24 + }, + "samples": 1606, + "accepted": 1020, + "wrist_pos_err_mm_median": 57.5, + "per_camera": { + "head": { + "samples": 1606, + "accepted": 1020, + "gate_deg": 30.0, + "offset_deg": 30.78, + "tier": "primary", + "dev_deg_median": 24.63, + "wrist_pos_err_mm_median": 57.5 + } + }, + "frames_by_state": { + "ace_sample": 4122, + "interpolated": 1378, + "mean_hand": 3377, + "no_body_fit": 7 + }, + "observed_fraction": 0.6191, + "observed_fraction_of_valid": 0.6196, + "palm_axis_vs_markers_deg": { + "gsi": 29.23, + "smplx": 1.49 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.2, + "p90": 9.6 + }, + "registered": { + "median": 7.8, + "p90": 9.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:19:26.547239+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D40/session_009", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D40/session_009/motions/smplx.npz b/actions/locomotion_posture_dynamics/D40/session_009/motions/smplx.npz index 5202017c611d27d71ada1a75a6121c5b51397011..ced6825772df92dc26933a0227634e471e028029 100644 --- a/actions/locomotion_posture_dynamics/D40/session_009/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D40/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:25885c0d55871580d9761eed5049a788c0b9de96e25bb25112521a329a3d4753 -size 3388883 +oid sha256:3ffb73d1d364d741b0f5d6d87bc31265fb3b8fdc5114dbf9389d60fd7c02a34c +size 4962778 diff --git a/actions/locomotion_posture_dynamics/D40/session_010/meta.json b/actions/locomotion_posture_dynamics/D40/session_010/meta.json index fdee47d30d82b0f0734104553a4a5f5a642a5240..ef46b3fc3248ebea54f142922dd588a9cdc64391 100644 --- a/actions/locomotion_posture_dynamics/D40/session_010/meta.json +++ b/actions/locomotion_posture_dynamics/D40/session_010/meta.json @@ -391,19 +391,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - -2.99023, - 0.44902, - 0.85237 + 0.0, + -0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 176.1, - "opposite_sign_bend_deg": 43.9, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1723, + "inlier_frac": 0.63, + "inlier_spread_deg": 15.47, + "marker_Q_to_gsi_deg": { + "1": 44.4, + "-1": 139.0 + } + }, + "wrist_bend_deg_median": 12.2, + "opposite_sign_bend_deg": 172.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.01, "hand_vs_marker_frame_deg": { - "before": 176.64, + "before": 6.01, "after": 6.01 }, "markers_on_wrist": [ @@ -413,15 +424,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -174.91, + "twist_moved_deg": -1.59, "wrist_twist_deg_after": { - "median": -1.59, + "median": -0.0, "iqr": [ - -3.5, - 63.2 + -1.9, + 64.8 ] }, - "wrist_total_deg_median_after": 12.1, + "wrist_total_deg_median_after": 11.8, "markers_on_forearm": [ "LWristIn" ] @@ -433,12 +444,19 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 39.1, - "opposite_sign_bend_deg": 158.8, + "q_source": "markers (GSI not reliable)", + "gsi": { + "reliable": false, + "frames": 1913, + "inlier_frac": 0.397, + "inlier_spread_deg": 16.85 + }, + "wrist_bend_deg_median": 33.7, + "opposite_sign_bend_deg": 170.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 7.15, "hand_vs_marker_frame_deg": { @@ -450,9 +468,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -21.24, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -7.9, 14.1 @@ -467,7 +485,7 @@ }, "frames_used": 949 }, - "generated_at_utc": "2026-10-28T06:32:50.476751+00:00", + "generated_at_utc": "2026-11-06T14:01:25.543347+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/locomotion_posture_dynamics/D40/session_010/motions/smplx.npz b/actions/locomotion_posture_dynamics/D40/session_010/motions/smplx.npz index b1220ef5451385c8d8274004a56c25c8d6ef63e1..fc21eb1726bcda957c55a783f6416bc7726d7371 100644 --- a/actions/locomotion_posture_dynamics/D40/session_010/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D40/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8e3b43570d8d83bdaf09933da50342418aa77bfe306d3f0f81c168e315c645ae -size 3625157 +oid sha256:8d4e0be668a7fb2dd9fc7b6f5168a0cea2687b96a828985de86ff12fb8bfea5f +size 3625536 diff --git a/actions/locomotion_posture_dynamics/D41/session_014/meta.json b/actions/locomotion_posture_dynamics/D41/session_014/meta.json index 51f9683f419fc70e80d075a3745753ae8198be6f..8fffd292fea2e446126473b36672a3e77e8fb6f9 100644 --- a/actions/locomotion_posture_dynamics/D41/session_014/meta.json +++ b/actions/locomotion_posture_dynamics/D41/session_014/meta.json @@ -329,8 +329,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -391,14 +391,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -2.99023, + -2.99022, 0.44902, 0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 175.6, - "opposite_sign_bend_deg": 25.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2687, + "inlier_frac": 0.971, + "inlier_spread_deg": 8.83, + "marker_Q_to_gsi_deg": { + "1": 166.3, + "-1": 15.1 + } + }, + "wrist_bend_deg_median": 174.4, + "opposite_sign_bend_deg": 21.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.87, "hand_vs_marker_frame_deg": { "before": 179.51, @@ -409,15 +420,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 174.31, + "twist_moved_deg": -173.88, "wrist_twist_deg_after": { - "median": 1.16, + "median": -0.43, "iqr": [ - -0.8, - 3.8 + -2.6, + 1.7 ] }, - "wrist_total_deg_median_after": 21.1, + "wrist_total_deg_median_after": 25.4, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -428,19 +439,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -2.99225, + -0.43169, + -0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 16.1, - "opposite_sign_bend_deg": 172.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1280, + "inlier_frac": 0.619, + "inlier_spread_deg": 14.35, + "marker_Q_to_gsi_deg": { + "1": 160.6, + "-1": 22.5 + } + }, + "wrist_bend_deg_median": 175.1, + "opposite_sign_bend_deg": 15.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.31, "hand_vs_marker_frame_deg": { - "before": 5.31, + "before": 178.67, "after": 5.31 }, "markers_on_wrist": [ @@ -448,15 +470,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -3.01, + "twist_moved_deg": 162.05, "wrist_twist_deg_after": { - "median": -0.0, + "median": 14.22, "iqr": [ - -7.2, - 3.6 + 4.5, + 18.5 ] }, - "wrist_total_deg_median_after": 15.9, + "wrist_total_deg_median_after": 38.3, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -465,7 +487,7 @@ }, "frames_used": 1189 }, - "generated_at_utc": "2026-10-28T06:17:59.796479+00:00", + "generated_at_utc": "2026-11-06T13:45:04.236192+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -509,6 +531,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1169421117631175 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 15.15, + "offset_rotvec": [ + 0.2331, + -0.1205, + 0.0321 + ], + "dev_deg": { + "median": 9.0, + "p90": 20.28 + }, + "samples": 2687, + "accepted": 2608, + "wrist_pos_err_mm_median": 57.9, + "per_camera": { + "head": { + "samples": 2687, + "accepted": 2608, + "gate_deg": 30.0, + "offset_deg": 15.15, + "tier": "primary", + "dev_deg_median": 9.0, + "wrist_pos_err_mm_median": 57.9 + } + }, + "frames_by_state": { + "ace_sample": 10530, + "interpolated": 1014, + "mean_hand": 340, + "no_body_fit": 0 + }, + "observed_fraction": 0.9714, + "observed_fraction_of_valid": 0.9714, + "palm_axis_vs_markers_deg": { + "gsi": 15.36, + "smplx": 0.77 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.3, + "p90": 10.6 + }, + "registered": { + "median": 8.2, + "p90": 11.4 + } + } + }, + "right": { + "offset_deg": 15.57, + "offset_rotvec": [ + 0.1861, + 0.0501, + 0.1914 + ], + "dev_deg": { + "median": 23.78, + "p90": 171.34 + }, + "samples": 1280, + "accepted": 748, + "wrist_pos_err_mm_median": 296.8, + "per_camera": { + "head": { + "samples": 1280, + "accepted": 748, + "gate_deg": 30.0, + "offset_deg": 15.57, + "tier": "primary", + "dev_deg_median": 23.78, + "wrist_pos_err_mm_median": 296.8 + } + }, + "frames_by_state": { + "ace_sample": 3150, + "interpolated": 4626, + "mean_hand": 4108, + "no_body_fit": 0 + }, + "observed_fraction": 0.6543, + "observed_fraction_of_valid": 0.6543, + "palm_axis_vs_markers_deg": { + "gsi": 30.81, + "smplx": 4.76 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.6, + "p90": 5.7 + }, + "registered": { + "median": 5.4, + "p90": 7.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:45:29.135642+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D41/session_014", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D41/session_014/motions/smplx.npz b/actions/locomotion_posture_dynamics/D41/session_014/motions/smplx.npz index 7fca1cf84114a7e86a97d626f6c5f4c1b6eacc95..d26c323fb7ef1ca6910aa82e6dbb5da70d8d6407 100644 --- a/actions/locomotion_posture_dynamics/D41/session_014/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D41/session_014/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:58d5561a8cd80a3e67e466bcf9c15b48ded35ff92404dab2493f5012f43c33e5 -size 4598012 +oid sha256:47341e8b2dd898baab16b7647c6b181a41da62b51b722da72262eb5effcd9f59 +size 7936357 diff --git a/actions/locomotion_posture_dynamics/D41/session_015/meta.json b/actions/locomotion_posture_dynamics/D41/session_015/meta.json index f72368bd651f3065b2d0168b95136487957a3f19..1273f565dea4c5f7599b61cc72bd317d2a1690f4 100644 --- a/actions/locomotion_posture_dynamics/D41/session_015/meta.json +++ b/actions/locomotion_posture_dynamics/D41/session_015/meta.json @@ -330,8 +330,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -397,14 +397,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -2.99023, - 0.44902, - 0.85237 + 2.99022, + -0.44902, + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 176.3, - "opposite_sign_bend_deg": 17.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2273, + "inlier_frac": 0.872, + "inlier_spread_deg": 12.37, + "marker_Q_to_gsi_deg": { + "1": 160.0, + "-1": 23.2 + } + }, + "wrist_bend_deg_median": 175.4, + "opposite_sign_bend_deg": 27.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.04, "hand_vs_marker_frame_deg": { "before": 179.38, @@ -416,15 +427,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 175.39, + "twist_moved_deg": -175.03, "wrist_twist_deg_after": { - "median": 1.25, + "median": -0.36, "iqr": [ - -0.7, - 3.4 + -2.3, + 1.6 ] }, - "wrist_total_deg_median_after": 27.0, + "wrist_total_deg_median_after": 17.6, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -434,19 +445,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + 2.99225, + 0.43169, + 0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 19.7, - "opposite_sign_bend_deg": 177.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2820, + "inlier_frac": 0.984, + "inlier_spread_deg": 7.31, + "marker_Q_to_gsi_deg": { + "1": 173.0, + "-1": 9.2 + } + }, + "wrist_bend_deg_median": 176.4, + "opposite_sign_bend_deg": 19.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.84, "hand_vs_marker_frame_deg": { - "before": 1.84, + "before": 179.69, "after": 1.84 }, "markers_on_wrist": [ @@ -454,15 +476,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 4.46, + "twist_moved_deg": 174.84, "wrist_twist_deg_after": { - "median": 0.0, + "median": 2.0, "iqr": [ - -2.6, - 2.7 + -0.6, + 4.3 ] }, - "wrist_total_deg_median_after": 19.1, + "wrist_total_deg_median_after": 23.8, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -471,7 +493,7 @@ }, "frames_used": 1188 }, - "generated_at_utc": "2026-10-28T06:18:00.549980+00:00", + "generated_at_utc": "2026-11-06T13:45:23.835740+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -515,6 +537,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.378450088904878 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 22.75, + "offset_rotvec": [ + 0.3743, + -0.0787, + 0.1064 + ], + "dev_deg": { + "median": 13.65, + "p90": 33.11 + }, + "samples": 2273, + "accepted": 1969, + "wrist_pos_err_mm_median": 55.6, + "per_camera": { + "head": { + "samples": 2273, + "accepted": 1969, + "gate_deg": 30.0, + "offset_deg": 22.75, + "tier": "primary", + "dev_deg_median": 13.65, + "wrist_pos_err_mm_median": 55.6 + } + }, + "frames_by_state": { + "ace_sample": 8100, + "interpolated": 3112, + "mean_hand": 663, + "no_body_fit": 9 + }, + "observed_fraction": 0.9435, + "observed_fraction_of_valid": 0.9442, + "palm_axis_vs_markers_deg": { + "gsi": 21.94, + "smplx": 0.81 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.8, + "p90": 13.1 + }, + "registered": { + "median": 10.2, + "p90": 12.7 + } + } + }, + "right": { + "offset_deg": 9.25, + "offset_rotvec": [ + 0.0863, + 0.0243, + 0.1343 + ], + "dev_deg": { + "median": 7.43, + "p90": 15.07 + }, + "samples": 2820, + "accepted": 2775, + "wrist_pos_err_mm_median": 45.0, + "per_camera": { + "head": { + "samples": 2820, + "accepted": 2775, + "gate_deg": 30.0, + "offset_deg": 9.25, + "tier": "primary", + "dev_deg_median": 7.43, + "wrist_pos_err_mm_median": 45.0 + } + }, + "frames_by_state": { + "ace_sample": 11116, + "interpolated": 116, + "mean_hand": 643, + "no_body_fit": 9 + }, + "observed_fraction": 0.9451, + "observed_fraction_of_valid": 0.9459, + "palm_axis_vs_markers_deg": { + "gsi": 8.08, + "smplx": 0.92 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.2, + "p90": 7.7 + }, + "registered": { + "median": 6.5, + "p90": 8.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:45:44.446941+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D41/session_015", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D41/session_015/motions/smplx.npz b/actions/locomotion_posture_dynamics/D41/session_015/motions/smplx.npz index 46a1739143cf93fabb6d9490b2a4461b77061e03..e8ba2b9348d2aed214203df411c028243aaecc0e 100644 --- a/actions/locomotion_posture_dynamics/D41/session_015/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D41/session_015/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1829f7d99988b4d37843e455f3e50aac926e89e20889da4f6339b12b36158811 -size 4587226 +oid sha256:6791f93bdd8b4378c36c20d17f1df7a2ff4e4cb6952bcea8a3a77ad49ad1cc39 +size 8367306 diff --git a/actions/locomotion_posture_dynamics/D41/session_027/meta.json b/actions/locomotion_posture_dynamics/D41/session_027/meta.json index 39b44696cd3ac32e4f52a42bf44f55d24da9c50d..c9d0c372c86f6312b42492e357d381db4f8853f2 100644 --- a/actions/locomotion_posture_dynamics/D41/session_027/meta.json +++ b/actions/locomotion_posture_dynamics/D41/session_027/meta.json @@ -391,8 +391,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -453,11 +453,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, + -0.0, + -0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.931, + "inlier_spread_deg": 7.4, + "marker_Q_to_gsi_deg": { + "1": 7.2, + "-1": 174.8 + } + }, "wrist_bend_deg_median": 15.9, "opposite_sign_bend_deg": 176.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -471,7 +482,7 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.04, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -491,19 +502,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -3.02356, + -0.33123, + -0.78611 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 15.1, - "opposite_sign_bend_deg": 176.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.962, + "inlier_spread_deg": 8.14, + "marker_Q_to_gsi_deg": { + "1": 173.5, + "-1": 17.7 + } + }, + "wrist_bend_deg_median": 176.1, + "opposite_sign_bend_deg": 15.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.06, "hand_vs_marker_frame_deg": { - "before": 6.06, + "before": 179.53, "after": 6.06 }, "markers_on_wrist": [ @@ -511,15 +533,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 173.6, "wrist_twist_deg_after": { - "median": -0.0, + "median": 3.86, "iqr": [ - -1.7, - 2.9 + 1.1, + 8.3 ] }, - "wrist_total_deg_median_after": 15.2, + "wrist_total_deg_median_after": 26.2, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -528,7 +550,7 @@ }, "frames_used": 1464 }, - "generated_at_utc": "2026-10-28T06:38:50.245634+00:00", + "generated_at_utc": "2026-11-06T14:04:07.742222+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -568,6 +590,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 6.67, + "offset_rotvec": [ + -0.0461, + 0.0403, + 0.0991 + ], + "dev_deg": { + "median": 8.19, + "p90": 19.74 + }, + "samples": 3888, + "accepted": 3633, + "wrist_pos_err_mm_median": 73.8, + "per_camera": { + "head": { + "samples": 3888, + "accepted": 3633, + "gate_deg": 30.0, + "offset_deg": 6.67, + "tier": "primary", + "dev_deg_median": 8.19, + "wrist_pos_err_mm_median": 73.8 + } + }, + "frames_by_state": { + "ace_sample": 14635, + "interpolated": 524, + "mean_hand": 1037, + "no_body_fit": 8 + }, + "observed_fraction": 0.9355, + "observed_fraction_of_valid": 0.936, + "palm_axis_vs_markers_deg": { + "gsi": 9.72, + "smplx": 1.11 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.9, + "p90": 11.7 + }, + "registered": { + "median": 5.9, + "p90": 9.3 + } + } + }, + "right": { + "offset_deg": 17.57, + "offset_rotvec": [ + -0.0659, + -0.2744, + -0.1202 + ], + "dev_deg": { + "median": 8.25, + "p90": 14.41 + }, + "samples": 3952, + "accepted": 3801, + "wrist_pos_err_mm_median": 41.7, + "per_camera": { + "head": { + "samples": 3952, + "accepted": 3801, + "gate_deg": 30.0, + "offset_deg": 17.57, + "tier": "primary", + "dev_deg_median": 8.25, + "wrist_pos_err_mm_median": 41.7 + } + }, + "frames_by_state": { + "ace_sample": 15294, + "interpolated": 362, + "mean_hand": 540, + "no_body_fit": 8 + }, + "observed_fraction": 0.9662, + "observed_fraction_of_valid": 0.9667, + "palm_axis_vs_markers_deg": { + "gsi": 19.25, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:25:13.941418+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D41/session_027", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D41/session_027/motions/smplx.npz b/actions/locomotion_posture_dynamics/D41/session_027/motions/smplx.npz index 065336d39e43ca44daf03e37c095afeac968d23e..c9561647342f1bcc3d8134f3e35acc38bc3b3bc8 100644 --- a/actions/locomotion_posture_dynamics/D41/session_027/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D41/session_027/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:30fa7e65b59d062cdbbb0b5668f9105625e0f6d51e4807b407f609c6865509a8 -size 6250527 +oid sha256:f51a0bbb8e2dd5f05b377455780951f56d2baaf987719a3cbedbd1d86b87658c +size 11456667 diff --git a/actions/locomotion_posture_dynamics/D42/session_015/meta.json b/actions/locomotion_posture_dynamics/D42/session_015/meta.json index 5086388768d302258dc4c460984e841e230730c0..6e4d6e006e4820d36f5e7d94b6c2112069463792 100644 --- a/actions/locomotion_posture_dynamics/D42/session_015/meta.json +++ b/actions/locomotion_posture_dynamics/D42/session_015/meta.json @@ -320,8 +320,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -392,14 +392,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -2.99023, + -2.99022, 0.44902, 0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 174.7, - "opposite_sign_bend_deg": 20.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1538, + "inlier_frac": 0.692, + "inlier_spread_deg": 15.84, + "marker_Q_to_gsi_deg": { + "1": 152.6, + "-1": 29.3 + } + }, + "wrist_bend_deg_median": 174.4, + "opposite_sign_bend_deg": 26.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.33, "hand_vs_marker_frame_deg": { "before": 178.63, @@ -411,15 +422,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 174.27, + "twist_moved_deg": -173.57, "wrist_twist_deg_after": { - "median": 1.58, + "median": -0.69, "iqr": [ - -0.4, - 4.3 + -3.2, + 2.6 ] }, - "wrist_total_deg_median_after": 26.6, + "wrist_total_deg_median_after": 20.5, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -429,19 +440,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + 2.99225, + 0.43169, + 0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 25.3, - "opposite_sign_bend_deg": 173.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2091, + "inlier_frac": 0.795, + "inlier_spread_deg": 13.74, + "marker_Q_to_gsi_deg": { + "1": 152.6, + "-1": 29.0 + } + }, + "wrist_bend_deg_median": 173.1, + "opposite_sign_bend_deg": 25.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.41, "hand_vs_marker_frame_deg": { - "before": 1.41, + "before": 179.3, "after": 1.41 }, "markers_on_wrist": [ @@ -450,15 +472,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.18, + "twist_moved_deg": 171.18, "wrist_twist_deg_after": { - "median": -0.0, + "median": 1.99, "iqr": [ - -5.1, - 4.1 + -2.0, + 5.8 ] }, - "wrist_total_deg_median_after": 25.3, + "wrist_total_deg_median_after": 34.0, "markers_on_forearm": [ "RForearm", "RWristIn" @@ -466,7 +488,7 @@ }, "frames_used": 1189 }, - "generated_at_utc": "2026-10-28T06:18:01.378981+00:00", + "generated_at_utc": "2026-11-06T13:45:21.041584+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -510,6 +532,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.281191089506353 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 26.46, + "offset_rotvec": [ + 0.4188, + -0.1667, + 0.1002 + ], + "dev_deg": { + "median": 21.74, + "p90": 163.4 + }, + "samples": 1538, + "accepted": 1030, + "wrist_pos_err_mm_median": 89.0, + "per_camera": { + "head": { + "samples": 1538, + "accepted": 1030, + "gate_deg": 30.0, + "offset_deg": 26.46, + "tier": "primary", + "dev_deg_median": 21.74, + "wrist_pos_err_mm_median": 89.0 + } + }, + "frames_by_state": { + "ace_sample": 4444, + "interpolated": 5300, + "mean_hand": 2140, + "no_body_fit": 0 + }, + "observed_fraction": 0.8199, + "observed_fraction_of_valid": 0.8199, + "palm_axis_vs_markers_deg": { + "gsi": 36.06, + "smplx": 1.49 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.1, + "p90": 16.9 + }, + "registered": { + "median": 14.0, + "p90": 15.5 + } + } + }, + "right": { + "offset_deg": 28.24, + "offset_rotvec": [ + 0.394, + 0.1652, + 0.2457 + ], + "dev_deg": { + "median": 16.38, + "p90": 41.12 + }, + "samples": 2091, + "accepted": 1663, + "wrist_pos_err_mm_median": 53.0, + "per_camera": { + "head": { + "samples": 2091, + "accepted": 1663, + "gate_deg": 30.0, + "offset_deg": 28.24, + "tier": "primary", + "dev_deg_median": 16.38, + "wrist_pos_err_mm_median": 53.0 + } + }, + "frames_by_state": { + "ace_sample": 6824, + "interpolated": 3198, + "mean_hand": 1862, + "no_body_fit": 0 + }, + "observed_fraction": 0.8433, + "observed_fraction_of_valid": 0.8433, + "palm_axis_vs_markers_deg": { + "gsi": 31.98, + "smplx": 0.78 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.1, + "p90": 7.9 + }, + "registered": { + "median": 6.4, + "p90": 7.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:45:42.045147+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D42/session_015", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D42/session_015/motions/smplx.npz b/actions/locomotion_posture_dynamics/D42/session_015/motions/smplx.npz index 4e420f5bf412f1cfbfac190b94577fc419580097..f2f9e0fb5c0703b2dde5a233cde1edfd9ced0b24 100644 --- a/actions/locomotion_posture_dynamics/D42/session_015/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D42/session_015/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e008a6a95a42e09ade03c1b3401b338be786c496a4812e97897e8315141d5e9f -size 4602729 +oid sha256:eabb69d3febe8739da145307ff67f2b1e984fe1d90870a29c41a636a9cd53e00 +size 7981748 diff --git a/actions/locomotion_posture_dynamics/D42/session_016/meta.json b/actions/locomotion_posture_dynamics/D42/session_016/meta.json index 3533b808ddd377cf020d1e27021998a061ff6a9a..49bd1a751e2b46c75ce96f244d112145ef9d31b9 100644 --- a/actions/locomotion_posture_dynamics/D42/session_016/meta.json +++ b/actions/locomotion_posture_dynamics/D42/session_016/meta.json @@ -317,8 +317,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -384,14 +384,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -2.99023, - 0.44902, - 0.85237 + 2.99022, + -0.44902, + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 175.0, - "opposite_sign_bend_deg": 20.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2141, + "inlier_frac": 0.879, + "inlier_spread_deg": 10.49, + "marker_Q_to_gsi_deg": { + "1": 156.4, + "-1": 26.1 + } + }, + "wrist_bend_deg_median": 174.5, + "opposite_sign_bend_deg": 27.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.26, "hand_vs_marker_frame_deg": { "before": 179.24, @@ -403,15 +414,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 174.4, + "twist_moved_deg": -174.1, "wrist_twist_deg_after": { - "median": 0.97, + "median": -0.3, "iqr": [ - -1.0, - 3.1 + -2.4, + 2.0 ] }, - "wrist_total_deg_median_after": 27.8, + "wrist_total_deg_median_after": 20.5, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -421,19 +432,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + -2.99225, + -0.43169, + -0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 20.6, - "opposite_sign_bend_deg": 174.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2611, + "inlier_frac": 0.959, + "inlier_spread_deg": 9.89, + "marker_Q_to_gsi_deg": { + "1": 165.2, + "-1": 15.4 + } + }, + "wrist_bend_deg_median": 175.2, + "opposite_sign_bend_deg": 20.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.11, "hand_vs_marker_frame_deg": { - "before": 2.11, + "before": 179.28, "after": 2.11 }, "markers_on_wrist": [ @@ -441,15 +463,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.4, + "twist_moved_deg": 174.02, "wrist_twist_deg_after": { - "median": -0.0, + "median": 1.37, "iqr": [ - -3.0, - 3.0 + -1.3, + 3.8 ] }, - "wrist_total_deg_median_after": 20.6, + "wrist_total_deg_median_after": 28.3, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -458,7 +480,7 @@ }, "frames_used": 1189 }, - "generated_at_utc": "2026-10-28T06:18:04.412753+00:00", + "generated_at_utc": "2026-11-06T13:45:27.936444+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -502,6 +524,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.319981301857444 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 25.93, + "offset_rotvec": [ + 0.4173, + -0.1705, + 0.0392 + ], + "dev_deg": { + "median": 11.85, + "p90": 33.28 + }, + "samples": 2141, + "accepted": 1878, + "wrist_pos_err_mm_median": 58.7, + "per_camera": { + "head": { + "samples": 2141, + "accepted": 1878, + "gate_deg": 30.0, + "offset_deg": 25.93, + "tier": "primary", + "dev_deg_median": 11.85, + "wrist_pos_err_mm_median": 58.7 + } + }, + "frames_by_state": { + "ace_sample": 7766, + "interpolated": 3534, + "mean_hand": 584, + "no_body_fit": 0 + }, + "observed_fraction": 0.9509, + "observed_fraction_of_valid": 0.9509, + "palm_axis_vs_markers_deg": { + "gsi": 25.86, + "smplx": 0.98 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.9, + "p90": 17.8 + }, + "registered": { + "median": 13.9, + "p90": 16.7 + } + } + }, + "right": { + "offset_deg": 15.91, + "offset_rotvec": [ + 0.2332, + 0.0993, + 0.1133 + ], + "dev_deg": { + "median": 10.27, + "p90": 21.99 + }, + "samples": 2611, + "accepted": 2503, + "wrist_pos_err_mm_median": 44.0, + "per_camera": { + "head": { + "samples": 2611, + "accepted": 2503, + "gate_deg": 30.0, + "offset_deg": 15.91, + "tier": "primary", + "dev_deg_median": 10.27, + "wrist_pos_err_mm_median": 44.0 + } + }, + "frames_by_state": { + "ace_sample": 10048, + "interpolated": 436, + "mean_hand": 1400, + "no_body_fit": 0 + }, + "observed_fraction": 0.8822, + "observed_fraction_of_valid": 0.8822, + "palm_axis_vs_markers_deg": { + "gsi": 14.92, + "smplx": 1.14 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.0, + "p90": 6.1 + }, + "registered": { + "median": 5.1, + "p90": 6.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:47:35.543885+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D42/session_016", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D42/session_016/motions/smplx.npz b/actions/locomotion_posture_dynamics/D42/session_016/motions/smplx.npz index 57ef1e3e903ea97d360e98fec5f507ab3d17435c..ce415eae4cf6fc7b4041bc36e7725221247590fb 100644 --- a/actions/locomotion_posture_dynamics/D42/session_016/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D42/session_016/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9384331a28fc8c3d2569d697f85cbec42727fca8be686750c74c73dc655ae783 -size 4585841 +oid sha256:756ea30b8e11830ff1b0756e3e0463f4b92a6bcc8923751f8c79e76f3c32dde4 +size 8279255 diff --git a/actions/locomotion_posture_dynamics/D43/session_013/meta.json b/actions/locomotion_posture_dynamics/D43/session_013/meta.json index c97c7881dc851150e1e8f84e0d930b22d32aaa99..ccb4280feed403504c144940b419bb2a360bfdcb 100644 --- a/actions/locomotion_posture_dynamics/D43/session_013/meta.json +++ b/actions/locomotion_posture_dynamics/D43/session_013/meta.json @@ -344,8 +344,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -404,19 +404,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - 2.98442, - -0.43848, - -0.87784 + 0.0, + 0.0, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 175.5, - "opposite_sign_bend_deg": 24.2, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2403, + "inlier_frac": 0.744, + "inlier_spread_deg": 12.28, + "marker_Q_to_gsi_deg": { + "1": 41.7, + "-1": 150.2 + } + }, + "wrist_bend_deg_median": 27.8, + "opposite_sign_bend_deg": 159.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.15, "hand_vs_marker_frame_deg": { - "before": 178.62, + "before": 3.15, "after": 3.15 }, "markers_on_wrist": [ @@ -424,15 +435,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -159.53, + "twist_moved_deg": -18.31, "wrist_twist_deg_after": { - "median": -18.31, + "median": -0.0, "iqr": [ - -22.6, - -12.5 + -4.2, + 5.8 ] }, - "wrist_total_deg_median_after": 27.8, + "wrist_total_deg_median_after": 21.4, "markers_on_forearm": [ "LElbow", "LElbowIn", @@ -445,35 +456,46 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 138.44, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + -2.39214, + -0.34014, + -0.02216 ], "in_out_sign": 1, - "wrist_bend_deg_median": 27.5, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 2260, + "inlier_frac": 0.768, + "inlier_spread_deg": 16.28, + "marker_Q_to_gsi_deg": { + "1": 138.4, + "-1": 51.7 + } + }, + "wrist_bend_deg_median": 136.1, "opposite_sign_bend_deg": 176.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.98, "hand_vs_marker_frame_deg": { "before": 3.99, - "after": 3.98 + "after": 139.09 }, "markers_on_wrist": [ "RHandIn", "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": 135.24, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ - -8.1, - 3.2 + -8.5, + 3.4 ] }, - "wrist_total_deg_median_after": 27.5, + "wrist_total_deg_median_after": 24.2, "markers_on_forearm": [ "RElbow", "RForearm", @@ -483,10 +505,120 @@ }, "frames_used": 1069 }, - "generated_at_utc": "2026-10-28T06:34:37.432655+00:00", + "generated_at_utc": "2026-11-06T14:01:37.536358+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 44.94, + "offset_rotvec": [ + 0.5796, + 0.4714, + -0.2388 + ], + "dev_deg": { + "median": 15.4, + "p90": 58.65 + }, + "samples": 2403, + "accepted": 1786, + "wrist_pos_err_mm_median": 88.9, + "per_camera": { + "head": { + "samples": 2403, + "accepted": 1786, + "gate_deg": 30.0, + "offset_deg": 44.94, + "tier": "primary", + "dev_deg_median": 15.4, + "wrist_pos_err_mm_median": 88.9 + } + }, + "frames_by_state": { + "ace_sample": 7208, + "interpolated": 676, + "mean_hand": 2800, + "no_body_fit": 0 + }, + "observed_fraction": 0.7379, + "observed_fraction_of_valid": 0.7379, + "palm_axis_vs_markers_deg": { + "gsi": 43.52, + "smplx": 2.4 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.3, + "p90": 12.5 + }, + "registered": { + "median": 11.1, + "p90": 15.0 + } + } + }, + "right": { + "offset_deg": 4.02, + "offset_rotvec": [ + -0.0211, + 0.0097, + 0.0661 + ], + "dev_deg": { + "median": 19.29, + "p90": 41.68 + }, + "samples": 2260, + "accepted": 1705, + "wrist_pos_err_mm_median": 102.2, + "per_camera": { + "head": { + "samples": 2260, + "accepted": 1705, + "gate_deg": 30.0, + "offset_deg": 4.02, + "tier": "primary", + "dev_deg_median": 19.29, + "wrist_pos_err_mm_median": 102.2 + } + }, + "frames_by_state": { + "ace_sample": 6964, + "interpolated": 1716, + "mean_hand": 2004, + "no_body_fit": 0 + }, + "observed_fraction": 0.8124, + "observed_fraction_of_valid": 0.8124, + "palm_axis_vs_markers_deg": { + "gsi": 53.91, + "smplx": 51.87 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.4, + "p90": 13.8 + }, + "registered": { + "median": 12.1, + "p90": 14.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:21:06.744028+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D43/session_013", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D43/session_013/motions/smplx.npz b/actions/locomotion_posture_dynamics/D43/session_013/motions/smplx.npz index d8606d76c95256ddb43c1fc3fd33cdd6e67f93d1..faa490735cf0c36d054f1d6e977513048fc582f7 100644 --- a/actions/locomotion_posture_dynamics/D43/session_013/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D43/session_013/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:714a3afceccb76bb1e9dd29555d1f7e01a9420a0a0119470053faf865e007f79 -size 4121547 +oid sha256:f0c9896abc75e3d68c1961a5e8ee77622a686dd3bbac8502981bcb0bbd33810b +size 6987888 diff --git a/actions/locomotion_posture_dynamics/D44/session_008/meta.json b/actions/locomotion_posture_dynamics/D44/session_008/meta.json index 59d7ab3b68aea8e3f2877e2e438cf0744f9332ad..126f5d11f379f38f7ec34f5b263a0dabde8132b1 100644 --- a/actions/locomotion_posture_dynamics/D44/session_008/meta.json +++ b/actions/locomotion_posture_dynamics/D44/session_008/meta.json @@ -339,8 +339,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -406,14 +406,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 2.99022, - -0.44902, - -0.85238 + -2.99022, + 0.44902, + 0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 176.4, - "opposite_sign_bend_deg": 7.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1768, + "inlier_frac": 0.889, + "inlier_spread_deg": 10.16, + "marker_Q_to_gsi_deg": { + "1": 174.1, + "-1": 8.9 + } + }, + "wrist_bend_deg_median": 168.1, + "opposite_sign_bend_deg": 36.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.86, "hand_vs_marker_frame_deg": { "before": 178.13, @@ -426,15 +437,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 168.2, + "twist_moved_deg": -167.83, "wrist_twist_deg_after": { - "median": 10.82, + "median": -0.37, "iqr": [ - 6.5, - 14.6 + -4.6, + 2.5 ] }, - "wrist_total_deg_median_after": 36.3, + "wrist_total_deg_median_after": 7.6, "markers_on_forearm": [ "LWristOut" ] @@ -443,19 +454,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -2.99225, + -0.43169, + -0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 28.1, - "opposite_sign_bend_deg": 172.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1456, + "inlier_frac": 0.811, + "inlier_spread_deg": 10.99, + "marker_Q_to_gsi_deg": { + "1": 173.8, + "-1": 13.8 + } + }, + "wrist_bend_deg_median": 172.1, + "opposite_sign_bend_deg": 28.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.34, "hand_vs_marker_frame_deg": { - "before": 4.34, + "before": 178.28, "after": 4.34 }, "markers_on_wrist": [ @@ -463,15 +485,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.02, + "twist_moved_deg": 156.49, "wrist_twist_deg_after": { - "median": 0.0, + "median": 15.72, "iqr": [ - -10.4, - 5.7 + 1.6, + 23.7 ] }, - "wrist_total_deg_median_after": 28.0, + "wrist_total_deg_median_after": 44.5, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -480,7 +502,7 @@ }, "frames_used": 769 }, - "generated_at_utc": "2026-10-28T06:18:03.995966+00:00", + "generated_at_utc": "2026-11-06T13:45:21.535365+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -524,6 +546,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1374556535550584 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 11.69, + "offset_rotvec": [ + 0.1701, + 0.1066, + 0.0367 + ], + "dev_deg": { + "median": 11.82, + "p90": 31.4 + }, + "samples": 1768, + "accepted": 1582, + "wrist_pos_err_mm_median": 128.4, + "per_camera": { + "head": { + "samples": 1768, + "accepted": 1582, + "gate_deg": 30.0, + "offset_deg": 11.69, + "tier": "primary", + "dev_deg_median": 11.82, + "wrist_pos_err_mm_median": 128.4 + } + }, + "frames_by_state": { + "ace_sample": 6360, + "interpolated": 364, + "mean_hand": 960, + "no_body_fit": 0 + }, + "observed_fraction": 0.8751, + "observed_fraction_of_valid": 0.8751, + "palm_axis_vs_markers_deg": { + "gsi": 10.13, + "smplx": 2.54 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.3, + "p90": 12.5 + }, + "registered": { + "median": 9.6, + "p90": 12.6 + } + } + }, + "right": { + "offset_deg": 12.97, + "offset_rotvec": [ + 0.0803, + -0.0641, + 0.2017 + ], + "dev_deg": { + "median": 13.43, + "p90": 167.5 + }, + "samples": 1456, + "accepted": 1181, + "wrist_pos_err_mm_median": 130.4, + "per_camera": { + "head": { + "samples": 1456, + "accepted": 1181, + "gate_deg": 30.0, + "offset_deg": 12.97, + "tier": "primary", + "dev_deg_median": 13.43, + "wrist_pos_err_mm_median": 130.4 + } + }, + "frames_by_state": { + "ace_sample": 4746, + "interpolated": 614, + "mean_hand": 2324, + "no_body_fit": 0 + }, + "observed_fraction": 0.6976, + "observed_fraction_of_valid": 0.6976, + "palm_axis_vs_markers_deg": { + "gsi": 12.91, + "smplx": 3.23 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.0, + "p90": 7.0 + }, + "registered": { + "median": 6.4, + "p90": 8.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:47:21.439489+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D44/session_008", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D44/session_008/motions/smplx.npz b/actions/locomotion_posture_dynamics/D44/session_008/motions/smplx.npz index e0127d1fea1e21db7295ddf4c906fa3d4dca2746..a2244aa45f3f5b63e1a45e5b5b255eeb048983c9 100644 --- a/actions/locomotion_posture_dynamics/D44/session_008/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D44/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:eac3cfcfc4a5fa0b380c93858782ac2b0c619acd01710c3ef81401ee1d4b25ba -size 2972661 +oid sha256:762d11e90e73ff8677ef7ca048e3b5760c63653c707fd357fb7fd29f186ddac4 +size 5067030 diff --git a/actions/locomotion_posture_dynamics/D45/session_007/meta.json b/actions/locomotion_posture_dynamics/D45/session_007/meta.json index 72a02ec91cf4fa31c8c8f4eb88ed7aa8ae571214..1a1a69c48076fbffe3bed2f76cf1aa12df2df2da 100644 --- a/actions/locomotion_posture_dynamics/D45/session_007/meta.json +++ b/actions/locomotion_posture_dynamics/D45/session_007/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -388,19 +388,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + 2.99022, + -0.44902, + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 25.6, - "opposite_sign_bend_deg": 175.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2201, + "inlier_frac": 0.854, + "inlier_spread_deg": 14.87, + "marker_Q_to_gsi_deg": { + "1": 154.6, + "-1": 27.0 + } + }, + "wrist_bend_deg_median": 174.8, + "opposite_sign_bend_deg": 25.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.36, "hand_vs_marker_frame_deg": { - "before": 1.36, + "before": 179.51, "after": 1.36 }, "markers_on_wrist": [ @@ -408,15 +419,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.84, + "twist_moved_deg": -174.59, "wrist_twist_deg_after": { - "median": -0.0, + "median": -0.59, "iqr": [ - -2.5, - 3.0 + -2.8, + 1.6 ] }, - "wrist_total_deg_median_after": 25.5, + "wrist_total_deg_median_after": 22.7, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -430,12 +441,23 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - -0.0, + 0.0, 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 48.2, - "opposite_sign_bend_deg": 150.8, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1423, + "inlier_frac": 0.491, + "inlier_spread_deg": 8.63, + "marker_Q_to_gsi_deg": { + "1": 18.3, + "-1": 167.3 + } + }, + "wrist_bend_deg_median": 48.3, + "opposite_sign_bend_deg": 150.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 10.88, "hand_vs_marker_frame_deg": { @@ -447,7 +469,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.14, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -464,7 +486,7 @@ }, "frames_used": 1035 }, - "generated_at_utc": "2026-10-28T06:18:04.781057+00:00", + "generated_at_utc": "2026-11-06T13:45:34.345712+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -544,6 +566,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 5.27, + "offset_rotvec": [ + 0.0763, + -0.0176, + 0.0483 + ], + "dev_deg": { + "median": 27.12, + "p90": 47.23 + }, + "samples": 2201, + "accepted": 1214, + "wrist_pos_err_mm_median": 297.4, + "per_camera": { + "head": { + "samples": 2201, + "accepted": 1214, + "gate_deg": 30.0, + "offset_deg": 5.27, + "tier": "primary", + "dev_deg_median": 27.12, + "wrist_pos_err_mm_median": 297.4 + } + }, + "frames_by_state": { + "ace_sample": 4934, + "interpolated": 1918, + "mean_hand": 3832, + "no_body_fit": 0 + }, + "observed_fraction": 0.6413, + "observed_fraction_of_valid": 0.6413, + "palm_axis_vs_markers_deg": { + "gsi": 29.29, + "smplx": 0.86 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.2, + "p90": 12.8 + }, + "registered": { + "median": 9.6, + "p90": 14.0 + } + } + }, + "right": { + "offset_deg": 21.84, + "offset_rotvec": [ + 0.2698, + -0.1103, + 0.2455 + ], + "dev_deg": { + "median": 30.39, + "p90": 173.79 + }, + "samples": 1423, + "accepted": 709, + "wrist_pos_err_mm_median": 50.3, + "per_camera": { + "head": { + "samples": 1423, + "accepted": 709, + "gate_deg": 30.0, + "offset_deg": 21.84, + "tier": "primary", + "dev_deg_median": 30.39, + "wrist_pos_err_mm_median": 50.3 + } + }, + "frames_by_state": { + "ace_sample": 2852, + "interpolated": 540, + "mean_hand": 7292, + "no_body_fit": 0 + }, + "observed_fraction": 0.3175, + "observed_fraction_of_valid": 0.3175, + "palm_axis_vs_markers_deg": { + "gsi": 34.69, + "smplx": 10.06 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.4, + "p90": 12.4 + }, + "registered": { + "median": 10.3, + "p90": 14.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:47:25.737911+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D45/session_007", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D45/session_007/motions/smplx.npz b/actions/locomotion_posture_dynamics/D45/session_007/motions/smplx.npz index b80bdbbf7b908ae786be2f7b3bbad6e668b978c3..9bd82170fbb87fd2d3a6661090a04b904e222312 100644 --- a/actions/locomotion_posture_dynamics/D45/session_007/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D45/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1c13f7cdda59ab0b87824435d2a25d1d0ae6b96b5cf73f8ea83f232b9c70d517 -size 4114702 +oid sha256:dfc3b414ec68bfaf39e8c82189d7c03d11deb469d6290381f0011fdb1960e97d +size 6021075 diff --git a/actions/locomotion_posture_dynamics/D46/session_007/meta.json b/actions/locomotion_posture_dynamics/D46/session_007/meta.json index 636d5bc06c02f2b0e3a40835f585a0e0434a948b..47d923d9ae30a689fda236062cc0a6acf7d7db0b 100644 --- a/actions/locomotion_posture_dynamics/D46/session_007/meta.json +++ b/actions/locomotion_posture_dynamics/D46/session_007/meta.json @@ -344,8 +344,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -406,14 +406,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 2.99022, - -0.44902, - -0.85237 + -2.99022, + 0.44902, + 0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 169.8, - "opposite_sign_bend_deg": 30.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2699, + "inlier_frac": 0.726, + "inlier_spread_deg": 8.52, + "marker_Q_to_gsi_deg": { + "1": 176.6, + "-1": 5.8 + } + }, + "wrist_bend_deg_median": 167.6, + "opposite_sign_bend_deg": 29.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.26, "hand_vs_marker_frame_deg": { "before": 179.29, @@ -424,15 +435,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 167.5, + "twist_moved_deg": -165.81, "wrist_twist_deg_after": { - "median": 6.75, + "median": -1.67, "iqr": [ - -0.5, - 12.2 + -7.6, + 2.4 ] }, - "wrist_total_deg_median_after": 29.2, + "wrist_total_deg_median_after": 31.2, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -443,19 +454,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + 2.99225, + 0.43169, + 0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 33.4, - "opposite_sign_bend_deg": 167.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1579, + "inlier_frac": 0.559, + "inlier_spread_deg": 10.75, + "marker_Q_to_gsi_deg": { + "1": 173.7, + "-1": 15.2 + } + }, + "wrist_bend_deg_median": 171.2, + "opposite_sign_bend_deg": 37.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 8.5, "hand_vs_marker_frame_deg": { - "before": 8.5, + "before": 176.35, "after": 8.5 }, "markers_on_wrist": [ @@ -463,15 +485,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -8.21, + "twist_moved_deg": 94.01, "wrist_twist_deg_after": { - "median": -0.01, + "median": 82.23, "iqr": [ - -87.3, - 4.4 + 0.3, + 86.1 ] }, - "wrist_total_deg_median_after": 36.9, + "wrist_total_deg_median_after": 86.2, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -480,7 +502,7 @@ }, "frames_used": 1248 }, - "generated_at_utc": "2026-10-28T06:18:05.656266+00:00", + "generated_at_utc": "2026-11-06T13:45:36.435775+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -524,6 +546,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.6303157973526696 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 7.14, + "offset_rotvec": [ + 0.1204, + 0.015, + 0.0288 + ], + "dev_deg": { + "median": 12.65, + "p90": 165.97 + }, + "samples": 2699, + "accepted": 1995, + "wrist_pos_err_mm_median": 60.7, + "per_camera": { + "head": { + "samples": 2699, + "accepted": 1995, + "gate_deg": 30.0, + "offset_deg": 7.14, + "tier": "primary", + "dev_deg_median": 12.65, + "wrist_pos_err_mm_median": 60.7 + } + }, + "frames_by_state": { + "ace_sample": 8000, + "interpolated": 572, + "mean_hand": 3904, + "no_body_fit": 8 + }, + "observed_fraction": 0.6866, + "observed_fraction_of_valid": 0.6871, + "palm_axis_vs_markers_deg": { + "gsi": 10.04, + "smplx": 0.94 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.2, + "p90": 13.6 + }, + "registered": { + "median": 9.4, + "p90": 11.1 + } + } + }, + "right": { + "offset_deg": 13.04, + "offset_rotvec": [ + 0.1327, + -0.0892, + 0.162 + ], + "dev_deg": { + "median": 20.46, + "p90": 165.56 + }, + "samples": 1579, + "accepted": 917, + "wrist_pos_err_mm_median": 313.4, + "per_camera": { + "head": { + "samples": 1579, + "accepted": 917, + "gate_deg": 30.0, + "offset_deg": 13.04, + "tier": "primary", + "dev_deg_median": 20.46, + "wrist_pos_err_mm_median": 313.4 + } + }, + "frames_by_state": { + "ace_sample": 3730, + "interpolated": 1354, + "mean_hand": 7392, + "no_body_fit": 8 + }, + "observed_fraction": 0.4072, + "observed_fraction_of_valid": 0.4075, + "palm_axis_vs_markers_deg": { + "gsi": 19.79, + "smplx": 6.7 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.3, + "p90": 7.1 + }, + "registered": { + "median": 6.5, + "p90": 8.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:47:31.936026+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D46/session_007", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D46/session_007/motions/smplx.npz b/actions/locomotion_posture_dynamics/D46/session_007/motions/smplx.npz index f5422068427b9ae405b8879f154245111bfdf858..11a81e853924bb073a70b1c5aeb320793bd81299 100644 --- a/actions/locomotion_posture_dynamics/D46/session_007/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D46/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4cf8d4ebfab41a5700c6e250eeb73071f15bb919757ecbd48b7403a1386cf218 -size 4819925 +oid sha256:ba278d4e42a446fd173b96c1ec23c479c62bedecd2943a8d9a2817b38cbc05a9 +size 7281405 diff --git a/actions/locomotion_posture_dynamics/D48/session_007/meta.json b/actions/locomotion_posture_dynamics/D48/session_007/meta.json index 384333ed294aeadf352c4effdebfcd66c1e1216f..39308bcdcb51c9f3e9569f4e5553754b9718e50b 100644 --- a/actions/locomotion_posture_dynamics/D48/session_007/meta.json +++ b/actions/locomotion_posture_dynamics/D48/session_007/meta.json @@ -341,8 +341,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -401,19 +401,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -2.99022, + 0.44902, + 0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 28.6, - "opposite_sign_bend_deg": 174.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2342, + "inlier_frac": 0.795, + "inlier_spread_deg": 17.66, + "marker_Q_to_gsi_deg": { + "1": 160.2, + "-1": 20.9 + } + }, + "wrist_bend_deg_median": 174.3, + "opposite_sign_bend_deg": 28.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.44, "hand_vs_marker_frame_deg": { - "before": 1.44, + "before": 179.34, "after": 1.44 }, "markers_on_wrist": [ @@ -421,15 +432,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.3, + "twist_moved_deg": -173.38, "wrist_twist_deg_after": { - "median": -0.0, + "median": -0.88, "iqr": [ - -2.5, - 4.3 + -3.1, + 2.5 ] }, - "wrist_total_deg_median_after": 28.8, + "wrist_total_deg_median_after": 25.6, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -440,19 +451,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -2.99225, + -0.43169, + -0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 38.4, - "opposite_sign_bend_deg": 153.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1776, + "inlier_frac": 0.651, + "inlier_spread_deg": 10.38, + "marker_Q_to_gsi_deg": { + "1": 174.6, + "-1": 14.5 + } + }, + "wrist_bend_deg_median": 166.7, + "opposite_sign_bend_deg": 39.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 10.24, "hand_vs_marker_frame_deg": { - "before": 10.24, + "before": 178.18, "after": 10.24 }, "markers_on_wrist": [ @@ -460,15 +482,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -21.19, + "twist_moved_deg": 128.42, "wrist_twist_deg_after": { - "median": -0.01, + "median": 45.56, "iqr": [ - -50.3, - 12.5 + 2.9, + 56.1 ] }, - "wrist_total_deg_median_after": 39.9, + "wrist_total_deg_median_after": 55.7, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -477,7 +499,7 @@ }, "frames_used": 1396 }, - "generated_at_utc": "2026-10-28T06:18:06.291140+00:00", + "generated_at_utc": "2026-11-06T13:45:42.136027+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -569,6 +591,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.88, + "offset_rotvec": [ + 0.164, + -0.0291, + 0.0446 + ], + "dev_deg": { + "median": 21.42, + "p90": 57.08 + }, + "samples": 2342, + "accepted": 1577, + "wrist_pos_err_mm_median": 77.6, + "per_camera": { + "head": { + "samples": 2342, + "accepted": 1577, + "gate_deg": 30.0, + "offset_deg": 9.88, + "tier": "primary", + "dev_deg_median": 21.42, + "wrist_pos_err_mm_median": 77.6 + } + }, + "frames_by_state": { + "ace_sample": 6444, + "interpolated": 2936, + "mean_hand": 4896, + "no_body_fit": 8 + }, + "observed_fraction": 0.6567, + "observed_fraction_of_valid": 0.657, + "palm_axis_vs_markers_deg": { + "gsi": 25.94, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 15.06, + "offset_rotvec": [ + 0.1303, + -0.1291, + 0.1882 + ], + "dev_deg": { + "median": 16.49, + "p90": 160.12 + }, + "samples": 1776, + "accepted": 1167, + "wrist_pos_err_mm_median": 65.5, + "per_camera": { + "head": { + "samples": 1776, + "accepted": 1167, + "gate_deg": 30.0, + "offset_deg": 15.06, + "tier": "primary", + "dev_deg_median": 16.49, + "wrist_pos_err_mm_median": 65.5 + } + }, + "frames_by_state": { + "ace_sample": 4712, + "interpolated": 796, + "mean_hand": 8768, + "no_body_fit": 8 + }, + "observed_fraction": 0.3856, + "observed_fraction_of_valid": 0.3858, + "palm_axis_vs_markers_deg": { + "gsi": 12.38, + "smplx": 7.73 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.5, + "p90": 9.8 + }, + "registered": { + "median": 8.7, + "p90": 9.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:47:26.542711+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D48/session_007", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D48/session_007/motions/smplx.npz b/actions/locomotion_posture_dynamics/D48/session_007/motions/smplx.npz index c45265c204e18fbf1415b34f4cf289e578436ba1..c28ad697889683f087cf4f0db1e9b4a3faed0cee 100644 --- a/actions/locomotion_posture_dynamics/D48/session_007/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D48/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fed0ad829e6ec4a2701d22966b87313d654ea284d764b9efdede08a43476d462 -size 5507486 +oid sha256:7e1c92e23904e27474aee97517cc6d0a0c994b4758a2b0c3fead8c0db51b8196 +size 8177895 diff --git a/actions/locomotion_posture_dynamics/D49/session_007/meta.json b/actions/locomotion_posture_dynamics/D49/session_007/meta.json index 75619bc0b4337df0d6721bee0906c1471932128a..cee50831694cf24da5eb2441f6ad2c7842d0d047 100644 --- a/actions/locomotion_posture_dynamics/D49/session_007/meta.json +++ b/actions/locomotion_posture_dynamics/D49/session_007/meta.json @@ -327,8 +327,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -391,12 +391,23 @@ "Q_rotvec": [ 2.99022, -0.44902, - -0.85238 + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 172.6, - "opposite_sign_bend_deg": 26.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1333, + "inlier_frac": 0.812, + "inlier_spread_deg": 8.47, + "marker_Q_to_gsi_deg": { + "1": 174.3, + "-1": 9.2 + } + }, + "wrist_bend_deg_median": 167.8, + "opposite_sign_bend_deg": 32.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.54, "hand_vs_marker_frame_deg": { "before": 179.08, @@ -407,15 +418,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 167.77, + "twist_moved_deg": -165.52, "wrist_twist_deg_after": { - "median": 7.5, + "median": -2.25, "iqr": [ - 1.8, - 13.6 + -6.1, + 3.7 ] }, - "wrist_total_deg_median_after": 33.4, + "wrist_total_deg_median_after": 27.5, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -426,19 +437,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -2.99225, + -0.43169, + -0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 26.7, - "opposite_sign_bend_deg": 174.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1468, + "inlier_frac": 0.856, + "inlier_spread_deg": 11.74, + "marker_Q_to_gsi_deg": { + "1": 174.6, + "-1": 10.6 + } + }, + "wrist_bend_deg_median": 171.4, + "opposite_sign_bend_deg": 26.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.63, "hand_vs_marker_frame_deg": { - "before": 3.63, + "before": 179.07, "after": 3.63 }, "markers_on_wrist": [ @@ -446,15 +468,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 6.02, + "twist_moved_deg": 168.61, "wrist_twist_deg_after": { - "median": 0.0, + "median": 8.05, "iqr": [ - -3.5, - 25.1 + 3.7, + 28.2 ] }, - "wrist_total_deg_median_after": 26.5, + "wrist_total_deg_median_after": 28.4, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -463,7 +485,7 @@ }, "frames_used": 708 }, - "generated_at_utc": "2026-10-28T06:18:05.451422+00:00", + "generated_at_utc": "2026-11-06T13:45:29.335439+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -543,6 +565,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.6535051342352334 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 5.11, + "offset_rotvec": [ + 0.0685, + 0.0221, + 0.0527 + ], + "dev_deg": { + "median": 10.56, + "p90": 73.17 + }, + "samples": 1333, + "accepted": 1078, + "wrist_pos_err_mm_median": 45.2, + "per_camera": { + "head": { + "samples": 1333, + "accepted": 1078, + "gate_deg": 30.0, + "offset_deg": 5.11, + "tier": "primary", + "dev_deg_median": 10.56, + "wrist_pos_err_mm_median": 45.2 + } + }, + "frames_by_state": { + "ace_sample": 4326, + "interpolated": 490, + "mean_hand": 2262, + "no_body_fit": 6 + }, + "observed_fraction": 0.6798, + "observed_fraction_of_valid": 0.6804, + "palm_axis_vs_markers_deg": { + "gsi": 9.8, + "smplx": 1.46 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.7, + "p90": 7.7 + }, + "registered": { + "median": 6.6, + "p90": 9.4 + } + } + }, + "right": { + "offset_deg": 5.83, + "offset_rotvec": [ + 0.0355, + 0.0006, + 0.0954 + ], + "dev_deg": { + "median": 14.64, + "p90": 44.79 + }, + "samples": 1468, + "accepted": 1242, + "wrist_pos_err_mm_median": 48.1, + "per_camera": { + "head": { + "samples": 1468, + "accepted": 1242, + "gate_deg": 30.0, + "offset_deg": 5.83, + "tier": "primary", + "dev_deg_median": 14.64, + "wrist_pos_err_mm_median": 48.1 + } + }, + "frames_by_state": { + "ace_sample": 5082, + "interpolated": 1534, + "mean_hand": 462, + "no_body_fit": 6 + }, + "observed_fraction": 0.9339, + "observed_fraction_of_valid": 0.9347, + "palm_axis_vs_markers_deg": { + "gsi": 11.18, + "smplx": 1.61 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 3.8, + "p90": 5.9 + }, + "registered": { + "median": 3.4, + "p90": 5.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:47:20.043362+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D49/session_007", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D49/session_007/motions/smplx.npz b/actions/locomotion_posture_dynamics/D49/session_007/motions/smplx.npz index 36cf3ffdbf46b3caffa085fee5ff649ae5cee7ef..32d1ca2916204f384205b69b58e6ab1f62127eab 100644 --- a/actions/locomotion_posture_dynamics/D49/session_007/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D49/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3604fe4fa6c19a563e4e8f22b658c9bc0295c8b8656d2efba001b6cf9d07c558 -size 2745043 +oid sha256:82a058f1416a82c0589cf9d0acd6046f14a814089b3e87c91466c4a2e25c0903 +size 4743383 diff --git a/actions/locomotion_posture_dynamics/D50/session_007/meta.json b/actions/locomotion_posture_dynamics/D50/session_007/meta.json index 5c07a127b0175e91edbcba09879f49bc5983d73f..52034e32cb39c2f3e399acc6162becb908b973d3 100644 --- a/actions/locomotion_posture_dynamics/D50/session_007/meta.json +++ b/actions/locomotion_posture_dynamics/D50/session_007/meta.json @@ -329,8 +329,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -394,19 +394,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + 2.99022, + -0.44902, + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 35.1, - "opposite_sign_bend_deg": 172.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1383, + "inlier_frac": 0.893, + "inlier_spread_deg": 10.58, + "marker_Q_to_gsi_deg": { + "1": 174.9, + "-1": 10.0 + } + }, + "wrist_bend_deg_median": 172.2, + "opposite_sign_bend_deg": 35.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.56, "hand_vs_marker_frame_deg": { - "before": 2.56, + "before": 178.78, "after": 2.56 }, "markers_on_wrist": [ @@ -415,15 +426,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": -170.19, "wrist_twist_deg_after": { - "median": -0.0, + "median": -1.96, "iqr": [ - -5.9, - 4.3 + -7.2, + 1.2 ] }, - "wrist_total_deg_median_after": 35.8, + "wrist_total_deg_median_after": 28.8, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -433,19 +444,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -2.99225, + -0.43169, + -0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 30.7, - "opposite_sign_bend_deg": 171.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1246, + "inlier_frac": 0.699, + "inlier_spread_deg": 11.73, + "marker_Q_to_gsi_deg": { + "1": 176.9, + "-1": 7.8 + } + }, + "wrist_bend_deg_median": 171.2, + "opposite_sign_bend_deg": 30.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.71, "hand_vs_marker_frame_deg": { - "before": 3.71, + "before": 178.99, "after": 3.71 }, "markers_on_wrist": [ @@ -453,15 +475,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.12, + "twist_moved_deg": 168.16, "wrist_twist_deg_after": { - "median": 0.0, + "median": 6.44, "iqr": [ - -4.1, - 14.5 + 1.6, + 18.0 ] }, - "wrist_total_deg_median_after": 31.8, + "wrist_total_deg_median_after": 30.5, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -470,7 +492,7 @@ }, "frames_used": 612 }, - "generated_at_utc": "2026-10-28T06:18:05.301228+00:00", + "generated_at_utc": "2026-11-06T13:45:30.248033+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -562,6 +584,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 8.08, + "offset_rotvec": [ + 0.1028, + 0.0938, + 0.023 + ], + "dev_deg": { + "median": 11.4, + "p90": 32.95 + }, + "samples": 1383, + "accepted": 1234, + "wrist_pos_err_mm_median": 47.3, + "per_camera": { + "head": { + "samples": 1383, + "accepted": 1234, + "gate_deg": 30.0, + "offset_deg": 8.08, + "tier": "primary", + "dev_deg_median": 11.4, + "wrist_pos_err_mm_median": 47.3 + } + }, + "frames_by_state": { + "ace_sample": 4948, + "interpolated": 368, + "mean_hand": 1168, + "no_body_fit": 0 + }, + "observed_fraction": 0.8199, + "observed_fraction_of_valid": 0.8199, + "palm_axis_vs_markers_deg": { + "gsi": 13.36, + "smplx": 1.99 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.9, + "p90": 10.8 + }, + "registered": { + "median": 9.2, + "p90": 12.2 + } + } + }, + "right": { + "offset_deg": 10.74, + "offset_rotvec": [ + 0.1203, + 0.0318, + 0.1403 + ], + "dev_deg": { + "median": 17.81, + "p90": 85.64 + }, + "samples": 1246, + "accepted": 870, + "wrist_pos_err_mm_median": 56.2, + "per_camera": { + "head": { + "samples": 1246, + "accepted": 870, + "gate_deg": 30.0, + "offset_deg": 10.74, + "tier": "primary", + "dev_deg_median": 17.81, + "wrist_pos_err_mm_median": 56.2 + } + }, + "frames_by_state": { + "ace_sample": 3528, + "interpolated": 1104, + "mean_hand": 1852, + "no_body_fit": 0 + }, + "observed_fraction": 0.7144, + "observed_fraction_of_valid": 0.7144, + "palm_axis_vs_markers_deg": { + "gsi": 13.32, + "smplx": 1.66 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.3, + "p90": 12.5 + }, + "registered": { + "median": 7.8, + "p90": 11.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:47:18.941606+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D50/session_007", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D50/session_007/motions/smplx.npz b/actions/locomotion_posture_dynamics/D50/session_007/motions/smplx.npz index d3f37ba94310bfa9257b76a336662e83eacfb037..22c518a30d05542e0fa0c240e87d2dd7ab916e01 100644 --- a/actions/locomotion_posture_dynamics/D50/session_007/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D50/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:def18d2234d7f0bab7b576f2b79eef9472e4c0e8df422ae97eaa2ff61cb989af -size 2510631 +oid sha256:fa5cf2ad2f86f705a6849ed6f33119fb5cfa8c034aa566abcf23cbf60fed487d +size 4288053 diff --git a/actions/locomotion_posture_dynamics/D51/session_007/meta.json b/actions/locomotion_posture_dynamics/D51/session_007/meta.json index 7b0a7b0f97ed5cebd3621f2b2e33394b9f8307e1..55f080f0ca787a828a4a3554e3e3ecf726e17ea7 100644 --- a/actions/locomotion_posture_dynamics/D51/session_007/meta.json +++ b/actions/locomotion_posture_dynamics/D51/session_007/meta.json @@ -340,8 +340,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -410,19 +410,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -2.99022, + 0.44902, + 0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 33.6, - "opposite_sign_bend_deg": 171.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1242, + "inlier_frac": 0.875, + "inlier_spread_deg": 11.31, + "marker_Q_to_gsi_deg": { + "1": 174.9, + "-1": 8.7 + } + }, + "wrist_bend_deg_median": 171.1, + "opposite_sign_bend_deg": 33.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.66, "hand_vs_marker_frame_deg": { - "before": 3.66, + "before": 177.65, "after": 3.66 }, "markers_on_wrist": [ @@ -432,15 +443,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.41, + "twist_moved_deg": -164.75, "wrist_twist_deg_after": { - "median": -0.0, + "median": -7.51, "iqr": [ - -10.0, - 7.4 + -16.5, + -1.2 ] }, - "wrist_total_deg_median_after": 34.0, + "wrist_total_deg_median_after": 30.1, "markers_on_forearm": [ "LForearm" ] @@ -449,19 +460,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -2.99225, + -0.43169, + -0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 32.8, - "opposite_sign_bend_deg": 167.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1198, + "inlier_frac": 0.562, + "inlier_spread_deg": 11.46, + "marker_Q_to_gsi_deg": { + "1": 176.4, + "-1": 10.4 + } + }, + "wrist_bend_deg_median": 167.9, + "opposite_sign_bend_deg": 33.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.11, "hand_vs_marker_frame_deg": { - "before": 6.11, + "before": 178.82, "after": 6.11 }, "markers_on_wrist": [ @@ -469,15 +491,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -1.01, + "twist_moved_deg": 162.61, "wrist_twist_deg_after": { - "median": -0.0, + "median": 11.32, "iqr": [ - -6.5, - 20.2 + 4.8, + 29.9 ] }, - "wrist_total_deg_median_after": 33.7, + "wrist_total_deg_median_after": 42.1, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -486,7 +508,7 @@ }, "frames_used": 615 }, - "generated_at_utc": "2026-10-28T06:18:05.581346+00:00", + "generated_at_utc": "2026-11-06T13:45:31.735649+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -589,6 +611,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 6.53, + "offset_rotvec": [ + 0.0935, + 0.0628, + 0.0171 + ], + "dev_deg": { + "median": 12.35, + "p90": 34.59 + }, + "samples": 1242, + "accepted": 1087, + "wrist_pos_err_mm_median": 52.1, + "per_camera": { + "head": { + "samples": 1242, + "accepted": 1087, + "gate_deg": 30.0, + "offset_deg": 6.53, + "tier": "primary", + "dev_deg_median": 12.35, + "wrist_pos_err_mm_median": 52.1 + } + }, + "frames_by_state": { + "ace_sample": 4366, + "interpolated": 538, + "mean_hand": 1580, + "no_body_fit": 0 + }, + "observed_fraction": 0.7563, + "observed_fraction_of_valid": 0.7563, + "palm_axis_vs_markers_deg": { + "gsi": 11.6, + "smplx": 3.28 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.6, + "p90": 10.2 + }, + "registered": { + "median": 5.5, + "p90": 9.9 + } + } + }, + "right": { + "offset_deg": 8.93, + "offset_rotvec": [ + 0.0921, + -0.0136, + 0.125 + ], + "dev_deg": { + "median": 22.16, + "p90": 172.39 + }, + "samples": 1198, + "accepted": 695, + "wrist_pos_err_mm_median": 51.3, + "per_camera": { + "head": { + "samples": 1198, + "accepted": 695, + "gate_deg": 30.0, + "offset_deg": 8.93, + "tier": "primary", + "dev_deg_median": 22.16, + "wrist_pos_err_mm_median": 51.3 + } + }, + "frames_by_state": { + "ace_sample": 2832, + "interpolated": 1048, + "mean_hand": 2604, + "no_body_fit": 0 + }, + "observed_fraction": 0.5984, + "observed_fraction_of_valid": 0.5984, + "palm_axis_vs_markers_deg": { + "gsi": 15.98, + "smplx": 4.04 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.9, + "p90": 13.5 + }, + "registered": { + "median": 7.5, + "p90": 12.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:47:18.541550+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D51/session_007", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D51/session_007/motions/smplx.npz b/actions/locomotion_posture_dynamics/D51/session_007/motions/smplx.npz index 2f0d7befe0e4e471f24632cf21809fff3d4385d5..f95be8bc07c0d100f6c22b0aa90c174b11adc327 100644 --- a/actions/locomotion_posture_dynamics/D51/session_007/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D51/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9fb153c5b153d0974f2c48dc0ea5cbeb6b96c62a628b5a146cb21efde78ddcc5 -size 2514371 +oid sha256:1ef92cdb13c200948ab80289f7b608186533a31daeaf681f33ea709671424340 +size 4093608 diff --git a/actions/locomotion_posture_dynamics/D52/session_007/meta.json b/actions/locomotion_posture_dynamics/D52/session_007/meta.json index 3b2caa5650ecfc5bff63576c54c9d1ea14214a28..3a492d5839bae244fb15b7663d3512766b3a3b02 100644 --- a/actions/locomotion_posture_dynamics/D52/session_007/meta.json +++ b/actions/locomotion_posture_dynamics/D52/session_007/meta.json @@ -340,8 +340,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -407,14 +407,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 2.99022, - -0.44902, - -0.85238 + -2.99022, + 0.44902, + 0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 170.4, - "opposite_sign_bend_deg": 24.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1628, + "inlier_frac": 0.703, + "inlier_spread_deg": 9.96, + "marker_Q_to_gsi_deg": { + "1": 174.5, + "-1": 10.1 + } + }, + "wrist_bend_deg_median": 156.2, + "opposite_sign_bend_deg": 37.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.46, "hand_vs_marker_frame_deg": { "before": 178.53, @@ -426,15 +437,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 155.43, + "twist_moved_deg": -154.27, "wrist_twist_deg_after": { - "median": 20.63, + "median": -1.12, "iqr": [ - 10.4, - 29.7 + -7.1, + 8.3 ] }, - "wrist_total_deg_median_after": 39.0, + "wrist_total_deg_median_after": 26.5, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -444,19 +455,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -2.99225, + -0.43169, + -0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 31.5, - "opposite_sign_bend_deg": 161.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1550, + "inlier_frac": 0.557, + "inlier_spread_deg": 10.12, + "marker_Q_to_gsi_deg": { + "1": 178.4, + "-1": 12.1 + } + }, + "wrist_bend_deg_median": 162.6, + "opposite_sign_bend_deg": 31.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.44, "hand_vs_marker_frame_deg": { - "before": 6.44, + "before": 178.02, "after": 6.44 }, "markers_on_wrist": [ @@ -464,15 +486,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.94, + "twist_moved_deg": 155.88, "wrist_twist_deg_after": { - "median": -0.0, + "median": 16.39, "iqr": [ - -11.3, - 20.8 + 6.3, + 43.1 ] }, - "wrist_total_deg_median_after": 31.6, + "wrist_total_deg_median_after": 49.3, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -481,7 +503,7 @@ }, "frames_used": 709 }, - "generated_at_utc": "2026-10-28T06:18:07.640735+00:00", + "generated_at_utc": "2026-11-06T13:45:37.242342+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -583,6 +605,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.3270365855590112 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 5.73, + "offset_rotvec": [ + 0.0728, + -0.0086, + -0.068 + ], + "dev_deg": { + "median": 17.17, + "p90": 149.73 + }, + "samples": 1628, + "accepted": 1148, + "wrist_pos_err_mm_median": 50.8, + "per_camera": { + "head": { + "samples": 1628, + "accepted": 1148, + "gate_deg": 30.0, + "offset_deg": 5.73, + "tier": "primary", + "dev_deg_median": 17.17, + "wrist_pos_err_mm_median": 50.8 + } + }, + "frames_by_state": { + "ace_sample": 4598, + "interpolated": 438, + "mean_hand": 2048, + "no_body_fit": 0 + }, + "observed_fraction": 0.7109, + "observed_fraction_of_valid": 0.7109, + "palm_axis_vs_markers_deg": { + "gsi": 11.5, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 6.04, + "offset_rotvec": [ + 0.0295, + -0.1009, + 0.0071 + ], + "dev_deg": { + "median": 22.03, + "p90": 168.43 + }, + "samples": 1550, + "accepted": 865, + "wrist_pos_err_mm_median": 44.4, + "per_camera": { + "head": { + "samples": 1550, + "accepted": 865, + "gate_deg": 30.0, + "offset_deg": 6.04, + "tier": "primary", + "dev_deg_median": 22.03, + "wrist_pos_err_mm_median": 44.4 + } + }, + "frames_by_state": { + "ace_sample": 3484, + "interpolated": 682, + "mean_hand": 2918, + "no_body_fit": 0 + }, + "observed_fraction": 0.5881, + "observed_fraction_of_valid": 0.5881, + "palm_axis_vs_markers_deg": { + "gsi": 12.47, + "smplx": 3.84 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.1, + "p90": 18.6 + }, + "registered": { + "median": 10.6, + "p90": 16.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:47:25.836945+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D52/session_007", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D52/session_007/motions/smplx.npz b/actions/locomotion_posture_dynamics/D52/session_007/motions/smplx.npz index d8558fcc530b734b84ade13fc1a52d7ab4916875..d5f0b6cc1a66c979895d240f3e02c142a0cd83ea 100644 --- a/actions/locomotion_posture_dynamics/D52/session_007/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D52/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8065fb7b96e7b75e3a05710c250c922b4ca7417734c4507d5772b69cf1fa2cb1 -size 2741698 +oid sha256:72ce8bac01db0ec219b66c4dbb9786192a7b4b854bba4a11cf51348b9fde6600 +size 4400845 diff --git a/actions/locomotion_posture_dynamics/D52/session_014/meta.json b/actions/locomotion_posture_dynamics/D52/session_014/meta.json index cd8c6630d1a9c01dc8e0aeb533381bd95db7f25e..303135908ae17f016a72413d4b181e5845857827 100644 --- a/actions/locomotion_posture_dynamics/D52/session_014/meta.json +++ b/actions/locomotion_posture_dynamics/D52/session_014/meta.json @@ -454,19 +454,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - 3.03013, - -0.23151, - -0.79645 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 173.0, - "opposite_sign_bend_deg": 20.3, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2178, + "inlier_frac": 0.925, + "inlier_spread_deg": 13.29, + "marker_Q_to_gsi_deg": { + "1": 19.9, + "-1": 163.9 + } + }, + "wrist_bend_deg_median": 19.7, + "opposite_sign_bend_deg": 173.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.62, "hand_vs_marker_frame_deg": { - "before": 178.02, + "before": 2.62, "after": 2.62 }, "markers_on_wrist": [ @@ -475,15 +486,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 170.61, + "twist_moved_deg": 3.26, "wrist_twist_deg_after": { - "median": 3.26, + "median": 0.01, "iqr": [ - -6.7, - 7.0 + -10.0, + 3.8 ] }, - "wrist_total_deg_median_after": 19.7, + "wrist_total_deg_median_after": 19.4, "markers_on_forearm": [ "LElbow", "LElbowIn", @@ -502,8 +513,15 @@ 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 41.0, - "opposite_sign_bend_deg": 167.6, + "q_source": "markers (GSI not reliable)", + "gsi": { + "reliable": false, + "frames": 2219, + "inlier_frac": 0.316, + "inlier_spread_deg": 16.66 + }, + "wrist_bend_deg_median": 40.3, + "opposite_sign_bend_deg": 160.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 7.72, "hand_vs_marker_frame_deg": { @@ -515,9 +533,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -12.93, + "twist_moved_deg": -0.01, "wrist_twist_deg_after": { - "median": -0.01, + "median": -0.0, "iqr": [ -59.4, 6.8 @@ -532,7 +550,7 @@ }, "frames_used": 1074 }, - "generated_at_utc": "2026-10-28T06:38:55.074185+00:00", + "generated_at_utc": "2026-11-06T14:03:58.236904+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/locomotion_posture_dynamics/D52/session_014/motions/smplx.npz b/actions/locomotion_posture_dynamics/D52/session_014/motions/smplx.npz index 70b01d0c88c34fe81aad9b7116277d12e91d3269..bcca2c83ed55ab8b5e7df73d20220e874f2b0f81 100644 --- a/actions/locomotion_posture_dynamics/D52/session_014/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D52/session_014/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e79a4d2915e2a3f93a400d5824cce0b17fc71cf80f76cf991f5caff26d38eae4 -size 4119615 +oid sha256:c52eb2639d8d20591092c6ee154166db97704ce059b00d16b47997008712db06 +size 4119676 diff --git a/actions/locomotion_posture_dynamics/D53/session_007/meta.json b/actions/locomotion_posture_dynamics/D53/session_007/meta.json index 6e9ed1c03089aec477cc3016e987bd27cc66a259..43d1d2986a8320237c6cfed39da4ffcea8bd3943 100644 --- a/actions/locomotion_posture_dynamics/D53/session_007/meta.json +++ b/actions/locomotion_posture_dynamics/D53/session_007/meta.json @@ -342,8 +342,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -402,19 +402,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + 2.99022, + -0.44902, + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 35.9, - "opposite_sign_bend_deg": 169.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1567, + "inlier_frac": 0.587, + "inlier_spread_deg": 9.5, + "marker_Q_to_gsi_deg": { + "1": 169.4, + "-1": 12.8 + } + }, + "wrist_bend_deg_median": 169.5, + "opposite_sign_bend_deg": 35.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.88, "hand_vs_marker_frame_deg": { - "before": 4.88, + "before": 177.19, "after": 4.88 }, "markers_on_wrist": [ @@ -422,15 +433,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": -113.53, "wrist_twist_deg_after": { - "median": 0.0, + "median": -63.36, "iqr": [ - -8.8, - 63.1 + -71.5, + -8.9 ] }, - "wrist_total_deg_median_after": 38.6, + "wrist_total_deg_median_after": 66.5, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -445,9 +456,20 @@ "Q_rotvec": [ -0.0, -0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1541, + "inlier_frac": 0.724, + "inlier_spread_deg": 10.26, + "marker_Q_to_gsi_deg": { + "1": 10.7, + "-1": 178.1 + } + }, "wrist_bend_deg_median": 25.6, "opposite_sign_bend_deg": 175.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -461,9 +483,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -6.3, 3.6 @@ -478,7 +500,7 @@ }, "frames_used": 574 }, - "generated_at_utc": "2026-10-28T06:18:08.325192+00:00", + "generated_at_utc": "2026-11-06T13:45:45.450340+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -614,6 +636,116 @@ }, "applied": 6 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.02, + "offset_rotvec": [ + 0.0674, + 0.054, + 0.1317 + ], + "dev_deg": { + "median": 21.87, + "p90": 174.21 + }, + "samples": 1567, + "accepted": 874, + "wrist_pos_err_mm_median": 45.6, + "per_camera": { + "head": { + "samples": 1567, + "accepted": 874, + "gate_deg": 30.0, + "offset_deg": 9.02, + "tier": "primary", + "dev_deg_median": 21.87, + "wrist_pos_err_mm_median": 45.6 + } + }, + "frames_by_state": { + "ace_sample": 3504, + "interpolated": 420, + "mean_hand": 3160, + "no_body_fit": 0 + }, + "observed_fraction": 0.5539, + "observed_fraction_of_valid": 0.5539, + "palm_axis_vs_markers_deg": { + "gsi": 15.84, + "smplx": 2.93 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.6, + "p90": 10.9 + }, + "registered": { + "median": 9.5, + "p90": 13.0 + } + } + }, + "right": { + "offset_deg": 13.75, + "offset_rotvec": [ + -0.0777, + -0.0698, + 0.216 + ], + "dev_deg": { + "median": 16.64, + "p90": 71.37 + }, + "samples": 1541, + "accepted": 1098, + "wrist_pos_err_mm_median": 35.9, + "per_camera": { + "head": { + "samples": 1541, + "accepted": 1098, + "gate_deg": 30.0, + "offset_deg": 13.75, + "tier": "primary", + "dev_deg_median": 16.64, + "wrist_pos_err_mm_median": 35.9 + } + }, + "frames_by_state": { + "ace_sample": 4438, + "interpolated": 938, + "mean_hand": 1708, + "no_body_fit": 0 + }, + "observed_fraction": 0.7589, + "observed_fraction_of_valid": 0.7589, + "palm_axis_vs_markers_deg": { + "gsi": 11.67, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:47:20.936567+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D53/session_007", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D53/session_007/motions/smplx.npz b/actions/locomotion_posture_dynamics/D53/session_007/motions/smplx.npz index ef6de63bd4aa2cf637eeac9c15fb152f1b164cca..46c77defccf822512731d8614aad3dc4cf83354d 100644 --- a/actions/locomotion_posture_dynamics/D53/session_007/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D53/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d2d411ab742458f9b144bed4708f5001b95f52c3e37b5a633604c0ab958c5826 -size 2741743 +oid sha256:55a693df482b4aceba7ad7ed7e10ab51b5ed7eec3a5eadc3da6b312b8f5f1c6a +size 4401894 diff --git a/actions/locomotion_posture_dynamics/D54/session_007/meta.json b/actions/locomotion_posture_dynamics/D54/session_007/meta.json index a37762e269f26677859ebdb58a18eb799a820fc6..27932f2eb92425487e4cf02bb65cc62c06a439db 100644 --- a/actions/locomotion_posture_dynamics/D54/session_007/meta.json +++ b/actions/locomotion_posture_dynamics/D54/session_007/meta.json @@ -318,8 +318,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -380,14 +380,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 2.99022, - -0.44902, - -0.85237 + -2.99022, + 0.44902, + 0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 172.9, - "opposite_sign_bend_deg": 26.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1543, + "inlier_frac": 0.951, + "inlier_spread_deg": 9.04, + "marker_Q_to_gsi_deg": { + "1": 172.1, + "-1": 8.5 + } + }, + "wrist_bend_deg_median": 172.2, + "opposite_sign_bend_deg": 31.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.78, "hand_vs_marker_frame_deg": { "before": 179.46, @@ -398,15 +409,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 172.43, + "twist_moved_deg": -171.48, "wrist_twist_deg_after": { - "median": 0.46, + "median": -0.94, "iqr": [ - -2.2, - 3.0 + -4.3, + 2.0 ] }, - "wrist_total_deg_median_after": 31.5, + "wrist_total_deg_median_after": 26.7, "markers_on_forearm": [ "LElbow", "LForearm", @@ -418,19 +429,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -2.99225, + -0.43169, + -0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 25.5, - "opposite_sign_bend_deg": 172.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 917, + "inlier_frac": 0.742, + "inlier_spread_deg": 14.37, + "marker_Q_to_gsi_deg": { + "1": 163.7, + "-1": 17.2 + } + }, + "wrist_bend_deg_median": 173.2, + "opposite_sign_bend_deg": 25.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.89, "hand_vs_marker_frame_deg": { - "before": 2.89, + "before": 179.44, "after": 2.89 }, "markers_on_wrist": [ @@ -438,15 +460,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.72, + "twist_moved_deg": 170.34, "wrist_twist_deg_after": { - "median": -0.0, + "median": 3.9, "iqr": [ - -5.5, - 4.1 + -1.4, + 8.1 ] }, - "wrist_total_deg_median_after": 25.4, + "wrist_total_deg_median_after": 29.6, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -455,7 +477,7 @@ }, "frames_used": 690 }, - "generated_at_utc": "2026-10-28T06:18:09.718381+00:00", + "generated_at_utc": "2026-11-06T13:45:59.648130+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -499,6 +521,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.559018932079878 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 8.08, + "offset_rotvec": [ + 0.1398, + 0.018, + -0.0052 + ], + "dev_deg": { + "median": 9.32, + "p90": 19.68 + }, + "samples": 1543, + "accepted": 1465, + "wrist_pos_err_mm_median": 52.6, + "per_camera": { + "head": { + "samples": 1543, + "accepted": 1465, + "gate_deg": 30.0, + "offset_deg": 8.08, + "tier": "primary", + "dev_deg_median": 9.32, + "wrist_pos_err_mm_median": 52.6 + } + }, + "frames_by_state": { + "ace_sample": 5872, + "interpolated": 152, + "mean_hand": 870, + "no_body_fit": 190 + }, + "observed_fraction": 0.8504, + "observed_fraction_of_valid": 0.8738, + "palm_axis_vs_markers_deg": { + "gsi": 10.54, + "smplx": 0.98 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.9, + "p90": 11.9 + }, + "registered": { + "median": 11.3, + "p90": 13.7 + } + } + }, + "right": { + "offset_deg": 14.22, + "offset_rotvec": [ + 0.1856, + 0.0535, + 0.156 + ], + "dev_deg": { + "median": 17.98, + "p90": 47.69 + }, + "samples": 917, + "accepted": 657, + "wrist_pos_err_mm_median": 81.5, + "per_camera": { + "head": { + "samples": 917, + "accepted": 657, + "gate_deg": 30.0, + "offset_deg": 14.22, + "tier": "primary", + "dev_deg_median": 17.98, + "wrist_pos_err_mm_median": 81.5 + } + }, + "frames_by_state": { + "ace_sample": 2630, + "interpolated": 1114, + "mean_hand": 3150, + "no_body_fit": 190 + }, + "observed_fraction": 0.5285, + "observed_fraction_of_valid": 0.5431, + "palm_axis_vs_markers_deg": { + "gsi": 22.64, + "smplx": 1.22 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.6, + "p90": 8.1 + }, + "registered": { + "median": 6.1, + "p90": 7.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:47:22.237310+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D54/session_007", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D54/session_007/motions/smplx.npz b/actions/locomotion_posture_dynamics/D54/session_007/motions/smplx.npz index 3722c2012c78dca520868c1ae0f98b38de9e634d..b9773897972118c8b7098ebdd24354fda26e5e8c 100644 --- a/actions/locomotion_posture_dynamics/D54/session_007/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D54/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:902631d5ea0100f5d1fcc6b7d17c4dc17ce5cf62b4363dc02baf6ea811419b61 -size 2676952 +oid sha256:4b059dcba2e544039abe01419b0d13699e103c105e8d7eb7547c25b57afc4ee7 +size 4488780 diff --git a/actions/locomotion_posture_dynamics/D55/session_007/meta.json b/actions/locomotion_posture_dynamics/D55/session_007/meta.json index c087b142d311f72d60d1eb6eddc544f3d2028f31..af259fa70d42c08e1c20eb3db88c1464aa155824 100644 --- a/actions/locomotion_posture_dynamics/D55/session_007/meta.json +++ b/actions/locomotion_posture_dynamics/D55/session_007/meta.json @@ -327,8 +327,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -399,14 +399,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -2.99023, - 0.44902, - 0.85237 + 2.99022, + -0.44902, + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 172.2, - "opposite_sign_bend_deg": 31.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1921, + "inlier_frac": 0.781, + "inlier_spread_deg": 8.96, + "marker_Q_to_gsi_deg": { + "1": 177.3, + "-1": 12.4 + } + }, + "wrist_bend_deg_median": 169.3, + "opposite_sign_bend_deg": 31.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.87, "hand_vs_marker_frame_deg": { "before": 177.79, @@ -418,15 +429,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 169.44, + "twist_moved_deg": -167.61, "wrist_twist_deg_after": { - "median": 5.02, + "median": -1.84, "iqr": [ - 0.0, - 10.6 + -7.3, + 5.6 ] }, - "wrist_total_deg_median_after": 31.1, + "wrist_total_deg_median_after": 32.1, "markers_on_forearm": [ "LElbow", "LElbowIn", @@ -438,19 +449,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 2.99225, + 0.43169, + 0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 19.2, - "opposite_sign_bend_deg": 170.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1999, + "inlier_frac": 0.634, + "inlier_spread_deg": 15.13, + "marker_Q_to_gsi_deg": { + "1": 171.9, + "-1": 29.3 + } + }, + "wrist_bend_deg_median": 170.5, + "opposite_sign_bend_deg": 19.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.79, "hand_vs_marker_frame_deg": { - "before": 1.79, + "before": 178.87, "after": 1.79 }, "markers_on_wrist": [ @@ -459,15 +481,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 164.88, "wrist_twist_deg_after": { - "median": 0.0, + "median": 11.76, "iqr": [ - -6.8, - 9.3 + 4.4, + 23.1 ] }, - "wrist_total_deg_median_after": 19.2, + "wrist_total_deg_median_after": 30.7, "markers_on_forearm": [ "RForearm", "RWristIn" @@ -475,7 +497,7 @@ }, "frames_used": 948 }, - "generated_at_utc": "2026-10-28T06:18:10.315037+00:00", + "generated_at_utc": "2026-11-06T13:46:09.735120+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -519,6 +541,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.6006377330749018 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 11.06, + "offset_rotvec": [ + 0.068, + 0.1611, + -0.0819 + ], + "dev_deg": { + "median": 12.16, + "p90": 44.16 + }, + "samples": 1921, + "accepted": 1514, + "wrist_pos_err_mm_median": 79.9, + "per_camera": { + "head": { + "samples": 1921, + "accepted": 1514, + "gate_deg": 30.0, + "offset_deg": 11.06, + "tier": "primary", + "dev_deg_median": 12.16, + "wrist_pos_err_mm_median": 79.9 + } + }, + "frames_by_state": { + "ace_sample": 6090, + "interpolated": 1502, + "mean_hand": 1884, + "no_body_fit": 8 + }, + "observed_fraction": 0.8005, + "observed_fraction_of_valid": 0.8012, + "palm_axis_vs_markers_deg": { + "gsi": 15.93, + "smplx": 2.25 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.0, + "p90": 19.4 + }, + "registered": { + "median": 12.9, + "p90": 18.5 + } + } + }, + "right": { + "offset_deg": 27.06, + "offset_rotvec": [ + 0.175, + -0.3566, + 0.2557 + ], + "dev_deg": { + "median": 22.73, + "p90": 51.3 + }, + "samples": 1999, + "accepted": 1295, + "wrist_pos_err_mm_median": 125.9, + "per_camera": { + "head": { + "samples": 1999, + "accepted": 1295, + "gate_deg": 30.0, + "offset_deg": 27.06, + "tier": "primary", + "dev_deg_median": 22.73, + "wrist_pos_err_mm_median": 125.9 + } + }, + "frames_by_state": { + "ace_sample": 5276, + "interpolated": 2276, + "mean_hand": 1924, + "no_body_fit": 8 + }, + "observed_fraction": 0.7963, + "observed_fraction_of_valid": 0.797, + "palm_axis_vs_markers_deg": { + "gsi": 33.55, + "smplx": 1.19 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.0, + "p90": 9.4 + }, + "registered": { + "median": 7.6, + "p90": 9.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:47:26.843794+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D55/session_007", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D55/session_007/motions/smplx.npz b/actions/locomotion_posture_dynamics/D55/session_007/motions/smplx.npz index fee548982c7354fbd3d39fb9296c6a083e14055b..ecde7d4acbd28ce0d6fbf9ceeb825324cbb87b0c 100644 --- a/actions/locomotion_posture_dynamics/D55/session_007/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D55/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c70046f5354e045210cadc6105ada4e3721cd382efeb9b5437a6b80d970b24f9 -size 3653733 +oid sha256:6e1bd672f987efadff590cb8522f24fa1f7ed355f37f51abbceaeaa594c680dc +size 6345441 diff --git a/actions/locomotion_posture_dynamics/D55/session_008/meta.json b/actions/locomotion_posture_dynamics/D55/session_008/meta.json index 4a4232f3b469cefb4daa8b5f53b9e8dcb2917517..491ef7391052902ef6e4325e4cf9f99168f94f1c 100644 --- a/actions/locomotion_posture_dynamics/D55/session_008/meta.json +++ b/actions/locomotion_posture_dynamics/D55/session_008/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -388,35 +388,46 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 105.89, "Q_rotvec": [ - -2.98794, - 0.42773, - 0.87113 + -1.68715, + 0.73972, + -0.14869 ], "in_out_sign": 1, - "wrist_bend_deg_median": 165.2, - "opposite_sign_bend_deg": 46.4, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 892, + "inlier_frac": 0.539, + "inlier_spread_deg": 14.82, + "marker_Q_to_gsi_deg": { + "1": 105.9, + "-1": 88.1 + } + }, + "wrist_bend_deg_median": 99.9, + "opposite_sign_bend_deg": 165.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.52, "hand_vs_marker_frame_deg": { - "before": 179.48, - "after": 2.52 + "before": 2.52, + "after": 105.96 }, "markers_on_wrist": [ "LHandIn", "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 163.79, + "twist_moved_deg": -81.26, "wrist_twist_deg_after": { - "median": 0.01, + "median": 0.0, "iqr": [ -3.4, - 3.1 + 3.0 ] }, - "wrist_total_deg_median_after": 48.4, + "wrist_total_deg_median_after": 63.5, "markers_on_forearm": [ "LElbowIn", "LForearm", @@ -428,35 +439,46 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 93.9, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + -1.08834, + 1.21832, + -0.12987 ], "in_out_sign": 1, - "wrist_bend_deg_median": 78.5, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 1345, + "inlier_frac": 0.664, + "inlier_spread_deg": 10.72, + "marker_Q_to_gsi_deg": { + "1": 93.9, + "-1": 132.0 + } + }, + "wrist_bend_deg_median": 62.9, "opposite_sign_bend_deg": 175.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.48, "hand_vs_marker_frame_deg": { "before": 3.48, - "after": 3.48 + "after": 92.58 }, "markers_on_wrist": [ "RHandIn", "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": 55.4, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ - -3.1, - 2.2 + -4.6, + 2.0 ] }, - "wrist_total_deg_median_after": 78.5, + "wrist_total_deg_median_after": 28.5, "markers_on_forearm": [ "RElbow", "RForearm", @@ -466,7 +488,7 @@ }, "frames_used": 589 }, - "generated_at_utc": "2026-10-28T06:19:09.155023+00:00", + "generated_at_utc": "2026-11-06T13:49:23.660337+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -510,6 +532,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.507454914244304 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 19.43, + "offset_rotvec": [ + 0.1513, + 0.2216, + 0.2073 + ], + "dev_deg": { + "median": 34.48, + "p90": 153.32 + }, + "samples": 892, + "accepted": 327, + "wrist_pos_err_mm_median": 219.2, + "per_camera": { + "head": { + "samples": 892, + "accepted": 327, + "gate_deg": 30.0, + "offset_deg": 19.43, + "tier": "primary", + "dev_deg_median": 34.48, + "wrist_pos_err_mm_median": 219.2 + } + }, + "frames_by_state": { + "ace_sample": 1294, + "interpolated": 354, + "mean_hand": 4236, + "no_body_fit": 0 + }, + "observed_fraction": 0.2801, + "observed_fraction_of_valid": 0.2801, + "palm_axis_vs_markers_deg": { + "gsi": 78.32, + "smplx": 81.29 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.1, + "p90": 22.6 + }, + "registered": { + "median": 13.5, + "p90": 22.2 + } + } + }, + "right": { + "offset_deg": 20.24, + "offset_rotvec": [ + 0.2569, + -0.2255, + 0.0891 + ], + "dev_deg": { + "median": 27.63, + "p90": 71.52 + }, + "samples": 1345, + "accepted": 802, + "wrist_pos_err_mm_median": 56.7, + "per_camera": { + "head": { + "samples": 1345, + "accepted": 802, + "gate_deg": 30.0, + "offset_deg": 20.24, + "tier": "primary", + "dev_deg_median": 27.63, + "wrist_pos_err_mm_median": 56.7 + } + }, + "frames_by_state": { + "ace_sample": 3232, + "interpolated": 714, + "mean_hand": 1938, + "no_body_fit": 0 + }, + "observed_fraction": 0.6706, + "observed_fraction_of_valid": 0.6706, + "palm_axis_vs_markers_deg": { + "gsi": 85.35, + "smplx": 89.94 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 28.7, + "p90": 32.4 + }, + "registered": { + "median": 26.8, + "p90": 32.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:55:31.346005+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D55/session_008", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D55/session_008/motions/smplx.npz b/actions/locomotion_posture_dynamics/D55/session_008/motions/smplx.npz index eb7337b365633370428facd57b2be50e77d16fb8..8aa8a2496641fe848fbedf4d58e523c09a54858e 100644 --- a/actions/locomotion_posture_dynamics/D55/session_008/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D55/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:47c664283201a0b35e38bd2e2614873ab1c404967e1ff227c6ccc4d2b8c0dea1 -size 2266035 +oid sha256:01abd7cc9d960c783841ada084e6f234f6e0b82dade9e5e78ac6a057804c0f18 +size 3314374 diff --git a/actions/locomotion_posture_dynamics/D56/session_008/meta.json b/actions/locomotion_posture_dynamics/D56/session_008/meta.json index beaf610b720f278ac52250c3de045ab50b1f04b7..8dd6b4b8cb6219dd2484bef70c6b755fbb3d7f08 100644 --- a/actions/locomotion_posture_dynamics/D56/session_008/meta.json +++ b/actions/locomotion_posture_dynamics/D56/session_008/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -388,19 +388,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + 2.99022, + -0.44902, + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 26.7, - "opposite_sign_bend_deg": 174.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2949, + "inlier_frac": 0.925, + "inlier_spread_deg": 10.54, + "marker_Q_to_gsi_deg": { + "1": 169.2, + "-1": 12.0 + } + }, + "wrist_bend_deg_median": 174.8, + "opposite_sign_bend_deg": 26.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.68, "hand_vs_marker_frame_deg": { - "before": 1.69, + "before": 179.25, "after": 1.68 }, "markers_on_wrist": [ @@ -408,15 +419,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.12, + "twist_moved_deg": -174.19, "wrist_twist_deg_after": { - "median": -0.0, + "median": -0.48, "iqr": [ - -2.9, - 3.3 + -2.5, + 2.4 ] }, - "wrist_total_deg_median_after": 26.8, + "wrist_total_deg_median_after": 23.5, "markers_on_forearm": [ "LElbow", "LForearm", @@ -428,19 +439,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + 2.99225, + 0.43169, + 0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 16.2, - "opposite_sign_bend_deg": 175.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2414, + "inlier_frac": 0.745, + "inlier_spread_deg": 10.23, + "marker_Q_to_gsi_deg": { + "1": 176.5, + "-1": 12.0 + } + }, + "wrist_bend_deg_median": 175.4, + "opposite_sign_bend_deg": 16.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.0, "hand_vs_marker_frame_deg": { - "before": 4.0, + "before": 178.02, "after": 4.0 }, "markers_on_wrist": [ @@ -448,15 +470,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.02, + "twist_moved_deg": 135.26, "wrist_twist_deg_after": { - "median": 0.0, + "median": 41.27, "iqr": [ - -6.4, - 4.3 + 34.3, + 45.7 ] }, - "wrist_total_deg_median_after": 16.2, + "wrist_total_deg_median_after": 53.4, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -465,7 +487,7 @@ }, "frames_used": 1307 }, - "generated_at_utc": "2026-10-28T06:18:11.387597+00:00", + "generated_at_utc": "2026-11-06T13:46:24.137007+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -545,6 +567,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.05, + "offset_rotvec": [ + 0.1747, + -0.01, + 0.0123 + ], + "dev_deg": { + "median": 11.11, + "p90": 26.24 + }, + "samples": 2949, + "accepted": 2720, + "wrist_pos_err_mm_median": 71.4, + "per_camera": { + "head": { + "samples": 2949, + "accepted": 2720, + "gate_deg": 30.0, + "offset_deg": 10.05, + "tier": "primary", + "dev_deg_median": 11.11, + "wrist_pos_err_mm_median": 71.4 + } + }, + "frames_by_state": { + "ace_sample": 10992, + "interpolated": 1640, + "mean_hand": 430, + "no_body_fit": 22 + }, + "observed_fraction": 0.9655, + "observed_fraction_of_valid": 0.9671, + "palm_axis_vs_markers_deg": { + "gsi": 13.31, + "smplx": 1.12 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.8, + "p90": 12.7 + }, + "registered": { + "median": 7.8, + "p90": 12.5 + } + } + }, + "right": { + "offset_deg": 11.49, + "offset_rotvec": [ + 0.0436, + -0.1358, + 0.1409 + ], + "dev_deg": { + "median": 12.99, + "p90": 167.43 + }, + "samples": 2414, + "accepted": 1801, + "wrist_pos_err_mm_median": 86.9, + "per_camera": { + "head": { + "samples": 2414, + "accepted": 1801, + "gate_deg": 30.0, + "offset_deg": 11.49, + "tier": "primary", + "dev_deg_median": 12.99, + "wrist_pos_err_mm_median": 86.9 + } + }, + "frames_by_state": { + "ace_sample": 7320, + "interpolated": 2356, + "mean_hand": 3386, + "no_body_fit": 22 + }, + "observed_fraction": 0.7395, + "observed_fraction_of_valid": 0.7408, + "palm_axis_vs_markers_deg": { + "gsi": 13.52, + "smplx": 3.09 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.0, + "p90": 10.0 + }, + "registered": { + "median": 7.4, + "p90": 10.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:49:28.046871+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D56/session_008", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D56/session_008/motions/smplx.npz b/actions/locomotion_posture_dynamics/D56/session_008/motions/smplx.npz index 11f465aca6716c2c3fa30c681fbcfdba9a943840..54837bcda73fabc8e9a1f6e481b06fd2d0d87baf 100644 --- a/actions/locomotion_posture_dynamics/D56/session_008/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D56/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:37d400e4a7af1ac138a46b1d44cae6475fef49ed41c7ef31591a5ffaf484983e -size 5066051 +oid sha256:4df8a452a2d144145224ba90d6bbd63ff713957d8b1b9d6acb5bf233123c6993 +size 8841322 diff --git a/actions/locomotion_posture_dynamics/D58/session_008/meta.json b/actions/locomotion_posture_dynamics/D58/session_008/meta.json index 7e2d1a8951024c0392dd86a8fb28bb5329c45724..7ef15700952914e9fabf0e47e26767a17498b43e 100644 --- a/actions/locomotion_posture_dynamics/D58/session_008/meta.json +++ b/actions/locomotion_posture_dynamics/D58/session_008/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -395,14 +395,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -2.99023, + -2.99022, 0.44902, 0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 172.0, - "opposite_sign_bend_deg": 19.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1071, + "inlier_frac": 0.722, + "inlier_spread_deg": 11.73, + "marker_Q_to_gsi_deg": { + "1": 156.5, + "-1": 27.4 + } + }, + "wrist_bend_deg_median": 164.5, + "opposite_sign_bend_deg": 34.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.12, "hand_vs_marker_frame_deg": { "before": 178.88, @@ -414,15 +425,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 164.77, + "twist_moved_deg": -160.87, "wrist_twist_deg_after": { - "median": 8.53, + "median": -3.9, "iqr": [ - -1.6, - 14.9 + -14.2, + 1.4 ] }, - "wrist_total_deg_median_after": 34.4, + "wrist_total_deg_median_after": 20.8, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -434,11 +445,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, + -0.0, -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 719, + "inlier_frac": 0.565, + "inlier_spread_deg": 13.95, + "marker_Q_to_gsi_deg": { + "1": 38.5, + "-1": 141.8 + } + }, "wrist_bend_deg_median": 21.6, "opposite_sign_bend_deg": 174.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -469,7 +491,7 @@ }, "frames_used": 829 }, - "generated_at_utc": "2026-10-28T06:30:55.332408+00:00", + "generated_at_utc": "2026-11-06T14:00:12.842744+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -513,6 +535,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.6464625690182588 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 32.24, + "offset_rotvec": [ + 0.4178, + -0.3613, + -0.1068 + ], + "dev_deg": { + "median": 18.44, + "p90": 87.43 + }, + "samples": 1071, + "accepted": 796, + "wrist_pos_err_mm_median": 243.7, + "per_camera": { + "head": { + "samples": 1071, + "accepted": 796, + "gate_deg": 30.0, + "offset_deg": 32.24, + "tier": "primary", + "dev_deg_median": 18.44, + "wrist_pos_err_mm_median": 243.7 + } + }, + "frames_by_state": { + "ace_sample": 3214, + "interpolated": 1286, + "mean_hand": 3784, + "no_body_fit": 0 + }, + "observed_fraction": 0.5432, + "observed_fraction_of_valid": 0.5432, + "palm_axis_vs_markers_deg": { + "gsi": 33.01, + "smplx": 2.69 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.8, + "p90": 13.1 + }, + "registered": { + "median": 10.9, + "p90": 13.9 + } + } + }, + "right": { + "offset_deg": 18.52, + "offset_rotvec": [ + 0.2501, + -0.2045, + 0.0086 + ], + "dev_deg": { + "median": 34.76, + "p90": 82.44 + }, + "samples": 719, + "accepted": 277, + "wrist_pos_err_mm_median": 286.0, + "per_camera": { + "head": { + "samples": 719, + "accepted": 277, + "gate_deg": 30.0, + "offset_deg": 18.52, + "tier": "primary", + "dev_deg_median": 34.76, + "wrist_pos_err_mm_median": 286.0 + } + }, + "frames_by_state": { + "ace_sample": 1106, + "interpolated": 1054, + "mean_hand": 6124, + "no_body_fit": 0 + }, + "observed_fraction": 0.2607, + "observed_fraction_of_valid": 0.2607, + "palm_axis_vs_markers_deg": { + "gsi": 41.74, + "smplx": 1.88 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 15.2, + "p90": 23.8 + }, + "registered": { + "median": 14.4, + "p90": 22.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:17:26.636392+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D58/session_008", "family": "locomotion_posture_dynamics", diff --git a/actions/locomotion_posture_dynamics/D58/session_008/motions/smplx.npz b/actions/locomotion_posture_dynamics/D58/session_008/motions/smplx.npz index fb2d08730e00c2ffb75fa51521683ca6824f0c8c..0f830ea3918fadeadc8a720eea3ca6929f97b206 100644 --- a/actions/locomotion_posture_dynamics/D58/session_008/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D58/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:83cec718ee5edc31f5f29d165b5b7f8ebf6a538407fa6f43c7cae3c5e0c21fa8 -size 3176714 +oid sha256:d6108af4483a6e11f89d5c504bb1e2eaed9f213b77e78fe0469c72fa78c16a8b +size 4557436 diff --git a/actions/locomotion_posture_dynamics/D58/session_010/meta.json b/actions/locomotion_posture_dynamics/D58/session_010/meta.json index 843efe79913e6c464f8d4fbf7cfb820a818ec61b..09574682f3e09e5115a655d8cfa728d012dd8075 100644 --- a/actions/locomotion_posture_dynamics/D58/session_010/meta.json +++ b/actions/locomotion_posture_dynamics/D58/session_010/meta.json @@ -397,19 +397,26 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - -2.98839, - 0.43124, - 0.86786 + 0.0, + -0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 159.2, - "opposite_sign_bend_deg": 39.9, + "q_source": "markers (GSI not reliable)", + "gsi": { + "reliable": false, + "frames": 1068, + "inlier_frac": 0.345, + "inlier_spread_deg": 9.54 + }, + "wrist_bend_deg_median": 31.4, + "opposite_sign_bend_deg": 166.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 7.12, "hand_vs_marker_frame_deg": { - "before": 179.17, + "before": 7.12, "after": 7.12 }, "markers_on_wrist": [ @@ -417,15 +424,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 151.08, + "twist_moved_deg": 18.73, "wrist_twist_deg_after": { - "median": 18.73, + "median": -0.0, "iqr": [ - 7.1, - 116.8 + -11.6, + 98.0 ] }, - "wrist_total_deg_median_after": 38.9, + "wrist_total_deg_median_after": 38.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -439,10 +446,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 735, + "inlier_frac": 0.92, + "inlier_spread_deg": 12.41, + "marker_Q_to_gsi_deg": { + "1": 28.5, + "-1": 152.1 + } + }, "wrist_bend_deg_median": 20.1, "opposite_sign_bend_deg": 166.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -473,7 +491,7 @@ }, "frames_used": 769 }, - "generated_at_utc": "2026-10-28T06:32:03.190261+00:00", + "generated_at_utc": "2026-11-06T14:01:06.664027+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/locomotion_posture_dynamics/D58/session_010/motions/smplx.npz b/actions/locomotion_posture_dynamics/D58/session_010/motions/smplx.npz index f39e994ca1b4ee3745471b56bd5ac066220cc75c..7c7a7e6e215d08f295cc9e3f97972a487cbfa52b 100644 --- a/actions/locomotion_posture_dynamics/D58/session_010/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D58/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1279a0fd6064f2cba0cdecf336a2dfd3c24f5a685febdcf0bff34f9ce35c2bbb -size 2946901 +oid sha256:100b9c267e3ba45b18bfc24885dbf66fe1404712fc56ed037a9e4ac51bb13043 +size 2947930 diff --git a/actions/locomotion_primitives/P01/session_021/meta.json b/actions/locomotion_primitives/P01/session_021/meta.json index 00227f63b035307087e9d0702687f66b8f9f914f..4b4ad2cf7ed14d1aa56510991afd1b78d52a2559 100644 --- a/actions/locomotion_primitives/P01/session_021/meta.json +++ b/actions/locomotion_primitives/P01/session_021/meta.json @@ -314,8 +314,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -391,14 +391,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -2.99023, - 0.44902, - 0.85237 + 2.99022, + -0.44902, + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 173.9, - "opposite_sign_bend_deg": 14.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2112, + "inlier_frac": 0.682, + "inlier_spread_deg": 9.01, + "marker_Q_to_gsi_deg": { + "1": 147.6, + "-1": 32.9 + } + }, + "wrist_bend_deg_median": 169.5, + "opposite_sign_bend_deg": 31.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 7.26, "hand_vs_marker_frame_deg": { "before": 176.53, @@ -410,15 +421,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 170.53, + "twist_moved_deg": -168.81, "wrist_twist_deg_after": { - "median": 7.14, + "median": -1.72, "iqr": [ - 3.8, - 122.9 + -5.2, + 116.8 ] }, - "wrist_total_deg_median_after": 31.7, + "wrist_total_deg_median_after": 14.8, "markers_on_forearm": [ "LWristOut" ] @@ -430,10 +441,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1638, + "inlier_frac": 0.874, + "inlier_spread_deg": 15.62, + "marker_Q_to_gsi_deg": { + "1": 36.4, + "-1": 143.7 + } + }, "wrist_bend_deg_median": 14.0, "opposite_sign_bend_deg": 178.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -464,7 +486,7 @@ }, "frames_used": 948 }, - "generated_at_utc": "2026-10-28T06:31:00.768278+00:00", + "generated_at_utc": "2026-11-06T14:00:22.658390+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -508,6 +530,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.120246771813779 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 40.31, + "offset_rotvec": [ + 0.6626, + -0.1949, + -0.1338 + ], + "dev_deg": { + "median": 15.91, + "p90": 166.07 + }, + "samples": 2112, + "accepted": 1403, + "wrist_pos_err_mm_median": 84.8, + "per_camera": { + "head": { + "samples": 2112, + "accepted": 1403, + "gate_deg": 30.0, + "offset_deg": 40.31, + "tier": "primary", + "dev_deg_median": 15.91, + "wrist_pos_err_mm_median": 84.8 + } + }, + "frames_by_state": { + "ace_sample": 5658, + "interpolated": 926, + "mean_hand": 2892, + "no_body_fit": 8 + }, + "observed_fraction": 0.6942, + "observed_fraction_of_valid": 0.6948, + "palm_axis_vs_markers_deg": { + "gsi": 37.12, + "smplx": 5.97 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 15.8, + "p90": 21.8 + }, + "registered": { + "median": 14.5, + "p90": 20.1 + } + } + }, + "right": { + "offset_deg": 34.85, + "offset_rotvec": [ + 0.5565, + 0.1882, + 0.1576 + ], + "dev_deg": { + "median": 19.41, + "p90": 31.77 + }, + "samples": 1638, + "accepted": 1427, + "wrist_pos_err_mm_median": 157.1, + "per_camera": { + "head": { + "samples": 1638, + "accepted": 1427, + "gate_deg": 30.0, + "offset_deg": 34.85, + "tier": "primary", + "dev_deg_median": 19.41, + "wrist_pos_err_mm_median": 157.1 + } + }, + "frames_by_state": { + "ace_sample": 5912, + "interpolated": 2832, + "mean_hand": 732, + "no_body_fit": 8 + }, + "observed_fraction": 0.922, + "observed_fraction_of_valid": 0.9228, + "palm_axis_vs_markers_deg": { + "gsi": 39.46, + "smplx": 0.37 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.7, + "p90": 17.2 + }, + "registered": { + "median": 10.9, + "p90": 15.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:17:37.935447+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P01/session_021", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P01/session_021/motions/smplx.npz b/actions/locomotion_primitives/P01/session_021/motions/smplx.npz index d2cdc316d31108472c90a43ef429f828b5a4ccf4..0278ccb83705a4d598bdca1d8369b7f53bb347bc 100644 --- a/actions/locomotion_primitives/P01/session_021/motions/smplx.npz +++ b/actions/locomotion_primitives/P01/session_021/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:089af3a519dff1d6ae564cdd6e3f5775bf748086b935efca58ae18f615f56b64 -size 3661710 +oid sha256:97c4d6c74fad6f1d8736b0767771e252bb67f68839fd4ef11cfe7277b8a4f9c7 +size 6315753 diff --git a/actions/locomotion_primitives/P04/session_015/meta.json b/actions/locomotion_primitives/P04/session_015/meta.json index db18158b872ce3100c03a8c55b75198383513ae7..ffb44f7f9571264dd19ec66da2e489cac15207b5 100644 --- a/actions/locomotion_primitives/P04/session_015/meta.json +++ b/actions/locomotion_primitives/P04/session_015/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -393,19 +393,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - -2.98447, - 0.44488, - 0.87443 + 0.0, + -0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 175.7, - "opposite_sign_bend_deg": 27.9, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2373, + "inlier_frac": 0.826, + "inlier_spread_deg": 10.95, + "marker_Q_to_gsi_deg": { + "1": 27.4, + "-1": 152.8 + } + }, + "wrist_bend_deg_median": 18.1, + "opposite_sign_bend_deg": 175.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.77, "hand_vs_marker_frame_deg": { - "before": 179.56, + "before": 0.77, "after": 0.77 }, "markers_on_wrist": [ @@ -414,12 +425,12 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -175.47, + "twist_moved_deg": -0.21, "wrist_twist_deg_after": { - "median": -0.21, + "median": 0.0, "iqr": [ - -1.8, - 1.1 + -1.6, + 1.3 ] }, "wrist_total_deg_median_after": 18.1, @@ -432,19 +443,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - 0.0 + -2.98604, + -0.43137, + -0.87584 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 42.6, - "opposite_sign_bend_deg": 170.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1885, + "inlier_frac": 0.505, + "inlier_spread_deg": 16.31, + "marker_Q_to_gsi_deg": { + "1": 166.3, + "-1": 24.1 + } + }, + "wrist_bend_deg_median": 170.5, + "opposite_sign_bend_deg": 42.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 12.18, "hand_vs_marker_frame_deg": { - "before": 12.18, + "before": 178.64, "after": 12.18 }, "markers_on_wrist": [ @@ -452,15 +474,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": 169.8, "wrist_twist_deg_after": { - "median": 0.0, + "median": 0.09, "iqr": [ - -24.0, - 2.0 + -1.5, + 1.3 ] }, - "wrist_total_deg_median_after": 42.6, + "wrist_total_deg_median_after": 42.1, "markers_on_forearm": [ "RWristIn", "RWristOut" @@ -468,7 +490,7 @@ }, "frames_used": 1309 }, - "generated_at_utc": "2026-10-28T06:17:39.629120+00:00", + "generated_at_utc": "2026-11-06T13:44:38.736495+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -512,6 +534,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.5116423758954721 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 20.47, + "offset_rotvec": [ + 0.3453, + -0.0655, + -0.0642 + ], + "dev_deg": { + "median": 15.76, + "p90": 33.87 + }, + "samples": 2373, + "accepted": 2018, + "wrist_pos_err_mm_median": 51.2, + "per_camera": { + "head": { + "samples": 2373, + "accepted": 2018, + "gate_deg": 30.0, + "offset_deg": 20.47, + "tier": "primary", + "dev_deg_median": 15.76, + "wrist_pos_err_mm_median": 51.2 + } + }, + "frames_by_state": { + "ace_sample": 8364, + "interpolated": 4584, + "mean_hand": 136, + "no_body_fit": 0 + }, + "observed_fraction": 0.9896, + "observed_fraction_of_valid": 0.9896, + "palm_axis_vs_markers_deg": { + "gsi": 28.94, + "smplx": 0.72 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.6, + "p90": 15.6 + }, + "registered": { + "median": 8.3, + "p90": 15.0 + } + } + }, + "right": { + "offset_deg": 28.76, + "offset_rotvec": [ + 0.1286, + 0.2857, + 0.3921 + ], + "dev_deg": { + "median": 29.88, + "p90": 172.58 + }, + "samples": 1885, + "accepted": 946, + "wrist_pos_err_mm_median": 103.9, + "per_camera": { + "head": { + "samples": 1885, + "accepted": 946, + "gate_deg": 30.0, + "offset_deg": 28.76, + "tier": "primary", + "dev_deg_median": 29.88, + "wrist_pos_err_mm_median": 103.9 + } + }, + "frames_by_state": { + "ace_sample": 3952, + "interpolated": 2948, + "mean_hand": 6184, + "no_body_fit": 0 + }, + "observed_fraction": 0.5274, + "observed_fraction_of_valid": 0.5274, + "palm_axis_vs_markers_deg": { + "gsi": 39.6, + "smplx": 1.35 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.4, + "p90": 9.8 + }, + "registered": { + "median": 7.9, + "p90": 9.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:45:34.637325+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P04/session_015", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P04/session_015/motions/smplx.npz b/actions/locomotion_primitives/P04/session_015/motions/smplx.npz index 30fc60ff026efebf58533390c48437cca3db4a8c..6385ca078e5079cf2c22843dd59a291b6ba784c4 100644 --- a/actions/locomotion_primitives/P04/session_015/motions/smplx.npz +++ b/actions/locomotion_primitives/P04/session_015/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9d145821425fc716669068d8bbf8f68063b3f5efc2376d0734266305d9702395 -size 5033931 +oid sha256:d26e833af0018c400189b724d16b26dffc8eed763c5e2556574a3e0b847fb2de +size 8413951 diff --git a/actions/locomotion_primitives/P08/session_012/meta.json b/actions/locomotion_primitives/P08/session_012/meta.json index d74a7b8e1c4392ec01ffa8655b186daa05730a56..9c8099a629e975bd5183c4619f84d9376679c4e2 100644 --- a/actions/locomotion_primitives/P08/session_012/meta.json +++ b/actions/locomotion_primitives/P08/session_012/meta.json @@ -318,8 +318,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -383,19 +383,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - -2.99023, - 0.44902, - 0.85237 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 175.0, - "opposite_sign_bend_deg": 21.2, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2265, + "inlier_frac": 0.972, + "inlier_spread_deg": 8.36, + "marker_Q_to_gsi_deg": { + "1": 22.0, + "-1": 158.8 + } + }, + "wrist_bend_deg_median": 27.9, + "opposite_sign_bend_deg": 174.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.64, "hand_vs_marker_frame_deg": { - "before": 179.66, + "before": 0.64, "after": 0.64 }, "markers_on_wrist": [ @@ -404,7 +415,7 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -174.82, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -423,19 +434,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 2.99225, + 0.43169, + 0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 18.1, - "opposite_sign_bend_deg": 177.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1869, + "inlier_frac": 0.936, + "inlier_spread_deg": 11.9, + "marker_Q_to_gsi_deg": { + "1": 172.1, + "-1": 12.6 + } + }, + "wrist_bend_deg_median": 176.9, + "opposite_sign_bend_deg": 17.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.1, "hand_vs_marker_frame_deg": { - "before": 1.11, + "before": 179.8, "after": 1.1 }, "markers_on_wrist": [ @@ -443,15 +465,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 4.4, + "twist_moved_deg": 176.32, "wrist_twist_deg_after": { - "median": 0.0, + "median": 1.03, "iqr": [ - -2.1, - 1.5 + -0.9, + 2.4 ] }, - "wrist_total_deg_median_after": 17.5, + "wrist_total_deg_median_after": 21.0, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -460,7 +482,7 @@ }, "frames_used": 948 }, - "generated_at_utc": "2026-10-28T06:18:17.751293+00:00", + "generated_at_utc": "2026-11-06T13:46:30.836100+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -504,6 +526,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0431379431890524 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 21.29, + "offset_rotvec": [ + 0.3551, + -0.109, + -0.0083 + ], + "dev_deg": { + "median": 8.29, + "p90": 18.96 + }, + "samples": 2265, + "accepted": 2200, + "wrist_pos_err_mm_median": 88.0, + "per_camera": { + "head": { + "samples": 2265, + "accepted": 2200, + "gate_deg": 30.0, + "offset_deg": 21.29, + "tier": "primary", + "dev_deg_median": 8.29, + "wrist_pos_err_mm_median": 88.0 + } + }, + "frames_by_state": { + "ace_sample": 8856, + "interpolated": 616, + "mean_hand": 6, + "no_body_fit": 6 + }, + "observed_fraction": 0.9987, + "observed_fraction_of_valid": 0.9994, + "palm_axis_vs_markers_deg": { + "gsi": 21.03, + "smplx": 0.38 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.8, + "p90": 11.6 + }, + "registered": { + "median": 7.4, + "p90": 10.4 + } + } + }, + "right": { + "offset_deg": 12.4, + "offset_rotvec": [ + 0.0736, + 0.0658, + 0.1926 + ], + "dev_deg": { + "median": 12.87, + "p90": 25.34 + }, + "samples": 1869, + "accepted": 1746, + "wrist_pos_err_mm_median": 136.3, + "per_camera": { + "head": { + "samples": 1869, + "accepted": 1746, + "gate_deg": 30.0, + "offset_deg": 12.4, + "tier": "primary", + "dev_deg_median": 12.87, + "wrist_pos_err_mm_median": 136.3 + } + }, + "frames_by_state": { + "ace_sample": 7116, + "interpolated": 1856, + "mean_hand": 506, + "no_body_fit": 6 + }, + "observed_fraction": 0.946, + "observed_fraction_of_valid": 0.9466, + "palm_axis_vs_markers_deg": { + "gsi": 11.98, + "smplx": 0.52 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.3, + "p90": 11.6 + }, + "registered": { + "median": 7.7, + "p90": 10.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:49:37.837848+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P08/session_012", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P08/session_012/motions/smplx.npz b/actions/locomotion_primitives/P08/session_012/motions/smplx.npz index 81c5441037a38d49649a899156bef873038b881e..9324b2109a3840831b2fda4e5cfcf07cdddead05 100644 --- a/actions/locomotion_primitives/P08/session_012/motions/smplx.npz +++ b/actions/locomotion_primitives/P08/session_012/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a6c6ffaf6027c066b150ac1fa2c4d136c731c9ca765eaa4ae62bb7be3fa4aea1 -size 3661495 +oid sha256:b136280c7a4438aa92d07d8d955b76fa41a1ae0d66d37b04684cb82a73ddd347 +size 6767602 diff --git a/actions/locomotion_primitives/P09/session_012/meta.json b/actions/locomotion_primitives/P09/session_012/meta.json index 26b5ffa2e4fef128ff8902ab435492c46c34af6a..9eaad34289d825f9779d73ca6a6940e87aa47d91 100644 --- a/actions/locomotion_primitives/P09/session_012/meta.json +++ b/actions/locomotion_primitives/P09/session_012/meta.json @@ -329,8 +329,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -391,14 +391,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -2.99022, - 0.44902, - 0.85237 + 2.99022, + -0.44902, + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 174.3, - "opposite_sign_bend_deg": 24.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1851, + "inlier_frac": 0.863, + "inlier_spread_deg": 13.5, + "marker_Q_to_gsi_deg": { + "1": 153.3, + "-1": 28.4 + } + }, + "wrist_bend_deg_median": 172.8, + "opposite_sign_bend_deg": 27.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.86, "hand_vs_marker_frame_deg": { "before": 178.88, @@ -409,15 +420,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 172.91, + "twist_moved_deg": -171.98, "wrist_twist_deg_after": { - "median": 2.67, + "median": -0.94, "iqr": [ - -0.5, - 5.7 + -3.2, + 2.5 ] }, - "wrist_total_deg_median_after": 27.7, + "wrist_total_deg_median_after": 24.0, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -431,10 +442,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1792, + "inlier_frac": 0.801, + "inlier_spread_deg": 11.3, + "marker_Q_to_gsi_deg": { + "1": 16.3, + "-1": 168.0 + } + }, "wrist_bend_deg_median": 22.3, "opposite_sign_bend_deg": 176.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -448,7 +470,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -465,7 +487,7 @@ }, "frames_used": 1069 }, - "generated_at_utc": "2026-10-28T06:18:18.009567+00:00", + "generated_at_utc": "2026-11-06T13:46:36.636379+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -509,6 +531,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.3894042836977771 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 21.99, + "offset_rotvec": [ + 0.3702, + -0.0945, + 0.0361 + ], + "dev_deg": { + "median": 17.43, + "p90": 37.67 + }, + "samples": 1851, + "accepted": 1564, + "wrist_pos_err_mm_median": 81.0, + "per_camera": { + "head": { + "samples": 1851, + "accepted": 1564, + "gate_deg": 30.0, + "offset_deg": 21.99, + "tier": "primary", + "dev_deg_median": 17.43, + "wrist_pos_err_mm_median": 81.0 + } + }, + "frames_by_state": { + "ace_sample": 6318, + "interpolated": 1038, + "mean_hand": 3327, + "no_body_fit": 0 + }, + "observed_fraction": 0.6886, + "observed_fraction_of_valid": 0.6886, + "palm_axis_vs_markers_deg": { + "gsi": 30.37, + "smplx": 1.22 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.1, + "p90": 9.4 + }, + "registered": { + "median": 7.7, + "p90": 10.9 + } + } + }, + "right": { + "offset_deg": 11.59, + "offset_rotvec": [ + 0.0253, + 0.0255, + 0.1992 + ], + "dev_deg": { + "median": 14.03, + "p90": 49.81 + }, + "samples": 1792, + "accepted": 1344, + "wrist_pos_err_mm_median": 308.2, + "per_camera": { + "head": { + "samples": 1792, + "accepted": 1344, + "gate_deg": 30.0, + "offset_deg": 11.59, + "tier": "primary", + "dev_deg_median": 14.03, + "wrist_pos_err_mm_median": 308.2 + } + }, + "frames_by_state": { + "ace_sample": 5460, + "interpolated": 2172, + "mean_hand": 3051, + "no_body_fit": 0 + }, + "observed_fraction": 0.7144, + "observed_fraction_of_valid": 0.7144, + "palm_axis_vs_markers_deg": { + "gsi": 16.22, + "smplx": 1.81 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.5, + "p90": 7.5 + }, + "registered": { + "median": 5.3, + "p90": 6.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:49:18.336855+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P09/session_012", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P09/session_012/motions/smplx.npz b/actions/locomotion_primitives/P09/session_012/motions/smplx.npz index e6017f1992cdb8dd24f027cdb2f2607588042cc0..af030bec83287bedb4e8d80e8e1135aba95bc951 100644 --- a/actions/locomotion_primitives/P09/session_012/motions/smplx.npz +++ b/actions/locomotion_primitives/P09/session_012/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:de2718d20ab9af18012c9b1fa39e491895e8238226e0c6649097692f96d3e384 -size 4119548 +oid sha256:22fd892e3951e96863c55ad44786483b2ab7b81beb19c8902b09b06cf07851ba +size 6818829 diff --git a/actions/locomotion_primitives/P10/session_012/meta.json b/actions/locomotion_primitives/P10/session_012/meta.json index 2833fa225046d7c6a881579fc0ed1b84cc928494..7136ed98a654ce0d552ddc77b347c7fd93bbdcbc 100644 --- a/actions/locomotion_primitives/P10/session_012/meta.json +++ b/actions/locomotion_primitives/P10/session_012/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -394,10 +394,21 @@ 0.44902, 0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 171.2, - "opposite_sign_bend_deg": 32.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1744, + "inlier_frac": 0.728, + "inlier_spread_deg": 12.72, + "marker_Q_to_gsi_deg": { + "1": 150.7, + "-1": 30.5 + } + }, + "wrist_bend_deg_median": 169.7, + "opposite_sign_bend_deg": 25.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.33, "hand_vs_marker_frame_deg": { "before": 179.1, @@ -408,15 +419,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 169.61, + "twist_moved_deg": -168.3, "wrist_twist_deg_after": { - "median": 4.61, + "median": -1.31, "iqr": [ - 0.1, - 10.6 + -5.5, + 3.4 ] }, - "wrist_total_deg_median_after": 25.9, + "wrist_total_deg_median_after": 32.2, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -431,11 +442,22 @@ "Q_rotvec": [ -0.0, -0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1183, + "inlier_frac": 0.702, + "inlier_spread_deg": 14.64, + "marker_Q_to_gsi_deg": { + "1": 25.6, + "-1": 155.1 + } + }, "wrist_bend_deg_median": 24.7, - "opposite_sign_bend_deg": 175.0, + "opposite_sign_bend_deg": 174.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.63, "hand_vs_marker_frame_deg": { @@ -447,7 +469,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.14, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -464,7 +486,7 @@ }, "frames_used": 1068 }, - "generated_at_utc": "2026-10-28T06:18:20.661175+00:00", + "generated_at_utc": "2026-11-06T13:46:40.136175+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -508,6 +530,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.4251031697753078 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 28.85, + "offset_rotvec": [ + 0.4867, + -0.1278, + 0.0195 + ], + "dev_deg": { + "median": 16.69, + "p90": 164.49 + }, + "samples": 1744, + "accepted": 1286, + "wrist_pos_err_mm_median": 83.5, + "per_camera": { + "head": { + "samples": 1744, + "accepted": 1286, + "gate_deg": 30.0, + "offset_deg": 28.85, + "tier": "primary", + "dev_deg_median": 16.69, + "wrist_pos_err_mm_median": 83.5 + } + }, + "frames_by_state": { + "ace_sample": 5206, + "interpolated": 1534, + "mean_hand": 3939, + "no_body_fit": 5 + }, + "observed_fraction": 0.6308, + "observed_fraction_of_valid": 0.6311, + "palm_axis_vs_markers_deg": { + "gsi": 33.72, + "smplx": 1.57 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.6, + "p90": 9.9 + }, + "registered": { + "median": 7.5, + "p90": 8.4 + } + } + }, + "right": { + "offset_deg": 8.04, + "offset_rotvec": [ + 0.1309, + 0.0384, + 0.0326 + ], + "dev_deg": { + "median": 26.85, + "p90": 158.47 + }, + "samples": 1183, + "accepted": 664, + "wrist_pos_err_mm_median": 316.6, + "per_camera": { + "head": { + "samples": 1183, + "accepted": 664, + "gate_deg": 30.0, + "offset_deg": 8.04, + "tier": "primary", + "dev_deg_median": 26.85, + "wrist_pos_err_mm_median": 316.6 + } + }, + "frames_by_state": { + "ace_sample": 2690, + "interpolated": 2022, + "mean_hand": 5967, + "no_body_fit": 5 + }, + "observed_fraction": 0.441, + "observed_fraction_of_valid": 0.4412, + "palm_axis_vs_markers_deg": { + "gsi": 33.33, + "smplx": 1.78 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.4, + "p90": 5.9 + }, + "registered": { + "median": 5.2, + "p90": 5.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:49:18.536284+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P10/session_012", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P10/session_012/motions/smplx.npz b/actions/locomotion_primitives/P10/session_012/motions/smplx.npz index 10adc16024e6a9aad4c6b77ba4c1bfd2fc434e5d..63d9d3ebf2b33f9f4e470d0d09cfd69325296ecc 100644 --- a/actions/locomotion_primitives/P10/session_012/motions/smplx.npz +++ b/actions/locomotion_primitives/P10/session_012/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:71b26dfb18f1050c858b20ab946230669c7e425d0f526948b23f7c8b752ebfd5 -size 4112477 +oid sha256:50231fea48696667305ef98792123a0a168133396ff795c32a90bfb86950d8c4 +size 6276074 diff --git a/actions/locomotion_primitives/P11/session_010/meta.json b/actions/locomotion_primitives/P11/session_010/meta.json index f723e5bb35abf4dfddd13b9e54f7c6b4ca56b0a0..4798738fb40d2fa6761d655a615543198188e0d4 100644 --- a/actions/locomotion_primitives/P11/session_010/meta.json +++ b/actions/locomotion_primitives/P11/session_010/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -393,19 +393,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - -2.99023, - 0.44902, - 0.85237 + -0.0, + -0.0, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 174.7, - "opposite_sign_bend_deg": 23.7, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2458, + "inlier_frac": 0.967, + "inlier_spread_deg": 12.15, + "marker_Q_to_gsi_deg": { + "1": 29.9, + "-1": 150.4 + } + }, + "wrist_bend_deg_median": 25.8, + "opposite_sign_bend_deg": 174.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.55, "hand_vs_marker_frame_deg": { - "before": 179.74, + "before": 0.55, "after": 0.55 }, "markers_on_wrist": [ @@ -413,7 +424,7 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -174.6, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -434,19 +445,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + -2.99225, + -0.43169, + -0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 14.8, - "opposite_sign_bend_deg": 177.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2759, + "inlier_frac": 0.978, + "inlier_spread_deg": 8.63, + "marker_Q_to_gsi_deg": { + "1": 177.5, + "-1": 9.9 + } + }, + "wrist_bend_deg_median": 177.0, + "opposite_sign_bend_deg": 14.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.72, "hand_vs_marker_frame_deg": { - "before": 0.72, + "before": 179.73, "after": 0.72 }, "markers_on_wrist": [ @@ -455,15 +477,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 176.65, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.35, "iqr": [ - -1.7, - 2.0 + -1.1, + 1.9 ] }, - "wrist_total_deg_median_after": 14.8, + "wrist_total_deg_median_after": 25.7, "markers_on_forearm": [ "RForearm", "RWristIn" @@ -471,7 +493,7 @@ }, "frames_used": 1188 }, - "generated_at_utc": "2026-10-28T06:18:23.081533+00:00", + "generated_at_utc": "2026-11-06T13:46:54.635599+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -515,6 +537,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1404737733064625 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 30.22, + "offset_rotvec": [ + 0.4828, + -0.2052, + -0.0543 + ], + "dev_deg": { + "median": 13.29, + "p90": 22.48 + }, + "samples": 2458, + "accepted": 2385, + "wrist_pos_err_mm_median": 129.4, + "per_camera": { + "head": { + "samples": 2458, + "accepted": 2385, + "gate_deg": 30.0, + "offset_deg": 30.22, + "tier": "primary", + "dev_deg_median": 13.29, + "wrist_pos_err_mm_median": 129.4 + } + }, + "frames_by_state": { + "ace_sample": 9718, + "interpolated": 2146, + "mean_hand": 13, + "no_body_fit": 7 + }, + "observed_fraction": 0.9983, + "observed_fraction_of_valid": 0.9989, + "palm_axis_vs_markers_deg": { + "gsi": 30.98, + "smplx": 0.36 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.1, + "p90": 11.7 + }, + "registered": { + "median": 8.9, + "p90": 10.8 + } + } + }, + "right": { + "offset_deg": 11.57, + "offset_rotvec": [ + 0.0327, + 0.0972, + 0.1739 + ], + "dev_deg": { + "median": 10.68, + "p90": 20.4 + }, + "samples": 2759, + "accepted": 2714, + "wrist_pos_err_mm_median": 135.9, + "per_camera": { + "head": { + "samples": 2759, + "accepted": 2714, + "gate_deg": 30.0, + "offset_deg": 11.57, + "tier": "primary", + "dev_deg_median": 10.68, + "wrist_pos_err_mm_median": 135.9 + } + }, + "frames_by_state": { + "ace_sample": 10914, + "interpolated": 698, + "mean_hand": 265, + "no_body_fit": 7 + }, + "observed_fraction": 0.9771, + "observed_fraction_of_valid": 0.9777, + "palm_axis_vs_markers_deg": { + "gsi": 7.18, + "smplx": 0.4 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.9, + "p90": 12.6 + }, + "registered": { + "median": 7.0, + "p90": 12.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:49:30.236217+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P11/session_010", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P11/session_010/motions/smplx.npz b/actions/locomotion_primitives/P11/session_010/motions/smplx.npz index cefd06b08b400e1759aa3986488c80c4a5464d14..0762b59e214e9960a3317a7c738689166bb4c0e2 100644 --- a/actions/locomotion_primitives/P11/session_010/motions/smplx.npz +++ b/actions/locomotion_primitives/P11/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0c27d065684f14fd941ee4e87211d86d07dca8200cc906c41d87558ba6149017 -size 4579205 +oid sha256:6e0b73069183d9176ffd8cd5abe85e19da427a76a80869a978c06209b385909e +size 8531622 diff --git a/actions/locomotion_primitives/P11/session_015/meta.json b/actions/locomotion_primitives/P11/session_015/meta.json index 76786ffa13c7f1dc9db0bbb1589ff472194fd529..e1f9cb2ff29e309a3e25bffffc50303800ab051f 100644 --- a/actions/locomotion_primitives/P11/session_015/meta.json +++ b/actions/locomotion_primitives/P11/session_015/meta.json @@ -324,8 +324,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -389,20 +389,31 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 130.16, "Q_rotvec": [ - 2.98827, - -0.45012, - -0.85862 + -2.01217, + 0.57588, + 0.88327 ], "in_out_sign": 1, - "wrist_bend_deg_median": 175.7, - "opposite_sign_bend_deg": 14.4, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.704, + "inlier_spread_deg": 16.38, + "marker_Q_to_gsi_deg": { + "1": 130.2, + "-1": 53.4 + } + }, + "wrist_bend_deg_median": 125.3, + "opposite_sign_bend_deg": 175.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.87, "hand_vs_marker_frame_deg": { - "before": 177.74, - "after": 4.87 + "before": 4.87, + "after": 132.43 }, "markers_on_wrist": [ "LWristIn", @@ -410,15 +421,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 175.91, + "twist_moved_deg": -124.09, "wrist_twist_deg_after": { - "median": 0.93, + "median": -0.0, "iqr": [ - -0.8, - 2.6 + -1.8, + 1.5 ] }, - "wrist_total_deg_median_after": 29.7, + "wrist_total_deg_median_after": 23.3, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -430,11 +441,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, + -0.0, 0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.773, + "inlier_spread_deg": 16.62, + "marker_Q_to_gsi_deg": { + "1": 25.2, + "-1": 157.1 + } + }, "wrist_bend_deg_median": 8.3, "opposite_sign_bend_deg": 177.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -448,9 +470,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -1.1, 0.8 @@ -465,7 +487,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:31:10.044142+00:00", + "generated_at_utc": "2026-11-06T14:00:45.640618+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -509,6 +531,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.4146124852808373 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 3.13, + "offset_rotvec": [ + 0.0245, + -0.0019, + 0.0489 + ], + "dev_deg": { + "median": 21.06, + "p90": 135.81 + }, + "samples": 5073, + "accepted": 3524, + "wrist_pos_err_mm_median": 163.6, + "per_camera": { + "head": { + "samples": 5073, + "accepted": 3524, + "gate_deg": 30.0, + "offset_deg": 3.13, + "tier": "primary", + "dev_deg_median": 21.06, + "wrist_pos_err_mm_median": 163.6 + } + }, + "frames_by_state": { + "ace_sample": 14862, + "interpolated": 10578, + "mean_hand": 5044, + "no_body_fit": 0 + }, + "observed_fraction": 0.8345, + "observed_fraction_of_valid": 0.8345, + "palm_axis_vs_markers_deg": { + "gsi": 55.56, + "smplx": 51.07 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 16.6, + "p90": 32.3 + }, + "registered": { + "median": 17.5, + "p90": 32.9 + } + } + }, + "right": { + "offset_deg": 34.01, + "offset_rotvec": [ + 0.5055, + 0.3047, + 0.0626 + ], + "dev_deg": { + "median": 20.91, + "p90": 36.33 + }, + "samples": 4536, + "accepted": 3412, + "wrist_pos_err_mm_median": 122.0, + "per_camera": { + "head": { + "samples": 4536, + "accepted": 3412, + "gate_deg": 30.0, + "offset_deg": 34.01, + "tier": "primary", + "dev_deg_median": 20.91, + "wrist_pos_err_mm_median": 122.0 + } + }, + "frames_by_state": { + "ace_sample": 14448, + "interpolated": 15312, + "mean_hand": 724, + "no_body_fit": 0 + }, + "observed_fraction": 0.9762, + "observed_fraction_of_valid": 0.9762, + "palm_axis_vs_markers_deg": { + "gsi": 32.1, + "smplx": 0.77 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.0, + "p90": 10.8 + }, + "registered": { + "median": 6.0, + "p90": 11.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:19:44.144104+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P11/session_015", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P11/session_015/motions/smplx.npz b/actions/locomotion_primitives/P11/session_015/motions/smplx.npz index fb179d293bbb69172ea33e7112b141b386df1d28..f60ca7f39f87bbe79c3ae0ebcb3ca05d54e48e82 100644 --- a/actions/locomotion_primitives/P11/session_015/motions/smplx.npz +++ b/actions/locomotion_primitives/P11/session_015/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:36fe2171157f9e7d661f1dd6736b0cbb0a703cc7aa8aec207ae82db6db37e36e -size 11744445 +oid sha256:fa7bf9c5099eac6446965dc545a2971013e0d63b7f51c0fbfcaa2ac120035a70 +size 21101629 diff --git a/actions/locomotion_primitives/P12/session_010/meta.json b/actions/locomotion_primitives/P12/session_010/meta.json index b99beaca5afb1611a04dda5188f5cfd0ce620ccd..2a538ea806c8e17c13211b577359068215336a30 100644 --- a/actions/locomotion_primitives/P12/session_010/meta.json +++ b/actions/locomotion_primitives/P12/session_010/meta.json @@ -330,8 +330,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -392,14 +392,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 2.99022, - -0.44902, - -0.85238 + -2.99022, + 0.44902, + 0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 177.4, - "opposite_sign_bend_deg": 21.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.975, + "inlier_spread_deg": 12.11, + "marker_Q_to_gsi_deg": { + "1": 157.4, + "-1": 22.9 + } + }, + "wrist_bend_deg_median": 177.1, + "opposite_sign_bend_deg": 20.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.69, "hand_vs_marker_frame_deg": { "before": 179.6, @@ -410,15 +421,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 176.94, + "twist_moved_deg": -176.84, "wrist_twist_deg_after": { - "median": 0.37, + "median": -0.1, "iqr": [ - -0.6, - 1.5 + -0.9, + 1.0 ] }, - "wrist_total_deg_median_after": 20.4, + "wrist_total_deg_median_after": 22.2, "markers_on_forearm": [ "LElbowIn", "LForearm", @@ -430,19 +441,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 2.99225, + 0.43169, + 0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 13.4, - "opposite_sign_bend_deg": 176.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.98, + "inlier_spread_deg": 8.06, + "marker_Q_to_gsi_deg": { + "1": 170.9, + "-1": 17.0 + } + }, + "wrist_bend_deg_median": 176.8, + "opposite_sign_bend_deg": 13.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.24, "hand_vs_marker_frame_deg": { - "before": 1.24, + "before": 179.69, "after": 1.24 }, "markers_on_wrist": [ @@ -450,15 +472,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 176.27, "wrist_twist_deg_after": { - "median": 0.0, + "median": 1.11, "iqr": [ - -1.2, - 3.6 + 0.1, + 4.8 ] }, - "wrist_total_deg_median_after": 12.3, + "wrist_total_deg_median_after": 27.4, "markers_on_forearm": [ "RElbowIn", "RForearm", @@ -468,7 +490,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:18:25.468000+00:00", + "generated_at_utc": "2026-11-06T13:47:16.939470+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -512,6 +534,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.35822663072081 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 18.93, + "offset_rotvec": [ + 0.3195, + -0.0827, + -0.0134 + ], + "dev_deg": { + "median": 13.0, + "p90": 24.97 + }, + "samples": 5886, + "accepted": 5620, + "wrist_pos_err_mm_median": 82.5, + "per_camera": { + "head": { + "samples": 5886, + "accepted": 5620, + "gate_deg": 30.0, + "offset_deg": 18.93, + "tier": "primary", + "dev_deg_median": 13.0, + "wrist_pos_err_mm_median": 82.5 + } + }, + "frames_by_state": { + "ace_sample": 22688, + "interpolated": 2344, + "mean_hand": 52, + "no_body_fit": 0 + }, + "observed_fraction": 0.9979, + "observed_fraction_of_valid": 0.9979, + "palm_axis_vs_markers_deg": { + "gsi": 23.87, + "smplx": 0.58 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.0, + "p90": 7.5 + }, + "registered": { + "median": 4.9, + "p90": 7.7 + } + } + }, + "right": { + "offset_deg": 13.76, + "offset_rotvec": [ + 0.0469, + 0.0482, + 0.2306 + ], + "dev_deg": { + "median": 11.75, + "p90": 17.56 + }, + "samples": 5741, + "accepted": 5658, + "wrist_pos_err_mm_median": 319.4, + "per_camera": { + "head": { + "samples": 5741, + "accepted": 5658, + "gate_deg": 30.0, + "offset_deg": 13.76, + "tier": "primary", + "dev_deg_median": 11.75, + "wrist_pos_err_mm_median": 319.4 + } + }, + "frames_by_state": { + "ace_sample": 22794, + "interpolated": 1914, + "mean_hand": 376, + "no_body_fit": 0 + }, + "observed_fraction": 0.985, + "observed_fraction_of_valid": 0.985, + "palm_axis_vs_markers_deg": { + "gsi": 13.46, + "smplx": 0.55 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.6, + "p90": 6.8 + }, + "registered": { + "median": 5.5, + "p90": 7.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:49:44.735993+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P12/session_010", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P12/session_010/motions/smplx.npz b/actions/locomotion_primitives/P12/session_010/motions/smplx.npz index 8d25e7a757ea2bef0c50d411922ebc36487535bd..a489e7b54707240703c4e1cb9fd048ca3737ca73 100644 --- a/actions/locomotion_primitives/P12/session_010/motions/smplx.npz +++ b/actions/locomotion_primitives/P12/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:778ae0337f80f8a48eb3e5787c877c2d8ff822dc9e2ea54aa7307f87da075791 -size 9640441 +oid sha256:8510d3224c63f4a3e8c6de6cccfc56fecdabb259b1976fa3964ecb2dee5b343f +size 17990877 diff --git a/actions/locomotion_primitives/P13/session_010/meta.json b/actions/locomotion_primitives/P13/session_010/meta.json index a68f7a337a82b3eb7f3d4ebb6df6f6c552230c2a..3dc300fdb0cf8fb3b4b54dca624109b39f2c9c94 100644 --- a/actions/locomotion_primitives/P13/session_010/meta.json +++ b/actions/locomotion_primitives/P13/session_010/meta.json @@ -329,8 +329,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -396,14 +396,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 2.99022, - -0.44902, - -0.85237 + -2.99022, + 0.44902, + 0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 176.5, - "opposite_sign_bend_deg": 23.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.893, + "inlier_spread_deg": 8.01, + "marker_Q_to_gsi_deg": { + "1": 165.9, + "-1": 14.9 + } + }, + "wrist_bend_deg_median": 175.1, + "opposite_sign_bend_deg": 21.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.25, "hand_vs_marker_frame_deg": { "before": 179.26, @@ -415,15 +426,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 175.51, + "twist_moved_deg": -174.03, "wrist_twist_deg_after": { - "median": 0.88, + "median": -1.47, "iqr": [ - -2.3, - 2.6 + -4.5, + 0.6 ] }, - "wrist_total_deg_median_after": 21.8, + "wrist_total_deg_median_after": 23.8, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -433,19 +444,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 2.99225, + 0.43169, + 0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 11.5, - "opposite_sign_bend_deg": 178.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.977, + "inlier_spread_deg": 8.14, + "marker_Q_to_gsi_deg": { + "1": 174.3, + "-1": 10.3 + } + }, + "wrist_bend_deg_median": 178.0, + "opposite_sign_bend_deg": 11.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.22, "hand_vs_marker_frame_deg": { - "before": 1.22, + "before": 179.77, "after": 1.22 }, "markers_on_wrist": [ @@ -453,15 +475,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 177.53, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.46, "iqr": [ - -1.3, - 1.1 + -0.6, + 1.5 ] }, - "wrist_total_deg_median_after": 11.5, + "wrist_total_deg_median_after": 25.8, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -470,7 +492,7 @@ }, "frames_used": 1368 }, - "generated_at_utc": "2026-10-28T06:18:24.513933+00:00", + "generated_at_utc": "2026-11-06T13:47:26.878788+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -514,6 +536,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.3313868221681833 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 14.69, + "offset_rotvec": [ + 0.2391, + -0.0913, + 0.0148 + ], + "dev_deg": { + "median": 8.55, + "p90": 32.26 + }, + "samples": 3308, + "accepted": 2944, + "wrist_pos_err_mm_median": 74.0, + "per_camera": { + "head": { + "samples": 3308, + "accepted": 2944, + "gate_deg": 30.0, + "offset_deg": 14.69, + "tier": "primary", + "dev_deg_median": 8.55, + "wrist_pos_err_mm_median": 74.0 + } + }, + "frames_by_state": { + "ace_sample": 11809, + "interpolated": 810, + "mean_hand": 1057, + "no_body_fit": 8 + }, + "observed_fraction": 0.9222, + "observed_fraction_of_valid": 0.9227, + "palm_axis_vs_markers_deg": { + "gsi": 15.41, + "smplx": 1.06 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.1, + "p90": 13.1 + }, + "registered": { + "median": 6.9, + "p90": 11.7 + } + } + }, + "right": { + "offset_deg": 8.51, + "offset_rotvec": [ + 0.0087, + 0.0523, + 0.1386 + ], + "dev_deg": { + "median": 8.32, + "p90": 20.13 + }, + "samples": 3271, + "accepted": 3192, + "wrist_pos_err_mm_median": 55.7, + "per_camera": { + "head": { + "samples": 3271, + "accepted": 3192, + "gate_deg": 30.0, + "offset_deg": 8.51, + "tier": "primary", + "dev_deg_median": 8.32, + "wrist_pos_err_mm_median": 55.7 + } + }, + "frames_by_state": { + "ace_sample": 12820, + "interpolated": 584, + "mean_hand": 272, + "no_body_fit": 8 + }, + "observed_fraction": 0.9795, + "observed_fraction_of_valid": 0.9801, + "palm_axis_vs_markers_deg": { + "gsi": 7.99, + "smplx": 0.56 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.8, + "p90": 13.2 + }, + "registered": { + "median": 8.2, + "p90": 12.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:51:36.242199+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P13/session_010", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P13/session_010/motions/smplx.npz b/actions/locomotion_primitives/P13/session_010/motions/smplx.npz index bacacf0abbd47eed13391488672b1b87f7a7aa47..3c70570afdde702602ca661c9dd1a570000d43b5 100644 --- a/actions/locomotion_primitives/P13/session_010/motions/smplx.npz +++ b/actions/locomotion_primitives/P13/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:408db0696e9c7a69910e13fafd5dcd40ee1673056a8082207789d7aa0e08e312 -size 5282909 +oid sha256:6f551d5682dcce59b1df83b188652f02d998793d1ad522961d528c8411a1b90e +size 9708786 diff --git a/actions/locomotion_primitives/P17/session_010/meta.json b/actions/locomotion_primitives/P17/session_010/meta.json index b255b55d7da05e4ab439c0ffb90a064e40214d74..0a38cb33306f2bbdd383b439126fb906bd81b57e 100644 --- a/actions/locomotion_primitives/P17/session_010/meta.json +++ b/actions/locomotion_primitives/P17/session_010/meta.json @@ -331,8 +331,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -398,14 +398,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 2.99022, - -0.44902, - -0.85238 + -2.99022, + 0.44902, + 0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 176.6, - "opposite_sign_bend_deg": 21.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.949, + "inlier_spread_deg": 13.75, + "marker_Q_to_gsi_deg": { + "1": 161.3, + "-1": 19.3 + } + }, + "wrist_bend_deg_median": 176.1, + "opposite_sign_bend_deg": 22.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.9, "hand_vs_marker_frame_deg": { "before": 179.35, @@ -417,15 +428,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 176.22, + "twist_moved_deg": -175.13, "wrist_twist_deg_after": { - "median": 0.41, + "median": -1.1, "iqr": [ - -1.3, - 1.9 + -3.1, + 0.6 ] }, - "wrist_total_deg_median_after": 22.2, + "wrist_total_deg_median_after": 21.3, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -435,19 +446,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -2.99225, + -0.43169, + -0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 12.9, - "opposite_sign_bend_deg": 177.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2826, + "inlier_frac": 0.925, + "inlier_spread_deg": 10.3, + "marker_Q_to_gsi_deg": { + "1": 174.1, + "-1": 14.2 + } + }, + "wrist_bend_deg_median": 177.7, + "opposite_sign_bend_deg": 12.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.96, "hand_vs_marker_frame_deg": { - "before": 0.96, + "before": 179.77, "after": 0.96 }, "markers_on_wrist": [ @@ -455,15 +477,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.04, + "twist_moved_deg": 177.65, "wrist_twist_deg_after": { - "median": 0.0, + "median": 0.55, "iqr": [ - -0.9, - 1.2 + -0.2, + 1.6 ] }, - "wrist_total_deg_median_after": 12.9, + "wrist_total_deg_median_after": 23.4, "markers_on_forearm": [ "RElbowIn", "RForearm", @@ -473,7 +495,7 @@ }, "frames_used": 1428 }, - "generated_at_utc": "2026-10-28T06:18:24.844150+00:00", + "generated_at_utc": "2026-11-06T13:47:45.041036+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -517,6 +539,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.4738465523149675 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 15.38, + "offset_rotvec": [ + 0.2625, + -0.0563, + 0.0005 + ], + "dev_deg": { + "median": 13.55, + "p90": 29.2 + }, + "samples": 3194, + "accepted": 2915, + "wrist_pos_err_mm_median": 82.7, + "per_camera": { + "head": { + "samples": 3194, + "accepted": 2915, + "gate_deg": 30.0, + "offset_deg": 15.38, + "tier": "primary", + "dev_deg_median": 13.55, + "wrist_pos_err_mm_median": 82.7 + } + }, + "frames_by_state": { + "ace_sample": 11780, + "interpolated": 1672, + "mean_hand": 824, + "no_body_fit": 8 + }, + "observed_fraction": 0.9418, + "observed_fraction_of_valid": 0.9423, + "palm_axis_vs_markers_deg": { + "gsi": 19.87, + "smplx": 0.8 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.7, + "p90": 7.9 + }, + "registered": { + "median": 5.8, + "p90": 7.5 + } + } + }, + "right": { + "offset_deg": 11.47, + "offset_rotvec": [ + -0.0722, + 0.0107, + 0.1865 + ], + "dev_deg": { + "median": 12.78, + "p90": 31.17 + }, + "samples": 2826, + "accepted": 2504, + "wrist_pos_err_mm_median": 298.4, + "per_camera": { + "head": { + "samples": 2826, + "accepted": 2504, + "gate_deg": 30.0, + "offset_deg": 11.47, + "tier": "primary", + "dev_deg_median": 12.78, + "wrist_pos_err_mm_median": 298.4 + } + }, + "frames_by_state": { + "ace_sample": 10242, + "interpolated": 3662, + "mean_hand": 372, + "no_body_fit": 8 + }, + "observed_fraction": 0.9734, + "observed_fraction_of_valid": 0.9739, + "palm_axis_vs_markers_deg": { + "gsi": 12.5, + "smplx": 0.31 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.7, + "p90": 11.0 + }, + "registered": { + "median": 8.2, + "p90": 11.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:51:42.341088+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P17/session_010", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P17/session_010/motions/smplx.npz b/actions/locomotion_primitives/P17/session_010/motions/smplx.npz index cb585a64ea17876cdc66835cc652d5c9a7e01941..b0e514eb5d09b2622fdcfcc07b48519b8b62812f 100644 --- a/actions/locomotion_primitives/P17/session_010/motions/smplx.npz +++ b/actions/locomotion_primitives/P17/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d6ec0d8804586c201a8c71695fda305b0080ab13afcb7001abc819e53605baa9 -size 5509089 +oid sha256:ecb9a77ffa06fc63c61219b77be2bc2b5a2168e99f3c1601669201c4c9e8b2f1 +size 10158378 diff --git a/actions/locomotion_primitives/P18/session_010/meta.json b/actions/locomotion_primitives/P18/session_010/meta.json index e15cee912a0ff96bce413ac865ccc8ced0d2bbf8..f93ab9472ebd419c96e0724ca27a34ecdf8a7c98 100644 --- a/actions/locomotion_primitives/P18/session_010/meta.json +++ b/actions/locomotion_primitives/P18/session_010/meta.json @@ -330,8 +330,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -401,10 +401,21 @@ -0.44902, -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 173.4, - "opposite_sign_bend_deg": 40.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2523, + "inlier_frac": 0.955, + "inlier_spread_deg": 8.42, + "marker_Q_to_gsi_deg": { + "1": 159.3, + "-1": 20.9 + } + }, + "wrist_bend_deg_median": 172.1, + "opposite_sign_bend_deg": 19.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.9, "hand_vs_marker_frame_deg": { "before": 178.63, @@ -416,15 +427,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 172.03, + "twist_moved_deg": -170.08, "wrist_twist_deg_after": { - "median": 2.3, + "median": -1.95, "iqr": [ - -1.4, - 6.4 + -6.4, + 2.3 ] }, - "wrist_total_deg_median_after": 19.9, + "wrist_total_deg_median_after": 40.1, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -434,19 +445,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -2.99225, + -0.43169, + -0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 12.7, - "opposite_sign_bend_deg": 177.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.926, + "inlier_spread_deg": 7.12, + "marker_Q_to_gsi_deg": { + "1": 178.0, + "-1": 15.0 + } + }, + "wrist_bend_deg_median": 177.8, + "opposite_sign_bend_deg": 12.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.06, "hand_vs_marker_frame_deg": { - "before": 1.06, + "before": 179.69, "after": 1.06 }, "markers_on_wrist": [ @@ -454,15 +476,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.06, + "twist_moved_deg": 177.55, "wrist_twist_deg_after": { - "median": 0.0, + "median": 0.9, "iqr": [ - -1.0, - 1.4 + -0.1, + 2.4 ] }, - "wrist_total_deg_median_after": 12.7, + "wrist_total_deg_median_after": 23.2, "markers_on_forearm": [ "RElbowIn", "RForearm", @@ -472,7 +494,7 @@ }, "frames_used": 1369 }, - "generated_at_utc": "2026-10-28T06:18:29.280615+00:00", + "generated_at_utc": "2026-11-06T13:47:45.654670+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -516,6 +538,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.308037648678047 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 19.5, + "offset_rotvec": [ + 0.3059, + -0.0248, + -0.147 + ], + "dev_deg": { + "median": 8.98, + "p90": 23.19 + }, + "samples": 2523, + "accepted": 2388, + "wrist_pos_err_mm_median": 66.8, + "per_camera": { + "head": { + "samples": 2523, + "accepted": 2388, + "gate_deg": 30.0, + "offset_deg": 19.5, + "tier": "primary", + "dev_deg_median": 8.98, + "wrist_pos_err_mm_median": 66.8 + } + }, + "frames_by_state": { + "ace_sample": 9618, + "interpolated": 934, + "mean_hand": 3130, + "no_body_fit": 2 + }, + "observed_fraction": 0.7711, + "observed_fraction_of_valid": 0.7712, + "palm_axis_vs_markers_deg": { + "gsi": 22.58, + "smplx": 1.48 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.6, + "p90": 8.5 + }, + "registered": { + "median": 6.5, + "p90": 8.7 + } + } + }, + "right": { + "offset_deg": 13.26, + "offset_rotvec": [ + -0.1266, + -0.0748, + 0.1786 + ], + "dev_deg": { + "median": 10.29, + "p90": 29.07 + }, + "samples": 3043, + "accepted": 2756, + "wrist_pos_err_mm_median": 324.4, + "per_camera": { + "head": { + "samples": 3043, + "accepted": 2756, + "gate_deg": 30.0, + "offset_deg": 13.26, + "tier": "primary", + "dev_deg_median": 10.29, + "wrist_pos_err_mm_median": 324.4 + } + }, + "frames_by_state": { + "ace_sample": 11126, + "interpolated": 2222, + "mean_hand": 334, + "no_body_fit": 2 + }, + "observed_fraction": 0.9754, + "observed_fraction_of_valid": 0.9756, + "palm_axis_vs_markers_deg": { + "gsi": 12.93, + "smplx": 0.44 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.8, + "p90": 11.1 + }, + "registered": { + "median": 6.6, + "p90": 11.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:51:35.945769+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P18/session_010", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P18/session_010/motions/smplx.npz b/actions/locomotion_primitives/P18/session_010/motions/smplx.npz index 990cdb8f03a57592a928061d5ef0c09f524f1f0f..44e3813269a81dd7bfce0ae839ce2310fcb7aab4 100644 --- a/actions/locomotion_primitives/P18/session_010/motions/smplx.npz +++ b/actions/locomotion_primitives/P18/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7f312dec4ff3ebbaf36f1440e1d1a7633f88932f133578e53c755b80ced2e07a -size 5278201 +oid sha256:e97a031bf1d7a6a33d33d5106b75cd648e9a0d0726cbc4b14ebc08be470d10a1 +size 9364448 diff --git a/actions/locomotion_primitives/P18/session_016/meta.json b/actions/locomotion_primitives/P18/session_016/meta.json index 259c42d06676f8bff1eadccc6164ec70d3d23f2b..425a5f8e7b7de6f6bdcb22c8541eb74f7058c6fa 100644 --- a/actions/locomotion_primitives/P18/session_016/meta.json +++ b/actions/locomotion_primitives/P18/session_016/meta.json @@ -325,8 +325,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -385,35 +385,46 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 64.58, "Q_rotvec": [ - 2.98827, - -0.45012, - -0.85862 + 1.05639, + -0.39219, + 0.02732 ], "in_out_sign": 1, - "wrist_bend_deg_median": 178.5, - "opposite_sign_bend_deg": 28.6, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.401, + "inlier_spread_deg": 11.13, + "marker_Q_to_gsi_deg": { + "1": 64.6, + "-1": 120.1 + } + }, + "wrist_bend_deg_median": 27.6, + "opposite_sign_bend_deg": 124.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.41, "hand_vs_marker_frame_deg": { - "before": 178.81, - "after": 2.41 + "before": 2.41, + "after": 63.16 }, "markers_on_wrist": [ "LHandIn", "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -123.49, + "twist_moved_deg": 8.91, "wrist_twist_deg_after": { - "median": -54.4, + "median": 0.0, "iqr": [ - -55.9, - 0.9 + -1.5, + 59.7 ] }, - "wrist_total_deg_median_after": 55.7, + "wrist_total_deg_median_after": 28.5, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -431,6 +442,17 @@ -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.748, + "inlier_spread_deg": 16.31, + "marker_Q_to_gsi_deg": { + "1": 36.9, + "-1": 146.5 + } + }, "wrist_bend_deg_median": 9.5, "opposite_sign_bend_deg": 177.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -461,7 +483,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:31:15.444284+00:00", + "generated_at_utc": "2026-11-06T14:00:39.269472+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -505,6 +527,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.6726329163322669 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 76.03, + "offset_rotvec": [ + 1.1717, + -0.5652, + -0.2618 + ], + "dev_deg": { + "median": 85.97, + "p90": 111.57 + }, + "samples": 4603, + "accepted": 40, + "wrist_pos_err_mm_median": 161.2, + "per_camera": { + "head": { + "samples": 4603, + "accepted": 40, + "gate_deg": 30.0, + "offset_deg": 76.03, + "tier": "primary", + "dev_deg_median": 85.97, + "wrist_pos_err_mm_median": 161.2 + } + }, + "frames_by_state": { + "ace_sample": 158, + "interpolated": 116, + "mean_hand": 21810, + "no_body_fit": 0 + }, + "observed_fraction": 0.0124, + "observed_fraction_of_valid": 0.0124, + "palm_axis_vs_markers_deg": { + "gsi": 81.53, + "smplx": 63.95 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 18.0, + "p90": 30.6 + }, + "registered": { + "median": 17.9, + "p90": 31.7 + } + } + }, + "right": { + "offset_deg": 39.38, + "offset_rotvec": [ + 0.5895, + 0.3498, + 0.0504 + ], + "dev_deg": { + "median": 20.22, + "p90": 39.22 + }, + "samples": 4118, + "accepted": 3041, + "wrist_pos_err_mm_median": 112.9, + "per_camera": { + "head": { + "samples": 4118, + "accepted": 3041, + "gate_deg": 30.0, + "offset_deg": 39.38, + "tier": "primary", + "dev_deg_median": 20.22, + "wrist_pos_err_mm_median": 112.9 + } + }, + "frames_by_state": { + "ace_sample": 12714, + "interpolated": 8538, + "mean_hand": 832, + "no_body_fit": 0 + }, + "observed_fraction": 0.9623, + "observed_fraction_of_valid": 0.9623, + "palm_axis_vs_markers_deg": { + "gsi": 38.71, + "smplx": 0.44 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.9, + "p90": 6.6 + }, + "registered": { + "median": 6.2, + "p90": 7.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:19:27.940641+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P18/session_016", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P18/session_016/motions/smplx.npz b/actions/locomotion_primitives/P18/session_016/motions/smplx.npz index 76bb312ceeaf272fe30b3053c622adce7b9e19ab..3f69401f1c4a19921e3caa9c2af401a0e3458e03 100644 --- a/actions/locomotion_primitives/P18/session_016/motions/smplx.npz +++ b/actions/locomotion_primitives/P18/session_016/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4b3c9bf57639c6f99ee2e436060748559cde0dd35d41309990196e970506349c -size 8466794 +oid sha256:8cf7f41cf9840e1a24a23169ab410e0b9448ec7e622eb030e20b7a5af7bd5d8e +size 12160092 diff --git a/actions/locomotion_primitives/P18/session_017/meta.json b/actions/locomotion_primitives/P18/session_017/meta.json index 78eaf77fcdc890b0e16bc4fea813d6492f79f1a3..3ec046c387d20d62715433b6395b19f8bce08302 100644 --- a/actions/locomotion_primitives/P18/session_017/meta.json +++ b/actions/locomotion_primitives/P18/session_017/meta.json @@ -390,8 +390,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -455,19 +455,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - 3.03013, - -0.23151, - -0.79645 + 0.0, + -0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 177.1, - "opposite_sign_bend_deg": 24.4, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.968, + "inlier_spread_deg": 11.27, + "marker_Q_to_gsi_deg": { + "1": 26.1, + "-1": 159.5 + } + }, + "wrist_bend_deg_median": 13.3, + "opposite_sign_bend_deg": 176.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.84, "hand_vs_marker_frame_deg": { - "before": 179.56, + "before": 0.84, "after": 0.84 }, "markers_on_wrist": [ @@ -476,15 +487,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -175.96, + "twist_moved_deg": -2.52, "wrist_twist_deg_after": { - "median": -2.52, + "median": 0.0, "iqr": [ - -5.1, - -0.6 + -2.5, + 1.9 ] }, - "wrist_total_deg_median_after": 13.2, + "wrist_total_deg_median_after": 13.1, "markers_on_forearm": [ "LForearm", "LWristIn" @@ -494,19 +505,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 3.02356, + 0.33123, + 0.78611 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 15.6, - "opposite_sign_bend_deg": 177.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.632, + "inlier_spread_deg": 17.99, + "marker_Q_to_gsi_deg": { + "1": 159.8, + "-1": 21.7 + } + }, + "wrist_bend_deg_median": 177.6, + "opposite_sign_bend_deg": 15.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.24, "hand_vs_marker_frame_deg": { - "before": 5.24, + "before": 178.5, "after": 5.24 }, "markers_on_wrist": [ @@ -514,15 +536,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": 174.89, "wrist_twist_deg_after": { - "median": -0.0, + "median": 3.67, "iqr": [ - -1.8, - 1.8 + 1.3, + 5.6 ] }, - "wrist_total_deg_median_after": 15.6, + "wrist_total_deg_median_after": 17.3, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -531,10 +553,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:39:38.527060+00:00", + "generated_at_utc": "2026-11-06T14:04:13.442423+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 27.21, + "offset_rotvec": [ + 0.4246, + -0.1215, + 0.1747 + ], + "dev_deg": { + "median": 11.42, + "p90": 25.08 + }, + "samples": 4385, + "accepted": 4249, + "wrist_pos_err_mm_median": 78.2, + "per_camera": { + "head": { + "samples": 4385, + "accepted": 4249, + "gate_deg": 30.0, + "offset_deg": 27.21, + "tier": "primary", + "dev_deg_median": 11.42, + "wrist_pos_err_mm_median": 78.2 + } + }, + "frames_by_state": { + "ace_sample": 17307, + "interpolated": 3840, + "mean_hand": 17, + "no_body_fit": 0 + }, + "observed_fraction": 0.9992, + "observed_fraction_of_valid": 0.9992, + "palm_axis_vs_markers_deg": { + "gsi": 23.62, + "smplx": 0.61 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.1, + "p90": 13.9 + }, + "registered": { + "median": 18.9, + "p90": 21.3 + } + } + }, + "right": { + "offset_deg": 27.91, + "offset_rotvec": [ + 0.4394, + -0.0116, + 0.2098 + ], + "dev_deg": { + "median": 25.86, + "p90": 164.64 + }, + "samples": 4787, + "accepted": 3016, + "wrist_pos_err_mm_median": 68.5, + "per_camera": { + "head": { + "samples": 4787, + "accepted": 3016, + "gate_deg": 30.0, + "offset_deg": 27.91, + "tier": "primary", + "dev_deg_median": 25.86, + "wrist_pos_err_mm_median": 68.5 + } + }, + "frames_by_state": { + "ace_sample": 12356, + "interpolated": 4190, + "mean_hand": 4618, + "no_body_fit": 0 + }, + "observed_fraction": 0.7818, + "observed_fraction_of_valid": 0.7818, + "palm_axis_vs_markers_deg": { + "gsi": 35.65, + "smplx": 2.24 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.4, + "p90": 11.7 + }, + "registered": { + "median": 6.8, + "p90": 11.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:25:26.242811+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P18/session_017", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P18/session_017/motions/smplx.npz b/actions/locomotion_primitives/P18/session_017/motions/smplx.npz index 781b115b9d4574f6f08be300b8a0b26a614ef58a..2d55d379e5d7ddbb024b6bd1aa09b74977a83e65 100644 --- a/actions/locomotion_primitives/P18/session_017/motions/smplx.npz +++ b/actions/locomotion_primitives/P18/session_017/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2f17c216b3e284a6efe05b40b8450f1df2bc7fe1c77fafc4263b2aedf3121591 -size 8105863 +oid sha256:c7c43384037d139c29dae44e3185e47b016c0e7240d2c5362009947d1349193b +size 14485718 diff --git a/actions/locomotion_primitives/P19/session_010/meta.json b/actions/locomotion_primitives/P19/session_010/meta.json index e76f0018764a9bb9373a6baa5037478878c5821c..5a1228a76b9910826ac476781fd292d4ec1376f9 100644 --- a/actions/locomotion_primitives/P19/session_010/meta.json +++ b/actions/locomotion_primitives/P19/session_010/meta.json @@ -330,8 +330,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -396,10 +396,21 @@ -0.44902, -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 169.7, - "opposite_sign_bend_deg": 34.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1688, + "inlier_frac": 0.949, + "inlier_spread_deg": 10.43, + "marker_Q_to_gsi_deg": { + "1": 153.1, + "-1": 27.5 + } + }, + "wrist_bend_deg_median": 166.5, + "opposite_sign_bend_deg": 32.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.54, "hand_vs_marker_frame_deg": { "before": 179.22, @@ -410,15 +421,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 166.11, + "twist_moved_deg": -165.7, "wrist_twist_deg_after": { - "median": 5.23, + "median": -0.43, "iqr": [ - -1.4, - 10.3 + -5.8, + 6.3 ] }, - "wrist_total_deg_median_after": 32.0, + "wrist_total_deg_median_after": 34.6, "markers_on_forearm": [ "LElbow", "LForearm", @@ -430,19 +441,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 2.99225, + 0.43169, + 0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 12.3, - "opposite_sign_bend_deg": 177.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2858, + "inlier_frac": 0.979, + "inlier_spread_deg": 8.24, + "marker_Q_to_gsi_deg": { + "1": 175.9, + "-1": 12.0 + } + }, + "wrist_bend_deg_median": 178.0, + "opposite_sign_bend_deg": 12.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.21, "hand_vs_marker_frame_deg": { - "before": 1.21, + "before": 179.67, "after": 1.21 }, "markers_on_wrist": [ @@ -450,15 +472,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.35, + "twist_moved_deg": 177.69, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.3, "iqr": [ - -1.2, - 1.0 + -1.0, + 1.3 ] }, - "wrist_total_deg_median_after": 12.3, + "wrist_total_deg_median_after": 24.6, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -467,7 +489,7 @@ }, "frames_used": 1249 }, - "generated_at_utc": "2026-10-28T06:18:29.244661+00:00", + "generated_at_utc": "2026-11-06T13:47:49.455597+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -511,6 +533,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.2870384418725311 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 22.85, + "offset_rotvec": [ + 0.3428, + -0.1483, + -0.1398 + ], + "dev_deg": { + "median": 13.64, + "p90": 26.01 + }, + "samples": 1688, + "accepted": 1595, + "wrist_pos_err_mm_median": 261.0, + "per_camera": { + "head": { + "samples": 1688, + "accepted": 1595, + "gate_deg": 30.0, + "offset_deg": 22.85, + "tier": "primary", + "dev_deg_median": 13.64, + "wrist_pos_err_mm_median": 261.0 + } + }, + "frames_by_state": { + "ace_sample": 6498, + "interpolated": 2778, + "mean_hand": 3208, + "no_body_fit": 0 + }, + "observed_fraction": 0.743, + "observed_fraction_of_valid": 0.743, + "palm_axis_vs_markers_deg": { + "gsi": 27.76, + "smplx": 1.18 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.8, + "p90": 11.3 + }, + "registered": { + "median": 8.4, + "p90": 12.7 + } + } + }, + "right": { + "offset_deg": 9.84, + "offset_rotvec": [ + -0.0477, + 0.0455, + 0.1586 + ], + "dev_deg": { + "median": 12.03, + "p90": 18.08 + }, + "samples": 2858, + "accepted": 2800, + "wrist_pos_err_mm_median": 330.5, + "per_camera": { + "head": { + "samples": 2858, + "accepted": 2800, + "gate_deg": 30.0, + "offset_deg": 9.84, + "tier": "primary", + "dev_deg_median": 12.03, + "wrist_pos_err_mm_median": 330.5 + } + }, + "frames_by_state": { + "ace_sample": 11280, + "interpolated": 1004, + "mean_hand": 200, + "no_body_fit": 0 + }, + "observed_fraction": 0.984, + "observed_fraction_of_valid": 0.984, + "palm_axis_vs_markers_deg": { + "gsi": 10.58, + "smplx": 0.46 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.6, + "p90": 7.8 + }, + "registered": { + "median": 5.1, + "p90": 8.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:51:40.635424+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P19/session_010", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P19/session_010/motions/smplx.npz b/actions/locomotion_primitives/P19/session_010/motions/smplx.npz index 4272a08a2c27bf128d82cfa1e27c3872f71da252..33fb087334ffe71fb67e282f55f3b0949f91940d 100644 --- a/actions/locomotion_primitives/P19/session_010/motions/smplx.npz +++ b/actions/locomotion_primitives/P19/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:196a0963261f258cc8826e801b59c890d3d6216fcf0e69dbeeeaa42ab750713e -size 4806624 +oid sha256:f36c8da5ac54075135951bd722c2d3f8b0c655b317aa56ef2711f99447621f5d +size 8522578 diff --git a/actions/locomotion_primitives/P19/session_011/meta.json b/actions/locomotion_primitives/P19/session_011/meta.json index a65300942cf6deb9df1346ed1d7f7570faac781f..77e9165d0c3037965ab498cc4e63542ac759d01c 100644 --- a/actions/locomotion_primitives/P19/session_011/meta.json +++ b/actions/locomotion_primitives/P19/session_011/meta.json @@ -329,8 +329,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -391,14 +391,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -2.99022, - 0.44902, - 0.85237 + 2.99022, + -0.44902, + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 169.2, - "opposite_sign_bend_deg": 29.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1745, + "inlier_frac": 0.789, + "inlier_spread_deg": 11.51, + "marker_Q_to_gsi_deg": { + "1": 151.0, + "-1": 30.5 + } + }, + "wrist_bend_deg_median": 166.3, + "opposite_sign_bend_deg": 26.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.65, "hand_vs_marker_frame_deg": { "before": 178.19, @@ -409,15 +420,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 166.18, + "twist_moved_deg": -165.29, "wrist_twist_deg_after": { - "median": 9.2, + "median": -0.89, "iqr": [ - 1.8, - 17.3 + -5.6, + 8.0 ] }, - "wrist_total_deg_median_after": 27.0, + "wrist_total_deg_median_after": 29.5, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -430,13 +441,24 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, -0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1451, + "inlier_frac": 0.875, + "inlier_spread_deg": 14.79, + "marker_Q_to_gsi_deg": { + "1": 27.8, + "-1": 154.1 + } + }, "wrist_bend_deg_median": 28.4, - "opposite_sign_bend_deg": 175.0, + "opposite_sign_bend_deg": 174.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.13, "hand_vs_marker_frame_deg": { @@ -448,9 +470,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.05, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -3.5, 1.5 @@ -465,7 +487,7 @@ }, "frames_used": 1069 }, - "generated_at_utc": "2026-10-28T06:18:29.527998+00:00", + "generated_at_utc": "2026-11-06T13:47:40.835233+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -509,6 +531,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.3800498134635042 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 38.22, + "offset_rotvec": [ + 0.6523, + -0.1371, + 0.0282 + ], + "dev_deg": { + "median": 15.93, + "p90": 136.72 + }, + "samples": 1745, + "accepted": 1363, + "wrist_pos_err_mm_median": 86.8, + "per_camera": { + "head": { + "samples": 1745, + "accepted": 1363, + "gate_deg": 30.0, + "offset_deg": 38.22, + "tier": "primary", + "dev_deg_median": 15.93, + "wrist_pos_err_mm_median": 86.8 + } + }, + "frames_by_state": { + "ace_sample": 5518, + "interpolated": 1206, + "mean_hand": 3960, + "no_body_fit": 0 + }, + "observed_fraction": 0.6294, + "observed_fraction_of_valid": 0.6294, + "palm_axis_vs_markers_deg": { + "gsi": 31.04, + "smplx": 1.87 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.8, + "p90": 13.2 + }, + "registered": { + "median": 11.1, + "p90": 14.0 + } + } + }, + "right": { + "offset_deg": 12.18, + "offset_rotvec": [ + -0.0622, + -0.0125, + 0.2028 + ], + "dev_deg": { + "median": 30.93, + "p90": 54.0 + }, + "samples": 1451, + "accepted": 700, + "wrist_pos_err_mm_median": 324.8, + "per_camera": { + "head": { + "samples": 1451, + "accepted": 700, + "gate_deg": 30.0, + "offset_deg": 12.18, + "tier": "primary", + "dev_deg_median": 30.93, + "wrist_pos_err_mm_median": 324.8 + } + }, + "frames_by_state": { + "ace_sample": 2804, + "interpolated": 992, + "mean_hand": 6888, + "no_body_fit": 0 + }, + "observed_fraction": 0.3553, + "observed_fraction_of_valid": 0.3553, + "palm_axis_vs_markers_deg": { + "gsi": 29.92, + "smplx": 3.89 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.3, + "p90": 6.1 + }, + "registered": { + "median": 5.3, + "p90": 6.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:51:21.138971+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P19/session_011", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P19/session_011/motions/smplx.npz b/actions/locomotion_primitives/P19/session_011/motions/smplx.npz index 09978f9389dbb35f47ace7a5b5836226e8a54961..f1d6bf12b6e877542015ec16db4092ee4a4516a3 100644 --- a/actions/locomotion_primitives/P19/session_011/motions/smplx.npz +++ b/actions/locomotion_primitives/P19/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:85bf2259e6205006fec9adece3ebd3f339699e3349c12e8fb623ae1b9a5c84e1 -size 4121358 +oid sha256:561dc89c78a5b8803ca6b80f936e66ca9dc5c03df573612a0178a8a56cbcb4b4 +size 6118183 diff --git a/actions/locomotion_primitives/P20/session_010/meta.json b/actions/locomotion_primitives/P20/session_010/meta.json index 1c130807e13dbbbaf78cf93aa0eb15670311f17b..9e54b815dd37efa43af412389004ac136b96af28 100644 --- a/actions/locomotion_primitives/P20/session_010/meta.json +++ b/actions/locomotion_primitives/P20/session_010/meta.json @@ -390,19 +390,25 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - -2.99023, - 0.44902, - 0.85237 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 171.2, - "opposite_sign_bend_deg": 40.5, + "q_source": "markers (GSI not reliable)", + "gsi": { + "reliable": false, + "frames": 28, + "reason": "too few GSI frames" + }, + "wrist_bend_deg_median": 62.5, + "opposite_sign_bend_deg": 125.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 9.14, "hand_vs_marker_frame_deg": { - "before": 177.25, + "before": 9.14, "after": 9.14 }, "markers_on_wrist": [ @@ -410,15 +416,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 121.51, + "twist_moved_deg": 54.45, "wrist_twist_deg_after": { - "median": 54.45, + "median": 1.84, "iqr": [ - 39.7, - 61.5 + -9.3, + 10.4 ] }, - "wrist_total_deg_median_after": 62.5, + "wrist_total_deg_median_after": 30.9, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -429,19 +435,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + 2.99225, + 0.43169, + 0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 16.6, - "opposite_sign_bend_deg": 176.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2777, + "inlier_frac": 0.985, + "inlier_spread_deg": 8.0, + "marker_Q_to_gsi_deg": { + "1": 179.1, + "-1": 9.4 + } + }, + "wrist_bend_deg_median": 176.3, + "opposite_sign_bend_deg": 16.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.93, "hand_vs_marker_frame_deg": { - "before": 1.93, + "before": 179.7, "after": 1.93 }, "markers_on_wrist": [ @@ -449,15 +466,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 175.92, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.29, "iqr": [ - -1.4, - 1.5 + -0.9, + 2.1 ] }, - "wrist_total_deg_median_after": 16.6, + "wrist_total_deg_median_after": 26.5, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -466,7 +483,7 @@ }, "frames_used": 1188 }, - "generated_at_utc": "2026-10-28T06:18:31.236203+00:00", + "generated_at_utc": "2026-11-06T13:47:41.750890+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/locomotion_primitives/P20/session_010/motions/smplx.npz b/actions/locomotion_primitives/P20/session_010/motions/smplx.npz index 5d0be5940a8421f0cd0c573338ef814d438e8b9d..6a11a39de1884d0931ccfa000d01fe5dafa8fdb7 100644 --- a/actions/locomotion_primitives/P20/session_010/motions/smplx.npz +++ b/actions/locomotion_primitives/P20/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d5d984ef5ce4f159929779118503edd8757392a470fd003bc9736ecbd75c1e0a -size 4583811 +oid sha256:9c417aff234f032e4a66fe4f2a332c9063e3b15c083f05494b6d9da6d911167e +size 4579206 diff --git a/actions/locomotion_primitives/P24/session_010/meta.json b/actions/locomotion_primitives/P24/session_010/meta.json index decf272683b01c9ea3ec9730c288e932005cb71f..70d724f89aa977bfee1f767a018bb0b7f9357568 100644 --- a/actions/locomotion_primitives/P24/session_010/meta.json +++ b/actions/locomotion_primitives/P24/session_010/meta.json @@ -327,8 +327,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -392,19 +392,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - -2.99022, - 0.44902, - 0.85237 + -0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 174.2, - "opposite_sign_bend_deg": 24.9, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1897, + "inlier_frac": 0.934, + "inlier_spread_deg": 11.39, + "marker_Q_to_gsi_deg": { + "1": 23.8, + "-1": 156.6 + } + }, + "wrist_bend_deg_median": 26.6, + "opposite_sign_bend_deg": 174.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.91, "hand_vs_marker_frame_deg": { - "before": 179.48, + "before": 0.91, "after": 0.91 }, "markers_on_wrist": [ @@ -413,7 +424,7 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -174.03, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -432,19 +443,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 2.99225, + 0.43169, + 0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 15.2, - "opposite_sign_bend_deg": 175.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1934, + "inlier_frac": 0.829, + "inlier_spread_deg": 12.56, + "marker_Q_to_gsi_deg": { + "1": 170.5, + "-1": 14.5 + } + }, + "wrist_bend_deg_median": 175.9, + "opposite_sign_bend_deg": 15.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.62, "hand_vs_marker_frame_deg": { - "before": 2.62, + "before": 179.11, "after": 2.62 }, "markers_on_wrist": [ @@ -452,15 +474,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.86, + "twist_moved_deg": 175.21, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.9, "iqr": [ - -1.5, - 2.2 + -0.8, + 2.9 ] }, - "wrist_total_deg_median_after": 15.1, + "wrist_total_deg_median_after": 29.5, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -469,7 +491,7 @@ }, "frames_used": 1069 }, - "generated_at_utc": "2026-10-28T06:18:31.145946+00:00", + "generated_at_utc": "2026-11-06T13:47:42.347677+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -513,6 +535,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.227824792073567 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 21.38, + "offset_rotvec": [ + 0.3475, + -0.136, + -0.0069 + ], + "dev_deg": { + "median": 12.16, + "p90": 26.69 + }, + "samples": 1897, + "accepted": 1771, + "wrist_pos_err_mm_median": 145.3, + "per_camera": { + "head": { + "samples": 1897, + "accepted": 1771, + "gate_deg": 30.0, + "offset_deg": 21.38, + "tier": "primary", + "dev_deg_median": 12.16, + "wrist_pos_err_mm_median": 145.3 + } + }, + "frames_by_state": { + "ace_sample": 7336, + "interpolated": 3060, + "mean_hand": 288, + "no_body_fit": 0 + }, + "observed_fraction": 0.973, + "observed_fraction_of_valid": 0.973, + "palm_axis_vs_markers_deg": { + "gsi": 24.49, + "smplx": 0.68 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.5, + "p90": 10.9 + }, + "registered": { + "median": 7.2, + "p90": 10.0 + } + } + }, + "right": { + "offset_deg": 8.38, + "offset_rotvec": [ + 0.0842, + 0.0586, + 0.1044 + ], + "dev_deg": { + "median": 18.69, + "p90": 162.02 + }, + "samples": 1934, + "accepted": 1615, + "wrist_pos_err_mm_median": 179.6, + "per_camera": { + "head": { + "samples": 1934, + "accepted": 1615, + "gate_deg": 30.0, + "offset_deg": 8.38, + "tier": "primary", + "dev_deg_median": 18.69, + "wrist_pos_err_mm_median": 179.6 + } + }, + "frames_by_state": { + "ace_sample": 6606, + "interpolated": 1666, + "mean_hand": 2412, + "no_body_fit": 0 + }, + "observed_fraction": 0.7742, + "observed_fraction_of_valid": 0.7742, + "palm_axis_vs_markers_deg": { + "gsi": 15.97, + "smplx": 2.14 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.5, + "p90": 6.3 + }, + "registered": { + "median": 5.4, + "p90": 7.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:51:26.542536+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P24/session_010", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P24/session_010/motions/smplx.npz b/actions/locomotion_primitives/P24/session_010/motions/smplx.npz index 6022e14270d912ed5dbd2c5c1e39e8bf1b62d61a..932925a87c76b1506555407e888b294a5abe26c5 100644 --- a/actions/locomotion_primitives/P24/session_010/motions/smplx.npz +++ b/actions/locomotion_primitives/P24/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5a39692cfe34ea297599c310162c66f31569108d8d37466a162f1f6012974c98 -size 4130332 +oid sha256:bf5bd0b343f28f9a1ad969b762cb8d9011446c72cafb665fea4648d4031c0d6d +size 7284645 diff --git a/actions/locomotion_primitives/P24/session_014/meta.json b/actions/locomotion_primitives/P24/session_014/meta.json index 836d2697bdfdce5b093b69e82d9568958cfc4386..7d0e506e8940f3a350010f3332d448539fe32e75 100644 --- a/actions/locomotion_primitives/P24/session_014/meta.json +++ b/actions/locomotion_primitives/P24/session_014/meta.json @@ -324,8 +324,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -384,35 +384,46 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 131.87, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -2.04129, + 0.5729, + 0.8954 ], "in_out_sign": 1, - "wrist_bend_deg_median": 25.3, - "opposite_sign_bend_deg": 176.1, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.553, + "inlier_spread_deg": 15.31, + "marker_Q_to_gsi_deg": { + "1": 131.9, + "-1": 51.7 + } + }, + "wrist_bend_deg_median": 126.4, + "opposite_sign_bend_deg": 175.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.08, "hand_vs_marker_frame_deg": { "before": 6.08, - "after": 6.08 + "after": 133.06 }, "markers_on_wrist": [ "LHandIn", "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.28, + "twist_moved_deg": -124.25, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.03, "iqr": [ -1.8, - 2.1 + 8.5 ] }, - "wrist_total_deg_median_after": 25.2, + "wrist_total_deg_median_after": 29.2, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -425,11 +436,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + -0.0, + -0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.634, + "inlier_spread_deg": 15.25, + "marker_Q_to_gsi_deg": { + "1": 27.9, + "-1": 154.9 + } + }, "wrist_bend_deg_median": 13.9, "opposite_sign_bend_deg": 175.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -443,9 +465,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -1.8, 1.1 @@ -462,7 +484,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:31:20.130180+00:00", + "generated_at_utc": "2026-11-06T14:00:40.144043+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -614,6 +636,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 29.04, + "offset_rotvec": [ + -0.466, + 0.1594, + -0.12 + ], + "dev_deg": { + "median": 39.72, + "p90": 149.63 + }, + "samples": 3845, + "accepted": 1158, + "wrist_pos_err_mm_median": 152.8, + "per_camera": { + "head": { + "samples": 3845, + "accepted": 1158, + "gate_deg": 30.0, + "offset_deg": 29.04, + "tier": "primary", + "dev_deg_median": 39.72, + "wrist_pos_err_mm_median": 152.8 + } + }, + "frames_by_state": { + "ace_sample": 4822, + "interpolated": 6214, + "mean_hand": 9848, + "no_body_fit": 0 + }, + "observed_fraction": 0.5284, + "observed_fraction_of_valid": 0.5284, + "palm_axis_vs_markers_deg": { + "gsi": 55.04, + "smplx": 51.02 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.5, + "p90": 15.0 + }, + "registered": { + "median": 12.0, + "p90": 15.7 + } + } + }, + "right": { + "offset_deg": 20.91, + "offset_rotvec": [ + 0.3312, + 0.1314, + 0.0788 + ], + "dev_deg": { + "median": 23.76, + "p90": 51.22 + }, + "samples": 3983, + "accepted": 2385, + "wrist_pos_err_mm_median": 116.9, + "per_camera": { + "head": { + "samples": 3983, + "accepted": 2385, + "gate_deg": 30.0, + "offset_deg": 20.91, + "tier": "primary", + "dev_deg_median": 23.76, + "wrist_pos_err_mm_median": 116.9 + } + }, + "frames_by_state": { + "ace_sample": 9890, + "interpolated": 7378, + "mean_hand": 3616, + "no_body_fit": 0 + }, + "observed_fraction": 0.8269, + "observed_fraction_of_valid": 0.8269, + "palm_axis_vs_markers_deg": { + "gsi": 28.91, + "smplx": 0.67 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.3, + "p90": 7.1 + }, + "registered": { + "median": 4.7, + "p90": 6.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:19:41.355096+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P24/session_014", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P24/session_014/motions/smplx.npz b/actions/locomotion_primitives/P24/session_014/motions/smplx.npz index 61fe3b972ffbda5e9791da56136a536b07b9a764..4a2303bd38d525e602ab234c56fa0def1ea1075b 100644 --- a/actions/locomotion_primitives/P24/session_014/motions/smplx.npz +++ b/actions/locomotion_primitives/P24/session_014/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:dbaf1883ff4d9f618feb8399c5db28f65b27e208a27cb0672415fa9bcd13b684 -size 8066945 +oid sha256:1f03a9a2a1dbf4e9827f0845ada8a0387ad6c02900d8d9f76d492de90c577039 +size 13240885 diff --git a/actions/locomotion_primitives/P26/session_003/meta.json b/actions/locomotion_primitives/P26/session_003/meta.json index 5a08800d67c9ba6fe0c2e9caf9336cd368b5f31f..7e78850b103e0a787a50e1fd0009e2c2043dc5b3 100644 --- a/actions/locomotion_primitives/P26/session_003/meta.json +++ b/actions/locomotion_primitives/P26/session_003/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -393,14 +393,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 177.1, - "opposite_sign_bend_deg": 12.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.989, + "inlier_spread_deg": 6.31, + "marker_Q_to_gsi_deg": { + "1": 179.0, + "-1": 15.0 + } + }, + "wrist_bend_deg_median": 172.0, + "opposite_sign_bend_deg": 26.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.86, "hand_vs_marker_frame_deg": { "before": 179.49, @@ -413,15 +424,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 172.15, + "twist_moved_deg": -171.0, "wrist_twist_deg_after": { - "median": 6.08, + "median": -1.15, "iqr": [ - 2.5, - 9.2 + -4.6, + 1.9 ] }, - "wrist_total_deg_median_after": 26.0, + "wrist_total_deg_median_after": 12.3, "markers_on_forearm": [ "LElbow", "LWristOut" @@ -434,10 +445,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - 0.0, - 0.0 + -0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.978, + "inlier_spread_deg": 5.96, + "marker_Q_to_gsi_deg": { + "1": 4.2, + "-1": 179.4 + } + }, "wrist_bend_deg_median": 17.0, "opposite_sign_bend_deg": 176.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -468,7 +490,7 @@ }, "frames_used": 1488 }, - "generated_at_utc": "2026-10-28T06:12:54.678218+00:00", + "generated_at_utc": "2026-11-06T13:34:32.139139+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -512,6 +534,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8521906692502091 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 8.12, + "offset_rotvec": [ + -0.0022, + -0.0802, + 0.1169 + ], + "dev_deg": { + "median": 9.02, + "p90": 18.98 + }, + "samples": 3459, + "accepted": 3388, + "wrist_pos_err_mm_median": 165.1, + "per_camera": { + "head": { + "samples": 3459, + "accepted": 3388, + "gate_deg": 30.0, + "offset_deg": 8.12, + "tier": "primary", + "dev_deg_median": 9.02, + "wrist_pos_err_mm_median": 165.1 + } + }, + "frames_by_state": { + "ace_sample": 13677, + "interpolated": 1194, + "mean_hand": 5, + "no_body_fit": 8 + }, + "observed_fraction": 0.9991, + "observed_fraction_of_valid": 0.9997, + "palm_axis_vs_markers_deg": { + "gsi": 10.74, + "smplx": 0.69 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.3, + "p90": 13.0 + }, + "registered": { + "median": 11.2, + "p90": 12.0 + } + } + }, + "right": { + "offset_deg": 6.99, + "offset_rotvec": [ + -0.0158, + 0.0607, + 0.1046 + ], + "dev_deg": { + "median": 7.74, + "p90": 17.09 + }, + "samples": 3153, + "accepted": 3094, + "wrist_pos_err_mm_median": 136.4, + "per_camera": { + "head": { + "samples": 3153, + "accepted": 3094, + "gate_deg": 30.0, + "offset_deg": 6.99, + "tier": "primary", + "dev_deg_median": 7.74, + "wrist_pos_err_mm_median": 136.4 + } + }, + "frames_by_state": { + "ace_sample": 12537, + "interpolated": 2318, + "mean_hand": 21, + "no_body_fit": 8 + }, + "observed_fraction": 0.9981, + "observed_fraction_of_valid": 0.9986, + "palm_axis_vs_markers_deg": { + "gsi": 5.61, + "smplx": 0.59 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.1, + "p90": 11.4 + }, + "registered": { + "median": 9.4, + "p90": 10.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:23:29.943031+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P26/session_003", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P26/session_003/motions/smplx.npz b/actions/locomotion_primitives/P26/session_003/motions/smplx.npz index 4754b5b18e9b97c678901840199c5cd86cd8111b..f7fefcf5c8eb15500a07c797dc47f676948ee035 100644 --- a/actions/locomotion_primitives/P26/session_003/motions/smplx.npz +++ b/actions/locomotion_primitives/P26/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1c1a9ec83cbfa5e375313a279347f8a4f3bc0e1b64d05c3eda623ef68625133e -size 5711373 +oid sha256:14aae280a57ebd36d36f5fe255127b8a52cc3b85788d3fd183c220450861ac61 +size 10698035 diff --git a/actions/locomotion_primitives/P26/session_004/meta.json b/actions/locomotion_primitives/P26/session_004/meta.json index cd0663a9f185af87af523be0d51ae8659bded14f..04292e290522717133053b4711629b7563b6ce63 100644 --- a/actions/locomotion_primitives/P26/session_004/meta.json +++ b/actions/locomotion_primitives/P26/session_004/meta.json @@ -327,8 +327,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -393,10 +393,21 @@ 0.26943, 0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 175.8, - "opposite_sign_bend_deg": 13.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.953, + "inlier_spread_deg": 10.09, + "marker_Q_to_gsi_deg": { + "1": 172.6, + "-1": 11.0 + } + }, + "wrist_bend_deg_median": 173.4, + "opposite_sign_bend_deg": 35.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.5, "hand_vs_marker_frame_deg": { "before": 179.34, @@ -407,15 +418,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 174.04, + "twist_moved_deg": -173.21, "wrist_twist_deg_after": { - "median": 1.91, + "median": -0.83, "iqr": [ - -0.8, - 4.8 + -3.1, + 1.4 ] }, - "wrist_total_deg_median_after": 35.1, + "wrist_total_deg_median_after": 14.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -429,10 +440,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.934, + "inlier_spread_deg": 7.33, + "marker_Q_to_gsi_deg": { + "1": 6.3, + "-1": 178.8 + } + }, "wrist_bend_deg_median": 12.0, "opposite_sign_bend_deg": 177.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -448,7 +470,7 @@ "forearm_twist": { "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -0.9, 0.9 @@ -463,7 +485,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:15:16.365278+00:00", + "generated_at_utc": "2026-11-06T13:38:57.635616+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -507,6 +529,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1780728397785638 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.96, + "offset_rotvec": [ + -0.1386, + -0.1299, + 0.0233 + ], + "dev_deg": { + "median": 10.14, + "p90": 23.72 + }, + "samples": 3379, + "accepted": 3217, + "wrist_pos_err_mm_median": 56.6, + "per_camera": { + "head": { + "samples": 3379, + "accepted": 3217, + "gate_deg": 30.0, + "offset_deg": 10.96, + "tier": "primary", + "dev_deg_median": 10.14, + "wrist_pos_err_mm_median": 56.6 + } + }, + "frames_by_state": { + "ace_sample": 13058, + "interpolated": 2634, + "mean_hand": 1592, + "no_body_fit": 0 + }, + "observed_fraction": 0.9079, + "observed_fraction_of_valid": 0.9079, + "palm_axis_vs_markers_deg": { + "gsi": 12.75, + "smplx": 0.87 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.3, + "p90": 14.2 + }, + "registered": { + "median": 11.8, + "p90": 13.5 + } + } + }, + "right": { + "offset_deg": 6.22, + "offset_rotvec": [ + -0.0362, + 0.0458, + 0.0916 + ], + "dev_deg": { + "median": 8.14, + "p90": 23.06 + }, + "samples": 4060, + "accepted": 3793, + "wrist_pos_err_mm_median": 66.0, + "per_camera": { + "head": { + "samples": 4060, + "accepted": 3793, + "gate_deg": 30.0, + "offset_deg": 6.22, + "tier": "primary", + "dev_deg_median": 8.14, + "wrist_pos_err_mm_median": 66.0 + } + }, + "frames_by_state": { + "ace_sample": 15278, + "interpolated": 1062, + "mean_hand": 944, + "no_body_fit": 0 + }, + "observed_fraction": 0.9454, + "observed_fraction_of_valid": 0.9454, + "palm_axis_vs_markers_deg": { + "gsi": 7.4, + "smplx": 0.63 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.4, + "p90": 11.0 + }, + "registered": { + "median": 7.8, + "p90": 9.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:32:17.141211+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P26/session_004", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P26/session_004/motions/smplx.npz b/actions/locomotion_primitives/P26/session_004/motions/smplx.npz index 12462a81c56a3392c4b50cdc0bb4df34c7b56556..d8cacffa9604087da8bef38bbffd53e1c94703e8 100644 --- a/actions/locomotion_primitives/P26/session_004/motions/smplx.npz +++ b/actions/locomotion_primitives/P26/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:da5b47d7a0868330f1c7d4dbd1329907ebff80362edd6fe98ceab2a3a5be4a92 -size 6654466 +oid sha256:b8c2a4e9d86cb1c6e03c17aedfb96310e7ca4f431609b8cbba13a14125f49c8d +size 12133913 diff --git a/actions/locomotion_primitives/P27/session_003/meta.json b/actions/locomotion_primitives/P27/session_003/meta.json index 8d87a16d544aa45f9fc40cf757084ddb905f47d3..86107315a5e4b3a5dee0fca39d0299eb3da64c8b 100644 --- a/actions/locomotion_primitives/P27/session_003/meta.json +++ b/actions/locomotion_primitives/P27/session_003/meta.json @@ -329,8 +329,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -396,14 +396,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 177.8, - "opposite_sign_bend_deg": 9.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.997, + "inlier_spread_deg": 3.95, + "marker_Q_to_gsi_deg": { + "1": 176.5, + "-1": 16.3 + } + }, + "wrist_bend_deg_median": 175.0, + "opposite_sign_bend_deg": 28.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.68, "hand_vs_marker_frame_deg": { "before": 179.6, @@ -416,15 +427,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 175.04, + "twist_moved_deg": -173.98, "wrist_twist_deg_after": { - "median": 3.31, + "median": -1.06, "iqr": [ - 0.7, - 5.3 + -3.5, + 1.0 ] }, - "wrist_total_deg_median_after": 28.7, + "wrist_total_deg_median_after": 9.4, "markers_on_forearm": [ "LElbow", "LWristOut" @@ -437,24 +448,35 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - 0.0, - 0.0 + -0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.975, + "inlier_spread_deg": 4.83, + "marker_Q_to_gsi_deg": { + "1": 4.5, + "-1": 179.1 + } + }, "wrist_bend_deg_median": 16.8, "opposite_sign_bend_deg": 177.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", - "marker_frame_spread_deg": 0.69, + "marker_frame_spread_deg": 0.7, "hand_vs_marker_frame_deg": { "before": 0.7, - "after": 0.69 + "after": 0.7 }, "markers_on_wrist": [ "RHandIn", "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -471,7 +493,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:12:55.141655+00:00", + "generated_at_utc": "2026-11-06T13:34:42.335879+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -515,6 +537,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.7525515643822827 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 14.07, + "offset_rotvec": [ + 0.1288, + -0.1606, + 0.1338 + ], + "dev_deg": { + "median": 5.98, + "p90": 10.51 + }, + "samples": 4828, + "accepted": 4812, + "wrist_pos_err_mm_median": 174.2, + "per_camera": { + "head": { + "samples": 4828, + "accepted": 4812, + "gate_deg": 30.0, + "offset_deg": 14.07, + "tier": "primary", + "dev_deg_median": 5.98, + "wrist_pos_err_mm_median": 174.2 + } + }, + "frames_by_state": { + "ace_sample": 19290, + "interpolated": 382, + "mean_hand": 11, + "no_body_fit": 0 + }, + "observed_fraction": 0.9994, + "observed_fraction_of_valid": 0.9994, + "palm_axis_vs_markers_deg": { + "gsi": 12.17, + "smplx": 0.56 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.0, + "p90": 6.6 + }, + "registered": { + "median": 4.3, + "p90": 5.9 + } + } + }, + "right": { + "offset_deg": 4.78, + "offset_rotvec": [ + 0.0072, + 0.0326, + 0.0764 + ], + "dev_deg": { + "median": 6.9, + "p90": 13.45 + }, + "samples": 4442, + "accepted": 4345, + "wrist_pos_err_mm_median": 122.2, + "per_camera": { + "head": { + "samples": 4442, + "accepted": 4345, + "gate_deg": 30.0, + "offset_deg": 4.78, + "tier": "primary", + "dev_deg_median": 6.9, + "wrist_pos_err_mm_median": 122.2 + } + }, + "frames_by_state": { + "ace_sample": 17540, + "interpolated": 1968, + "mean_hand": 175, + "no_body_fit": 0 + }, + "observed_fraction": 0.9911, + "observed_fraction_of_valid": 0.9911, + "palm_axis_vs_markers_deg": { + "gsi": 5.29, + "smplx": 0.47 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.3, + "p90": 11.2 + }, + "registered": { + "median": 8.4, + "p90": 10.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:23:32.945681+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P27/session_003", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P27/session_003/motions/smplx.npz b/actions/locomotion_primitives/P27/session_003/motions/smplx.npz index 255dc28069bb33aa9b8dbe5d0e197e9a37a3b93a..4f53b12e829c4f22bfff02aed283bf8055b64a67 100644 --- a/actions/locomotion_primitives/P27/session_003/motions/smplx.npz +++ b/actions/locomotion_primitives/P27/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:717b0f627734a774d08ce6f57c91fc306ecd69d647e0678d88ae0648c64b16e2 -size 7542106 +oid sha256:8eee2465cfe4f368073cf34e6540bbd5ffef2da811ad71fbce59a2def147f7a5 +size 14114129 diff --git a/actions/locomotion_primitives/P28/session_001/meta.json b/actions/locomotion_primitives/P28/session_001/meta.json index 955a14658312c841c478cefc478d780c479d6876..b6f8e72fb0caaa99ff8dd9b2e8584683a893b677 100644 --- a/actions/locomotion_primitives/P28/session_001/meta.json +++ b/actions/locomotion_primitives/P28/session_001/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -403,14 +403,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 177.7, - "opposite_sign_bend_deg": 9.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.991, + "inlier_spread_deg": 5.34, + "marker_Q_to_gsi_deg": { + "1": 178.6, + "-1": 15.5 + } + }, + "wrist_bend_deg_median": 175.0, + "opposite_sign_bend_deg": 28.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.62, "hand_vs_marker_frame_deg": { "before": 179.63, @@ -424,15 +435,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 175.27, + "twist_moved_deg": -174.1, "wrist_twist_deg_after": { - "median": 3.29, + "median": -1.16, "iqr": [ - 0.5, - 4.9 + -4.0, + 0.5 ] }, - "wrist_total_deg_median_after": 28.9, + "wrist_total_deg_median_after": 8.9, "markers_on_forearm": [] }, "frames_used": 1309 @@ -441,11 +452,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, -0.0, - -0.0 + 0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2878, + "inlier_frac": 0.976, + "inlier_spread_deg": 4.87, + "marker_Q_to_gsi_deg": { + "1": 4.6, + "-1": 179.9 + } + }, "wrist_bend_deg_median": 18.0, "opposite_sign_bend_deg": 177.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -460,7 +482,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -476,7 +498,7 @@ }, "frames_used": 1309 }, - "generated_at_utc": "2026-10-28T06:12:56.307540+00:00", + "generated_at_utc": "2026-11-06T13:34:28.936734+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -520,6 +542,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.6808258659697681 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 11.08, + "offset_rotvec": [ + -0.0655, + -0.1312, + 0.1262 + ], + "dev_deg": { + "median": 8.55, + "p90": 17.89 + }, + "samples": 3200, + "accepted": 3159, + "wrist_pos_err_mm_median": 170.4, + "per_camera": { + "head": { + "samples": 3200, + "accepted": 3159, + "gate_deg": 30.0, + "offset_deg": 11.08, + "tier": "primary", + "dev_deg_median": 8.55, + "wrist_pos_err_mm_median": 170.4 + } + }, + "frames_by_state": { + "ace_sample": 12672, + "interpolated": 400, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9991, + "observed_fraction_of_valid": 0.9991, + "palm_axis_vs_markers_deg": { + "gsi": 11.33, + "smplx": 0.48 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.3, + "p90": 5.7 + }, + "registered": { + "median": 4.0, + "p90": 5.2 + } + } + }, + "right": { + "offset_deg": 4.92, + "offset_rotvec": [ + -0.0112, + 0.0269, + 0.0807 + ], + "dev_deg": { + "median": 5.77, + "p90": 14.6 + }, + "samples": 2878, + "accepted": 2816, + "wrist_pos_err_mm_median": 126.6, + "per_camera": { + "head": { + "samples": 2878, + "accepted": 2816, + "gate_deg": 30.0, + "offset_deg": 4.92, + "tier": "primary", + "dev_deg_median": 5.77, + "wrist_pos_err_mm_median": 126.6 + } + }, + "frames_by_state": { + "ace_sample": 11386, + "interpolated": 1670, + "mean_hand": 28, + "no_body_fit": 0 + }, + "observed_fraction": 0.9979, + "observed_fraction_of_valid": 0.9979, + "palm_axis_vs_markers_deg": { + "gsi": 5.17, + "smplx": 0.7 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.0, + "p90": 10.3 + }, + "registered": { + "median": 8.2, + "p90": 9.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:23:13.036773+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P28/session_001", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P28/session_001/motions/smplx.npz b/actions/locomotion_primitives/P28/session_001/motions/smplx.npz index 2a04c9e035c5d6f95bc39ab162c3ac4548b58151..6f8ba10bb71b8106da06a410f3c7104bec9e0eb7 100644 --- a/actions/locomotion_primitives/P28/session_001/motions/smplx.npz +++ b/actions/locomotion_primitives/P28/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2ac75ef5a9b002dd8e4ef939fd5fa3a469c7091102e858419aff32abc4636624 -size 5017906 +oid sha256:e00abe34635a21152ed89297a4a646b81d4eadde14a44710bbb885e2ca65bcea +size 9400316 diff --git a/actions/locomotion_primitives/P29/session_005/meta.json b/actions/locomotion_primitives/P29/session_005/meta.json index 101650d5070384d63e66a532142d5a7e463a90cf..417f83247f4480e8bdcd8a8774bd739436109848 100644 --- a/actions/locomotion_primitives/P29/session_005/meta.json +++ b/actions/locomotion_primitives/P29/session_005/meta.json @@ -327,8 +327,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -394,14 +394,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 177.0, - "opposite_sign_bend_deg": 11.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2383, + "inlier_frac": 0.993, + "inlier_spread_deg": 5.5, + "marker_Q_to_gsi_deg": { + "1": 176.2, + "-1": 18.0 + } + }, + "wrist_bend_deg_median": 174.4, + "opposite_sign_bend_deg": 26.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.91, "hand_vs_marker_frame_deg": { "before": 179.48, @@ -414,15 +425,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 174.49, + "twist_moved_deg": -173.59, "wrist_twist_deg_after": { - "median": 3.75, + "median": -0.9, "iqr": [ - 1.3, - 6.5 + -3.2, + 1.8 ] }, - "wrist_total_deg_median_after": 26.6, + "wrist_total_deg_median_after": 11.6, "markers_on_forearm": [ "LElbow", "LWristOut" @@ -435,10 +446,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - -0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2079, + "inlier_frac": 0.922, + "inlier_spread_deg": 7.74, + "marker_Q_to_gsi_deg": { + "1": 5.2, + "-1": 176.9 + } + }, "wrist_bend_deg_median": 23.1, "opposite_sign_bend_deg": 176.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -454,7 +476,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -0.8, 1.5 @@ -469,7 +491,7 @@ }, "frames_used": 1009 }, - "generated_at_utc": "2026-10-28T06:12:55.742520+00:00", + "generated_at_utc": "2026-11-06T13:34:23.337416+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -513,6 +535,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8690082415837734 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.88, + "offset_rotvec": [ + 0.066, + -0.2036, + 0.227 + ], + "dev_deg": { + "median": 5.93, + "p90": 12.06 + }, + "samples": 2383, + "accepted": 2366, + "wrist_pos_err_mm_median": 148.1, + "per_camera": { + "head": { + "samples": 2383, + "accepted": 2366, + "gate_deg": 30.0, + "offset_deg": 17.88, + "tier": "primary", + "dev_deg_median": 5.93, + "wrist_pos_err_mm_median": 148.1 + } + }, + "frames_by_state": { + "ace_sample": 9524, + "interpolated": 548, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9988, + "observed_fraction_of_valid": 0.9988, + "palm_axis_vs_markers_deg": { + "gsi": 11.63, + "smplx": 0.74 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.2, + "p90": 11.9 + }, + "registered": { + "median": 10.3, + "p90": 11.0 + } + } + }, + "right": { + "offset_deg": 6.52, + "offset_rotvec": [ + 0.0571, + 0.0119, + 0.0977 + ], + "dev_deg": { + "median": 8.95, + "p90": 24.79 + }, + "samples": 2079, + "accepted": 1925, + "wrist_pos_err_mm_median": 103.6, + "per_camera": { + "head": { + "samples": 2079, + "accepted": 1925, + "gate_deg": 30.0, + "offset_deg": 6.52, + "tier": "primary", + "dev_deg_median": 8.95, + "wrist_pos_err_mm_median": 103.6 + } + }, + "frames_by_state": { + "ace_sample": 7822, + "interpolated": 2086, + "mean_hand": 176, + "no_body_fit": 0 + }, + "observed_fraction": 0.9825, + "observed_fraction_of_valid": 0.9825, + "palm_axis_vs_markers_deg": { + "gsi": 7.35, + "smplx": 0.76 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.0, + "p90": 15.1 + }, + "registered": { + "median": 11.1, + "p90": 14.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:23:23.138910+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P29/session_005", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P29/session_005/motions/smplx.npz b/actions/locomotion_primitives/P29/session_005/motions/smplx.npz index 511a254587a556a08610756a190889f9142103d8..3cc87d22bfb574a2a59018791c784d8e6de2ffa6 100644 --- a/actions/locomotion_primitives/P29/session_005/motions/smplx.npz +++ b/actions/locomotion_primitives/P29/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8c310c30759fa3a191c63a0fa1beb7a412cef25e9499ae82db4274cefb47f0e2 -size 3884154 +oid sha256:4a5e6daf582680609eb1c4e1b294179f86fe41bd5cdbc885ac6fcfc52454aa1f +size 7251928 diff --git a/actions/locomotion_primitives/P29/session_006/meta.json b/actions/locomotion_primitives/P29/session_006/meta.json index 11a7c544121e5fcf36e363c02851dec6351821e0..0053f7248b19b84cfd40b2b1bd9af324c95a73ea 100644 --- a/actions/locomotion_primitives/P29/session_006/meta.json +++ b/actions/locomotion_primitives/P29/session_006/meta.json @@ -342,8 +342,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -404,14 +404,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 174.9, - "opposite_sign_bend_deg": 12.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2105, + "inlier_frac": 0.931, + "inlier_spread_deg": 9.91, + "marker_Q_to_gsi_deg": { + "1": 178.6, + "-1": 14.6 + } + }, + "wrist_bend_deg_median": 144.8, + "opposite_sign_bend_deg": 42.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.56, "hand_vs_marker_frame_deg": { "before": 179.13, @@ -422,15 +433,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 144.72, + "twist_moved_deg": -144.15, "wrist_twist_deg_after": { - "median": 34.75, + "median": -0.57, "iqr": [ - 28.9, - 39.8 + -6.4, + 4.5 ] }, - "wrist_total_deg_median_after": 42.2, + "wrist_total_deg_median_after": 12.8, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -443,11 +454,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, - 0.0 + -0.0, + -0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1900, + "inlier_frac": 0.924, + "inlier_spread_deg": 9.18, + "marker_Q_to_gsi_deg": { + "1": 5.9, + "-1": 176.1 + } + }, "wrist_bend_deg_median": 20.3, "opposite_sign_bend_deg": 176.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -461,9 +483,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -0.8, 1.0 @@ -478,7 +500,7 @@ }, "frames_used": 1009 }, - "generated_at_utc": "2026-10-28T06:12:55.996650+00:00", + "generated_at_utc": "2026-11-06T13:34:29.037502+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -522,6 +544,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8208721816786698 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 13.02, + "offset_rotvec": [ + -0.006, + -0.114, + 0.1964 + ], + "dev_deg": { + "median": 9.81, + "p90": 26.61 + }, + "samples": 2105, + "accepted": 1940, + "wrist_pos_err_mm_median": 161.6, + "per_camera": { + "head": { + "samples": 2105, + "accepted": 1940, + "gate_deg": 30.0, + "offset_deg": 13.02, + "tier": "primary", + "dev_deg_median": 9.81, + "wrist_pos_err_mm_median": 161.6 + } + }, + "frames_by_state": { + "ace_sample": 7866, + "interpolated": 1386, + "mean_hand": 832, + "no_body_fit": 0 + }, + "observed_fraction": 0.9175, + "observed_fraction_of_valid": 0.9175, + "palm_axis_vs_markers_deg": { + "gsi": 12.01, + "smplx": 1.44 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.8, + "p90": 8.3 + }, + "registered": { + "median": 5.8, + "p90": 7.4 + } + } + }, + "right": { + "offset_deg": 8.25, + "offset_rotvec": [ + 0.0433, + 0.0494, + 0.1281 + ], + "dev_deg": { + "median": 10.41, + "p90": 25.64 + }, + "samples": 1900, + "accepted": 1765, + "wrist_pos_err_mm_median": 109.5, + "per_camera": { + "head": { + "samples": 1900, + "accepted": 1765, + "gate_deg": 30.0, + "offset_deg": 8.25, + "tier": "primary", + "dev_deg_median": 10.41, + "wrist_pos_err_mm_median": 109.5 + } + }, + "frames_by_state": { + "ace_sample": 7252, + "interpolated": 2820, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9988, + "observed_fraction_of_valid": 0.9988, + "palm_axis_vs_markers_deg": { + "gsi": 8.19, + "smplx": 0.63 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.6, + "p90": 13.6 + }, + "registered": { + "median": 9.0, + "p90": 12.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:23:20.638198+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P29/session_006", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P29/session_006/motions/smplx.npz b/actions/locomotion_primitives/P29/session_006/motions/smplx.npz index 0b8d156b8dce2e1921617347879e4cfa9413ac72..bc45024cd572479bc235a10493d8911538b4b821 100644 --- a/actions/locomotion_primitives/P29/session_006/motions/smplx.npz +++ b/actions/locomotion_primitives/P29/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:127f6585f70444f9f18f4494f8e1d345acd3622ac983ea2b37030fd7eb8683ed -size 3882887 +oid sha256:110e45ceba15821e3815628d160f46c9a6471b7f9b8d6702212663663373639d +size 7153292 diff --git a/actions/locomotion_primitives/P30/session_049/meta.json b/actions/locomotion_primitives/P30/session_049/meta.json index bcef48c5c041c687a714bfe041c381cd5d3bfa56..236af5aed2c40a8fb4bf34e9a8473376bf980775 100644 --- a/actions/locomotion_primitives/P30/session_049/meta.json +++ b/actions/locomotion_primitives/P30/session_049/meta.json @@ -407,19 +407,25 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - 2.99022, - -0.44902, - -0.85238 + 0.0, + 0.0, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 172.5, - "opposite_sign_bend_deg": 30.4, + "q_source": "markers (GSI not reliable)", + "gsi": { + "reliable": false, + "frames": 144, + "reason": "too few GSI frames" + }, + "wrist_bend_deg_median": 22.8, + "opposite_sign_bend_deg": 172.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.26, "hand_vs_marker_frame_deg": { - "before": 179.29, + "before": 1.26, "after": 1.26 }, "markers_on_wrist": [ @@ -427,15 +433,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 172.04, + "twist_moved_deg": 1.93, "wrist_twist_deg_after": { - "median": 1.93, + "median": 0.0, "iqr": [ - -0.3, - 5.5 + -2.2, + 3.5 ] }, - "wrist_total_deg_median_after": 22.9, + "wrist_total_deg_median_after": 23.0, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -446,19 +452,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -2.99225, + -0.43169, + -0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 9.5, - "opposite_sign_bend_deg": 178.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.942, + "inlier_spread_deg": 7.97, + "marker_Q_to_gsi_deg": { + "1": 178.8, + "-1": 2.1 + } + }, + "wrist_bend_deg_median": 178.8, + "opposite_sign_bend_deg": 9.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.71, "hand_vs_marker_frame_deg": { - "before": 0.71, + "before": 179.75, "after": 0.71 }, "markers_on_wrist": [ @@ -466,15 +483,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 177.29, "wrist_twist_deg_after": { - "median": 0.0, + "median": 1.53, "iqr": [ - -1.3, - 1.2 + 0.2, + 2.8 ] }, - "wrist_total_deg_median_after": 9.5, + "wrist_total_deg_median_after": 25.8, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -483,7 +500,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:18:38.682019+00:00", + "generated_at_utc": "2026-11-06T13:47:53.559635+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/locomotion_primitives/P30/session_049/motions/smplx.npz b/actions/locomotion_primitives/P30/session_049/motions/smplx.npz index cc99a32d367c1bcbd40952930389513129316834..3f732489cb11360568f14ddf80de60808bb7cf9f 100644 --- a/actions/locomotion_primitives/P30/session_049/motions/smplx.npz +++ b/actions/locomotion_primitives/P30/session_049/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b6aa7d9c6fef4e0a56590924fa7ff009c0ca4d9815a618a6f099f7332f868800 -size 6430333 +oid sha256:a3ff433b5a19d11de89d75ef115e3588611163e91e9a4554cddda2a3265e2b8e +size 6422355 diff --git a/actions/locomotion_primitives/P30/session_050/meta.json b/actions/locomotion_primitives/P30/session_050/meta.json index 03d15068bc77f7455cd9c1494950c3fae660da2d..23e0aaf3f24679c52b02c2cb994a5858336ff1f5 100644 --- a/actions/locomotion_primitives/P30/session_050/meta.json +++ b/actions/locomotion_primitives/P30/session_050/meta.json @@ -331,8 +331,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -395,12 +395,23 @@ "Q_rotvec": [ 2.99022, -0.44902, - -0.85238 + -0.85237 ], - "in_out_sign": 1, + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 283, + "inlier_frac": 0.905, + "inlier_spread_deg": 15.37, + "marker_Q_to_gsi_deg": { + "1": 148.2, + "-1": 33.7 + } + }, "wrist_bend_deg_median": 174.2, - "opposite_sign_bend_deg": 27.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "opposite_sign_bend_deg": 24.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.92, "hand_vs_marker_frame_deg": { "before": 179.46, @@ -411,15 +422,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 174.07, + "twist_moved_deg": -173.9, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.16, "iqr": [ - -1.9, - 1.4 + -1.5, + 1.1 ] }, - "wrist_total_deg_median_after": 24.8, + "wrist_total_deg_median_after": 27.8, "markers_on_forearm": [ "LElbowIn", "LForearm", @@ -431,19 +442,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 2.99225, + 0.43169, + 0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 10.8, - "opposite_sign_bend_deg": 178.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.985, + "inlier_spread_deg": 9.35, + "marker_Q_to_gsi_deg": { + "1": 173.9, + "-1": 7.2 + } + }, + "wrist_bend_deg_median": 178.4, + "opposite_sign_bend_deg": 10.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.62, "hand_vs_marker_frame_deg": { - "before": 0.62, + "before": 179.81, "after": 0.62 }, "markers_on_wrist": [ @@ -451,15 +473,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 178.05, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.28, "iqr": [ - -0.8, - 0.8 + -0.5, + 1.0 ] }, - "wrist_total_deg_median_after": 10.8, + "wrist_total_deg_median_after": 25.2, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -468,7 +490,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:18:38.916619+00:00", + "generated_at_utc": "2026-11-06T13:47:53.736960+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -512,6 +534,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.2807496180701676 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 34.58, + "offset_rotvec": [ + 0.4617, + -0.3878, + 0.0259 + ], + "dev_deg": { + "median": 20.37, + "p90": 31.46 + }, + "samples": 283, + "accepted": 250, + "wrist_pos_err_mm_median": 219.6, + "per_camera": { + "head": { + "samples": 283, + "accepted": 250, + "gate_deg": 30.0, + "offset_deg": 34.58, + "tier": "primary", + "dev_deg_median": 20.37, + "wrist_pos_err_mm_median": 219.6 + } + }, + "frames_by_state": { + "ace_sample": 948, + "interpolated": 476, + "mean_hand": 14052, + "no_body_fit": 8 + }, + "observed_fraction": 0.092, + "observed_fraction_of_valid": 0.092, + "palm_axis_vs_markers_deg": { + "gsi": 36.82, + "smplx": 0.59 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.0, + "p90": 9.1 + }, + "registered": { + "median": 7.4, + "p90": 8.4 + } + } + }, + "right": { + "offset_deg": 2.25, + "offset_rotvec": [ + 0.0345, + 0.0157, + 0.0104 + ], + "dev_deg": { + "median": 10.41, + "p90": 18.77 + }, + "samples": 3548, + "accepted": 3491, + "wrist_pos_err_mm_median": 74.9, + "per_camera": { + "head": { + "samples": 3548, + "accepted": 3491, + "gate_deg": 30.0, + "offset_deg": 2.25, + "tier": "primary", + "dev_deg_median": 10.41, + "wrist_pos_err_mm_median": 74.9 + } + }, + "frames_by_state": { + "ace_sample": 14045, + "interpolated": 1130, + "mean_hand": 301, + "no_body_fit": 8 + }, + "observed_fraction": 0.98, + "observed_fraction_of_valid": 0.9806, + "palm_axis_vs_markers_deg": { + "gsi": 9.94, + "smplx": 0.32 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.8, + "p90": 11.0 + }, + "registered": { + "median": 7.7, + "p90": 11.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:51:40.244499+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P30/session_050", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P30/session_050/motions/smplx.npz b/actions/locomotion_primitives/P30/session_050/motions/smplx.npz index 1e7d4462260ee18c99e1d6d461fe7bd23a29c29f..e6a531629fcb51a0fc0d924b5275c15cb0f1a60d 100644 --- a/actions/locomotion_primitives/P30/session_050/motions/smplx.npz +++ b/actions/locomotion_primitives/P30/session_050/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:09745e713e93fc8c348517545a53121758da076256b5873730d0936ceeda8ff5 -size 5969565 +oid sha256:3fa9ba523574a82fd7aaec29c2431f6e57cfe45fb1a2a8229e233f389ed72c92 +size 8961709 diff --git a/actions/locomotion_primitives/P30/session_051/meta.json b/actions/locomotion_primitives/P30/session_051/meta.json index efce191ed98b2318374e0329bd974c05486b25aa..446d67ecaa375ab0beea31f34d8e5786e7437647 100644 --- a/actions/locomotion_primitives/P30/session_051/meta.json +++ b/actions/locomotion_primitives/P30/session_051/meta.json @@ -329,8 +329,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -393,12 +393,23 @@ "Q_rotvec": [ 2.99022, -0.44902, - -0.85238 + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 175.9, - "opposite_sign_bend_deg": 22.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1104, + "inlier_frac": 0.962, + "inlier_spread_deg": 11.49, + "marker_Q_to_gsi_deg": { + "1": 153.6, + "-1": 28.9 + } + }, + "wrist_bend_deg_median": 175.7, + "opposite_sign_bend_deg": 24.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.62, "hand_vs_marker_frame_deg": { "before": 179.66, @@ -409,15 +420,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 175.69, + "twist_moved_deg": -175.63, "wrist_twist_deg_after": { - "median": 0.03, + "median": -0.06, "iqr": [ - -1.1, - 1.1 + -1.4, + 1.2 ] }, - "wrist_total_deg_median_after": 23.9, + "wrist_total_deg_median_after": 22.7, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -428,19 +439,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -2.99225, + -0.43169, + -0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 13.1, - "opposite_sign_bend_deg": 178.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.911, + "inlier_spread_deg": 10.42, + "marker_Q_to_gsi_deg": { + "1": 178.2, + "-1": 12.4 + } + }, + "wrist_bend_deg_median": 178.7, + "opposite_sign_bend_deg": 13.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.47, "hand_vs_marker_frame_deg": { - "before": 0.47, + "before": 179.82, "after": 0.47 }, "markers_on_wrist": [ @@ -448,15 +470,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.31, + "twist_moved_deg": 178.48, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.15, "iqr": [ - -0.6, - 0.6 + -0.5, + 0.8 ] }, - "wrist_total_deg_median_after": 13.1, + "wrist_total_deg_median_after": 22.3, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -465,7 +487,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:18:38.714177+00:00", + "generated_at_utc": "2026-11-06T13:47:57.057068+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -509,6 +531,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.3358210515177464 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 25.47, + "offset_rotvec": [ + 0.3865, + -0.2135, + 0.0513 + ], + "dev_deg": { + "median": 12.77, + "p90": 23.02 + }, + "samples": 1104, + "accepted": 1066, + "wrist_pos_err_mm_median": 206.8, + "per_camera": { + "head": { + "samples": 1104, + "accepted": 1066, + "gate_deg": 30.0, + "offset_deg": 25.47, + "tier": "primary", + "dev_deg_median": 12.77, + "wrist_pos_err_mm_median": 206.8 + } + }, + "frames_by_state": { + "ace_sample": 4264, + "interpolated": 1908, + "mean_hand": 10512, + "no_body_fit": 0 + }, + "observed_fraction": 0.3699, + "observed_fraction_of_valid": 0.3699, + "palm_axis_vs_markers_deg": { + "gsi": 29.1, + "smplx": 0.51 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.6, + "p90": 6.2 + }, + "registered": { + "median": 5.3, + "p90": 6.0 + } + } + }, + "right": { + "offset_deg": 11.36, + "offset_rotvec": [ + -0.0741, + -0.0546, + 0.1756 + ], + "dev_deg": { + "median": 10.47, + "p90": 30.87 + }, + "samples": 3812, + "accepted": 3405, + "wrist_pos_err_mm_median": 60.8, + "per_camera": { + "head": { + "samples": 3812, + "accepted": 3405, + "gate_deg": 30.0, + "offset_deg": 11.36, + "tier": "primary", + "dev_deg_median": 10.47, + "wrist_pos_err_mm_median": 60.8 + } + }, + "frames_by_state": { + "ace_sample": 13780, + "interpolated": 2088, + "mean_hand": 816, + "no_body_fit": 0 + }, + "observed_fraction": 0.9511, + "observed_fraction_of_valid": 0.9511, + "palm_axis_vs_markers_deg": { + "gsi": 12.03, + "smplx": 0.29 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.7, + "p90": 13.1 + }, + "registered": { + "median": 7.6, + "p90": 11.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:51:37.636509+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P30/session_051", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P30/session_051/motions/smplx.npz b/actions/locomotion_primitives/P30/session_051/motions/smplx.npz index a928c9dc43a7c5213b2942abb2c9cb53bd9e145d..38c59097e368bab28144dc3d7fa21e23e7687038 100644 --- a/actions/locomotion_primitives/P30/session_051/motions/smplx.npz +++ b/actions/locomotion_primitives/P30/session_051/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:594c37e6355c6bd9f16954d30f95c59ceaf4fb9239b4808881020958ee91eaea -size 6431140 +oid sha256:b0d1908dddf3f1edc76ab0f13ec707aa2d91069802fa8e1bc1f36c571251f056 +size 10432004 diff --git a/actions/locomotion_primitives/P30/session_052/meta.json b/actions/locomotion_primitives/P30/session_052/meta.json index f9f1a32c690f46da0611b0590f3fe9ebd7f8931f..27d3b2c33b8871eb7e00701130fe5fae407cd4f2 100644 --- a/actions/locomotion_primitives/P30/session_052/meta.json +++ b/actions/locomotion_primitives/P30/session_052/meta.json @@ -330,8 +330,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -394,12 +394,23 @@ "Q_rotvec": [ 2.99022, -0.44902, - -0.85238 + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 175.3, - "opposite_sign_bend_deg": 29.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1554, + "inlier_frac": 0.914, + "inlier_spread_deg": 13.44, + "marker_Q_to_gsi_deg": { + "1": 149.5, + "-1": 31.0 + } + }, + "wrist_bend_deg_median": 175.5, + "opposite_sign_bend_deg": 19.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.6, "hand_vs_marker_frame_deg": { "before": 179.72, @@ -410,15 +421,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 175.23, + "twist_moved_deg": -175.17, "wrist_twist_deg_after": { - "median": 0.22, + "median": -0.06, "iqr": [ -1.4, - 1.8 + 1.3 ] }, - "wrist_total_deg_median_after": 19.1, + "wrist_total_deg_median_after": 29.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -429,19 +440,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -2.99225, + -0.43169, + -0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 14.0, - "opposite_sign_bend_deg": 178.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.943, + "inlier_spread_deg": 10.55, + "marker_Q_to_gsi_deg": { + "1": 178.3, + "-1": 12.0 + } + }, + "wrist_bend_deg_median": 178.3, + "opposite_sign_bend_deg": 14.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.53, "hand_vs_marker_frame_deg": { - "before": 0.54, + "before": 179.82, "after": 0.53 }, "markers_on_wrist": [ @@ -449,15 +471,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.3, + "twist_moved_deg": 178.06, "wrist_twist_deg_after": { - "median": 0.0, + "median": 0.12, "iqr": [ - -0.7, - 0.7 + -0.6, + 0.8 ] }, - "wrist_total_deg_median_after": 14.0, + "wrist_total_deg_median_after": 22.1, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -466,7 +488,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:18:39.037378+00:00", + "generated_at_utc": "2026-11-06T13:48:07.135597+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -510,6 +532,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9922244581687728 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 21.64, + "offset_rotvec": [ + 0.3442, + -0.155, + -0.0131 + ], + "dev_deg": { + "median": 17.8, + "p90": 31.63 + }, + "samples": 1554, + "accepted": 1367, + "wrist_pos_err_mm_median": 245.3, + "per_camera": { + "head": { + "samples": 1554, + "accepted": 1367, + "gate_deg": 30.0, + "offset_deg": 21.64, + "tier": "primary", + "dev_deg_median": 17.8, + "wrist_pos_err_mm_median": 245.3 + } + }, + "frames_by_state": { + "ace_sample": 5534, + "interpolated": 3042, + "mean_hand": 7508, + "no_body_fit": 0 + }, + "observed_fraction": 0.5332, + "observed_fraction_of_valid": 0.5332, + "palm_axis_vs_markers_deg": { + "gsi": 33.06, + "smplx": 0.54 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.8, + "p90": 9.4 + }, + "registered": { + "median": 6.1, + "p90": 9.1 + } + } + }, + "right": { + "offset_deg": 11.49, + "offset_rotvec": [ + -0.1352, + -0.0264, + 0.1458 + ], + "dev_deg": { + "median": 12.36, + "p90": 30.13 + }, + "samples": 3618, + "accepted": 3253, + "wrist_pos_err_mm_median": 226.1, + "per_camera": { + "head": { + "samples": 3618, + "accepted": 3253, + "gate_deg": 30.0, + "offset_deg": 11.49, + "tier": "primary", + "dev_deg_median": 12.36, + "wrist_pos_err_mm_median": 226.1 + } + }, + "frames_by_state": { + "ace_sample": 13164, + "interpolated": 2332, + "mean_hand": 588, + "no_body_fit": 0 + }, + "observed_fraction": 0.9634, + "observed_fraction_of_valid": 0.9634, + "palm_axis_vs_markers_deg": { + "gsi": 12.67, + "smplx": 0.27 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.6, + "p90": 12.9 + }, + "registered": { + "median": 7.1, + "p90": 13.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:51:36.243762+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P30/session_052", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P30/session_052/motions/smplx.npz b/actions/locomotion_primitives/P30/session_052/motions/smplx.npz index 4e4329ad547c4bddde5a89eb1921552b46309b3a..80b9d14e39f3b0977d72a9d09ad89a77a1a4db8d 100644 --- a/actions/locomotion_primitives/P30/session_052/motions/smplx.npz +++ b/actions/locomotion_primitives/P30/session_052/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f4988fd09e9d6e5d7a772dee82d1dce087f7a415848311888e3af116a4109333 -size 6199321 +oid sha256:551df48455878fb46fedd7299c148303aebfd516cfa180349d4023bcc4769167 +size 10567238 diff --git a/actions/locomotion_primitives/P30/session_053/meta.json b/actions/locomotion_primitives/P30/session_053/meta.json index 741fbe8d04b3ecd46b4b6da074edccee319c9fa0..3c4e0de458f1d624e464fa8f3f42e69daa93fcc2 100644 --- a/actions/locomotion_primitives/P30/session_053/meta.json +++ b/actions/locomotion_primitives/P30/session_053/meta.json @@ -331,8 +331,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -400,12 +400,23 @@ "Q_rotvec": [ 2.99022, -0.44902, - -0.85238 + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 177.0, - "opposite_sign_bend_deg": 24.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1068, + "inlier_frac": 0.954, + "inlier_spread_deg": 13.14, + "marker_Q_to_gsi_deg": { + "1": 151.7, + "-1": 29.3 + } + }, + "wrist_bend_deg_median": 176.1, + "opposite_sign_bend_deg": 18.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.7, "hand_vs_marker_frame_deg": { "before": 179.58, @@ -417,15 +428,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 176.1, + "twist_moved_deg": -175.72, "wrist_twist_deg_after": { - "median": 0.68, + "median": -0.38, "iqr": [ - -1.1, - 2.2 + -2.1, + 1.2 ] }, - "wrist_total_deg_median_after": 18.3, + "wrist_total_deg_median_after": 24.8, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -435,19 +446,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -2.99225, + -0.43169, + -0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 13.1, - "opposite_sign_bend_deg": 178.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.867, + "inlier_spread_deg": 11.45, + "marker_Q_to_gsi_deg": { + "1": 179.3, + "-1": 11.5 + } + }, + "wrist_bend_deg_median": 178.3, + "opposite_sign_bend_deg": 13.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.61, "hand_vs_marker_frame_deg": { - "before": 0.61, + "before": 179.81, "after": 0.61 }, "markers_on_wrist": [ @@ -455,15 +477,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 177.96, "wrist_twist_deg_after": { - "median": 0.0, + "median": 0.09, "iqr": [ - -0.6, - 0.7 + -0.8, + 0.8 ] }, - "wrist_total_deg_median_after": 13.2, + "wrist_total_deg_median_after": 23.5, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -472,7 +494,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:18:39.651165+00:00", + "generated_at_utc": "2026-11-06T13:48:21.059635+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -516,6 +538,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.2140741048906418 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 25.75, + "offset_rotvec": [ + 0.4031, + -0.1986, + 0.0017 + ], + "dev_deg": { + "median": 16.04, + "p90": 24.07 + }, + "samples": 1068, + "accepted": 1020, + "wrist_pos_err_mm_median": 238.3, + "per_camera": { + "head": { + "samples": 1068, + "accepted": 1020, + "gate_deg": 30.0, + "offset_deg": 25.75, + "tier": "primary", + "dev_deg_median": 16.04, + "wrist_pos_err_mm_median": 238.3 + } + }, + "frames_by_state": { + "ace_sample": 4090, + "interpolated": 2358, + "mean_hand": 10836, + "no_body_fit": 0 + }, + "observed_fraction": 0.3731, + "observed_fraction_of_valid": 0.3731, + "palm_axis_vs_markers_deg": { + "gsi": 30.73, + "smplx": 0.6 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.4, + "p90": 9.4 + }, + "registered": { + "median": 6.5, + "p90": 8.5 + } + } + }, + "right": { + "offset_deg": 11.59, + "offset_rotvec": [ + -0.1204, + -0.0281, + 0.1601 + ], + "dev_deg": { + "median": 11.54, + "p90": 39.77 + }, + "samples": 3560, + "accepted": 2935, + "wrist_pos_err_mm_median": 62.2, + "per_camera": { + "head": { + "samples": 3560, + "accepted": 2935, + "gate_deg": 30.0, + "offset_deg": 11.59, + "tier": "primary", + "dev_deg_median": 11.54, + "wrist_pos_err_mm_median": 62.2 + } + }, + "frames_by_state": { + "ace_sample": 12008, + "interpolated": 4332, + "mean_hand": 944, + "no_body_fit": 0 + }, + "observed_fraction": 0.9454, + "observed_fraction_of_valid": 0.9454, + "palm_axis_vs_markers_deg": { + "gsi": 12.58, + "smplx": 0.29 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.6, + "p90": 12.0 + }, + "registered": { + "median": 7.3, + "p90": 10.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:51:41.644702+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P30/session_053", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P30/session_053/motions/smplx.npz b/actions/locomotion_primitives/P30/session_053/motions/smplx.npz index d99caa55c8379c22a69574c40753851f4ed4b510..cfcbd69123cfa929ea37f5c1c84438e91d074799 100644 --- a/actions/locomotion_primitives/P30/session_053/motions/smplx.npz +++ b/actions/locomotion_primitives/P30/session_053/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2f67701551fa58e99e87af2511d9c3fb5d1dd914d67bd8f948d6328284eea11e -size 6665459 +oid sha256:dfb9840dd2dc7138d5d9b5361c54ccb11771d9736bd90d7875edb103d18b9bef +size 10841759 diff --git a/actions/locomotion_primitives/P30/session_054/meta.json b/actions/locomotion_primitives/P30/session_054/meta.json index bcd10833876803c503ec0948118b217ae24463d9..9874286d47704d25f05c8e7dd7a2a79c9cff4075 100644 --- a/actions/locomotion_primitives/P30/session_054/meta.json +++ b/actions/locomotion_primitives/P30/session_054/meta.json @@ -329,8 +329,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -398,12 +398,23 @@ "Q_rotvec": [ 2.99022, -0.44902, - -0.85238 + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 176.2, - "opposite_sign_bend_deg": 27.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1389, + "inlier_frac": 0.944, + "inlier_spread_deg": 10.68, + "marker_Q_to_gsi_deg": { + "1": 147.0, + "-1": 33.1 + } + }, + "wrist_bend_deg_median": 176.3, + "opposite_sign_bend_deg": 18.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.76, "hand_vs_marker_frame_deg": { "before": 179.6, @@ -415,15 +426,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 176.1, + "twist_moved_deg": -175.89, "wrist_twist_deg_after": { - "median": 0.17, + "median": -0.2, "iqr": [ - -1.2, - 1.6 + -1.5, + 1.2 ] }, - "wrist_total_deg_median_after": 18.3, + "wrist_total_deg_median_after": 27.0, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -433,19 +444,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 2.99225, + 0.43169, + 0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 12.9, - "opposite_sign_bend_deg": 178.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.911, + "inlier_spread_deg": 10.49, + "marker_Q_to_gsi_deg": { + "1": 179.9, + "-1": 12.2 + } + }, + "wrist_bend_deg_median": 178.3, + "opposite_sign_bend_deg": 12.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.87, "hand_vs_marker_frame_deg": { - "before": 0.87, + "before": 179.78, "after": 0.87 }, "markers_on_wrist": [ @@ -453,15 +475,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.01, + "twist_moved_deg": 178.11, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.08, "iqr": [ - -0.6, - 0.7 + -0.7, + 0.8 ] }, - "wrist_total_deg_median_after": 13.0, + "wrist_total_deg_median_after": 23.3, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -470,7 +492,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:18:39.572441+00:00", + "generated_at_utc": "2026-11-06T13:48:27.636356+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -514,6 +536,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.3409868892698438 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 21.68, + "offset_rotvec": [ + 0.336, + -0.1731, + -0.0159 + ], + "dev_deg": { + "median": 20.19, + "p90": 30.02 + }, + "samples": 1389, + "accepted": 1250, + "wrist_pos_err_mm_median": 285.8, + "per_camera": { + "head": { + "samples": 1389, + "accepted": 1250, + "gate_deg": 30.0, + "offset_deg": 21.68, + "tier": "primary", + "dev_deg_median": 20.19, + "wrist_pos_err_mm_median": 285.8 + } + }, + "frames_by_state": { + "ace_sample": 5063, + "interpolated": 2740, + "mean_hand": 7673, + "no_body_fit": 8 + }, + "observed_fraction": 0.5039, + "observed_fraction_of_valid": 0.5042, + "palm_axis_vs_markers_deg": { + "gsi": 34.9, + "smplx": 0.7 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.1, + "p90": 9.7 + }, + "registered": { + "median": 8.0, + "p90": 8.8 + } + } + }, + "right": { + "offset_deg": 12.2, + "offset_rotvec": [ + -0.1145, + -0.0284, + 0.1773 + ], + "dev_deg": { + "median": 10.4, + "p90": 30.5 + }, + "samples": 3318, + "accepted": 2976, + "wrist_pos_err_mm_median": 74.9, + "per_camera": { + "head": { + "samples": 3318, + "accepted": 2976, + "gate_deg": 30.0, + "offset_deg": 12.2, + "tier": "primary", + "dev_deg_median": 10.4, + "wrist_pos_err_mm_median": 74.9 + } + }, + "frames_by_state": { + "ace_sample": 12060, + "interpolated": 2328, + "mean_hand": 1088, + "no_body_fit": 8 + }, + "observed_fraction": 0.9292, + "observed_fraction_of_valid": 0.9297, + "palm_axis_vs_markers_deg": { + "gsi": 11.75, + "smplx": 0.32 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.5, + "p90": 10.5 + }, + "registered": { + "median": 8.1, + "p90": 9.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:53:40.141471+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P30/session_054", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P30/session_054/motions/smplx.npz b/actions/locomotion_primitives/P30/session_054/motions/smplx.npz index 9e337afad549b942dc53db572907fabb891d76ca..9b2cf383045cf5256dc3e5ae391836db9e1c8483 100644 --- a/actions/locomotion_primitives/P30/session_054/motions/smplx.npz +++ b/actions/locomotion_primitives/P30/session_054/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:057b88b157b0b4e7cb1995e36fee7e1d66369bd9c6decb4d6f41f675ccdc888f -size 5964411 +oid sha256:fdbb5d0828346f25c8803110a771be7be86e54661eae257ba0de552a121d3eee +size 9988679 diff --git a/actions/locomotion_primitives/P30/session_055/meta.json b/actions/locomotion_primitives/P30/session_055/meta.json index 8d732a8c00bfb0e94fa6680f3f8f755c8e02c5d2..aced852e14930c3ce95f7e39d29ca3769a80373e 100644 --- a/actions/locomotion_primitives/P30/session_055/meta.json +++ b/actions/locomotion_primitives/P30/session_055/meta.json @@ -330,8 +330,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -394,12 +394,23 @@ "Q_rotvec": [ 2.99022, -0.44902, - -0.85238 + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 178.0, - "opposite_sign_bend_deg": 12.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.961, + "inlier_spread_deg": 4.9, + "marker_Q_to_gsi_deg": { + "1": 176.3, + "-1": 6.1 + } + }, + "wrist_bend_deg_median": 177.2, + "opposite_sign_bend_deg": 29.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.53, "hand_vs_marker_frame_deg": { "before": 179.81, @@ -410,15 +421,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 177.29, + "twist_moved_deg": -176.92, "wrist_twist_deg_after": { - "median": 0.65, + "median": -0.37, "iqr": [ - -0.7, - 1.9 + -1.4, + 0.8 ] }, - "wrist_total_deg_median_after": 29.0, + "wrist_total_deg_median_after": 12.4, "markers_on_forearm": [ "LElbow", "LElbowIn", @@ -433,11 +444,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, - -0.0, + 0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.814, + "inlier_spread_deg": 11.23, + "marker_Q_to_gsi_deg": { + "1": 6.5, + "-1": 178.7 + } + }, "wrist_bend_deg_median": 21.2, "opposite_sign_bend_deg": 176.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -451,7 +473,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -468,7 +490,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:18:41.414957+00:00", + "generated_at_utc": "2026-11-06T13:48:42.941591+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -512,6 +534,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.4252795992480263 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 5.88, + "offset_rotvec": [ + -0.0307, + 0.0198, + 0.0958 + ], + "dev_deg": { + "median": 5.24, + "p90": 13.72 + }, + "samples": 4059, + "accepted": 3908, + "wrist_pos_err_mm_median": 53.5, + "per_camera": { + "head": { + "samples": 4059, + "accepted": 3908, + "gate_deg": 30.0, + "offset_deg": 5.88, + "tier": "primary", + "dev_deg_median": 5.24, + "wrist_pos_err_mm_median": 53.5 + } + }, + "frames_by_state": { + "ace_sample": 15666, + "interpolated": 270, + "mean_hand": 748, + "no_body_fit": 0 + }, + "observed_fraction": 0.9552, + "observed_fraction_of_valid": 0.9552, + "palm_axis_vs_markers_deg": { + "gsi": 6.83, + "smplx": 0.38 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.3, + "p90": 10.4 + }, + "registered": { + "median": 6.0, + "p90": 9.5 + } + } + }, + "right": { + "offset_deg": 6.4, + "offset_rotvec": [ + -0.0479, + 0.0266, + 0.0972 + ], + "dev_deg": { + "median": 12.53, + "p90": 41.6 + }, + "samples": 3486, + "accepted": 2796, + "wrist_pos_err_mm_median": 52.3, + "per_camera": { + "head": { + "samples": 3486, + "accepted": 2796, + "gate_deg": 30.0, + "offset_deg": 6.4, + "tier": "primary", + "dev_deg_median": 12.53, + "wrist_pos_err_mm_median": 52.3 + } + }, + "frames_by_state": { + "ace_sample": 11348, + "interpolated": 3004, + "mean_hand": 2332, + "no_body_fit": 0 + }, + "observed_fraction": 0.8602, + "observed_fraction_of_valid": 0.8602, + "palm_axis_vs_markers_deg": { + "gsi": 11.68, + "smplx": 0.51 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.4, + "p90": 6.9 + }, + "registered": { + "median": 5.0, + "p90": 6.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:53:41.037433+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P30/session_055", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P30/session_055/motions/smplx.npz b/actions/locomotion_primitives/P30/session_055/motions/smplx.npz index d1a7e300f2ba6a8725620848d1057bcf636fbbc9..12d40d0c2ce9ce6de3747893e3f4f2a880be166d 100644 --- a/actions/locomotion_primitives/P30/session_055/motions/smplx.npz +++ b/actions/locomotion_primitives/P30/session_055/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a42ea2881bf263065349c0b85d8a9443d1cb73af02e8c7b7c5e59b9d87e6f71a -size 6431016 +oid sha256:18f80b6f49d61639425bcf9e2bfbc07e0a3b06027a443aa096410629ebec4e64 +size 11631224 diff --git a/actions/locomotion_primitives/P30/session_090/meta.json b/actions/locomotion_primitives/P30/session_090/meta.json index 6ed6e16d37606d92017e09dada625170ff3a0077..09f8a8125c3038f72fe5e094ff681cdc3e29202c 100644 --- a/actions/locomotion_primitives/P30/session_090/meta.json +++ b/actions/locomotion_primitives/P30/session_090/meta.json @@ -391,8 +391,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -456,19 +456,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - 3.03013, - -0.23151, - -0.79645 + 0.0, + -0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 176.4, - "opposite_sign_bend_deg": 26.0, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2668, + "inlier_frac": 0.891, + "inlier_spread_deg": 13.52, + "marker_Q_to_gsi_deg": { + "1": 17.3, + "-1": 166.7 + } + }, + "wrist_bend_deg_median": 17.4, + "opposite_sign_bend_deg": 174.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.97, "hand_vs_marker_frame_deg": { - "before": 179.47, + "before": 0.97, "after": 0.97 }, "markers_on_wrist": [ @@ -476,15 +487,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -174.71, + "twist_moved_deg": -1.82, "wrist_twist_deg_after": { - "median": -1.82, + "median": 0.0, "iqr": [ - -4.3, - 1.0 + -2.5, + 2.8 ] }, - "wrist_total_deg_median_after": 17.2, + "wrist_total_deg_median_after": 17.1, "markers_on_forearm": [ "LElbow", "LElbowIn", @@ -497,19 +508,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 3.02356, + 0.33123, + 0.78611 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 14.0, - "opposite_sign_bend_deg": 173.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.496, + "inlier_spread_deg": 11.34, + "marker_Q_to_gsi_deg": { + "1": 173.8, + "-1": 12.7 + } + }, + "wrist_bend_deg_median": 173.3, + "opposite_sign_bend_deg": 15.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.59, "hand_vs_marker_frame_deg": { - "before": 4.59, + "before": 176.07, "after": 4.59 }, "markers_on_wrist": [ @@ -518,25 +540,135 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 6.07, + "twist_moved_deg": 172.02, "wrist_twist_deg_after": { - "median": -0.0, + "median": 7.63, "iqr": [ - -4.1, - 95.6 + 3.9, + 106.4 ] }, - "wrist_total_deg_median_after": 14.3, + "wrist_total_deg_median_after": 19.0, "markers_on_forearm": [ "RWristIn" ] }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:39:43.949380+00:00", + "generated_at_utc": "2026-11-06T14:04:13.940180+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.17, + "offset_rotvec": [ + 0.2573, + -0.1098, + 0.1075 + ], + "dev_deg": { + "median": 14.49, + "p90": 31.1 + }, + "samples": 2668, + "accepted": 2376, + "wrist_pos_err_mm_median": 52.3, + "per_camera": { + "head": { + "samples": 2668, + "accepted": 2376, + "gate_deg": 30.0, + "offset_deg": 17.17, + "tier": "primary", + "dev_deg_median": 14.49, + "wrist_pos_err_mm_median": 52.3 + } + }, + "frames_by_state": { + "ace_sample": 9874, + "interpolated": 6634, + "mean_hand": 535, + "no_body_fit": 0 + }, + "observed_fraction": 0.9686, + "observed_fraction_of_valid": 0.9686, + "palm_axis_vs_markers_deg": { + "gsi": 15.88, + "smplx": 0.77 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.6, + "p90": 9.1 + }, + "registered": { + "median": 5.8, + "p90": 7.6 + } + } + }, + "right": { + "offset_deg": 32.92, + "offset_rotvec": [ + 0.5364, + -0.1007, + 0.1796 + ], + "dev_deg": { + "median": 36.13, + "p90": 164.74 + }, + "samples": 3264, + "accepted": 1016, + "wrist_pos_err_mm_median": 85.3, + "per_camera": { + "head": { + "samples": 3264, + "accepted": 1016, + "gate_deg": 30.0, + "offset_deg": 32.92, + "tier": "primary", + "dev_deg_median": 36.13, + "wrist_pos_err_mm_median": 85.3 + } + }, + "frames_by_state": { + "ace_sample": 4314, + "interpolated": 5146, + "mean_hand": 7583, + "no_body_fit": 0 + }, + "observed_fraction": 0.5551, + "observed_fraction_of_valid": 0.5551, + "palm_axis_vs_markers_deg": { + "gsi": 28.14, + "smplx": 3.76 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.2, + "p90": 17.3 + }, + "registered": { + "median": 12.8, + "p90": 15.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:25:18.339056+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P30/session_090", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P30/session_090/motions/smplx.npz b/actions/locomotion_primitives/P30/session_090/motions/smplx.npz index 8bd00582f4797452b0cc23501bb78cc2a6e728fc..c04fdb85fe5d04e037d272427b46fb036b72833a 100644 --- a/actions/locomotion_primitives/P30/session_090/motions/smplx.npz +++ b/actions/locomotion_primitives/P30/session_090/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8211df72795e5bafe384e163cdf776972db5819272d326382999fa6ebd16f4c5 -size 6561490 +oid sha256:b72855b59975a70b2b2980961b3145d1d53a3c7bba746c76af4270d88098f22f +size 10959199 diff --git a/actions/locomotion_primitives/P30/session_096/meta.json b/actions/locomotion_primitives/P30/session_096/meta.json index 9ee6d482bdf8cc6ad12e1c2ecc8b25d88755686b..afebdc3951dfa303031144b7bebe9fad69bafe8b 100644 --- a/actions/locomotion_primitives/P30/session_096/meta.json +++ b/actions/locomotion_primitives/P30/session_096/meta.json @@ -391,8 +391,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -466,19 +466,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - 3.03013, - -0.23151, - -0.79645 + 0.0, + -0.0, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 152.2, - "opposite_sign_bend_deg": 32.8, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2427, + "inlier_frac": 0.867, + "inlier_spread_deg": 16.78, + "marker_Q_to_gsi_deg": { + "1": 21.6, + "-1": 162.8 + } + }, + "wrist_bend_deg_median": 18.3, + "opposite_sign_bend_deg": 174.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.89, "hand_vs_marker_frame_deg": { - "before": 178.38, + "before": 2.89, "after": 2.89 }, "markers_on_wrist": [ @@ -489,12 +500,12 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -151.03, + "twist_moved_deg": -0.57, "wrist_twist_deg_after": { - "median": -0.57, + "median": 0.0, "iqr": [ - -3.4, - 7.5 + -2.8, + 8.0 ] }, "wrist_total_deg_median_after": 18.2, @@ -506,19 +517,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + 3.02356, + 0.33123, + 0.78611 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 15.7, - "opposite_sign_bend_deg": 170.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.459, + "inlier_spread_deg": 12.78, + "marker_Q_to_gsi_deg": { + "1": 173.0, + "-1": 11.2 + } + }, + "wrist_bend_deg_median": 171.2, + "opposite_sign_bend_deg": 17.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.86, "hand_vs_marker_frame_deg": { - "before": 1.86, + "before": 178.54, "after": 1.86 }, "markers_on_wrist": [ @@ -527,25 +549,135 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 9.24, + "twist_moved_deg": 168.9, "wrist_twist_deg_after": { - "median": 0.0, + "median": 10.92, "iqr": [ - -5.2, - 105.0 + 6.2, + 117.8 ] }, - "wrist_total_deg_median_after": 17.3, + "wrist_total_deg_median_after": 21.7, "markers_on_forearm": [ "RWristIn" ] }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:39:46.187094+00:00", + "generated_at_utc": "2026-11-06T14:04:16.689433+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 19.85, + "offset_rotvec": [ + 0.2913, + -0.1367, + 0.1285 + ], + "dev_deg": { + "median": 17.71, + "p90": 35.55 + }, + "samples": 2427, + "accepted": 2048, + "wrist_pos_err_mm_median": 64.3, + "per_camera": { + "head": { + "samples": 2427, + "accepted": 2048, + "gate_deg": 30.0, + "offset_deg": 19.85, + "tier": "primary", + "dev_deg_median": 17.71, + "wrist_pos_err_mm_median": 64.3 + } + }, + "frames_by_state": { + "ace_sample": 8612, + "interpolated": 7176, + "mean_hand": 176, + "no_body_fit": 0 + }, + "observed_fraction": 0.989, + "observed_fraction_of_valid": 0.989, + "palm_axis_vs_markers_deg": { + "gsi": 23.46, + "smplx": 2.02 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.5, + "p90": 9.8 + }, + "registered": { + "median": 8.6, + "p90": 9.6 + } + } + }, + "right": { + "offset_deg": 45.48, + "offset_rotvec": [ + 0.7678, + -0.0341, + 0.1986 + ], + "dev_deg": { + "median": 50.01, + "p90": 156.59 + }, + "samples": 3483, + "accepted": 589, + "wrist_pos_err_mm_median": 75.3, + "per_camera": { + "head": { + "samples": 3483, + "accepted": 589, + "gate_deg": 30.0, + "offset_deg": 45.48, + "tier": "primary", + "dev_deg_median": 50.01, + "wrist_pos_err_mm_median": 75.3 + } + }, + "frames_by_state": { + "ace_sample": 2472, + "interpolated": 3624, + "mean_hand": 9868, + "no_body_fit": 0 + }, + "observed_fraction": 0.3819, + "observed_fraction_of_valid": 0.3819, + "palm_axis_vs_markers_deg": { + "gsi": 38.52, + "smplx": 1.76 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.9, + "p90": 17.2 + }, + "registered": { + "median": 12.7, + "p90": 14.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:25:34.144697+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P30/session_096", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P30/session_096/motions/smplx.npz b/actions/locomotion_primitives/P30/session_096/motions/smplx.npz index cc02fb447d14d3e1689aad5d3a7a1b74324d5f1e..885f6634d3ba57b6c8d9deb27dde6ea3679cf4f0 100644 --- a/actions/locomotion_primitives/P30/session_096/motions/smplx.npz +++ b/actions/locomotion_primitives/P30/session_096/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:51dd6f737c2c9561acb4cac654c564cf1c6fafc261fbd7c3aa1355167e80b290 -size 6136992 +oid sha256:f88c1863ff78e737f3eee24cfed14a54fc3ab46f0a11893d9887fbe908fe3310 +size 9957760 diff --git a/actions/locomotion_primitives/P31/session_045/meta.json b/actions/locomotion_primitives/P31/session_045/meta.json index 9145fc4d5c277ae7a6546a682649263bf1fdbae5..d56c29f4ac6d045b8c1549d6be1a23e1c9c9b580 100644 --- a/actions/locomotion_primitives/P31/session_045/meta.json +++ b/actions/locomotion_primitives/P31/session_045/meta.json @@ -329,8 +329,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -391,14 +391,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 2.99022, - -0.44902, - -0.85238 + -2.99022, + 0.44902, + 0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 175.0, - "opposite_sign_bend_deg": 26.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.95, + "inlier_spread_deg": 6.61, + "marker_Q_to_gsi_deg": { + "1": 162.1, + "-1": 19.8 + } + }, + "wrist_bend_deg_median": 175.2, + "opposite_sign_bend_deg": 21.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.57, "hand_vs_marker_frame_deg": { "before": 179.73, @@ -409,15 +420,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 174.98, + "twist_moved_deg": -174.98, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ - -1.0, - 1.2 + -0.8, + 0.8 ] }, - "wrist_total_deg_median_after": 21.5, + "wrist_total_deg_median_after": 26.4, "markers_on_forearm": [ "LElbowIn", "LForearm", @@ -429,19 +440,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + 2.99225, + 0.43169, + 0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 15.0, - "opposite_sign_bend_deg": 178.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.944, + "inlier_spread_deg": 9.7, + "marker_Q_to_gsi_deg": { + "1": 174.1, + "-1": 14.6 + } + }, + "wrist_bend_deg_median": 178.2, + "opposite_sign_bend_deg": 15.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.6, "hand_vs_marker_frame_deg": { - "before": 0.6, + "before": 179.83, "after": 0.6 }, "markers_on_wrist": [ @@ -449,15 +471,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 177.96, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.25, "iqr": [ - -0.8, - 1.0 + -0.4, + 1.1 ] }, - "wrist_total_deg_median_after": 15.0, + "wrist_total_deg_median_after": 21.1, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -466,7 +488,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:18:46.280878+00:00", + "generated_at_utc": "2026-11-06T13:48:42.844519+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -510,6 +532,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9894324619588346 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 19.02, + "offset_rotvec": [ + 0.3275, + -0.0008, + 0.0538 + ], + "dev_deg": { + "median": 7.11, + "p90": 17.88 + }, + "samples": 3628, + "accepted": 3454, + "wrist_pos_err_mm_median": 54.1, + "per_camera": { + "head": { + "samples": 3628, + "accepted": 3454, + "gate_deg": 30.0, + "offset_deg": 19.02, + "tier": "primary", + "dev_deg_median": 7.11, + "wrist_pos_err_mm_median": 54.1 + } + }, + "frames_by_state": { + "ace_sample": 13896, + "interpolated": 1060, + "mean_hand": 528, + "no_body_fit": 0 + }, + "observed_fraction": 0.9659, + "observed_fraction_of_valid": 0.9659, + "palm_axis_vs_markers_deg": { + "gsi": 19.78, + "smplx": 0.46 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.1, + "p90": 10.7 + }, + "registered": { + "median": 7.9, + "p90": 10.3 + } + } + }, + "right": { + "offset_deg": 12.88, + "offset_rotvec": [ + -0.0871, + 0.038, + 0.2038 + ], + "dev_deg": { + "median": 14.65, + "p90": 29.06 + }, + "samples": 3227, + "accepted": 2920, + "wrist_pos_err_mm_median": 328.0, + "per_camera": { + "head": { + "samples": 3227, + "accepted": 2920, + "gate_deg": 30.0, + "offset_deg": 12.88, + "tier": "primary", + "dev_deg_median": 14.65, + "wrist_pos_err_mm_median": 328.0 + } + }, + "frames_by_state": { + "ace_sample": 11936, + "interpolated": 3160, + "mean_hand": 388, + "no_body_fit": 0 + }, + "observed_fraction": 0.9749, + "observed_fraction_of_valid": 0.9749, + "palm_axis_vs_markers_deg": { + "gsi": 13.14, + "smplx": 0.31 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.9, + "p90": 13.4 + }, + "registered": { + "median": 8.1, + "p90": 11.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:53:39.835362+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P31/session_045", "family": "locomotion_primitives", diff --git a/actions/locomotion_primitives/P31/session_045/motions/smplx.npz b/actions/locomotion_primitives/P31/session_045/motions/smplx.npz index 77970fcf0b35c4bc0cea9d5886562ec423b78e0e..4aabc9020990b22a750356eb632b369e36383d6f 100644 --- a/actions/locomotion_primitives/P31/session_045/motions/smplx.npz +++ b/actions/locomotion_primitives/P31/session_045/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:51f353633b2fafb4fd151c10aba957f3bbf889b1ff50f22cc5ead9dda3c3ffe1 -size 5974496 +oid sha256:ef93cee21ab4ffe7b136cccf79871fca258d83593fec5deb38c1efb41e38765c +size 11048087 diff --git a/actions/locomotion_primitives/P31/session_046/meta.json b/actions/locomotion_primitives/P31/session_046/meta.json index 5cf44a52dd900daf97fa29d655c233280186c672..772025778723dbd23fd8a8ecb84a916978e2c57f 100644 --- a/actions/locomotion_primitives/P31/session_046/meta.json +++ b/actions/locomotion_primitives/P31/session_046/meta.json @@ -331,8 +331,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -393,14 +393,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 2.99022, - -0.44902, - -0.85238 + -2.99022, + 0.44902, + 0.85237 ], - "in_out_sign": 1, + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.983, + "inlier_spread_deg": 7.86, + "marker_Q_to_gsi_deg": { + "1": 164.9, + "-1": 17.6 + } + }, "wrist_bend_deg_median": 175.2, - "opposite_sign_bend_deg": 22.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "opposite_sign_bend_deg": 25.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.63, "hand_vs_marker_frame_deg": { "before": 179.68, @@ -411,15 +422,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 175.17, + "twist_moved_deg": -175.11, "wrist_twist_deg_after": { - "median": 0.04, + "median": -0.06, "iqr": [ - -1.5, - 1.4 + -1.1, + 1.0 ] }, - "wrist_total_deg_median_after": 25.4, + "wrist_total_deg_median_after": 22.5, "markers_on_forearm": [ "LElbowIn", "LForearm", @@ -431,19 +442,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -2.99225, + -0.43169, + -0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 15.7, - "opposite_sign_bend_deg": 177.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.916, + "inlier_spread_deg": 9.21, + "marker_Q_to_gsi_deg": { + "1": 178.5, + "-1": 13.4 + } + }, + "wrist_bend_deg_median": 177.7, + "opposite_sign_bend_deg": 15.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.48, "hand_vs_marker_frame_deg": { - "before": 0.48, + "before": 179.82, "after": 0.48 }, "markers_on_wrist": [ @@ -451,15 +473,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.02, + "twist_moved_deg": 177.41, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.3, "iqr": [ - -1.0, - 1.1 + -0.5, + 1.2 ] }, - "wrist_total_deg_median_after": 15.8, + "wrist_total_deg_median_after": 21.5, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -468,7 +490,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:18:46.065070+00:00", + "generated_at_utc": "2026-11-06T13:48:47.961725+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -512,6 +534,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.3036546346807465 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.67, + "offset_rotvec": [ + 0.3001, + 0.0154, + 0.0691 + ], + "dev_deg": { + "median": 7.94, + "p90": 17.37 + }, + "samples": 3930, + "accepted": 3870, + "wrist_pos_err_mm_median": 45.9, + "per_camera": { + "head": { + "samples": 3930, + "accepted": 3870, + "gate_deg": 30.0, + "offset_deg": 17.67, + "tier": "primary", + "dev_deg_median": 7.94, + "wrist_pos_err_mm_median": 45.9 + } + }, + "frames_by_state": { + "ace_sample": 15560, + "interpolated": 500, + "mean_hand": 24, + "no_body_fit": 0 + }, + "observed_fraction": 0.9985, + "observed_fraction_of_valid": 0.9985, + "palm_axis_vs_markers_deg": { + "gsi": 17.34, + "smplx": 0.55 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.6, + "p90": 11.4 + }, + "registered": { + "median": 7.0, + "p90": 10.6 + } + } + }, + "right": { + "offset_deg": 12.63, + "offset_rotvec": [ + -0.1337, + -0.0311, + 0.1724 + ], + "dev_deg": { + "median": 11.1, + "p90": 31.45 + }, + "samples": 3285, + "accepted": 2918, + "wrist_pos_err_mm_median": 147.0, + "per_camera": { + "head": { + "samples": 3285, + "accepted": 2918, + "gate_deg": 30.0, + "offset_deg": 12.63, + "tier": "primary", + "dev_deg_median": 11.1, + "wrist_pos_err_mm_median": 147.0 + } + }, + "frames_by_state": { + "ace_sample": 11940, + "interpolated": 3884, + "mean_hand": 260, + "no_body_fit": 0 + }, + "observed_fraction": 0.9838, + "observed_fraction_of_valid": 0.9838, + "palm_axis_vs_markers_deg": { + "gsi": 10.88, + "smplx": 0.32 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.7, + "p90": 10.7 + }, + "registered": { + "median": 7.0, + "p90": 10.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:53:48.739209+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "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", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_primitives/P31/session_046", "family": "locomotion_primitives",