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1.22571 -2.0185 1.10373 diff --git a/actions/dynamic_recovery/DR10/session_008/raw/mocap/Body0.csv b/actions/dynamic_recovery/DR10/session_008/raw/mocap/Body0.csv new file mode 100644 index 0000000000000000000000000000000000000000..bd905f961c8bbd789a8882b30ad6207fb3021510 --- /dev/null +++ b/actions/dynamic_recovery/DR10/session_008/raw/mocap/Body0.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46c23e3b9a4d24a824e492fab38159d720853c49790c3f6729661e48e6f5dfd9 +size 135830019 diff --git a/actions/dynamic_recovery/DR10/session_008/raw/mocap/Body0.trc b/actions/dynamic_recovery/DR10/session_008/raw/mocap/Body0.trc new file mode 100644 index 0000000000000000000000000000000000000000..28b5e3bce2fe898059bc6ef90761701a59004022 --- /dev/null +++ b/actions/dynamic_recovery/DR10/session_008/raw/mocap/Body0.trc @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c551f6d38c31bc53da879df2225c8ab2062313802a939ae2979d94281aa3b438 +size 30232549 diff --git a/actions/dynamic_recovery/DR10/session_008/raw/mocap/Cushion.csv b/actions/dynamic_recovery/DR10/session_008/raw/mocap/Cushion.csv new file mode 100644 index 0000000000000000000000000000000000000000..ad150e5e4480d4dffbb60a545181d1a7026da821 --- /dev/null +++ b/actions/dynamic_recovery/DR10/session_008/raw/mocap/Cushion.csv @@ -0,0 +1,16448 @@ +#Hierarchical Translation and Rotation (.csv) file +[Head] +NumFrames,NumSegments,DataFrameRate,EulerRotationOrder,BoneAxis,TranslationUnits +16436,1,120,ZYX,Y,mm + +[SegmentNames&Hierarchy] +Segment,Parent +Segment1,Global + +[SegmentData] + Frame# ,,Segment1,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, +,Timestamp,XToGlobal1,YToGlobal1,ZToGlobal1,VxToGlobal1,VyToGlobal1,VzToGlobal1,VrToGlobal1,AxToGlobal1,AyToGlobal1,AzToGlobal1,ArToGlobal1,QxToGlobal1,QyToGlobal1,QzToGlobal1,QwToGlobal1,ExToGlobal1,EyToGlobal1,EzToGlobal1,EVxToGlobal1,EVyToGlobal1,EVzToGlobal1,EAxToGlobal1,EAyToGlobal1,EAzToGlobal1,Segmentlength1, +1,1793338524636,241.036453, 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1793338651785 87.973404 1541.798340 1405.975098 235.715378 1534.928589 1531.193237 248.909653 1533.854614 1438.201294 173.328140 1530.092163 1369.699219 88.040855 1541.775024 1406.069702 235.695679 1534.962524 1531.227783 248.769531 1533.802490 1438.142822 173.420502 1530.133667 1369.628540 +15266 127.208 1793338651794 86.935173 1541.852539 1407.754272 236.042603 1535.091797 1531.208374 248.136703 1534.004761 1438.072266 171.755432 1530.220215 1370.464722 86.925354 1541.840942 1407.834229 236.042404 1535.118164 1531.251587 248.023865 1533.962524 1438.019653 171.878281 1530.247803 1370.394165 +15267 127.216 1793338651802 85.775063 1541.970703 1409.513672 236.473053 1535.202148 1531.202759 247.354141 1533.953247 1437.967163 170.225128 1530.336670 1371.274414 85.828651 1541.989014 1409.635254 236.412735 1535.195312 1531.254272 247.271271 1533.979614 1437.885742 170.314743 1530.298706 1371.182739 +15268 127.225 1793338651810 84.817627 1542.107544 1411.402222 236.847504 1535.334351 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240.613800 1535.137695 1530.761841 237.241547 1533.790283 1436.987427 150.854050 1530.108521 1382.765259 73.354462 1542.055298 1433.508423 240.657349 1535.155151 1530.848267 237.200333 1533.756226 1436.916626 150.995407 1530.121826 1382.688721 +15282 127.341 1793338651927 72.648033 1541.989136 1435.030273 240.833115 1535.119995 1530.604004 236.524246 1533.665405 1436.869141 149.521347 1529.914307 1383.515747 72.562241 1541.980713 1435.081055 240.869553 1535.144775 1530.678345 236.431412 1533.618164 1436.789795 149.663544 1529.945190 1383.470093 +15283 127.350 1793338651935 71.918800 1541.849976 1436.541626 241.044128 1535.060181 1530.417847 235.754150 1533.686157 1436.584961 148.212799 1529.745117 1384.260742 71.793846 1541.814575 1436.598755 241.098022 1535.117188 1530.429321 235.678284 1533.577393 1436.592529 148.359741 1529.832520 1384.184570 +15284 127.358 1793338651944 71.045815 1541.776489 1438.041992 241.215851 1535.055054 1530.170776 234.926102 1533.544067 1436.393921 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a/actions/dynamic_recovery/DR10/session_009/raw/mocap/Body0.trc b/actions/dynamic_recovery/DR10/session_009/raw/mocap/Body0.trc new file mode 100644 index 0000000000000000000000000000000000000000..5ab19068294cc2c1ec7dee2c0c4ca0c96fb7843b --- /dev/null +++ b/actions/dynamic_recovery/DR10/session_009/raw/mocap/Body0.trc @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18eb887acf93129926b27392190984be08e06ea75d41d120f2f167420cd2ad37 +size 27998551 diff --git a/actions/dynamic_recovery/DR10/session_009/raw/mocap/Cushion.csv b/actions/dynamic_recovery/DR10/session_009/raw/mocap/Cushion.csv new file mode 100644 index 0000000000000000000000000000000000000000..64b61404908e8667aa9c8bd2f4b283fcff30e6a5 --- /dev/null +++ b/actions/dynamic_recovery/DR10/session_009/raw/mocap/Cushion.csv @@ -0,0 +1,15232 @@ +#Hierarchical Translation and Rotation (.csv) file +[Head] +NumFrames,NumSegments,DataFrameRate,EulerRotationOrder,BoneAxis,TranslationUnits +15220,1,120,ZYX,Y,mm + 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0000000000000000000000000000000000000000..6a1c694239d56ad31c0a745e84203634f01c5c30 --- /dev/null +++ b/actions/dynamic_recovery/DR11/session_001/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aeb5f7d0d8eb1564fab5c58ecd2e01b8388572635a38ae2e3d19cd4074c019e1 +size 715332 diff --git a/actions/dynamic_recovery/DR11/session_001/meta.json b/actions/dynamic_recovery/DR11/session_001/meta.json index 7f78e921c991890fc1409fea694f6febfc023ffa..15b1c35678178441900e434f6caf65eaaeac51b4 100644 --- a/actions/dynamic_recovery/DR11/session_001/meta.json +++ b/actions/dynamic_recovery/DR11/session_001/meta.json @@ -281,8 +281,8 @@ "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 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It may be more slippery in places. Recover however comes naturally." } } diff --git a/actions/dynamic_recovery/DR11/session_001/motions/hands_mano.npz b/actions/dynamic_recovery/DR11/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..8e3185313a37bcf38117df0d3c3c74d7f873c52a --- /dev/null +++ b/actions/dynamic_recovery/DR11/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4655eecdbf23ee6917d4ea6e51969673e1339d98aa017cf4e9e75cabb54d5135 +size 1970714 diff --git a/actions/dynamic_recovery/DR11/session_001/motions/smplx.npz b/actions/dynamic_recovery/DR11/session_001/motions/smplx.npz index 7b55d3858cddce0c00784bd99d68f4e000576edc..80c58f7ec511c6fdee4cb847e291d8fd36039fdf 100644 --- a/actions/dynamic_recovery/DR11/session_001/motions/smplx.npz +++ b/actions/dynamic_recovery/DR11/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:506fd2e034455d7af90e623659dfbea901b89d61f0ed2cc038113356bdf0e1a7 -size 5742872 +oid sha256:7591a099951fa0405ef1b862bd1296e12ddbb15f8f672049196b802df842497b +size 9156346 diff --git a/actions/dynamic_recovery/DR11/session_002/annotations.json b/actions/dynamic_recovery/DR11/session_002/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..fae2075f198a99e5f08c80bf66ff91e8fcb5e37a --- /dev/null +++ b/actions/dynamic_recovery/DR11/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": "DR11", + "instruction": "Walk across the floor at a normal pace. 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0000000000000000000000000000000000000000..664dcf3c4380c2aff45f5cc63f999876f8183a08 --- /dev/null +++ b/actions/dynamic_recovery/DR11/session_002/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c797ecfb07c7bf0f8e037a5ba6acf79cfcbd4750a7a9ebaf9bc5446718ec03c +size 743526 diff --git a/actions/dynamic_recovery/DR11/session_002/meta.json b/actions/dynamic_recovery/DR11/session_002/meta.json index 9d2822db721565653dfed4105d21a60211c87510..5881f58f077a86b76521576b1304613249712d70 100644 --- a/actions/dynamic_recovery/DR11/session_002/meta.json +++ b/actions/dynamic_recovery/DR11/session_002/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 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It may be more slippery in places. Recover however comes naturally." } } diff --git a/actions/dynamic_recovery/DR11/session_002/motions/hands_mano.npz b/actions/dynamic_recovery/DR11/session_002/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..b5140de223589486b9c3711b357ff19fc1187956 --- /dev/null +++ b/actions/dynamic_recovery/DR11/session_002/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b5525125f33e896681f0fbc064595fc3e97cc40d52c077d1a9ec3fda46c3944 +size 4246621 diff --git a/actions/dynamic_recovery/DR11/session_002/motions/smplx.npz b/actions/dynamic_recovery/DR11/session_002/motions/smplx.npz index 16ce557782d78140fd75d868aaa342f5619b937e..c422ec2afa2df37d96afe3614c7a7ad6c55014b1 100644 --- a/actions/dynamic_recovery/DR11/session_002/motions/smplx.npz +++ b/actions/dynamic_recovery/DR11/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:293c1334f09b9881ac78c48b8903d7e2050d795626d1c2b4d4a5bc3401e9243a -size 5953775 +oid sha256:b9d23d8593a5b39ac608471fa95464780349f68f188d97f581d6d02cf5c384ea +size 11068425 diff --git a/actions/dynamic_recovery/DR11/session_003/annotations.json b/actions/dynamic_recovery/DR11/session_003/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..7c4d61d9448f1987b3f156b67785c627eb1cf8ae --- /dev/null +++ b/actions/dynamic_recovery/DR11/session_003/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": "DR11", + "instruction": "Walk across the floor at a normal pace. It may be more slippery in places. Recover however comes naturally.", + "segments": [ + { + "id": "segment1", + "duration_s": 128.966656, + "video": "left_eye", + "video_t_start": 0.03922200614464022 + } + ], + "episodes": [ + { + "id": "052f0ab4-92d4-41c7-b790-b2a5f7196062", + "segment": "segment1", + "action": "DR11", + "quality": "valid", + "start_s": 1.263, + "end_s": 60.3, + "t_start": 1.3022, + "t_end": 60.3392, + "instruction": "Walk across the floor at a normal pace. It may be more slippery in places. Recover however comes naturally." + }, + { + "id": "4e9cc4bb-6481-4e86-a25f-dd30328130d8", + "segment": "segment1", + "action": "DR11", + "quality": "valid", + "start_s": 62.292, + "end_s": 121.966, + "t_start": 62.3312, + "t_end": 122.0052, + "instruction": "Walk across the floor at a normal pace. It may be more slippery in places. Recover however comes naturally." + } + ] +} diff --git a/actions/dynamic_recovery/DR11/session_003/cameras/slam.npz b/actions/dynamic_recovery/DR11/session_003/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..5972ce0612f3a5f873bca41088b34a1346a3e07d --- /dev/null +++ b/actions/dynamic_recovery/DR11/session_003/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3197eb5f9f7d93744d8d27dcf9f14667138eb91c2c0ff669a039a92705636f3 +size 742847 diff --git a/actions/dynamic_recovery/DR11/session_003/meta.json b/actions/dynamic_recovery/DR11/session_003/meta.json index eb73af5d0d8b615f6e2c59f63105bc445f6b4d96..1c49e778d8cac46f859e83c760dbc44dd099aaff 100644 --- a/actions/dynamic_recovery/DR11/session_003/meta.json +++ b/actions/dynamic_recovery/DR11/session_003/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -514,10 +514,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.7520234231872736 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 19.39, + "offset_rotvec": [ + 0.309, + -0.1066, + -0.088 + ], + "dev_deg": { + "median": 13.64, + "p90": 34.3 + }, + "samples": 2319, + "accepted": 2005, + "wrist_pos_err_mm_median": 196.6, + "per_camera": { + "head": { + "samples": 2319, + "accepted": 2005, + "gate_deg": 30.0, + "offset_deg": 19.39, + "tier": "primary", + "dev_deg_median": 13.64, + "wrist_pos_err_mm_median": 196.6 + } + }, + "frames_by_state": { + "ace_sample": 8445, + "interpolated": 6742, + "mean_hand": 289, + "no_body_fit": 8 + }, + "observed_fraction": 0.9808, + "observed_fraction_of_valid": 0.9813, + "palm_axis_vs_markers_deg": { + "gsi": 29.06, + "smplx": 1.11 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.4, + "p90": 13.7 + }, + "registered": { + "median": 9.1, + "p90": 13.2 + } + } + }, + "right": { + "offset_deg": 12.68, + "offset_rotvec": [ + 0.1006, + -0.025, + 0.1956 + ], + "dev_deg": { + "median": 22.25, + "p90": 52.57 + }, + "samples": 2261, + "accepted": 1413, + "wrist_pos_err_mm_median": 368.6, + "per_camera": { + "head": { + "samples": 2261, + "accepted": 1413, + "gate_deg": 30.0, + "offset_deg": 12.68, + "tier": "primary", + "dev_deg_median": 22.25, + "wrist_pos_err_mm_median": 368.6 + } + }, + "frames_by_state": { + "ace_sample": 5844, + "interpolated": 5948, + "mean_hand": 3684, + "no_body_fit": 8 + }, + "observed_fraction": 0.7616, + "observed_fraction_of_valid": 0.762, + "palm_axis_vs_markers_deg": { + "gsi": 28.77, + "smplx": 0.52 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.6, + "p90": 19.6 + }, + "registered": { + "median": 14.4, + "p90": 19.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:37:06.961690+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/dynamic_recovery/DR11/session_003", "family": "dynamic_recovery", "primitive": "DR11", "source_session": "20260924/DR11/20260924_035717_session60" + }, + "task": { + "primitive": "DR11", + "instruction": "Walk across the floor at a normal pace. It may be more slippery in places. Recover however comes naturally." } } diff --git a/actions/dynamic_recovery/DR11/session_003/motions/hands_mano.npz b/actions/dynamic_recovery/DR11/session_003/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..1ebfea97f1b098c0f15b0faa1be61e0ee9501153 --- /dev/null +++ b/actions/dynamic_recovery/DR11/session_003/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbc63d46db684cae9cf376ec3e954a8dc755e1d50d10e9549e6eb79f95a6276b +size 3212353 diff --git a/actions/dynamic_recovery/DR11/session_003/motions/smplx.npz b/actions/dynamic_recovery/DR11/session_003/motions/smplx.npz index 9d14291f47278e9e7262a8ae988b837fa7d72602..4e6e72fa73d51839a862d29c6de59980362aea00 100644 --- a/actions/dynamic_recovery/DR11/session_003/motions/smplx.npz +++ b/actions/dynamic_recovery/DR11/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:92de11b880f34c80bf34c363fc3195d79f56ec45b403aebfad499a0b0a89eecf -size 5976065 +oid sha256:d386794bc16403a90d356ae8780c3dbf90587df56b74e401559d9139d9e625a9 +size 10729676 diff --git a/actions/dynamic_recovery/DR11/session_004/annotations.json b/actions/dynamic_recovery/DR11/session_004/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..630438db8cbc3d1b1c2e7c0fd4041dc1adb2f705 --- /dev/null +++ b/actions/dynamic_recovery/DR11/session_004/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": "DR11", + "instruction": "Walk across the floor at a normal pace. It may be more slippery in places. Recover however comes naturally.", + "segments": [ + { + "id": "segment1", + "duration_s": 118.766622, + "video": "left_eye", + "video_t_start": 0.03983218882592442 + } + ], + "episodes": [ + { + "id": "705f4181-88e6-41f5-b1ee-ba9ebd339fef", + "segment": "segment1", + "action": "DR11", + "quality": "valid", + "start_s": 1.448, + "end_s": 68.342, + "t_start": 1.4878, + "t_end": 68.3818, + "instruction": "Walk across the floor at a normal pace. It may be more slippery in places. Recover however comes naturally." + }, + { + "id": "17faa779-2918-4f3f-bde4-110b3a265834", + "segment": "segment1", + "action": "DR11", + "quality": "valid", + "start_s": 68.342, + "end_s": 114.765, + "t_start": 68.3818, + "t_end": 114.8048, + "instruction": "Walk across the floor at a normal pace. It may be more slippery in places. Recover however comes naturally." + } + ] +} diff --git a/actions/dynamic_recovery/DR11/session_004/cameras/gsi_online_calibration.json b/actions/dynamic_recovery/DR11/session_004/cameras/gsi_online_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..6115063344885ec29733be7b3e1bbe262918bbcd --- /dev/null +++ b/actions/dynamic_recovery/DR11/session_004/cameras/gsi_online_calibration.json @@ -0,0 +1,210 @@ +{ + "camera_fit": { + "groups_dropped": [], + "groups_used": 15, + "median_px": 0.417 + }, + "cameras": { + "left": { + "accepted": true, + "against": [ + "left_front", + "right_front", + "left_eye", + "right_eye", + "right" + ], + "delta_deg": 2.4064, + "gate_fail": [], + "held_out_px_after": 0.554, + "held_out_px_before": 6.245, + "inliers": 905, + "position_fitted": false, + "rotvec_deg": [ + 1.9926, + -1.217, + 0.5824 + ], + "split_deg": 0.0592, + "usable": true + }, + "left_eye": { + "accepted": true, + "against": [ + "left_front", + 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a/actions/dynamic_recovery/DR11/session_004/cameras/slam.npz b/actions/dynamic_recovery/DR11/session_004/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..d61595db5c7d6ac3191c70e445dc01e98400b0ae --- /dev/null +++ b/actions/dynamic_recovery/DR11/session_004/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d969c22babfa1fe7ca66f57225799838e5e0d394e2f9f7dccba7a196a061bd5 +size 682050 diff --git a/actions/dynamic_recovery/DR11/session_004/meta.json b/actions/dynamic_recovery/DR11/session_004/meta.json index f5572c6ba71063b227bdfb2b70acf434cea3a569..3131c757a4efac1e4905f2e8aa9567837e8d40d3 100644 --- a/actions/dynamic_recovery/DR11/session_004/meta.json +++ b/actions/dynamic_recovery/DR11/session_004/meta.json @@ -406,8 +406,8 @@ "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": { @@ -546,12 +546,126 @@ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 41.73, + "offset_rotvec": [ + 0.7113, + -0.1556, + -0.0165 + ], + "dev_deg": { + "median": 48.11, + "p90": 144.17 + }, + "samples": 2685, + "accepted": 339, + "wrist_pos_err_mm_median": 60.1, + "per_camera": { + "head": { + "samples": 2685, + "accepted": 339, + "gate_deg": 30.0, + "offset_deg": 41.73, + "tier": "primary", + "dev_deg_median": 48.11, + "wrist_pos_err_mm_median": 60.1 + } + }, + 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"palm_axis_vs_markers_deg": { + "gsi": 13.53, + "smplx": 0.79 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 15.7, + "p90": 27.7 + }, + "registered": { + "median": 15.2, + "p90": 27.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T20:59:50.949489+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/dynamic_recovery/DR11/session_004", "family": "dynamic_recovery", "primitive": "DR11", "source_session": "20261020/DR11/20261020_093340_session15" }, + "task": { + "primitive": "DR11", + "instruction": "Walk across the floor at a normal pace. It may be more slippery in places. Recover however comes naturally." + }, "objects": [ { "name": "BigBox1", @@ -564,18 +678,6 @@ "object_type": "Cushion", "source": "mocap", "pose_frame": "rigid_body" - }, - { - "name": "HighStep", - "object_type": "HighStep", - "source": "mocap", - "pose_frame": "rigid_body" - }, - { - "name": "LowStep", - "object_type": "LowStep", - "source": "mocap", - "pose_frame": "rigid_body" } ] } diff --git a/actions/dynamic_recovery/DR11/session_004/motions/hands_mano.npz b/actions/dynamic_recovery/DR11/session_004/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..2043f5c42180ae01405dc4c80bd1889805927b38 --- /dev/null +++ b/actions/dynamic_recovery/DR11/session_004/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18bbe0e7450115a2e88e7e2bd51f5a9bc541e27d2e4f5dd0310b0401ddcca20a +size 3443830 diff --git a/actions/dynamic_recovery/DR11/session_004/motions/objects.json b/actions/dynamic_recovery/DR11/session_004/motions/objects.json index bb508e5a8d2a362896b78354db2906243b212322..97ec776d77ae0c20d4aca8663de869183998edf2 100644 --- a/actions/dynamic_recovery/DR11/session_004/motions/objects.json +++ b/actions/dynamic_recovery/DR11/session_004/motions/objects.json @@ -1,6 +1,6 @@ { "session": "20261020/DR11/20261020_093340_session15", - "generated_at_utc": "2026-10-28T10:22:36.464660+00:00", + "generated_at_utc": "2026-10-29T12:56:47.553552+00:00", "generated_by": "scripts/export_objects.py", "frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)", "grid": "body grid (smplx.npz t / frame_index)", diff --git a/actions/dynamic_recovery/DR11/session_004/motions/smplx.npz b/actions/dynamic_recovery/DR11/session_004/motions/smplx.npz index 3ac3f108f8caa2fd1e9f65f7d8f8fd52a5ffbfbb..6b522104f54f4bed8649045b793efd13db0d8567 100644 --- a/actions/dynamic_recovery/DR11/session_004/motions/smplx.npz +++ b/actions/dynamic_recovery/DR11/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:65a8cdf459a1401c2de6da9b45d0e7ce6fd2f6210f4d6838214509454e9503ae -size 5470098 +oid sha256:c709fb865ea6a64ec406350655d758576d74ea18fa04906484d114efed00e990 +size 8689122