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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D19/session_002/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D19/session_002/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..954c264f2337e6a47649504e6b4ef84d474c998a --- /dev/null +++ b/actions/locomotion_posture_dynamics/D19/session_002/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b31f006f29fd113dbb850ea22b17abb868ba7ab139803b816c8c66eacd0e98c +size 1945454 diff --git a/actions/locomotion_posture_dynamics/D19/session_002/motions/smplx.npz b/actions/locomotion_posture_dynamics/D19/session_002/motions/smplx.npz index e7c724de7f37931b5e9694eec3e315525013127c..5d6924c9c19780104d3624770b23765592c48052 100644 --- a/actions/locomotion_posture_dynamics/D19/session_002/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D19/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ea148a12238f114d9dc82a8462602192152851d088a9d3b283865eb8670d84c5 -size 2726743 +oid sha256:249c3e9fa35bb4220b4f7741beb76f2965ca7eaab2ef9fcf73177d83e2f2e5ca +size 5005720 diff --git a/actions/locomotion_posture_dynamics/D19/session_003/annotations.json b/actions/locomotion_posture_dynamics/D19/session_003/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..f70462c99af702b706708a560b410a270f61088d --- /dev/null +++ b/actions/locomotion_posture_dynamics/D19/session_003/annotations.json @@ -0,0 +1,94 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D19", + "instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. 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Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D19/session_003/cameras/slam.npz b/actions/locomotion_posture_dynamics/D19/session_003/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..d21c45bcb1e46accd3637c61faa50fabd1a5322d --- /dev/null +++ b/actions/locomotion_posture_dynamics/D19/session_003/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ddb1ed8c213a6eb02f617ab98baede45d043fddb0ddbfdf697594b65a53d4403 +size 284522 diff --git a/actions/locomotion_posture_dynamics/D19/session_003/meta.json b/actions/locomotion_posture_dynamics/D19/session_003/meta.json index fba2259145da0d1306770a774af08ad78fccb8c1..d66716ae9c9beaba2981305a99ae5663689c7879 100644 --- a/actions/locomotion_posture_dynamics/D19/session_003/meta.json +++ b/actions/locomotion_posture_dynamics/D19/session_003/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": { @@ -533,10 +533,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8322519456190814 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.34, + "offset_rotvec": [ + 0.0402, + -0.0795, + 0.1364 + ], + "dev_deg": { + "median": 14.69, + "p90": 30.78 + }, + "samples": 1266, + "accepted": 1119, + "wrist_pos_err_mm_median": 150.7, + "per_camera": { + "head": { + "samples": 1266, + "accepted": 1119, + "gate_deg": 30.0, + "offset_deg": 9.34, + "tier": "primary", + "dev_deg_median": 14.69, + "wrist_pos_err_mm_median": 150.7 + } + }, + "frames_by_state": { + "ace_sample": 4584, + "interpolated": 1040, + "mean_hand": 252, + "no_body_fit": 8 + }, + "observed_fraction": 0.9558, + "observed_fraction_of_valid": 0.9571, + "palm_axis_vs_markers_deg": { + "gsi": 15.4, + "smplx": 0.85 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.9, + "p90": 10.1 + }, + "registered": { + "median": 9.3, + "p90": 11.4 + } + } + }, + "right": { + "offset_deg": 10.62, + "offset_rotvec": [ + -0.0237, + 0.1821, + 0.0251 + ], + "dev_deg": { + "median": 12.52, + "p90": 30.48 + }, + "samples": 1103, + "accepted": 990, + "wrist_pos_err_mm_median": 110.8, + "per_camera": { + "head": { + "samples": 1103, + "accepted": 990, + "gate_deg": 30.0, + "offset_deg": 10.62, + "tier": "primary", + "dev_deg_median": 12.52, + "wrist_pos_err_mm_median": 110.8 + } + }, + "frames_by_state": { + "ace_sample": 4002, + "interpolated": 846, + "mean_hand": 1028, + "no_body_fit": 8 + }, + "observed_fraction": 0.8239, + "observed_fraction_of_valid": 0.8251, + "palm_axis_vs_markers_deg": { + "gsi": 11.3, + "smplx": 1.56 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.0, + "p90": 8.0 + }, + "registered": { + "median": 6.5, + "p90": 7.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T14:35:55.126458+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_003", "family": "locomotion_posture_dynamics", "primitive": "D19", "source_session": "20260908/D19/20260908_050848_session18" + }, + "task": { + "primitive": "D19", + "instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D19/session_003/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D19/session_003/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..e9fb46bfdc04248c8c335593ff07c27105b56f13 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D19/session_003/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:554a7d0ad5a64d396c8cb5c9bf7f5d76799af31fe7f968d636d63ddc7ccfb616 +size 1634031 diff --git a/actions/locomotion_posture_dynamics/D19/session_003/motions/smplx.npz b/actions/locomotion_posture_dynamics/D19/session_003/motions/smplx.npz index 4a63860bd15d30c8070d9574be147a82fdcb6b86..cd0c46c685be10b1136bf17910422ef29a114297 100644 --- a/actions/locomotion_posture_dynamics/D19/session_003/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D19/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e6fc72a5d72ec0924ce38a71711ed674507ae304c1d36bbb23e96330ce16be53 -size 2268179 +oid sha256:7ca4522e2c25ee5128d32692a2db96e0c0d791b3a00adf47b3543d75f4b4658f +size 4108277 diff --git a/actions/locomotion_posture_dynamics/D19/session_004/meta.json b/actions/locomotion_posture_dynamics/D19/session_004/meta.json index 011d4320324e019edf0a930c46b94d7bbdd887d1..f5d3eef507d16b6e998b3183deddc15d15a8e54d 100644 --- a/actions/locomotion_posture_dynamics/D19/session_004/meta.json +++ b/actions/locomotion_posture_dynamics/D19/session_004/meta.json @@ -509,5 +509,9 @@ "family": "locomotion_posture_dynamics", "primitive": "D19", "source_session": "20260908/D19/20260908_112619_session143" + }, + "task": { + "primitive": "D19", + "instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. 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b/actions/locomotion_posture_dynamics/D19/session_005/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:20357ca77384c3db50609a4700e268e38253b071d4a2a08cc6ef43ac6340f8c9 +size 341665 diff --git a/actions/locomotion_posture_dynamics/D19/session_005/meta.json b/actions/locomotion_posture_dynamics/D19/session_005/meta.json index 4cfe78271835d85b25b30288b276bde12e7823e6..b9e961d87f71d4dd78f03a526032ec18881c293d 100644 --- a/actions/locomotion_posture_dynamics/D19/session_005/meta.json +++ b/actions/locomotion_posture_dynamics/D19/session_005/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 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D19/session_005/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D19/session_005/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..7f212f6899f2378055e402ef487201e0f27147f8 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D19/session_005/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c45516ba7c6a855d8caf1fc3533b145a02fce562686351f16a5d3930fe7d345b +size 1726482 diff --git a/actions/locomotion_posture_dynamics/D19/session_005/motions/smplx.npz b/actions/locomotion_posture_dynamics/D19/session_005/motions/smplx.npz index be9061b7364a7a6ede4b9696fb4982cccd1bc17d..3627fa61d5a9a19717f3cc8fb7aa31b4813b3963 100644 --- a/actions/locomotion_posture_dynamics/D19/session_005/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D19/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:dc587f47c8c8064ab225069b62518d8dc28e72ed5b96e255bdca356c284336b8 -size 2730546 +oid sha256:2658dc83854380c4aea6ad23c8f02453ee2898f788025e0288033e749e488e92 +size 4720888 diff --git a/actions/locomotion_posture_dynamics/D19/session_006/annotations.json b/actions/locomotion_posture_dynamics/D19/session_006/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..4e4c2271e1471f79053679121a7f71f37f65f9bf --- /dev/null +++ b/actions/locomotion_posture_dynamics/D19/session_006/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D19", + "instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. 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Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D19/session_006/cameras/slam.npz b/actions/locomotion_posture_dynamics/D19/session_006/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..b90a987ad4f037bb624cc617eda33608d6046ff6 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D19/session_006/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11a70fe1b1a571e11ea92ee4efb593c71f8175e9ac38eed0c5ac96f8ca01c04a +size 341785 diff --git a/actions/locomotion_posture_dynamics/D19/session_006/meta.json b/actions/locomotion_posture_dynamics/D19/session_006/meta.json index 10bcc783797ce95ba3aca2791bf33e489a213e4b..96a975fbf631eeaa33545c65184881208c4b40dd 100644 --- a/actions/locomotion_posture_dynamics/D19/session_006/meta.json +++ b/actions/locomotion_posture_dynamics/D19/session_006/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": { @@ -505,10 +505,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.195839166598981 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 8.8, + "offset_rotvec": [ + -0.028, + 0.1142, + -0.0987 + ], + "dev_deg": { + "median": 11.61, + "p90": 43.31 + }, + "samples": 1092, + "accepted": 900, + "wrist_pos_err_mm_median": 114.2, + "per_camera": { + "head": { + "samples": 1092, + "accepted": 900, + "gate_deg": 30.0, + "offset_deg": 8.8, + "tier": "primary", + "dev_deg_median": 11.61, + "wrist_pos_err_mm_median": 114.2 + } + }, + "frames_by_state": { + "ace_sample": 3690, + "interpolated": 2318, + "mean_hand": 1076, + "no_body_fit": 0 + }, + "observed_fraction": 0.8481, + "observed_fraction_of_valid": 0.8481, + "palm_axis_vs_markers_deg": { + "gsi": 12.81, + "smplx": 1.19 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.1, + "p90": 17.6 + }, + "registered": { + "median": 9.2, + "p90": 16.0 + } + } + }, + "right": { + "offset_deg": 12.23, + "offset_rotvec": [ + -0.0862, + -0.1667, + 0.1015 + ], + "dev_deg": { + "median": 11.14, + "p90": 37.69 + }, + "samples": 1127, + "accepted": 983, + "wrist_pos_err_mm_median": 102.1, + "per_camera": { + "head": { + "samples": 1127, + "accepted": 983, + "gate_deg": 30.0, + "offset_deg": 12.23, + "tier": "primary", + "dev_deg_median": 11.14, + "wrist_pos_err_mm_median": 102.1 + } + }, + "frames_by_state": { + "ace_sample": 4034, + "interpolated": 2618, + "mean_hand": 432, + "no_body_fit": 0 + }, + "observed_fraction": 0.939, + "observed_fraction_of_valid": 0.939, + "palm_axis_vs_markers_deg": { + "gsi": 15.42, + "smplx": 1.47 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.3, + "p90": 11.7 + }, + "registered": { + "median": 8.0, + "p90": 10.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T17:47:04.824799+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_006", "family": "locomotion_posture_dynamics", "primitive": "D19", "source_session": "20260914/D19/20260914_072150_session12" + }, + "task": { + "primitive": "D19", + "instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D19/session_006/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D19/session_006/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..430e69e4d2d3bd3a207660cbf6303509bfb1b40d --- /dev/null +++ b/actions/locomotion_posture_dynamics/D19/session_006/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1bcb66ba2ef06213344489755192b86a3a9d63a51979392d2f907522a48f729 +size 1561059 diff --git a/actions/locomotion_posture_dynamics/D19/session_006/motions/smplx.npz b/actions/locomotion_posture_dynamics/D19/session_006/motions/smplx.npz index 4c1788ea5b6675c97fff5d2036b408db1cbdd206..e5eb5a7c537dd020712ce66b6a3991c4bb9469fd 100644 --- a/actions/locomotion_posture_dynamics/D19/session_006/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D19/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:da0b867a8e4cbac738aea7187aac4557b31df69c87a592bd94d2053049e5f8d2 -size 2727638 +oid sha256:9d1d961c0bc78bfe277e4b5a5bab6430249407cff26673cb80e7927e2e372b97 +size 4927617 diff --git a/actions/locomotion_posture_dynamics/D19/session_007/annotations.json b/actions/locomotion_posture_dynamics/D19/session_007/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..38ce1808825efdca1d0a9c7efd03faedcc7a7ce7 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D19/session_007/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D19", + "instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. 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Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D19/session_007/cameras/slam.npz b/actions/locomotion_posture_dynamics/D19/session_007/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..b0410edafde897137d5886f13f2ab3e8fb0b6f96 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D19/session_007/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e67b2aa091a7462c97a793c754993ca9a0d0f9ac586261571c09a211471bf196 +size 399628 diff --git a/actions/locomotion_posture_dynamics/D19/session_007/meta.json b/actions/locomotion_posture_dynamics/D19/session_007/meta.json index e33f84c1c03c631c06fcf8873b2bba960250b8ac..1959e7e35e154ed379c43b730a2e944f0ec614ed 100644 --- a/actions/locomotion_posture_dynamics/D19/session_007/meta.json +++ b/actions/locomotion_posture_dynamics/D19/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": { @@ -513,10 +513,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.4781293268396725 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 8.68, + "offset_rotvec": [ + -0.0449, + -0.0181, + 0.1436 + ], + "dev_deg": { + "median": 11.16, + "p90": 22.35 + }, + "samples": 1864, + "accepted": 1812, + "wrist_pos_err_mm_median": 180.0, + "per_camera": { + "head": { + "samples": 1864, + "accepted": 1812, + "gate_deg": 30.0, + "offset_deg": 8.68, + "tier": "primary", + "dev_deg_median": 11.16, + "wrist_pos_err_mm_median": 180.0 + } + }, + "frames_by_state": { + "ace_sample": 7339, + "interpolated": 932, + "mean_hand": 5, + "no_body_fit": 8 + }, + "observed_fraction": 0.9984, + "observed_fraction_of_valid": 0.9994, + "palm_axis_vs_markers_deg": { + "gsi": 10.76, + "smplx": 0.74 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.9, + "p90": 6.9 + }, + "registered": { + "median": 7.7, + "p90": 9.1 + } + } + }, + "right": { + "offset_deg": 14.26, + "offset_rotvec": [ + 0.0035, + 0.1819, + -0.1698 + ], + "dev_deg": { + "median": 17.58, + "p90": 42.37 + }, + "samples": 829, + "accepted": 658, + "wrist_pos_err_mm_median": 126.1, + "per_camera": { + "head": { + "samples": 829, + "accepted": 658, + "gate_deg": 30.0, + "offset_deg": 14.26, + "tier": "primary", + "dev_deg_median": 17.58, + "wrist_pos_err_mm_median": 126.1 + } + }, + "frames_by_state": { + "ace_sample": 2677, + "interpolated": 2218, + "mean_hand": 3381, + "no_body_fit": 8 + }, + "observed_fraction": 0.5909, + "observed_fraction_of_valid": 0.5915, + "palm_axis_vs_markers_deg": { + "gsi": 21.74, + "smplx": 1.36 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.1, + "p90": 8.1 + }, + "registered": { + "median": 6.3, + "p90": 8.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T23:04:48.463350+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_007", "family": "locomotion_posture_dynamics", "primitive": "D19", "source_session": "20260917/D19/20260917_060004_session97" + }, + "task": { + "primitive": "D19", + "instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D19/session_007/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D19/session_007/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..47d1cebdd5b8cf3a0fbb0e333ff4699f85a1f2ca --- /dev/null +++ b/actions/locomotion_posture_dynamics/D19/session_007/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7641de1493f44d49a436b58e432c274d2f1727ad1888145e16ba887df2234f7c +size 1892916 diff --git a/actions/locomotion_posture_dynamics/D19/session_007/motions/smplx.npz b/actions/locomotion_posture_dynamics/D19/session_007/motions/smplx.npz index f397ea2ea58da5958d652404ae80d4394e12459a..f5555eb6d82387e6a26c8fbe792f907cd668bf36 100644 --- a/actions/locomotion_posture_dynamics/D19/session_007/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D19/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e3f64a55046722aff6995365db24f0bea47541fc5f41c59107f84fb42e65a662 -size 3187855 +oid sha256:88f25754092ba6b50f20698531ed593f548660c732ccbf6274529831a0036bb6 +size 5580560 diff --git a/actions/locomotion_posture_dynamics/D19/session_008/annotations.json b/actions/locomotion_posture_dynamics/D19/session_008/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..060d6f7e6f87439d461cd810812ccb7475b427ce --- /dev/null +++ b/actions/locomotion_posture_dynamics/D19/session_008/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D19", + "instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. 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0000000000000000000000000000000000000000..91d6746a168d37010a0bc644d3d65586cc6f9adb --- /dev/null +++ b/actions/locomotion_posture_dynamics/D19/session_009/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd018c47269c6bb5979af909886cc7fb8a78c6354e7b7037569e08b030e9964c +size 370222 diff --git a/actions/locomotion_posture_dynamics/D19/session_009/meta.json b/actions/locomotion_posture_dynamics/D19/session_009/meta.json index 4c087a96b46e311e668d904e8b5c9eb61a571de2..7a5ac50ae0ae38fa709b259fc60bb2e7becc7e38 100644 --- a/actions/locomotion_posture_dynamics/D19/session_009/meta.json +++ b/actions/locomotion_posture_dynamics/D19/session_009/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": 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D19/session_009/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D19/session_009/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..b04349aff5a53a49a6b0af2432416b5b8a14568b --- /dev/null +++ b/actions/locomotion_posture_dynamics/D19/session_009/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0584046c8090b414d0acd12893a3a1069e76cf36526348018110af3fb4fea491 +size 2152070 diff --git a/actions/locomotion_posture_dynamics/D19/session_009/motions/smplx.npz b/actions/locomotion_posture_dynamics/D19/session_009/motions/smplx.npz index 58b9ed2943eaa3b59ec296b2a267ccadd0b420c7..cc396bcc712ceee92005b468986d4d9dfb3fc193 100644 --- a/actions/locomotion_posture_dynamics/D19/session_009/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D19/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6a473379bb2604219e9ebc872e3cee9f56e764f0ab508cd614ed30f96c8c7c9a -size 2957006 +oid sha256:e5b11d37b0a8c79af5fd1e2d10efb2a3b58abee0ee27f9ffedef3765ea843e4c +size 5324793 diff --git a/actions/locomotion_posture_dynamics/D19/session_010/annotations.json b/actions/locomotion_posture_dynamics/D19/session_010/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..65853c47741742a6428249b8748b3d8daf39a46b --- /dev/null +++ b/actions/locomotion_posture_dynamics/D19/session_010/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D19", + "instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. 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Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D19/session_010/cameras/slam.npz b/actions/locomotion_posture_dynamics/D19/session_010/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..9c72404b39530720e6e1f1da0fe17106f7eec862 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D19/session_010/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00b15b5da066e0d6f03864076e36db98b7a12109efe59f8634c3c79a2d70a350 +size 398726 diff --git a/actions/locomotion_posture_dynamics/D19/session_010/meta.json b/actions/locomotion_posture_dynamics/D19/session_010/meta.json index 8757faf4b81526e32b98298886896015426e93b6..0a2b354801aa948fd47fcc1a642b63347d54858a 100644 --- a/actions/locomotion_posture_dynamics/D19/session_010/meta.json +++ b/actions/locomotion_posture_dynamics/D19/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": { @@ -516,10 +516,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.5324295314286172 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 42.01, + "offset_rotvec": [ + 0.6421, + -0.2967, + -0.1935 + ], + "dev_deg": { + "median": 18.02, + "p90": 35.75 + }, + "samples": 1459, + "accepted": 1204, + "wrist_pos_err_mm_median": 178.6, + "per_camera": { + "head": { + "samples": 1459, + "accepted": 1204, + "gate_deg": 30.0, + "offset_deg": 42.01, + "tier": "primary", + "dev_deg_median": 18.02, + "wrist_pos_err_mm_median": 178.6 + } + }, + "frames_by_state": { + "ace_sample": 4960, + "interpolated": 2540, + "mean_hand": 784, + "no_body_fit": 0 + }, + "observed_fraction": 0.9054, + "observed_fraction_of_valid": 0.9054, + "palm_axis_vs_markers_deg": { + "gsi": 40.81, + "smplx": 0.6 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.7, + "p90": 10.3 + }, + "registered": { + "median": 5.9, + "p90": 8.0 + } + } + }, + "right": { + "offset_deg": 29.98, + "offset_rotvec": [ + 0.4674, + 0.0856, + 0.2192 + ], + "dev_deg": { + "median": 31.18, + "p90": 158.02 + }, + "samples": 1363, + "accepted": 659, + "wrist_pos_err_mm_median": 106.8, + "per_camera": { + "head": { + "samples": 1363, + "accepted": 659, + "gate_deg": 30.0, + "offset_deg": 29.98, + "tier": "primary", + "dev_deg_median": 31.18, + "wrist_pos_err_mm_median": 106.8 + } + }, + "frames_by_state": { + "ace_sample": 2684, + "interpolated": 1444, + "mean_hand": 4156, + "no_body_fit": 0 + }, + "observed_fraction": 0.4983, + "observed_fraction_of_valid": 0.4983, + "palm_axis_vs_markers_deg": { + "gsi": 33.09, + "smplx": 3.74 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.9, + "p90": 21.1 + }, + "registered": { + "median": 12.3, + "p90": 19.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:28:05.039409+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_010", "family": "locomotion_posture_dynamics", "primitive": "D19", "source_session": "20260929/D19/20260929_011556_session10" + }, + "task": { + "primitive": "D19", + "instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D19/session_010/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D19/session_010/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..ecf3e08760542409dd473d4f26a8109c08565975 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D19/session_010/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3310a72e51e051240fa6f7356414c1a28d1166bdb53dd931ee612598bd069ee4 +size 1975040 diff --git a/actions/locomotion_posture_dynamics/D19/session_010/motions/smplx.npz b/actions/locomotion_posture_dynamics/D19/session_010/motions/smplx.npz index 97b02a18609a6694f6a567eabf7b3c37e609e535..9811bf037e7997033c4ee584b518fb0bf3381720 100644 --- a/actions/locomotion_posture_dynamics/D19/session_010/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D19/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ae5c15ac98d656e10330931d8e9e02e57ad037a17c5b6f493e70c048595a9144 -size 3185949 +oid sha256:4ab042e72323e2bc561d204be13b481c3bff2cded519ff4b4a493a13d7f0c446 +size 5311323 diff --git a/actions/locomotion_posture_dynamics/D19/session_011/annotations.json b/actions/locomotion_posture_dynamics/D19/session_011/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..7302ca89e54f75948544cf99613c289e19b2cdcd --- /dev/null +++ b/actions/locomotion_posture_dynamics/D19/session_011/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D19", + "instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. 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Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D19/session_011/cameras/slam.npz b/actions/locomotion_posture_dynamics/D19/session_011/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..ad44c6d1e7d1a9b8224c1147082ff8774c57b06b --- /dev/null +++ b/actions/locomotion_posture_dynamics/D19/session_011/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31c8f49fbfa45a7f6ba0f2cca0dd5274e6db9f32309ffc7736415fcce2125d19 +size 313326 diff --git a/actions/locomotion_posture_dynamics/D19/session_011/meta.json b/actions/locomotion_posture_dynamics/D19/session_011/meta.json index 5f733835bedd3d6d09fdfebdcf568d9a339a6862..811a5cdaec6a3a8a3b25d0aba9d77c4dbd1d41c9 100644 --- a/actions/locomotion_posture_dynamics/D19/session_011/meta.json +++ b/actions/locomotion_posture_dynamics/D19/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": { @@ -508,10 +508,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.4384584487196677 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 29.22, + "offset_rotvec": [ + 0.5065, + -0.0489, + 0.0344 + ], + "dev_deg": { + "median": 17.05, + "p90": 41.5 + }, + "samples": 1319, + "accepted": 1048, + "wrist_pos_err_mm_median": 129.2, + "per_camera": { + "head": { + "samples": 1319, + "accepted": 1048, + "gate_deg": 30.0, + "offset_deg": 29.22, + "tier": "primary", + "dev_deg_median": 17.05, + "wrist_pos_err_mm_median": 129.2 + } + }, + "frames_by_state": { + "ace_sample": 4307, + "interpolated": 1804, + "mean_hand": 365, + "no_body_fit": 8 + }, + "observed_fraction": 0.9425, + "observed_fraction_of_valid": 0.9436, + "palm_axis_vs_markers_deg": { + "gsi": 31.15, + "smplx": 1.12 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.0, + "p90": 11.1 + }, + "registered": { + "median": 7.5, + "p90": 9.0 + } + } + }, + "right": { + "offset_deg": 24.16, + "offset_rotvec": [ + 0.3796, + 0.177, + -0.0492 + ], + "dev_deg": { + "median": 21.97, + "p90": 44.26 + }, + "samples": 954, + "accepted": 707, + "wrist_pos_err_mm_median": 125.8, + "per_camera": { + "head": { + "samples": 954, + "accepted": 707, + "gate_deg": 30.0, + "offset_deg": 24.16, + "tier": "primary", + "dev_deg_median": 21.97, + "wrist_pos_err_mm_median": 125.8 + } + }, + "frames_by_state": { + "ace_sample": 2909, + "interpolated": 2038, + "mean_hand": 1529, + "no_body_fit": 8 + }, + "observed_fraction": 0.763, + "observed_fraction_of_valid": 0.7639, + "palm_axis_vs_markers_deg": { + "gsi": 26.14, + "smplx": 1.6 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.6, + "p90": 10.5 + }, + "registered": { + "median": 7.0, + "p90": 9.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:28:04.917425+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_011", "family": "locomotion_posture_dynamics", "primitive": "D19", "source_session": "20260929/D19/20260929_090611_session164" + }, + "task": { + "primitive": "D19", + "instruction": "Mime a bowling delivery with no ball: approach in place, swing down and release. 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new file mode 100644 index 0000000000000000000000000000000000000000..56afddf66745d119944b7cb5574902492aa953cf --- /dev/null +++ b/actions/locomotion_posture_dynamics/D19/session_013/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7d723331132269193c6b7ca258acfd221a43545a7150e4c25a8b3989969ece0 +size 428345 diff --git a/actions/locomotion_posture_dynamics/D19/session_013/meta.json b/actions/locomotion_posture_dynamics/D19/session_013/meta.json index 3e6f6a9be254e7b4a98f317d522e3b98b1b88b91..5bd6339e9aae15ac87543b223cd584d4576ea400 100644 --- a/actions/locomotion_posture_dynamics/D19/session_013/meta.json +++ b/actions/locomotion_posture_dynamics/D19/session_013/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, 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D19/session_014/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D19/session_014/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..9e80cab5c811ce12fd97434387eacfb4d29d19a5 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D19/session_014/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:42be9d62d77bfd3991dd715e7523fb0bc225b4d51bd35ae5ac5ed6662b44c7d2 +size 3372457 diff --git a/actions/locomotion_posture_dynamics/D20/session_001/annotations.json b/actions/locomotion_posture_dynamics/D20/session_001/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..3838369f5a35493a44fb57cacaeffbec5776cf1d --- /dev/null +++ b/actions/locomotion_posture_dynamics/D20/session_001/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 2)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D20", + "instruction": "Mime kicking a football with no ball: plant one foot and swing the other through. 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0000000000000000000000000000000000000000..8d8e5175ac34b801b1c6478e73030798fbb3e3bc --- /dev/null +++ b/actions/locomotion_posture_dynamics/D20/session_001/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e1db3f9b78eb856a8ba692ca9a5b67565ccb98d121bb8e15b75478cfb3e5c70 +size 340421 diff --git a/actions/locomotion_posture_dynamics/D20/session_001/meta.json b/actions/locomotion_posture_dynamics/D20/session_001/meta.json index 633cabcb2add7bc6b9597fadb34027daafe9360b..56cc2b86f17f4a474614b8339a539c19bcba5aea 100644 --- a/actions/locomotion_posture_dynamics/D20/session_001/meta.json +++ b/actions/locomotion_posture_dynamics/D20/session_001/meta.json @@ -347,8 +347,8 @@ "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": 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D20/session_001/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D20/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..aac9ff880a8bc450cb85ad701808e15543136dd3 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D20/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0544298eb79133f004c4e1e971b1c5d621a44799d7c4e3a1afe2b88144191f58 +size 2204502 diff --git a/actions/locomotion_posture_dynamics/D20/session_001/motions/smplx.npz b/actions/locomotion_posture_dynamics/D20/session_001/motions/smplx.npz index 494ceca8fccd5f45238646720da40c49154146f6..f7ba04c38cc40d6b9f7b47969f3b33c90874f35c 100644 --- a/actions/locomotion_posture_dynamics/D20/session_001/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D20/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5ebe771c2193c0e5ea495f2cdeb60932eb01f577719212f908a873524da859d2 -size 2719411 +oid sha256:6fa1ed630b7c06d4737c5a030b693bf1cff72a69d618f31f7ce25ac9a69e202f +size 5086291 diff --git a/actions/locomotion_posture_dynamics/D20/session_002/annotations.json b/actions/locomotion_posture_dynamics/D20/session_002/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..89496e4d469f47c0cb3be05c7bdf1e418b77624b --- /dev/null +++ b/actions/locomotion_posture_dynamics/D20/session_002/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D20", + "instruction": "Mime kicking a football with no ball: plant one foot and swing the other through. 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Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D20/session_002/cameras/slam.npz b/actions/locomotion_posture_dynamics/D20/session_002/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..fc06c73a98a796ce9011e70372518d1d286334f9 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D20/session_002/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59445fbabec3d817b363ffe54542dec164e89681064e64170b3674b82e810770 +size 428503 diff --git a/actions/locomotion_posture_dynamics/D20/session_002/meta.json b/actions/locomotion_posture_dynamics/D20/session_002/meta.json index cacdd5bc93626aae96060c7bf6b94a3d70389fbb..ed6e6b2b001638c6a8ce00373a2157aed909350c 100644 --- a/actions/locomotion_posture_dynamics/D20/session_002/meta.json +++ b/actions/locomotion_posture_dynamics/D20/session_002/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": { @@ -526,10 +526,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.4030850570491264 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 31.32, + "offset_rotvec": [ + 0.4147, + -0.2937, + 0.2014 + ], + "dev_deg": { + "median": 20.82, + "p90": 37.51 + }, + "samples": 1898, + "accepted": 1395, + "wrist_pos_err_mm_median": 175.1, + "per_camera": { + "head": { + "samples": 1898, + "accepted": 1395, + "gate_deg": 30.0, + "offset_deg": 31.32, + "tier": "primary", + "dev_deg_median": 20.82, + "wrist_pos_err_mm_median": 175.1 + } + }, + "frames_by_state": { + "ace_sample": 5784, + "interpolated": 2360, + "mean_hand": 738, + "no_body_fit": 2 + }, + "observed_fraction": 0.9167, + "observed_fraction_of_valid": 0.9169, + "palm_axis_vs_markers_deg": { + "gsi": 29.81, + "smplx": 0.56 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.7, + "p90": 6.4 + }, + "registered": { + "median": 8.2, + "p90": 10.1 + } + } + }, + "right": { + "offset_deg": 17.85, + "offset_rotvec": [ + 0.0016, + 0.2581, + 0.1745 + ], + "dev_deg": { + "median": 14.81, + "p90": 39.75 + }, + "samples": 1614, + "accepted": 1345, + "wrist_pos_err_mm_median": 129.2, + "per_camera": { + "head": { + "samples": 1614, + "accepted": 1345, + "gate_deg": 30.0, + "offset_deg": 17.85, + "tier": "primary", + "dev_deg_median": 14.81, + "wrist_pos_err_mm_median": 129.2 + } + }, + "frames_by_state": { + "ace_sample": 5446, + "interpolated": 1394, + "mean_hand": 2042, + "no_body_fit": 2 + }, + "observed_fraction": 0.7699, + "observed_fraction_of_valid": 0.7701, + "palm_axis_vs_markers_deg": { + "gsi": 14.89, + "smplx": 0.77 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.4, + "p90": 12.7 + }, + "registered": { + "median": 11.2, + "p90": 13.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T14:12:41.920029+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_002", "family": "locomotion_posture_dynamics", "primitive": "D20", "source_session": "20260907/D20/20260907_041826_session71" + }, + "task": { + "primitive": "D20", + "instruction": "Mime kicking a football with no ball: plant one foot and swing the other through. 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0000000000000000000000000000000000000000..9442dd9474ee87851ca06c003965081cdf57147a --- /dev/null +++ b/actions/locomotion_posture_dynamics/D20/session_004/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8599f715b58c6297ea988ff1063dec9326baade290b12e3684e3d9a7b69b8dec +size 342058 diff --git a/actions/locomotion_posture_dynamics/D20/session_004/meta.json b/actions/locomotion_posture_dynamics/D20/session_004/meta.json index ed7070c31be795908ab8b6ce0914945194f7ab39..a7ca339b856bb079f6f86ca21271c49e98aafab2 100644 --- a/actions/locomotion_posture_dynamics/D20/session_004/meta.json +++ b/actions/locomotion_posture_dynamics/D20/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": 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D20/session_006/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D20/session_006/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..77794201818697253f5b3b3c29cb680e0eeccf1a --- /dev/null +++ b/actions/locomotion_posture_dynamics/D20/session_006/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b84d23eb6a187a4ddf0c59ab7ef5a0ff97b16810e2512dfe5f9e232bd7b0aa2 +size 1962605 diff --git a/actions/locomotion_posture_dynamics/D20/session_006/motions/smplx.npz b/actions/locomotion_posture_dynamics/D20/session_006/motions/smplx.npz index 4a6ec5805704e965722acb29c89869059087bc21..16760d8e1afa093d9beacc510295bd4fdd0382d8 100644 --- a/actions/locomotion_posture_dynamics/D20/session_006/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D20/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:262502832ad0895df1f7070c73cc1510994d395348a4259bef0ec881ebf4539c -size 2709226 +oid sha256:ecddbda3e32a7c9a0061d43467c28abab517abf27c5551c34469f45ffab0386a +size 4931350 diff --git a/actions/locomotion_posture_dynamics/D20/session_007/annotations.json b/actions/locomotion_posture_dynamics/D20/session_007/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..17417561e810bbe01938bf989cdf5d77c5a626e5 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D20/session_007/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D20", + "instruction": "Mime kicking a football with no ball: plant one foot and swing the other through. 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Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D20/session_010/cameras/slam.npz b/actions/locomotion_posture_dynamics/D20/session_010/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..375b5c3152b8514bad9ee6850edb5f1014fefce1 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D20/session_010/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b9afec57b5ff219693e9eef4e74216a49f8ad68d50ee916838481da17c0af1b +size 398963 diff --git a/actions/locomotion_posture_dynamics/D20/session_010/meta.json b/actions/locomotion_posture_dynamics/D20/session_010/meta.json index 00c829787c45452c8ac6b0a1b5bdf94a998e3758..8f660712cfd8c2c7bea323a23984702c454b6e1b 100644 --- a/actions/locomotion_posture_dynamics/D20/session_010/meta.json +++ b/actions/locomotion_posture_dynamics/D20/session_010/meta.json @@ -551,5 +551,9 @@ "family": "locomotion_posture_dynamics", "primitive": "D20", "source_session": "20260929/D20/20260929_011726_session11" + }, + "task": { + "primitive": "D20", + "instruction": "Mime kicking a football with no ball: plant one foot and swing the other through. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D20/session_010/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D20/session_010/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..5dc2cd6aa12585bcf862c22aea18de1f9e2282b2 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D20/session_010/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:26d9597a52d3de5d9e77c7a982b7dbf45c2355749c3c19eb13161b3161d23349 +size 2033153 diff --git a/actions/locomotion_posture_dynamics/D20/session_011/annotations.json b/actions/locomotion_posture_dynamics/D20/session_011/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..c6e6f510c740e48b7c1c3f926019cda7e9c5d5cb --- /dev/null +++ b/actions/locomotion_posture_dynamics/D20/session_011/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D20", + "instruction": "Mime kicking a football with no ball: plant one foot and swing the other through. 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Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D20/session_011/cameras/slam.npz b/actions/locomotion_posture_dynamics/D20/session_011/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..808b3defcf6aa19dba21c0f309e152318242a215 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D20/session_011/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c5b7f51ac49f86d44da669737ef936abb474e836190a2199267c61ac25a24ed +size 427909 diff --git a/actions/locomotion_posture_dynamics/D20/session_011/meta.json b/actions/locomotion_posture_dynamics/D20/session_011/meta.json index ed12e4b0bb2c72221a36cd321be3fc216f9028ce..6476af0e8114e95a7d20194816427879a17d2e32 100644 --- a/actions/locomotion_posture_dynamics/D20/session_011/meta.json +++ b/actions/locomotion_posture_dynamics/D20/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": { @@ -504,10 +504,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.4035855993496495 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 27.52, + "offset_rotvec": [ + 0.4748, + 0.0381, + -0.0613 + ], + "dev_deg": { + "median": 14.92, + "p90": 41.62 + }, + "samples": 1823, + "accepted": 1465, + "wrist_pos_err_mm_median": 77.8, + "per_camera": { + "head": { + "samples": 1823, + "accepted": 1465, + "gate_deg": 30.0, + "offset_deg": 27.52, + "tier": "primary", + "dev_deg_median": 14.92, + "wrist_pos_err_mm_median": 77.8 + } + }, + "frames_by_state": { + "ace_sample": 5952, + "interpolated": 2132, + "mean_hand": 800, + "no_body_fit": 0 + }, + "observed_fraction": 0.91, + "observed_fraction_of_valid": 0.91, + "palm_axis_vs_markers_deg": { + "gsi": 31.48, + "smplx": 1.01 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.7, + "p90": 9.9 + }, + "registered": { + "median": 6.4, + "p90": 8.3 + } + } + }, + "right": { + "offset_deg": 21.62, + "offset_rotvec": [ + 0.3373, + 0.1686, + -0.0147 + ], + "dev_deg": { + "median": 13.95, + "p90": 35.61 + }, + "samples": 1747, + "accepted": 1496, + "wrist_pos_err_mm_median": 124.6, + "per_camera": { + "head": { + "samples": 1747, + "accepted": 1496, + "gate_deg": 30.0, + "offset_deg": 21.62, + "tier": "primary", + "dev_deg_median": 13.95, + "wrist_pos_err_mm_median": 124.6 + } + }, + "frames_by_state": { + "ace_sample": 6102, + "interpolated": 2518, + "mean_hand": 264, + "no_body_fit": 0 + }, + "observed_fraction": 0.9703, + "observed_fraction_of_valid": 0.9703, + "palm_axis_vs_markers_deg": { + "gsi": 21.23, + "smplx": 0.84 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.8, + "p90": 6.6 + }, + "registered": { + "median": 5.7, + "p90": 7.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:28:00.116783+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_011", "family": "locomotion_posture_dynamics", "primitive": "D20", "source_session": "20260929/D20/20260929_090748_session165" + }, + "task": { + "primitive": "D20", + "instruction": "Mime kicking a football with no ball: plant one foot and swing the other through. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D20/session_011/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D20/session_011/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..18457cd1f36694e90c0df17cf5e2b66d7aeff6c2 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D20/session_011/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c990d5a328495245e62d060aca641d25440b1033348a2d2e62bc0a140d4bba15 +size 2460308 diff --git a/actions/locomotion_posture_dynamics/D20/session_011/motions/smplx.npz b/actions/locomotion_posture_dynamics/D20/session_011/motions/smplx.npz index 7e3ad01b7b2318e5d77f67a35b8ef154dbac195e..49f60761a61ddb4e2fcce188095b33c181c3d6c7 100644 --- a/actions/locomotion_posture_dynamics/D20/session_011/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D20/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:86c270cf50d55277317bfa77dc39eb44d7baa4f9244afa45a7fda637f6eb4aba -size 3424954 +oid sha256:5cf19a589a8afc14f8160a0d45abe43870b7c956a2f0d3d88c1c832f7c7f438c +size 6290904 diff --git a/actions/locomotion_posture_dynamics/D20/session_012/annotations.json b/actions/locomotion_posture_dynamics/D20/session_012/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..50fafee526cce285015e34591eb5cfa1ee5da6a2 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D20/session_012/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D20", + "instruction": "Mime kicking a football with no ball: plant one foot and swing the other through. 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Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D20/session_012/cameras/slam.npz b/actions/locomotion_posture_dynamics/D20/session_012/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..b48744422d6d9c6803823b0a709ad2a72a2ec7e2 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D20/session_012/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c02cea195ab771fef3b6655e924eaf4f35d31ec84b72ac4e9c188c9d95fd6bef +size 483391 diff --git a/actions/locomotion_posture_dynamics/D20/session_012/meta.json b/actions/locomotion_posture_dynamics/D20/session_012/meta.json index 9223e8b8768d15b8d11188990665f63ebe113a56..31ccedb854a2dce1f4e55fee2ab82dc57cb87490 100644 --- a/actions/locomotion_posture_dynamics/D20/session_012/meta.json +++ b/actions/locomotion_posture_dynamics/D20/session_012/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": { @@ -506,10 +506,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.6950750481805503 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 25.94, + "offset_rotvec": [ + 0.4037, + -0.2018, + 0.0365 + ], + "dev_deg": { + "median": 28.75, + "p90": 45.09 + }, + "samples": 1525, + "accepted": 818, + "wrist_pos_err_mm_median": 238.2, + "per_camera": { + "head": { + "samples": 1525, + "accepted": 818, + "gate_deg": 30.0, + "offset_deg": 25.94, + "tier": "primary", + "dev_deg_median": 28.75, + "wrist_pos_err_mm_median": 238.2 + } + }, + "frames_by_state": { + "ace_sample": 3479, + "interpolated": 4400, + "mean_hand": 2197, + "no_body_fit": 8 + }, + "observed_fraction": 0.7813, + "observed_fraction_of_valid": 0.782, + "palm_axis_vs_markers_deg": { + "gsi": 48.32, + "smplx": 1.19 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 3.5, + "p90": 5.0 + }, + "registered": { + "median": 4.8, + "p90": 5.8 + } + } + }, + "right": { + "offset_deg": 32.5, + "offset_rotvec": [ + 0.5133, + 0.2256, + 0.0869 + ], + "dev_deg": { + "median": 15.4, + "p90": 28.15 + }, + "samples": 910, + "accepted": 836, + "wrist_pos_err_mm_median": 417.6, + "per_camera": { + "head": { + "samples": 910, + "accepted": 836, + "gate_deg": 30.0, + "offset_deg": 32.5, + "tier": "primary", + "dev_deg_median": 15.4, + "wrist_pos_err_mm_median": 417.6 + } + }, + "frames_by_state": { + "ace_sample": 3471, + "interpolated": 3880, + "mean_hand": 2725, + "no_body_fit": 8 + }, + "observed_fraction": 0.729, + "observed_fraction_of_valid": 0.7296, + "palm_axis_vs_markers_deg": { + "gsi": 35.01, + "smplx": 0.69 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.9, + "p90": 10.5 + }, + "registered": { + "median": 8.3, + "p90": 9.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:23:47.236803+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_012", "family": "locomotion_posture_dynamics", "primitive": "D20", "source_session": "20260930/D20/20260930_053735_session48" + }, + "task": { + "primitive": "D20", + "instruction": "Mime kicking a football with no ball: plant one foot and swing the other through. 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file mode 100644 index 0000000000000000000000000000000000000000..809efde30e041e7329f10318cae32dfe959fb15b --- /dev/null +++ b/actions/locomotion_posture_dynamics/D20/session_013/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:42e187a49683f0e41eff9b2e79a558fd87b7e050e525fe81759aa1b6e8fe4d8e +size 513051 diff --git a/actions/locomotion_posture_dynamics/D20/session_013/meta.json b/actions/locomotion_posture_dynamics/D20/session_013/meta.json index af1e3b5dfcfea7f0b55cfbbfc9bf45c1ba653be5..d26e3ee6c541fd255af64583b8d08de8dfc9f1c3 100644 --- a/actions/locomotion_posture_dynamics/D20/session_013/meta.json +++ b/actions/locomotion_posture_dynamics/D20/session_013/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, 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D20/session_014/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D20/session_014/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..763a176841194af8c0e793fcb49cd94c90506af6 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D20/session_014/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e65b4295040b7d169037d26ca383a187c4a18efbb9b671ce90ca2ba0b114cfa3 +size 3283807 diff --git a/actions/locomotion_posture_dynamics/D20/session_014/motions/smplx.npz b/actions/locomotion_posture_dynamics/D20/session_014/motions/smplx.npz index c195be281abc866c8f20ac3da2c7a9cedbfb9f52..f3b141d2d51aafd5ed64804458e04a0c1246c805 100644 --- a/actions/locomotion_posture_dynamics/D20/session_014/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D20/session_014/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:bf0f03d42238691b86ea2ac8f781ca12aaf1452557defd25eb9092c4ceb775c3 -size 4116491 +oid sha256:646494937de8a32d3223e414d6c0a07b33cdaf693385f80def9fd8c6113de091 +size 7683798 diff --git a/actions/locomotion_posture_dynamics/D21/session_001/annotations.json b/actions/locomotion_posture_dynamics/D21/session_001/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..1bc1575e95417611fb243c5d0784cf257e47cf8d --- /dev/null +++ b/actions/locomotion_posture_dynamics/D21/session_001/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D21", + "instruction": "Mime a volleyball spike with no ball: approach in place, jump and strike downward. 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0000000000000000000000000000000000000000..c9c7f132fb2987536fff6cd25582a17f55300e4b --- /dev/null +++ b/actions/locomotion_posture_dynamics/D21/session_001/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33e03af30e9b692d65e2fbff3bac5a583ac56428f5caa41bb3ea8109dbb54d57 +size 347717 diff --git a/actions/locomotion_posture_dynamics/D21/session_001/meta.json b/actions/locomotion_posture_dynamics/D21/session_001/meta.json index 44d5dd9057d4bdb4b78f91cc4876cdb94f4988c2..876597e7fcefb973abd0e5b59bdedc728111cd68 100644 --- a/actions/locomotion_posture_dynamics/D21/session_001/meta.json +++ b/actions/locomotion_posture_dynamics/D21/session_001/meta.json @@ -348,8 +348,8 @@ "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": 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D21/session_001/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D21/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..777116667115e81c228f9188d2f9c28adc8acdfa --- /dev/null +++ b/actions/locomotion_posture_dynamics/D21/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c4aff6d89c146a357bf2864228f49d54dc0532eb3b9bab17cfefb6ac7000562 +size 1908210 diff --git a/actions/locomotion_posture_dynamics/D21/session_001/motions/smplx.npz b/actions/locomotion_posture_dynamics/D21/session_001/motions/smplx.npz index bc7e5ffcad24e73c6f7bcadbbfa6e14a4f1949c0..99151e0904f85ec32a415a365e0f270f82e330b0 100644 --- a/actions/locomotion_posture_dynamics/D21/session_001/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D21/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0b9ed37ade78edaa06cc51f6e0880c874d0cc359f51d3398c2f48846543be40e -size 2737167 +oid sha256:0071d6885d6f86bc4fc09684598c1942915892ca15067ff4f430bd7cbefac099 +size 4966729 diff --git a/actions/locomotion_posture_dynamics/D21/session_002/annotations.json b/actions/locomotion_posture_dynamics/D21/session_002/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..1cd0bdec2eb4b755aefa891c60216c99392b5b11 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D21/session_002/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D21", + "instruction": "Mime a volleyball spike with no ball: approach in place, jump and strike downward. 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Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D21/session_002/cameras/slam.npz b/actions/locomotion_posture_dynamics/D21/session_002/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..41b215012c4315796e00f0404e16a7e8d9145bbb --- /dev/null +++ b/actions/locomotion_posture_dynamics/D21/session_002/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2dcb7b6dcc6e888a085169c8758cef59473db19256365fde8aab60b43692ae23 +size 340553 diff --git a/actions/locomotion_posture_dynamics/D21/session_002/meta.json b/actions/locomotion_posture_dynamics/D21/session_002/meta.json index 3280cc3f7e3fe879b689944f9288144434014cd9..88d6d8a4b9ca7e4c9535d334f081f5f53a2fd042 100644 --- a/actions/locomotion_posture_dynamics/D21/session_002/meta.json +++ b/actions/locomotion_posture_dynamics/D21/session_002/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": { @@ -528,10 +528,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0567929654484767 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 3.68, + "offset_rotvec": [ + -0.0254, + -0.0582, + -0.0092 + ], + "dev_deg": { + "median": 25.99, + "p90": 46.02 + }, + "samples": 977, + "accepted": 605, + "wrist_pos_err_mm_median": 191.4, + "per_camera": { + "head": { + "samples": 977, + "accepted": 605, + "gate_deg": 30.0, + "offset_deg": 3.68, + "tier": "primary", + "dev_deg_median": 25.99, + "wrist_pos_err_mm_median": 191.4 + } + }, + "frames_by_state": { + "ace_sample": 2594, + "interpolated": 3454, + "mean_hand": 1036, + "no_body_fit": 0 + }, + "observed_fraction": 0.8538, + "observed_fraction_of_valid": 0.8538, + "palm_axis_vs_markers_deg": { + "gsi": 20.42, + "smplx": 1.69 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.1, + "p90": 6.7 + }, + "registered": { + "median": 5.8, + "p90": 7.6 + } + } + }, + "right": { + "offset_deg": 15.32, + "offset_rotvec": [ + 0.0738, + 0.2464, + 0.0733 + ], + "dev_deg": { + "median": 22.7, + "p90": 47.95 + }, + "samples": 1018, + "accepted": 681, + "wrist_pos_err_mm_median": 131.1, + "per_camera": { + "head": { + "samples": 1018, + "accepted": 681, + "gate_deg": 30.0, + "offset_deg": 15.32, + "tier": "primary", + "dev_deg_median": 22.7, + "wrist_pos_err_mm_median": 131.1 + } + }, + "frames_by_state": { + "ace_sample": 2810, + "interpolated": 2146, + "mean_hand": 2128, + "no_body_fit": 0 + }, + "observed_fraction": 0.6996, + "observed_fraction_of_valid": 0.6996, + "palm_axis_vs_markers_deg": { + "gsi": 17.62, + "smplx": 0.88 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.3, + "p90": 5.8 + }, + "registered": { + "median": 4.4, + "p90": 5.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T14:12:34.927743+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/D21/session_002", "family": "locomotion_posture_dynamics", "primitive": "D21", "source_session": "20260907/D21/20260907_042506_session74" + }, + "task": { + "primitive": "D21", + "instruction": "Mime a volleyball spike with no ball: approach in place, jump and strike downward. 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D21/session_005/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D21/session_005/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..6a3e45e64389554ef146b105143c89bf4f262c96 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D21/session_005/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:88aa6707dcb599b6f623ade7cb3389aefc83621a574f797f13e29553d9899462 +size 1114068 diff --git a/actions/locomotion_posture_dynamics/D21/session_005/motions/smplx.npz b/actions/locomotion_posture_dynamics/D21/session_005/motions/smplx.npz index 6d65c8ed8abf733d1a2583fb57d6445f7bfb7d20..6873eb9ea53ebe305650040f71665777ba1f27cd 100644 --- a/actions/locomotion_posture_dynamics/D21/session_005/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D21/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7c0bed8707036b0dd514442dd2f1436544042ce41cb3a402239a20512a3b23bd -size 2723335 +oid sha256:99804a5fff9477797e4852e935b3fd5aba32c9689b865c77c645ff746f5be692 +size 4413057 diff --git a/actions/locomotion_posture_dynamics/D21/session_006/annotations.json b/actions/locomotion_posture_dynamics/D21/session_006/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..65b87cd07dbbaeb43db3341431be428ea48cb7af --- /dev/null +++ b/actions/locomotion_posture_dynamics/D21/session_006/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 2)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D21", + "instruction": "Mime a volleyball spike with no ball: approach in place, jump and strike downward. 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0000000000000000000000000000000000000000..936c902c90c2f95cf49d8cc098cfba3981a5a965 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D21/session_007/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:293271834a3ed363c9059fdc80ce975e4417aa6f12b3c37b35ae5a725ca82f2f +size 399094 diff --git a/actions/locomotion_posture_dynamics/D21/session_007/meta.json b/actions/locomotion_posture_dynamics/D21/session_007/meta.json index 13448a83bff04f86da4185ec35c3325c58e04c5b..c44cb952a952222659969d6b97074627b5b36b9a 100644 --- a/actions/locomotion_posture_dynamics/D21/session_007/meta.json +++ b/actions/locomotion_posture_dynamics/D21/session_007/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": 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D21/session_007/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D21/session_007/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..e1e08c9959ceb88875bc4390884efd14ef9ea6c5 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D21/session_007/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf07d5743548831e204208456ad673a88d4b1846db3d8525025ff9cc6483ed53 +size 1424632 diff --git a/actions/locomotion_posture_dynamics/D21/session_007/motions/smplx.npz b/actions/locomotion_posture_dynamics/D21/session_007/motions/smplx.npz index fbcd5232748a7dc745c2a3a2e1844775fc380626..1f489b069549d3ea841d82019a6c89c8aa49f8be 100644 --- a/actions/locomotion_posture_dynamics/D21/session_007/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D21/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:208418fd34334b0a5f784a11199d6932a34c28c1358bdee75d53e9d98a669f55 -size 3183010 +oid sha256:b2e234724375064f191ebb4424864884e1f604e9bb1a52ece4310d11dc36e29e +size 5626036 diff --git a/actions/locomotion_posture_dynamics/D21/session_008/annotations.json b/actions/locomotion_posture_dynamics/D21/session_008/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..4f494294d7bbd0ab22d6ff0d28c6969da0362ab3 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D21/session_008/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D21", + "instruction": "Mime a volleyball spike with no ball: approach in place, jump and strike downward. 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b/actions/locomotion_posture_dynamics/D21/session_008/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0184c877928a166b8653b8160eee7fa00033a46614c3bfd9460938601eb45b45 +size 312931 diff --git a/actions/locomotion_posture_dynamics/D21/session_008/meta.json b/actions/locomotion_posture_dynamics/D21/session_008/meta.json index 62ddc7f85250655f105d7574f66d5ff0bcb3e6cd..911e163ec09c8e83e5e290be44478665b1e18ae5 100644 --- a/actions/locomotion_posture_dynamics/D21/session_008/meta.json +++ b/actions/locomotion_posture_dynamics/D21/session_008/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 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D21/session_008/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D21/session_008/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..0e5437663ef4c2dda6dcaa5c5aae4611f0d530bf --- /dev/null +++ b/actions/locomotion_posture_dynamics/D21/session_008/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8bb40be8095fccaf5b4a5dde0d604dfc8a8bd514cde25659be49b04cf7cd5717 +size 1415748 diff --git a/actions/locomotion_posture_dynamics/D21/session_008/motions/smplx.npz b/actions/locomotion_posture_dynamics/D21/session_008/motions/smplx.npz index 3a2dce9792c3562a48852088d772848e67738099..c861344e12020e080b3bce7578b5acb487319c10 100644 --- a/actions/locomotion_posture_dynamics/D21/session_008/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D21/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:73ea9a763d006f6f8e420a7a913f5996c358eedf26fa8bf5c45746a44ddebf36 -size 2498106 +oid sha256:02ee5331c3c71e342e9202d03182d830fb3aaf75644a3446950fe8c40ea3ef83 +size 4414066 diff --git a/actions/locomotion_posture_dynamics/D21/session_009/annotations.json b/actions/locomotion_posture_dynamics/D21/session_009/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..8d77af4b1123a93a3451bf9097ba5c2919304136 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D21/session_009/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D21", + "instruction": "Mime a volleyball spike with no ball: approach in place, jump and strike downward. 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Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D21/session_009/cameras/slam.npz b/actions/locomotion_posture_dynamics/D21/session_009/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..016437457ea4695dea4adcd18a61971b837da633 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D21/session_009/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:894caa264dde5fdbc88cc62756dd057223cf27074c6278c37be70bffe43077c8 +size 364407 diff --git a/actions/locomotion_posture_dynamics/D21/session_009/meta.json b/actions/locomotion_posture_dynamics/D21/session_009/meta.json index d0f4a5f34e7685bc23b30d06eab71072da4dc314..ef7bee9ddebf1747c9db1a6d3f852db0d3875921 100644 --- a/actions/locomotion_posture_dynamics/D21/session_009/meta.json +++ b/actions/locomotion_posture_dynamics/D21/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": { @@ -513,10 +513,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.8097220929539712 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.98, + "offset_rotvec": [ + 0.2879, + -0.11, + -0.0595 + ], + "dev_deg": { + "median": 22.69, + "p90": 42.59 + }, + "samples": 686, + "accepted": 467, + "wrist_pos_err_mm_median": 155.2, + "per_camera": { + "head": { + "samples": 686, + "accepted": 467, + "gate_deg": 30.0, + "offset_deg": 17.98, + "tier": "primary", + "dev_deg_median": 22.69, + "wrist_pos_err_mm_median": 155.2 + } + }, + "frames_by_state": { + "ace_sample": 1910, + "interpolated": 2894, + "mean_hand": 2878, + "no_body_fit": 2 + }, + "observed_fraction": 0.6252, + "observed_fraction_of_valid": 0.6254, + "palm_axis_vs_markers_deg": { + "gsi": 29.82, + "smplx": 1.27 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.7, + "p90": 7.2 + }, + "registered": { + "median": 4.0, + "p90": 6.7 + } + } + }, + "right": { + "offset_deg": 19.84, + "offset_rotvec": [ + 0.2313, + 0.1981, + 0.1649 + ], + "dev_deg": { + "median": 23.31, + "p90": 44.56 + }, + "samples": 628, + "accepted": 423, + "wrist_pos_err_mm_median": 144.3, + "per_camera": { + "head": { + "samples": 628, + "accepted": 423, + "gate_deg": 30.0, + "offset_deg": 19.84, + "tier": "primary", + "dev_deg_median": 23.31, + "wrist_pos_err_mm_median": 144.3 + } + }, + "frames_by_state": { + "ace_sample": 1738, + "interpolated": 2890, + "mean_hand": 3054, + "no_body_fit": 2 + }, + "observed_fraction": 0.6023, + "observed_fraction_of_valid": 0.6024, + "palm_axis_vs_markers_deg": { + "gsi": 26.31, + "smplx": 1.1 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.3, + "p90": 11.6 + }, + "registered": { + "median": 9.8, + "p90": 11.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:41:16.564931+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/D21/session_009", "family": "locomotion_posture_dynamics", "primitive": "D21", "source_session": "20260923/D21/20260923_112239_session40" + }, + "task": { + "primitive": "D21", + "instruction": "Mime a volleyball spike with no ball: approach in place, jump and strike downward. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D21/session_009/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D21/session_009/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..f2b85b53c88d1ea18df22dc4e235e7dbaddf43d0 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D21/session_009/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94190f43f8f41945cc54e68a91b9e544e3267a1c9baba05b81ca9d8b77cfa6b6 +size 979728 diff --git a/actions/locomotion_posture_dynamics/D21/session_009/motions/smplx.npz b/actions/locomotion_posture_dynamics/D21/session_009/motions/smplx.npz index 4c86066849ea2839c00ffeaa86426fead8175ce6..6fe7032a007fbfe25204c9b5d5e97ff826873032 100644 --- a/actions/locomotion_posture_dynamics/D21/session_009/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D21/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:01790c6056f3c73e34722fdaecac022e77607caeb0437ec1834379c5e4c1ab1e -size 2961304 +oid sha256:49f4c6f7a2bf5fba689b8c79e17e6d4e1f8e9eb70ca548b4e81c6823056092f0 +size 4856575 diff --git a/actions/locomotion_posture_dynamics/D21/session_010/annotations.json b/actions/locomotion_posture_dynamics/D21/session_010/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..969dcaedeb09e459e88ee8a52fcf323c02a0a774 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D21/session_010/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D21", + "instruction": "Mime a volleyball spike with no ball: approach in place, jump and strike downward. 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Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D21/session_010/cameras/slam.npz b/actions/locomotion_posture_dynamics/D21/session_010/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..c056c0a2c556b01c5f615e788e7f8889ee0b08a6 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D21/session_010/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:90a2e19f789a3f1c219c759f3ca444741e553840da6064f7159105b75e5e6497 +size 398871 diff --git a/actions/locomotion_posture_dynamics/D21/session_010/meta.json b/actions/locomotion_posture_dynamics/D21/session_010/meta.json index ee060628fd196a0678c7a05cbfbcd834628d8639..62c43fc984e937a50eb54bbd1b2904965883eb1c 100644 --- a/actions/locomotion_posture_dynamics/D21/session_010/meta.json +++ b/actions/locomotion_posture_dynamics/D21/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": { @@ -523,10 +523,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.5228151275308874 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 29.38, + "offset_rotvec": [ + 0.4481, + -0.1931, + -0.1576 + ], + "dev_deg": { + "median": 21.33, + "p90": 168.61 + }, + "samples": 895, + "accepted": 602, + "wrist_pos_err_mm_median": 272.8, + "per_camera": { + "head": { + "samples": 895, + "accepted": 602, + "gate_deg": 30.0, + "offset_deg": 29.38, + "tier": "primary", + "dev_deg_median": 21.33, + "wrist_pos_err_mm_median": 272.8 + } + }, + "frames_by_state": { + "ace_sample": 2476, + "interpolated": 2044, + "mean_hand": 3764, + "no_body_fit": 0 + }, + "observed_fraction": 0.5456, + "observed_fraction_of_valid": 0.5456, + "palm_axis_vs_markers_deg": { + "gsi": 31.24, + "smplx": 3.54 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.8, + "p90": 12.1 + }, + "registered": { + "median": 11.3, + "p90": 13.1 + } + } + }, + "right": { + "offset_deg": 22.44, + "offset_rotvec": [ + 0.3359, + 0.017, + 0.2006 + ], + "dev_deg": { + "median": 15.82, + "p90": 32.03 + }, + "samples": 1157, + "accepted": 1015, + "wrist_pos_err_mm_median": 299.7, + "per_camera": { + "head": { + "samples": 1157, + "accepted": 1015, + "gate_deg": 30.0, + "offset_deg": 22.44, + "tier": "primary", + "dev_deg_median": 15.82, + "wrist_pos_err_mm_median": 299.7 + } + }, + "frames_by_state": { + "ace_sample": 4094, + "interpolated": 1322, + "mean_hand": 2868, + "no_body_fit": 0 + }, + "observed_fraction": 0.6538, + "observed_fraction_of_valid": 0.6538, + "palm_axis_vs_markers_deg": { + "gsi": 21.91, + "smplx": 1.0 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.3, + "p90": 18.9 + }, + "registered": { + "median": 10.3, + "p90": 18.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:27:59.738838+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/D21/session_010", "family": "locomotion_posture_dynamics", "primitive": "D21", "source_session": "20260929/D21/20260929_011858_session12" + }, + "task": { + "primitive": "D21", + "instruction": "Mime a volleyball spike with no ball: approach in place, jump and strike downward. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D21/session_010/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D21/session_010/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..5a1c681fc5b841fa6990199313767d6b242c11fa --- /dev/null +++ b/actions/locomotion_posture_dynamics/D21/session_010/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:51ac96b8a8faa8b8f6106b3103a0eaf9fa9055417adbaeb16a4ce2ed2be11787 +size 1468852 diff --git a/actions/locomotion_posture_dynamics/D21/session_010/motions/smplx.npz b/actions/locomotion_posture_dynamics/D21/session_010/motions/smplx.npz index 7f2b7c7c8bac1e7cf176926939aca660d050f1d7..aa93bf600c0775b8575640fc79c885a96f3a3197 100644 --- a/actions/locomotion_posture_dynamics/D21/session_010/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D21/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:438c0573fced417395edc25d4268c339a50aaffc241f71e96a70db7bb596df49 -size 3193026 +oid sha256:c08b72ae0a333b728d6187fb8cc2f46ace5e3cae761735aad445545625b2ff80 +size 5120014 diff --git a/actions/locomotion_posture_dynamics/D21/session_011/annotations.json b/actions/locomotion_posture_dynamics/D21/session_011/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..a8d28bf5e5e7b6bcbd7504a67c64d876bac6e6be --- /dev/null +++ b/actions/locomotion_posture_dynamics/D21/session_011/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D21", + "instruction": "Mime a volleyball spike with no ball: approach in place, jump and strike downward. 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Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D21/session_011/cameras/slam.npz b/actions/locomotion_posture_dynamics/D21/session_011/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..1ac071e4012e263adc7c73749414a41535bec628 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D21/session_011/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:10abba11a5f992bd07e21e3a8cdf308eba47e85a6fcaa72b56c7480de624537f +size 341648 diff --git a/actions/locomotion_posture_dynamics/D21/session_011/meta.json b/actions/locomotion_posture_dynamics/D21/session_011/meta.json index 12dc974a204289b27185ea3cb7a3efbffb77d672..34352b1c96827efdd7f853635d8edd6af11e12a0 100644 --- a/actions/locomotion_posture_dynamics/D21/session_011/meta.json +++ b/actions/locomotion_posture_dynamics/D21/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": { @@ -505,10 +505,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.4876035912237973 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 23.28, + "offset_rotvec": [ + 0.4056, + -0.0253, + 0.0055 + ], + "dev_deg": { + "median": 17.02, + "p90": 41.1 + }, + "samples": 1308, + "accepted": 1046, + "wrist_pos_err_mm_median": 107.0, + "per_camera": { + "head": { + "samples": 1308, + "accepted": 1046, + "gate_deg": 30.0, + "offset_deg": 23.28, + "tier": "primary", + "dev_deg_median": 17.02, + "wrist_pos_err_mm_median": 107.0 + } + }, + "frames_by_state": { + "ace_sample": 4310, + "interpolated": 1978, + "mean_hand": 791, + "no_body_fit": 5 + }, + "observed_fraction": 0.8876, + "observed_fraction_of_valid": 0.8883, + "palm_axis_vs_markers_deg": { + "gsi": 27.71, + "smplx": 1.24 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 3.9, + "p90": 4.9 + }, + "registered": { + "median": 5.1, + "p90": 6.1 + } + } + }, + "right": { + "offset_deg": 18.7, + "offset_rotvec": [ + 0.2769, + 0.1711, + 0.0226 + ], + "dev_deg": { + "median": 15.77, + "p90": 44.8 + }, + "samples": 1199, + "accepted": 926, + "wrist_pos_err_mm_median": 130.4, + "per_camera": { + "head": { + "samples": 1199, + "accepted": 926, + "gate_deg": 30.0, + "offset_deg": 18.7, + "tier": "primary", + "dev_deg_median": 15.77, + "wrist_pos_err_mm_median": 130.4 + } + }, + "frames_by_state": { + "ace_sample": 3762, + "interpolated": 2014, + "mean_hand": 1303, + "no_body_fit": 5 + }, + "observed_fraction": 0.8154, + "observed_fraction_of_valid": 0.8159, + "palm_axis_vs_markers_deg": { + "gsi": 19.88, + "smplx": 0.72 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.5, + "p90": 8.1 + }, + "registered": { + "median": 5.7, + "p90": 7.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:27:59.746545+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/D21/session_011", "family": "locomotion_posture_dynamics", "primitive": "D21", "source_session": "20260929/D21/20260929_090932_session166" + }, + "task": { + "primitive": "D21", + "instruction": "Mime a volleyball spike with no ball: approach in place, jump and strike downward. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D21/session_011/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D21/session_011/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..e2ef5efc0c896bf0de4a2fd2c2173fc53ea67960 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D21/session_011/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e0866618eedda72378fff01724a3f43de44b6aab43070b58bd8d9b8922f8a97 +size 1741814 diff --git a/actions/locomotion_posture_dynamics/D21/session_011/motions/smplx.npz b/actions/locomotion_posture_dynamics/D21/session_011/motions/smplx.npz index dd1a70b301b16060f2d50bcc6cff3d80a1668cd4..f273dafcfd66008cb601d954f687c756aeed8984 100644 --- a/actions/locomotion_posture_dynamics/D21/session_011/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D21/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5b531794b3ddc2d81a5239684fc3aab19e404c615a2363b22e44ef35ba5b4153 -size 2721868 +oid sha256:e714e2545d84f1eeaf1dca52c3d2746658b8321fb18f52023a259955c97ac8ab +size 4866470 diff --git a/actions/locomotion_posture_dynamics/D21/session_012/annotations.json b/actions/locomotion_posture_dynamics/D21/session_012/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..0f8f505ba316a5cf81597cfeb0f36d80ac47b2a9 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D21/session_012/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D21", + "instruction": "Mime a volleyball spike with no ball: approach in place, jump and strike downward. 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Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D21/session_012/cameras/slam.npz b/actions/locomotion_posture_dynamics/D21/session_012/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..db9812cc68e8cb81948b01d2b8abdb3ab8dbba40 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D21/session_012/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:20d41504a86bed3bfa21377cf3a50977a07c1d08b7a4206fcc7761430ce03ebd +size 426453 diff --git a/actions/locomotion_posture_dynamics/D21/session_012/meta.json b/actions/locomotion_posture_dynamics/D21/session_012/meta.json index 264462263c4c68cc2208bc61ba2092df925825f2..8f555405f561a3c03c65cf0bee92c086b2fb90ef 100644 --- a/actions/locomotion_posture_dynamics/D21/session_012/meta.json +++ b/actions/locomotion_posture_dynamics/D21/session_012/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": { @@ -513,10 +513,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.747925218166112 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 6.93, + "offset_rotvec": [ + 0.0531, + -0.0768, + 0.0768 + ], + "dev_deg": { + "median": 37.11, + "p90": 58.48 + }, + "samples": 1018, + "accepted": 274, + "wrist_pos_err_mm_median": 254.3, + "per_camera": { + "head": { + "samples": 1018, + "accepted": 274, + "gate_deg": 30.0, + "offset_deg": 6.93, + "tier": "primary", + "dev_deg_median": 37.11, + "wrist_pos_err_mm_median": 254.3 + } + }, + "frames_by_state": { + "ace_sample": 1108, + "interpolated": 2260, + "mean_hand": 5516, + "no_body_fit": 0 + }, + "observed_fraction": 0.3791, + "observed_fraction_of_valid": 0.3791, + "palm_axis_vs_markers_deg": { + "gsi": 38.43, + "smplx": 1.8 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.2, + "p90": 12.5 + }, + "registered": { + "median": 11.4, + "p90": 13.3 + } + } + }, + "right": { + "offset_deg": 8.15, + "offset_rotvec": [ + 0.0873, + 0.0785, + 0.0804 + ], + "dev_deg": { + "median": 18.44, + "p90": 40.27 + }, + "samples": 899, + "accepted": 666, + "wrist_pos_err_mm_median": 411.8, + "per_camera": { + "head": { + "samples": 899, + "accepted": 666, + "gate_deg": 30.0, + "offset_deg": 8.15, + "tier": "primary", + "dev_deg_median": 18.44, + "wrist_pos_err_mm_median": 411.8 + } + }, + "frames_by_state": { + "ace_sample": 2780, + "interpolated": 3948, + "mean_hand": 2156, + "no_body_fit": 0 + }, + "observed_fraction": 0.7573, + "observed_fraction_of_valid": 0.7573, + "palm_axis_vs_markers_deg": { + "gsi": 19.98, + "smplx": 1.01 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.9, + "p90": 11.3 + }, + "registered": { + "median": 9.1, + "p90": 12.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:23:46.574581+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/D21/session_012", "family": "locomotion_posture_dynamics", "primitive": "D21", "source_session": "20260930/D21/20260930_053916_session49" + }, + "task": { + "primitive": "D21", + "instruction": "Mime a volleyball spike with no ball: approach in place, jump and strike downward. 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index 0000000000000000000000000000000000000000..5f922eaa3be8d53ee6e853facf535dd2a5377049 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D21/session_013/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af1311d58fc1db05cfb60075c7101d02450ad8004593825a57c12117869d960f +size 544985 diff --git a/actions/locomotion_posture_dynamics/D21/session_013/meta.json b/actions/locomotion_posture_dynamics/D21/session_013/meta.json index 4f8f761ec1b68ad2e9d5072caf37b34b9814c52a..da344a9fa7f33073d6a8b8ee804feeb61bae3359 100644 --- a/actions/locomotion_posture_dynamics/D21/session_013/meta.json +++ b/actions/locomotion_posture_dynamics/D21/session_013/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)", + 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D21/session_013/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D21/session_013/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..897d102991ad7d25aa7ed3758f01244cbf1ddd68 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D21/session_013/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:365af0ed020f112e5198549c63edb90f2952e3889e6a1ecdfa5546a5fc23f910 +size 2146874 diff --git a/actions/locomotion_posture_dynamics/D21/session_013/motions/smplx.npz b/actions/locomotion_posture_dynamics/D21/session_013/motions/smplx.npz index 8ee6815365942d47d8f6992aa29c7e6be85a7a7f..4be6cbf49db13f8a16ef0230e8032613e0247d04 100644 --- a/actions/locomotion_posture_dynamics/D21/session_013/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D21/session_013/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:21d3c973cd94f0e4d8739e642b9dbfe723eb6b9a09b48dc21c69edd96439895f -size 4356601 +oid sha256:ca422e3b82d8de2c52c9154a77a85089c0c73c58ed404d29be23a525d4d2cf5a +size 7097376 diff --git a/actions/locomotion_posture_dynamics/D22/session_001/annotations.json b/actions/locomotion_posture_dynamics/D22/session_001/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..4f3b2aacb32427594aac4f9a926d78190fbd30f7 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D22/session_001/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 2)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D22", + "instruction": "Mime drawing a bow and releasing, with no bow: set your stance, draw back, hold, release. 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D22/session_001/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D22/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..bfc371a5cd3b0a3000db06562f96a74186d90322 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D22/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1af0198f2878abc935919b16aa73bfd4100ae9b7584e0bf0b76e2fb13d31d8c2 +size 1810328 diff --git a/actions/locomotion_posture_dynamics/D22/session_001/motions/smplx.npz b/actions/locomotion_posture_dynamics/D22/session_001/motions/smplx.npz index 4e946d79b1ab97db41e51eb1611a5f541bde5d92..bed061c7caf0578d989e838cdf02c99df9876c51 100644 --- a/actions/locomotion_posture_dynamics/D22/session_001/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D22/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c870e54bb74bba0854f30109f3f2df04d697d8ccd1d6e963c0ed567f3d94ceb6 -size 2951524 +oid sha256:fa7d2ee79d218df09ce54a20174cbf024a644ad8fd72b51718c1b813e590a7cb +size 5076732 diff --git a/actions/locomotion_posture_dynamics/D22/session_002/annotations.json b/actions/locomotion_posture_dynamics/D22/session_002/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..237a8c81c378a128234fe0ba806c46df8356218f --- /dev/null +++ b/actions/locomotion_posture_dynamics/D22/session_002/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D22", + "instruction": "Mime drawing a bow and releasing, with no bow: set your stance, draw back, hold, release. 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Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D22/session_002/cameras/slam.npz b/actions/locomotion_posture_dynamics/D22/session_002/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..40e006491b6a1a230e81f268897eb957e9fd0aa1 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D22/session_002/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:840054169e6390f56fd898b74912ab5dfdd9c8bc32a67ae9fadbb1a12f3fd37f +size 340725 diff --git a/actions/locomotion_posture_dynamics/D22/session_002/meta.json b/actions/locomotion_posture_dynamics/D22/session_002/meta.json index 25bd2c9e8fbae6a6853ab00175d1c2012b39a85b..452021aca7417d6936fbb853311c79917bb9ba5d 100644 --- a/actions/locomotion_posture_dynamics/D22/session_002/meta.json +++ b/actions/locomotion_posture_dynamics/D22/session_002/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": { @@ -526,10 +526,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.943848654079933 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 12.06, + "offset_rotvec": [ + -0.0675, + -0.1183, + -0.1605 + ], + "dev_deg": { + "median": 12.56, + "p90": 51.72 + }, + "samples": 1257, + "accepted": 833, + "wrist_pos_err_mm_median": 58.8, + "per_camera": { + "head": { + "samples": 1257, + "accepted": 833, + "gate_deg": 30.0, + "offset_deg": 12.06, + "tier": "primary", + "dev_deg_median": 12.56, + "wrist_pos_err_mm_median": 58.8 + } + }, + "frames_by_state": { + "ace_sample": 3350, + "interpolated": 1076, + "mean_hand": 2608, + "no_body_fit": 50 + }, + "observed_fraction": 0.6248, + "observed_fraction_of_valid": 0.6292, + "palm_axis_vs_markers_deg": { + "gsi": 10.61, + "smplx": 1.16 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.6, + "p90": 6.6 + }, + "registered": { + "median": 4.7, + "p90": 6.1 + } + } + }, + "right": { + "offset_deg": 11.1, + "offset_rotvec": [ + -0.0475, + 0.1387, + 0.1265 + ], + "dev_deg": { + "median": 10.36, + "p90": 23.1 + }, + "samples": 1251, + "accepted": 1191, + "wrist_pos_err_mm_median": 105.3, + "per_camera": { + "head": { + "samples": 1251, + "accepted": 1191, + "gate_deg": 30.0, + "offset_deg": 11.1, + "tier": "primary", + "dev_deg_median": 10.36, + "wrist_pos_err_mm_median": 105.3 + } + }, + "frames_by_state": { + "ace_sample": 4798, + "interpolated": 906, + "mean_hand": 1330, + "no_body_fit": 50 + }, + "observed_fraction": 0.8052, + "observed_fraction_of_valid": 0.8109, + "palm_axis_vs_markers_deg": { + "gsi": 10.33, + "smplx": 0.87 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.7, + "p90": 9.7 + }, + "registered": { + "median": 9.1, + "p90": 10.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T14:12:46.820644+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_002", "family": "locomotion_posture_dynamics", "primitive": "D22", "source_session": "20260907/D22/20260907_042627_session75" + }, + "task": { + "primitive": "D22", + "instruction": "Mime drawing a bow and releasing, with no bow: set your stance, draw back, hold, release. 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--- /dev/null +++ b/actions/locomotion_posture_dynamics/D22/session_004/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e972da3406f3b3d6ad413f27b0377c3c7bd7dcb7558068c7f8bced5c28356875 +size 313116 diff --git a/actions/locomotion_posture_dynamics/D22/session_004/meta.json b/actions/locomotion_posture_dynamics/D22/session_004/meta.json index f79269a391131a7b2656e2db1f0b62497c1b748c..bb942974375311cb1fd98e7d06c03c3f19baf23e 100644 --- a/actions/locomotion_posture_dynamics/D22/session_004/meta.json +++ b/actions/locomotion_posture_dynamics/D22/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 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D22/session_004/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D22/session_004/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..2f320c3b2682b2c347de97d0bc6b58746427bad6 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D22/session_004/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99b2e5edbe5c724bf39affc8f65eeb8db43837629b22e8d19d38523f8965d41f +size 1412617 diff --git a/actions/locomotion_posture_dynamics/D22/session_004/motions/smplx.npz b/actions/locomotion_posture_dynamics/D22/session_004/motions/smplx.npz index 18b321cb662cbb6f6c402fee77af0fecb89e3930..48f438b1b679f0b138d83a16d6554f8312e0781e 100644 --- a/actions/locomotion_posture_dynamics/D22/session_004/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D22/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c462a857a66d01872660e3c33a4ab05bbcb20f8744e20a6d93299038df07cb48 -size 2500897 +oid sha256:d6a0604982350ec474f955f86ae506a4dc9ca8537a28647a4937c60ac0cdc8b0 +size 4345763 diff --git a/actions/locomotion_posture_dynamics/D22/session_005/annotations.json b/actions/locomotion_posture_dynamics/D22/session_005/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..829ce6b8ee913ab83c21379df9f9e9600e53f09f --- /dev/null +++ b/actions/locomotion_posture_dynamics/D22/session_005/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D22", + "instruction": "Mime drawing a bow and releasing, with no bow: set your stance, draw back, hold, release. 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D22/session_006/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D22/session_006/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..4b5169585f6c5725d4099f21f5147a644e304ef2 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D22/session_006/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f3ea7709aa21e5a0c7a4a02f6d24dc4c03cea08fe9daabd7bd517d825db438c +size 2095929 diff --git a/actions/locomotion_posture_dynamics/D22/session_006/motions/smplx.npz b/actions/locomotion_posture_dynamics/D22/session_006/motions/smplx.npz index 1966504f1f150afd2049a69b0eb7a65c5c30389a..076ff231fff67c162806d24cbce2c49929eec038 100644 --- a/actions/locomotion_posture_dynamics/D22/session_006/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D22/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:680eaebc6fdf402fd0e9546ab7e8dbc01940ffb734d590aa49ada1f18f3faa45 -size 2685126 +oid sha256:6d3d2a84c9d19623e8710f21cfc825341972e792518aebc522064995f0f96992 +size 4830339 diff --git a/actions/locomotion_posture_dynamics/D22/session_007/annotations.json b/actions/locomotion_posture_dynamics/D22/session_007/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..f35be83b3f5166c371600c2d613eccc1b730a076 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D22/session_007/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D22", + "instruction": "Mime drawing a bow and releasing, with no bow: set your stance, draw back, hold, release. 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0000000000000000000000000000000000000000..38add5df038fb712d74700fe02b61df11e41e859 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D22/session_009/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:95c4d7125db34701d559072421c8ccd6d481caf3c47eb8838668c82eac81e72e +size 341693 diff --git a/actions/locomotion_posture_dynamics/D22/session_009/meta.json b/actions/locomotion_posture_dynamics/D22/session_009/meta.json index dc87d34bca1c099d5c0207145a0daf05a5fb70cb..34b7f91f06a7f97d141216e894f73c2829d8a1e0 100644 --- a/actions/locomotion_posture_dynamics/D22/session_009/meta.json +++ b/actions/locomotion_posture_dynamics/D22/session_009/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": 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D22/session_009/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D22/session_009/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..60f3463a39f15cc210e7e98bfa1f9386f90eab1a --- /dev/null +++ b/actions/locomotion_posture_dynamics/D22/session_009/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3efb907ba95dccefb4f82c9866fd2757c2cff0e6e39fff60fb46ec0bcd4ae9e1 +size 1829294 diff --git a/actions/locomotion_posture_dynamics/D22/session_009/motions/smplx.npz b/actions/locomotion_posture_dynamics/D22/session_009/motions/smplx.npz index 68cfe4624f9d910eb3d33508b9197f0d1cbe20c7..60ba9c7775f096d42847092cfe9bae3e12c7f013 100644 --- a/actions/locomotion_posture_dynamics/D22/session_009/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D22/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8669473f36bd58c7efaffb6559123fa0d8c83a804d133b89ce4f45db2c9eaa0a -size 2727840 +oid sha256:68b1ea64f5181a6b7a127cedec37267a6e1fadbaec985df644af94e56eab4655 +size 4984556 diff --git a/actions/locomotion_posture_dynamics/D22/session_010/annotations.json b/actions/locomotion_posture_dynamics/D22/session_010/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..fc31faead0a52e4bd23d6501b0e41b021cd1f95b --- /dev/null +++ b/actions/locomotion_posture_dynamics/D22/session_010/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D22", + "instruction": "Mime drawing a bow and releasing, with no bow: set your stance, draw back, hold, release. 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Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D22/session_011/cameras/slam.npz b/actions/locomotion_posture_dynamics/D22/session_011/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..b86b8af3fd5fdadc7de00eeb9a7702429f661fef --- /dev/null +++ b/actions/locomotion_posture_dynamics/D22/session_011/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c56cb98bcb4e730b84c66aad9a6c44b155b3d1a34777cbcbf9acea691988a26c +size 397161 diff --git a/actions/locomotion_posture_dynamics/D22/session_011/meta.json b/actions/locomotion_posture_dynamics/D22/session_011/meta.json index 83352e090af4a20d5d20438643694e67ef124b6e..4ffd7a0300b0b169a86bf9f526cd720450691e40 100644 --- a/actions/locomotion_posture_dynamics/D22/session_011/meta.json +++ b/actions/locomotion_posture_dynamics/D22/session_011/meta.json @@ -550,5 +550,9 @@ "family": "locomotion_posture_dynamics", "primitive": "D22", "source_session": "20260929/D22/20260929_012254_session13" + }, + "task": { + "primitive": "D22", + "instruction": "Mime drawing a bow and releasing, with no bow: set your stance, draw back, hold, release. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D22/session_011/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D22/session_011/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..a4bc3dd64d117f4ab379d56e092644e5583f35c3 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D22/session_011/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8339de2198fe213d1164fbbc922d598d8fb863641e0adafd37b692798ee854e +size 1880399 diff --git a/actions/locomotion_posture_dynamics/D22/session_012/annotations.json b/actions/locomotion_posture_dynamics/D22/session_012/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..dc4a5e9585d3409601140d56ec32275dff140bb1 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D22/session_012/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D22", + "instruction": "Mime drawing a bow and releasing, with no bow: set your stance, draw back, hold, release. 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0000000000000000000000000000000000000000..e98db114ea6cbe60b383ca8b437f92d6193ef0fc --- /dev/null +++ b/actions/locomotion_posture_dynamics/D23/session_001/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:adcccbdcd62a3f5a9862df440530ebaaaeb3e520d652884a6306313baf140cfe +size 397412 diff --git a/actions/locomotion_posture_dynamics/D23/session_001/meta.json b/actions/locomotion_posture_dynamics/D23/session_001/meta.json index 84dc11eb8ca73c72c51fedc519477b092b7b3ff0..e426355348c1ec0d751790bf02e143123136032f 100644 --- a/actions/locomotion_posture_dynamics/D23/session_001/meta.json +++ b/actions/locomotion_posture_dynamics/D23/session_001/meta.json @@ -349,8 +349,8 @@ "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": 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Stay controlled; do not punch at full speed." } } diff --git a/actions/locomotion_posture_dynamics/D23/session_001/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D23/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..447b1afafa0ca154c2eb3ea4c5ccdd37d3cf2d5b --- /dev/null +++ b/actions/locomotion_posture_dynamics/D23/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ea7177e47e60713eab8ff14574657b0227b8e835336ef6cc7c75922d38e4a80 +size 2223764 diff --git a/actions/locomotion_posture_dynamics/D23/session_001/motions/smplx.npz b/actions/locomotion_posture_dynamics/D23/session_001/motions/smplx.npz index 3f6ba2ab301c01758a6b08d2a922db037b6c6e61..36760f548bd97e6fc0607ec23ae1fddb75acea88 100644 --- a/actions/locomotion_posture_dynamics/D23/session_001/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D23/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3104fd33b86279d763b587a3f85b8313c092e5c46060a241647eb62afa43f083 -size 3187783 +oid sha256:6517fd7aa8de6298c1438f605262ec1d46ccd2bff74ebc35d28cdbb9c8ff80b0 +size 5881778 diff --git a/actions/locomotion_posture_dynamics/D23/session_002/annotations.json b/actions/locomotion_posture_dynamics/D23/session_002/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..f745a525d480980fede2a3ce52941ab9df397d18 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D23/session_002/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D23", + "instruction": "Mimic boxing into the air at moderate speed with both hands, moving your feet only a little. 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Stay controlled; do not punch at full speed." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D23/session_002/cameras/slam.npz b/actions/locomotion_posture_dynamics/D23/session_002/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..3f7f0cd4d351f20f8b6e68806d4be5c31d1dfe80 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D23/session_002/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa41c94d13940237402e95b78a8c36ba0a6357ee910f761d4e0d3ba77de3ee21 +size 368987 diff --git a/actions/locomotion_posture_dynamics/D23/session_002/meta.json b/actions/locomotion_posture_dynamics/D23/session_002/meta.json index d6a70b19137c1f09f718860f84cbaa10bdef62e8..305cdfc2ce23797cc0f4d4116897c99b23fb2cb3 100644 --- a/actions/locomotion_posture_dynamics/D23/session_002/meta.json +++ b/actions/locomotion_posture_dynamics/D23/session_002/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": { @@ -528,10 +528,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1216230585298905 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 4.86, + "offset_rotvec": [ + -0.0178, + 0.0791, + -0.025 + ], + "dev_deg": { + "median": 28.17, + "p90": 51.57 + }, + "samples": 1419, + "accepted": 761, + "wrist_pos_err_mm_median": 128.2, + "per_camera": { + "head": { + "samples": 1419, + "accepted": 761, + "gate_deg": 30.0, + "offset_deg": 4.86, + "tier": "primary", + "dev_deg_median": 28.17, + "wrist_pos_err_mm_median": 128.2 + } + }, + "frames_by_state": { + "ace_sample": 3120, + "interpolated": 1752, + "mean_hand": 2797, + "no_body_fit": 15 + }, + "observed_fraction": 0.634, + "observed_fraction_of_valid": 0.6353, + "palm_axis_vs_markers_deg": { + "gsi": 20.97, + "smplx": 3.05 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.1, + "p90": 10.1 + }, + "registered": { + "median": 8.5, + "p90": 11.2 + } + } + }, + "right": { + "offset_deg": 14.52, + "offset_rotvec": [ + 0.1359, + 0.2113, + 0.0327 + ], + "dev_deg": { + "median": 25.0, + "p90": 45.01 + }, + "samples": 985, + "accepted": 630, + "wrist_pos_err_mm_median": 132.5, + "per_camera": { + "head": { + "samples": 985, + "accepted": 630, + "gate_deg": 30.0, + "offset_deg": 14.52, + "tier": "primary", + "dev_deg_median": 25.0, + "wrist_pos_err_mm_median": 132.5 + } + }, + "frames_by_state": { + "ace_sample": 2656, + "interpolated": 2710, + "mean_hand": 2303, + "no_body_fit": 15 + }, + "observed_fraction": 0.6983, + "observed_fraction_of_valid": 0.6997, + "palm_axis_vs_markers_deg": { + "gsi": 19.76, + "smplx": 1.81 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.9, + "p90": 7.2 + }, + "registered": { + "median": 6.2, + "p90": 7.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T14:12:45.521876+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_002", "family": "locomotion_posture_dynamics", "primitive": "D23", "source_session": "20260907/D23/20260907_042747_session76" + }, + "task": { + "primitive": "D23", + "instruction": "Mimic boxing into the air at moderate speed with both hands, moving your feet only a little. 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0000000000000000000000000000000000000000..fcfae69abf20feb1bd85d6daa3a1081607635e35 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D23/session_003/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db1368b801559b5ba19528f11e7e11f129dee31dbd72ec646532d031c4dfea00 +size 399496 diff --git a/actions/locomotion_posture_dynamics/D23/session_003/meta.json b/actions/locomotion_posture_dynamics/D23/session_003/meta.json index 64516ad455dd7312924d2f40cde5be72ad8424e8..24869cb6ae06297e72bfc92768e741dd9a70d51b 100644 --- a/actions/locomotion_posture_dynamics/D23/session_003/meta.json +++ b/actions/locomotion_posture_dynamics/D23/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": 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0000000000000000000000000000000000000000..a8597aecf610c91fa9c8d8c43b5b794ccc91089b --- /dev/null +++ b/actions/locomotion_posture_dynamics/D23/session_004/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e90831909a9a869b19000718643334cec958dd69b43cd8f20b6cfd7895a7d11d +size 428161 diff --git a/actions/locomotion_posture_dynamics/D23/session_004/meta.json b/actions/locomotion_posture_dynamics/D23/session_004/meta.json index 209c45777ad3d036fcbea6a3019ba4e0deca548e..4a2db5dc2720239f928339aec43d215efd04c63d 100644 --- a/actions/locomotion_posture_dynamics/D23/session_004/meta.json +++ b/actions/locomotion_posture_dynamics/D23/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": 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Stay controlled; do not punch at full speed." } } diff --git a/actions/locomotion_posture_dynamics/D23/session_004/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D23/session_004/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..88009c90d15443e347957257ebde6b41167f63cf --- /dev/null +++ b/actions/locomotion_posture_dynamics/D23/session_004/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83d95befa1f8191f8af4afd77e6c6ee6962be58c303693feea83a01e19e3bdbf +size 2070799 diff --git a/actions/locomotion_posture_dynamics/D23/session_004/motions/smplx.npz b/actions/locomotion_posture_dynamics/D23/session_004/motions/smplx.npz index 2334f5091184176186e38bbd5ccb48bef06c6567..2c211c680ab6deed3ff983940dbba9634f4cbd23 100644 --- a/actions/locomotion_posture_dynamics/D23/session_004/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D23/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:77800adfe9d1489cb9c67c55eec9af5731587be264ccb2fed3b7356aa81e4f59 -size 3429094 +oid sha256:647c2254a172a34a73bc8aa8f20203b659c761a236f0e528b6c5a24eff23b11f +size 6057790 diff --git a/actions/locomotion_posture_dynamics/D23/session_005/annotations.json b/actions/locomotion_posture_dynamics/D23/session_005/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..c21a29f3aa922412da025acac04ed723cfb08b0c --- /dev/null +++ b/actions/locomotion_posture_dynamics/D23/session_005/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D23", + "instruction": "Mimic boxing into the air at moderate speed with both hands, moving your feet only a little. 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Stay controlled; do not punch at full speed." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D23/session_005/cameras/slam.npz b/actions/locomotion_posture_dynamics/D23/session_005/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..190513a7b70df2b573f936d9996362ecba29c1d6 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D23/session_005/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1449ddf627bcd65bc7a9c1029e45a12c1d8033553d7a9a494b67f397a2512e5 +size 398902 diff --git a/actions/locomotion_posture_dynamics/D23/session_005/meta.json b/actions/locomotion_posture_dynamics/D23/session_005/meta.json index 84dc8c6db28ffccf7ca35dd891c230b8c086e440..4ced1562bbedfb3073756a93a928fad98bc450a2 100644 --- a/actions/locomotion_posture_dynamics/D23/session_005/meta.json +++ b/actions/locomotion_posture_dynamics/D23/session_005/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": { @@ -519,10 +519,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9519892428261978 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 13.39, + "offset_rotvec": [ + 0.099, + 0.1108, + -0.1804 + ], + "dev_deg": { + "median": 12.42, + "p90": 30.59 + }, + "samples": 1686, + "accepted": 1508, + "wrist_pos_err_mm_median": 77.4, + "per_camera": { + "head": { + "samples": 1686, + "accepted": 1508, + "gate_deg": 30.0, + "offset_deg": 13.39, + "tier": "primary", + "dev_deg_median": 12.42, + "wrist_pos_err_mm_median": 77.4 + } + }, + "frames_by_state": { + "ace_sample": 6082, + "interpolated": 1162, + "mean_hand": 1040, + "no_body_fit": 0 + }, + "observed_fraction": 0.8745, + "observed_fraction_of_valid": 0.8745, + "palm_axis_vs_markers_deg": { + "gsi": 14.95, + "smplx": 1.23 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.3, + "p90": 14.5 + }, + "registered": { + "median": 10.2, + "p90": 12.1 + } + } + }, + "right": { + "offset_deg": 10.92, + "offset_rotvec": [ + 0.079, + -0.1263, + 0.119 + ], + "dev_deg": { + "median": 13.83, + "p90": 42.0 + }, + "samples": 1420, + "accepted": 1147, + "wrist_pos_err_mm_median": 77.7, + "per_camera": { + "head": { + "samples": 1420, + "accepted": 1147, + "gate_deg": 30.0, + "offset_deg": 10.92, + "tier": "primary", + "dev_deg_median": 13.83, + "wrist_pos_err_mm_median": 77.7 + } + }, + "frames_by_state": { + "ace_sample": 4630, + "interpolated": 1546, + "mean_hand": 2108, + "no_body_fit": 0 + }, + "observed_fraction": 0.7455, + "observed_fraction_of_valid": 0.7455, + "palm_axis_vs_markers_deg": { + "gsi": 15.53, + "smplx": 1.92 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.4, + "p90": 12.4 + }, + "registered": { + "median": 6.3, + "p90": 9.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T17:48:19.924154+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_005", "family": "locomotion_posture_dynamics", "primitive": "D23", "source_session": "20260914/D23/20260914_072749_session16" + }, + "task": { + "primitive": "D23", + "instruction": "Mimic boxing into the air at moderate speed with both hands, moving your feet only a little. 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Stay controlled; do not punch at full speed." } } diff --git a/actions/locomotion_posture_dynamics/D23/session_007/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D23/session_007/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..23bfd6315e9a1e1b30ccbf31aaac0a03507f3765 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D23/session_007/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0503f90dde3dc2dd64f1263f6232a29fa05542d6f0991660f9471e2d79c4819 +size 2587150 diff --git a/actions/locomotion_posture_dynamics/D23/session_007/motions/smplx.npz b/actions/locomotion_posture_dynamics/D23/session_007/motions/smplx.npz index 3ad1a69b404c5a40f05b0386ebb521cebe76c4bc..7a522e6b9cfa4c401bc968259a9a5b2de87f4c4c 100644 --- a/actions/locomotion_posture_dynamics/D23/session_007/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D23/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:df30c0225fa42ac81b869d9534c396448ba26562ebd0a378008b00d3c2e9eb13 -size 3178185 +oid sha256:7df5aee782fcb79854c0212087c137a48fe71554ec0ca6cb62f7558c44799ad1 +size 5874168 diff --git a/actions/locomotion_posture_dynamics/D23/session_008/annotations.json b/actions/locomotion_posture_dynamics/D23/session_008/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..d869fa53bf8ed111ff644e8928aaf26ad1234de9 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D23/session_008/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D23", + "instruction": "Mimic boxing into the air at moderate speed with both hands, moving your feet only a little. 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0000000000000000000000000000000000000000..490d3108d5ad6df713428410c0d39c48606ecd23 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D23/session_008/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:635a36993738c710737709adc95b128f1cd20fcfead05a50c06b9baf39b6e37e +size 398810 diff --git a/actions/locomotion_posture_dynamics/D23/session_008/meta.json b/actions/locomotion_posture_dynamics/D23/session_008/meta.json index 611711b180d12c0254098fd9e5d519609b9b989a..586982f1a91f7f3bba76108400a22e8bfe5a216f 100644 --- a/actions/locomotion_posture_dynamics/D23/session_008/meta.json +++ b/actions/locomotion_posture_dynamics/D23/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": { @@ -515,10 +515,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1452627866020146 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 11.52, + "offset_rotvec": [ + 0.0999, + 0.111, + -0.1348 + ], + "dev_deg": { + "median": 10.7, + "p90": 22.1 + }, + "samples": 1917, + "accepted": 1867, + "wrist_pos_err_mm_median": 59.7, + "per_camera": { + "head": { + "samples": 1917, + "accepted": 1867, + "gate_deg": 30.0, + "offset_deg": 11.52, + "tier": "primary", + "dev_deg_median": 10.7, + "wrist_pos_err_mm_median": 59.7 + } + }, + "frames_by_state": { + "ace_sample": 7528, + "interpolated": 744, + "mean_hand": 12, + "no_body_fit": 0 + }, + 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Stay controlled; do not punch at full speed." } } diff --git a/actions/locomotion_posture_dynamics/D23/session_008/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D23/session_008/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..74a4160174cda11d12c8d1d027c42aa0cac45489 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D23/session_008/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f18fde5f09f412feca1f12d3651169fbb026dd50809b6153ccee49af2a550959 +size 2383306