diff --git a/actions/dynamic_recovery/DR01/session_007/meta.json b/actions/dynamic_recovery/DR01/session_007/meta.json index b08a2dad446e2b6388661805f49570792752b013..817e2873396d42fe1263b5d621b29e0c01129005 100644 --- a/actions/dynamic_recovery/DR01/session_007/meta.json +++ b/actions/dynamic_recovery/DR01/session_007/meta.json @@ -329,8 +329,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -393,12 +393,23 @@ "Q_rotvec": [ 2.99022, -0.44902, - -0.85238 + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 173.1, - "opposite_sign_bend_deg": 23.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2855, + "inlier_frac": 0.759, + "inlier_spread_deg": 17.35, + "marker_Q_to_gsi_deg": { + "1": 145.8, + "-1": 35.3 + } + }, + "wrist_bend_deg_median": 163.9, + "opposite_sign_bend_deg": 30.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.19, "hand_vs_marker_frame_deg": { "before": 179.57, @@ -409,15 +420,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 163.55, + "twist_moved_deg": -162.08, "wrist_twist_deg_after": { - "median": 10.48, + "median": -1.47, "iqr": [ - 3.9, - 17.9 + -7.0, + 2.1 ] }, - "wrist_total_deg_median_after": 30.6, + "wrist_total_deg_median_after": 23.4, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -435,6 +446,17 @@ 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2530, + "inlier_frac": 0.606, + "inlier_spread_deg": 14.35, + "marker_Q_to_gsi_deg": { + "1": 32.9, + "-1": 148.2 + } + }, "wrist_bend_deg_median": 28.6, "opposite_sign_bend_deg": 174.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -448,7 +470,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -465,7 +487,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:18:12.593541+00:00", + "generated_at_utc": "2026-11-06T13:46:44.938472+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -509,6 +531,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.06129915955549 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 24.95, + "offset_rotvec": [ + 0.4155, + -0.1303, + -0.0028 + ], + "dev_deg": { + "median": 22.8, + "p90": 35.43 + }, + "samples": 2855, + "accepted": 2261, + "wrist_pos_err_mm_median": 82.2, + "per_camera": { + "head": { + "samples": 2855, + "accepted": 2261, + "gate_deg": 30.0, + "offset_deg": 24.95, + "tier": "primary", + "dev_deg_median": 22.8, + "wrist_pos_err_mm_median": 82.2 + } + }, + "frames_by_state": { + "ace_sample": 9200, + "interpolated": 2988, + "mean_hand": 3288, + "no_body_fit": 8 + }, + "observed_fraction": 0.7871, + "observed_fraction_of_valid": 0.7875, + "palm_axis_vs_markers_deg": { + "gsi": 39.01, + "smplx": 1.38 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.6, + "p90": 12.2 + }, + "registered": { + "median": 10.2, + "p90": 13.9 + } + } + }, + "right": { + "offset_deg": 84.05, + "offset_rotvec": [ + -1.4348, + -0.0741, + -0.2959 + ], + "dev_deg": { + "median": 107.55, + "p90": 133.79 + }, + "samples": 2530, + "accepted": 49, + "wrist_pos_err_mm_median": 296.1, + "per_camera": { + "head": { + "samples": 2530, + "accepted": 49, + "gate_deg": 30.0, + "offset_deg": 84.05, + "tier": "primary", + "dev_deg_median": 107.55, + "wrist_pos_err_mm_median": 296.1 + } + }, + "frames_by_state": { + "ace_sample": 182, + "interpolated": 204, + "mean_hand": 15090, + "no_body_fit": 8 + }, + "observed_fraction": 0.0249, + "observed_fraction_of_valid": 0.0249, + "palm_axis_vs_markers_deg": { + "gsi": 39.67, + "smplx": 13.34 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.6, + "p90": 10.9 + }, + "registered": { + "median": 7.1, + "p90": 10.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:49:27.641669+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/DR01/session_007", "family": "dynamic_recovery", diff --git a/actions/dynamic_recovery/DR01/session_007/motions/smplx.npz b/actions/dynamic_recovery/DR01/session_007/motions/smplx.npz index cb39328d9387e0bf1d1f79f53654640c44f11c21..3ed7f009e2ae89f2fb0a94fb28ee099ca71e0329 100644 --- a/actions/dynamic_recovery/DR01/session_007/motions/smplx.npz +++ b/actions/dynamic_recovery/DR01/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e7998a71cb94066378350dc5108beb0b5f666d8c2d1e2877073eac3edfa97acd -size 5966962 +oid sha256:6ded5356636aeb15325a8b925eb306e29057be4528a422699c0f3fe6925d6ca1 +size 8300024 diff --git a/actions/dynamic_recovery/DR01/session_010/meta.json b/actions/dynamic_recovery/DR01/session_010/meta.json index fdf27f2bb5ef71085711111868dfa750d8d209f9..164da1d3013ef9d862c6b94d5cd9a1fadab781cf 100644 --- a/actions/dynamic_recovery/DR01/session_010/meta.json +++ b/actions/dynamic_recovery/DR01/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": { @@ -398,17 +398,28 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.991, + "inlier_spread_deg": 4.68, + "marker_Q_to_gsi_deg": { + "1": 176.5, + "-1": 4.9 + } + }, "wrist_bend_deg_median": 176.8, - "opposite_sign_bend_deg": 27.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "opposite_sign_bend_deg": 13.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.75, "hand_vs_marker_frame_deg": { - "before": 179.61, + "before": 179.62, "after": 0.75 }, "markers_on_wrist": [ @@ -416,15 +427,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 176.8, + "twist_moved_deg": -176.54, "wrist_twist_deg_after": { - "median": 0.13, + "median": -0.26, "iqr": [ - -1.6, - 0.8 + -1.7, + 0.3 ] }, - "wrist_total_deg_median_after": 13.7, + "wrist_total_deg_median_after": 27.6, "markers_on_forearm": [ "LElbow", "LForearm", @@ -438,11 +449,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, + -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.994, + "inlier_spread_deg": 4.0, + "marker_Q_to_gsi_deg": { + "1": 12.8, + "-1": 172.2 + } + }, "wrist_bend_deg_median": 21.1, "opposite_sign_bend_deg": 178.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -460,7 +482,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -1.0, 0.8 @@ -473,7 +495,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:24:49.272051+00:00", + "generated_at_utc": "2026-11-06T13:53:40.636074+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -517,6 +539,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.139504913001182 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 8.86, + "offset_rotvec": [ + -0.0943, + 0.0931, + -0.0795 + ], + "dev_deg": { + "median": 5.93, + "p90": 14.02 + }, + "samples": 3678, + "accepted": 3625, + "wrist_pos_err_mm_median": 158.0, + "per_camera": { + "head": { + "samples": 3678, + "accepted": 3625, + "gate_deg": 30.0, + "offset_deg": 8.86, + "tier": "primary", + "dev_deg_median": 5.93, + "wrist_pos_err_mm_median": 158.0 + } + }, + "frames_by_state": { + "ace_sample": 14578, + "interpolated": 886, + "mean_hand": 13, + "no_body_fit": 7 + }, + "observed_fraction": 0.9987, + "observed_fraction_of_valid": 0.9992, + "palm_axis_vs_markers_deg": { + "gsi": 7.0, + "smplx": 0.58 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.3, + "p90": 16.3 + }, + "registered": { + "median": 10.5, + "p90": 16.0 + } + } + }, + "right": { + "offset_deg": 13.1, + "offset_rotvec": [ + -0.1299, + -0.187, + 0.0213 + ], + "dev_deg": { + "median": 4.03, + "p90": 9.57 + }, + "samples": 3657, + "accepted": 3636, + "wrist_pos_err_mm_median": 114.2, + "per_camera": { + "head": { + "samples": 3657, + "accepted": 3636, + "gate_deg": 30.0, + "offset_deg": 13.1, + "tier": "primary", + "dev_deg_median": 4.03, + "wrist_pos_err_mm_median": 114.2 + } + }, + "frames_by_state": { + "ace_sample": 14618, + "interpolated": 854, + "mean_hand": 5, + "no_body_fit": 7 + }, + "observed_fraction": 0.9992, + "observed_fraction_of_valid": 0.9997, + "palm_axis_vs_markers_deg": { + "gsi": 15.14, + "smplx": 0.37 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.1, + "p90": 8.8 + }, + "registered": { + "median": 5.9, + "p90": 7.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:04:49.938275+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/DR01/session_010", "family": "dynamic_recovery", diff --git a/actions/dynamic_recovery/DR01/session_010/motions/smplx.npz b/actions/dynamic_recovery/DR01/session_010/motions/smplx.npz index b0acc279846ab2035afacdc5ff744cf582c18ab8..a4f9955dbc37fe6d439d85508af2e43e1ff6f662 100644 --- a/actions/dynamic_recovery/DR01/session_010/motions/smplx.npz +++ b/actions/dynamic_recovery/DR01/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:69203930feca1b425d30207ef2354d498cae54374edc3b6e86cfe068be741c52 -size 5930456 +oid sha256:5be8a9ffc7e3b7c8440aa41341f86121c0fae635f1245e5521741b8c66f887c7 +size 11108194 diff --git a/actions/dynamic_recovery/DR02/session_006/meta.json b/actions/dynamic_recovery/DR02/session_006/meta.json index 6cb48cffc6bddbd74cc467c34ce612754cf2c424..619b5617c6975f9866ccfe80243c33ef068a6a59 100644 --- a/actions/dynamic_recovery/DR02/session_006/meta.json +++ b/actions/dynamic_recovery/DR02/session_006/meta.json @@ -329,8 +329,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -401,14 +401,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 2.99022, - -0.44902, - -0.85238 + -2.99022, + 0.44902, + 0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 175.4, - "opposite_sign_bend_deg": 20.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2870, + "inlier_frac": 0.831, + "inlier_spread_deg": 12.19, + "marker_Q_to_gsi_deg": { + "1": 156.8, + "-1": 24.3 + } + }, + "wrist_bend_deg_median": 172.8, + "opposite_sign_bend_deg": 24.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.17, "hand_vs_marker_frame_deg": { "before": 178.21, @@ -420,15 +431,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 172.66, + "twist_moved_deg": -172.56, "wrist_twist_deg_after": { - "median": 5.67, + "median": -0.1, "iqr": [ - 2.4, - 11.2 + -2.8, + 7.2 ] }, - "wrist_total_deg_median_after": 24.0, + "wrist_total_deg_median_after": 20.7, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -438,19 +449,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -2.99225, + -0.43169, + -0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 22.3, - "opposite_sign_bend_deg": 175.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2994, + "inlier_frac": 0.835, + "inlier_spread_deg": 12.28, + "marker_Q_to_gsi_deg": { + "1": 163.6, + "-1": 17.4 + } + }, + "wrist_bend_deg_median": 175.2, + "opposite_sign_bend_deg": 22.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.02, "hand_vs_marker_frame_deg": { - "before": 1.02, + "before": 179.49, "after": 1.02 }, "markers_on_wrist": [ @@ -459,15 +481,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.17, + "twist_moved_deg": 171.35, "wrist_twist_deg_after": { - "median": -0.0, + "median": 5.65, "iqr": [ - -6.3, - 5.3 + 1.0, + 9.6 ] }, - "wrist_total_deg_median_after": 22.3, + "wrist_total_deg_median_after": 18.8, "markers_on_forearm": [ "RForearm", "RWristIn" @@ -475,7 +497,7 @@ }, "frames_used": 1489 }, - "generated_at_utc": "2026-10-28T06:18:12.559244+00:00", + "generated_at_utc": "2026-11-06T13:46:36.456570+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -519,6 +541,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.4494913734093366 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 19.25, + "offset_rotvec": [ + 0.3328, + -0.0461, + 0.0014 + ], + "dev_deg": { + "median": 15.77, + "p90": 164.17 + }, + "samples": 2870, + "accepted": 2384, + "wrist_pos_err_mm_median": 287.1, + "per_camera": { + "head": { + "samples": 2870, + "accepted": 2384, + "gate_deg": 30.0, + "offset_deg": 19.25, + "tier": "primary", + "dev_deg_median": 15.77, + "wrist_pos_err_mm_median": 287.1 + } + }, + "frames_by_state": { + "ace_sample": 9752, + "interpolated": 3072, + "mean_hand": 2060, + "no_body_fit": 0 + }, + "observed_fraction": 0.8616, + "observed_fraction_of_valid": 0.8616, + "palm_axis_vs_markers_deg": { + "gsi": 26.09, + "smplx": 1.94 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.3, + "p90": 13.1 + }, + "registered": { + "median": 9.1, + "p90": 12.8 + } + } + }, + "right": { + "offset_deg": 14.77, + "offset_rotvec": [ + 0.1768, + 0.0694, + 0.1744 + ], + "dev_deg": { + "median": 13.32, + "p90": 39.36 + }, + "samples": 2994, + "accepted": 2398, + "wrist_pos_err_mm_median": 95.2, + "per_camera": { + "head": { + "samples": 2994, + "accepted": 2398, + "gate_deg": 30.0, + "offset_deg": 14.77, + "tier": "primary", + "dev_deg_median": 13.32, + "wrist_pos_err_mm_median": 95.2 + } + }, + "frames_by_state": { + "ace_sample": 9810, + "interpolated": 3730, + "mean_hand": 1344, + "no_body_fit": 0 + }, + "observed_fraction": 0.9097, + "observed_fraction_of_valid": 0.9097, + "palm_axis_vs_markers_deg": { + "gsi": 18.55, + "smplx": 0.68 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.6, + "p90": 7.7 + }, + "registered": { + "median": 7.6, + "p90": 9.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:49:34.841661+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/DR02/session_006", "family": "dynamic_recovery", diff --git a/actions/dynamic_recovery/DR02/session_006/motions/smplx.npz b/actions/dynamic_recovery/DR02/session_006/motions/smplx.npz index b8b748beeb7026e7334e2c5358a5d1bfaf286225..3d3dfc0a153c064e5100b3bee0974958b7db5da4 100644 --- a/actions/dynamic_recovery/DR02/session_006/motions/smplx.npz +++ b/actions/dynamic_recovery/DR02/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ac7a8db01c46833511c5d4e37e61494d5fbfc67ef608e98ea7d7cd9267cee862 -size 5726870 +oid sha256:70b982f25ee8fab3ad031dd7ca1ce7e03c77178edcfeb50338a48bd6795a496c +size 10240758 diff --git a/actions/dynamic_recovery/DR02/session_009/meta.json b/actions/dynamic_recovery/DR02/session_009/meta.json index 9959f1dde3ec88a7758b0e8bdd2a162eacdfb910..fa7bc4056a33cd7eb369693ac5042147f11f8516 100644 --- a/actions/dynamic_recovery/DR02/session_009/meta.json +++ b/actions/dynamic_recovery/DR02/session_009/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": { @@ -407,10 +407,21 @@ -0.2415, -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 177.5, - "opposite_sign_bend_deg": 27.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.966, + "inlier_spread_deg": 9.14, + "marker_Q_to_gsi_deg": { + "1": 175.6, + "-1": 5.2 + } + }, + "wrist_bend_deg_median": 176.2, + "opposite_sign_bend_deg": 12.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.09, "hand_vs_marker_frame_deg": { "before": 179.28, @@ -422,15 +433,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 176.55, + "twist_moved_deg": -175.4, "wrist_twist_deg_after": { - "median": 0.99, + "median": -1.15, "iqr": [ - -2.0, - 2.2 + -4.2, + 0.1 ] }, - "wrist_total_deg_median_after": 12.5, + "wrist_total_deg_median_after": 27.4, "markers_on_forearm": [ "LForearm", "LWristIn" @@ -444,9 +455,20 @@ "Q_rotvec": [ -0.0, 0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.973, + "inlier_spread_deg": 7.04, + "marker_Q_to_gsi_deg": { + "1": 12.4, + "-1": 171.6 + } + }, "wrist_bend_deg_median": 20.4, "opposite_sign_bend_deg": 178.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -462,7 +484,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -477,7 +499,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:24:49.454827+00:00", + "generated_at_utc": "2026-11-06T13:54:01.661494+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -521,6 +543,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1181680607577227 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 6.55, + "offset_rotvec": [ + -0.0357, + 0.1084, + -0.0069 + ], + "dev_deg": { + "median": 10.86, + "p90": 26.06 + }, + "samples": 3342, + "accepted": 3127, + "wrist_pos_err_mm_median": 178.8, + "per_camera": { + "head": { + "samples": 3342, + "accepted": 3127, + "gate_deg": 30.0, + "offset_deg": 6.55, + "tier": "primary", + "dev_deg_median": 10.86, + "wrist_pos_err_mm_median": 178.8 + } + }, + "frames_by_state": { + "ace_sample": 12856, + "interpolated": 2600, + "mean_hand": 28, + "no_body_fit": 0 + }, + "observed_fraction": 0.9982, + "observed_fraction_of_valid": 0.9982, + "palm_axis_vs_markers_deg": { + "gsi": 8.41, + "smplx": 0.89 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.1, + "p90": 16.1 + }, + "registered": { + "median": 10.5, + "p90": 15.8 + } + } + }, + "right": { + "offset_deg": 9.55, + "offset_rotvec": [ + -0.1357, + -0.0962, + -0.0099 + ], + "dev_deg": { + "median": 9.76, + "p90": 15.64 + }, + "samples": 3276, + "accepted": 3213, + "wrist_pos_err_mm_median": 156.8, + "per_camera": { + "head": { + "samples": 3276, + "accepted": 3213, + "gate_deg": 30.0, + "offset_deg": 9.55, + "tier": "primary", + "dev_deg_median": 9.76, + "wrist_pos_err_mm_median": 156.8 + } + }, + "frames_by_state": { + "ace_sample": 13042, + "interpolated": 2274, + "mean_hand": 168, + "no_body_fit": 0 + }, + "observed_fraction": 0.9892, + "observed_fraction_of_valid": 0.9892, + "palm_axis_vs_markers_deg": { + "gsi": 15.45, + "smplx": 0.36 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.1, + "p90": 9.3 + }, + "registered": { + "median": 6.9, + "p90": 8.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:04:47.941631+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/DR02/session_009", "family": "dynamic_recovery", diff --git a/actions/dynamic_recovery/DR02/session_009/motions/smplx.npz b/actions/dynamic_recovery/DR02/session_009/motions/smplx.npz index 7a05cda13f247e8d84a53584a7e9746e65685597..7b6e2caeabcff005534d300a86f8738a63954682 100644 --- a/actions/dynamic_recovery/DR02/session_009/motions/smplx.npz +++ b/actions/dynamic_recovery/DR02/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:58b7d5bbba563f1d8a9cff244034940c6036e89a119442cfdd4ab0a16b962048 -size 5925270 +oid sha256:47619ed4541a68349476577ecd35b9793e8c16dc0c37be48e5546ec150cb6c54 +size 11096584 diff --git a/actions/dynamic_recovery/DR03/session_007/meta.json b/actions/dynamic_recovery/DR03/session_007/meta.json index 4047ffdf8300b03e4d0727821eeb22a411de62f6..e4fb77f6b264091a9c06c7ee5063a03178921edb 100644 --- a/actions/dynamic_recovery/DR03/session_007/meta.json +++ b/actions/dynamic_recovery/DR03/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": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -396,35 +396,46 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 127.27, "Q_rotvec": [ - 2.99022, - -0.44902, - -0.85238 + -2.05923, + 0.46738, + 0.68917 ], "in_out_sign": 1, - "wrist_bend_deg_median": 173.3, - "opposite_sign_bend_deg": 29.4, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.791, + "inlier_spread_deg": 15.86, + "marker_Q_to_gsi_deg": { + "1": 127.3, + "-1": 53.5 + } + }, + "wrist_bend_deg_median": 117.8, + "opposite_sign_bend_deg": 171.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.19, "hand_vs_marker_frame_deg": { - "before": 179.18, - "after": 2.19 + "before": 2.19, + "after": 127.3 }, "markers_on_wrist": [ "LHandIn", "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 170.6, + "twist_moved_deg": -115.5, "wrist_twist_deg_after": { - "median": 4.37, + "median": -0.0, "iqr": [ - -0.1, - 9.2 + -4.1, + 3.6 ] }, - "wrist_total_deg_median_after": 21.5, + "wrist_total_deg_median_after": 26.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -435,19 +446,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -2.99225, + -0.43169, + -0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 18.0, - "opposite_sign_bend_deg": 178.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.817, + "inlier_spread_deg": 12.08, + "marker_Q_to_gsi_deg": { + "1": 166.0, + "-1": 16.2 + } + }, + "wrist_bend_deg_median": 178.2, + "opposite_sign_bend_deg": 18.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.56, "hand_vs_marker_frame_deg": { - "before": 0.56, + "before": 179.68, "after": 0.56 }, "markers_on_wrist": [ @@ -456,15 +478,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 177.61, "wrist_twist_deg_after": { - "median": 0.0, + "median": 0.82, "iqr": [ - -1.2, - 1.2 + -0.3, + 2.0 ] }, - "wrist_total_deg_median_after": 18.0, + "wrist_total_deg_median_after": 17.5, "markers_on_forearm": [ "RForearm", "RWristIn" @@ -472,7 +494,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:18:14.776574+00:00", + "generated_at_utc": "2026-11-06T13:46:39.544817+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -516,6 +538,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.2787256570767613 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.32, + "offset_rotvec": [ + -0.1592, + -0.0245, + 0.0804 + ], + "dev_deg": { + "median": 20.97, + "p90": 35.65 + }, + "samples": 3489, + "accepted": 2791, + "wrist_pos_err_mm_median": 72.3, + "per_camera": { + "head": { + "samples": 3489, + "accepted": 2791, + "gate_deg": 30.0, + "offset_deg": 10.32, + "tier": "primary", + "dev_deg_median": 20.97, + "wrist_pos_err_mm_median": 72.3 + } + }, + "frames_by_state": { + "ace_sample": 11446, + "interpolated": 3430, + "mean_hand": 608, + "no_body_fit": 0 + }, + "observed_fraction": 0.9607, + "observed_fraction_of_valid": 0.9607, + "palm_axis_vs_markers_deg": { + "gsi": 50.36, + "smplx": 52.93 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.4, + "p90": 18.9 + }, + "registered": { + "median": 13.4, + "p90": 18.8 + } + } + }, + "right": { + "offset_deg": 11.15, + "offset_rotvec": [ + -0.1027, + 0.049, + 0.1578 + ], + "dev_deg": { + "median": 19.28, + "p90": 55.41 + }, + "samples": 3187, + "accepted": 2035, + "wrist_pos_err_mm_median": 324.7, + "per_camera": { + "head": { + "samples": 3187, + "accepted": 2035, + "gate_deg": 30.0, + "offset_deg": 11.15, + "tier": "primary", + "dev_deg_median": 19.28, + "wrist_pos_err_mm_median": 324.7 + } + }, + "frames_by_state": { + "ace_sample": 8288, + "interpolated": 3308, + "mean_hand": 3888, + "no_body_fit": 0 + }, + "observed_fraction": 0.7489, + "observed_fraction_of_valid": 0.7489, + "palm_axis_vs_markers_deg": { + "gsi": 16.96, + "smplx": 0.49 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.5, + "p90": 8.0 + }, + "registered": { + "median": 4.4, + "p90": 7.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:49:32.338105+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/DR03/session_007", "family": "dynamic_recovery", diff --git a/actions/dynamic_recovery/DR03/session_007/motions/smplx.npz b/actions/dynamic_recovery/DR03/session_007/motions/smplx.npz index 3446dd790c4d093324163de18888e679a7762fa4..316cad038af120cfd24330c3f6c052f587ddd623 100644 --- a/actions/dynamic_recovery/DR03/session_007/motions/smplx.npz +++ b/actions/dynamic_recovery/DR03/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ceb93565eebec96fe39f00d83a7206e21848ec8a58c2d4d48e5b73d75b5b6607 -size 5953249 +oid sha256:356d85a2718eca549757b4fca448f40ed888e843be088c880523ae74630a9f46 +size 10555498 diff --git a/actions/dynamic_recovery/DR04/session_007/meta.json b/actions/dynamic_recovery/DR04/session_007/meta.json index 13e31f8e8ef14a210b2340776b49c3231c0dc68c..f7bf52b393e9d10d4dd10c93c02a46aa14d2ba1e 100644 --- a/actions/dynamic_recovery/DR04/session_007/meta.json +++ b/actions/dynamic_recovery/DR04/session_007/meta.json @@ -329,8 +329,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -398,12 +398,23 @@ "Q_rotvec": [ 2.99022, -0.44902, - -0.85238 + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 177.0, - "opposite_sign_bend_deg": 18.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2524, + "inlier_frac": 0.687, + "inlier_spread_deg": 15.31, + "marker_Q_to_gsi_deg": { + "1": 144.6, + "-1": 36.2 + } + }, + "wrist_bend_deg_median": 165.4, + "opposite_sign_bend_deg": 29.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.29, "hand_vs_marker_frame_deg": { "before": 179.69, @@ -414,15 +425,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 165.39, + "twist_moved_deg": -164.76, "wrist_twist_deg_after": { - "median": 11.82, + "median": -0.63, "iqr": [ - 0.2, - 14.7 + -5.3, + 0.9 ] }, - "wrist_total_deg_median_after": 29.7, + "wrist_total_deg_median_after": 18.7, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -433,19 +444,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -2.99225, + -0.43169, + -0.85422 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 27.4, - "opposite_sign_bend_deg": 164.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.756, + "inlier_spread_deg": 14.53, + "marker_Q_to_gsi_deg": { + "1": 152.1, + "-1": 28.2 + } + }, + "wrist_bend_deg_median": 171.0, + "opposite_sign_bend_deg": 22.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.56, "hand_vs_marker_frame_deg": { - "before": 1.56, + "before": 179.51, "after": 1.56 }, "markers_on_wrist": [ @@ -455,22 +477,22 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -15.89, + "twist_moved_deg": 165.19, "wrist_twist_deg_after": { - "median": -0.0, + "median": 13.61, "iqr": [ - -9.0, - 9.4 + 4.9, + 22.1 ] }, - "wrist_total_deg_median_after": 22.6, + "wrist_total_deg_median_after": 19.3, "markers_on_forearm": [ "RWristOut" ] }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:18:16.769175+00:00", + "generated_at_utc": "2026-11-06T13:46:43.442699+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -514,6 +536,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.2040817169788882 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 23.42, + "offset_rotvec": [ + 0.3978, + -0.0859, + 0.0376 + ], + "dev_deg": { + "median": 24.54, + "p90": 52.54 + }, + "samples": 2524, + "accepted": 1785, + "wrist_pos_err_mm_median": 233.8, + "per_camera": { + "head": { + "samples": 2524, + "accepted": 1785, + "gate_deg": 30.0, + "offset_deg": 23.42, + "tier": "primary", + "dev_deg_median": 24.54, + "wrist_pos_err_mm_median": 233.8 + } + }, + "frames_by_state": { + "ace_sample": 7268, + "interpolated": 3048, + "mean_hand": 5146, + "no_body_fit": 22 + }, + "observed_fraction": 0.6662, + "observed_fraction_of_valid": 0.6672, + "palm_axis_vs_markers_deg": { + "gsi": 40.9, + "smplx": 1.56 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.5, + "p90": 10.0 + }, + "registered": { + "median": 9.8, + "p90": 10.7 + } + } + }, + "right": { + "offset_deg": 9.73, + "offset_rotvec": [ + -0.0039, + 0.062, + 0.1579 + ], + "dev_deg": { + "median": 29.28, + "p90": 61.78 + }, + "samples": 3285, + "accepted": 1674, + "wrist_pos_err_mm_median": 317.8, + "per_camera": { + "head": { + "samples": 3285, + "accepted": 1674, + "gate_deg": 30.0, + "offset_deg": 9.73, + "tier": "primary", + "dev_deg_median": 29.28, + "wrist_pos_err_mm_median": 317.8 + } + }, + "frames_by_state": { + "ace_sample": 6786, + "interpolated": 2778, + "mean_hand": 5898, + "no_body_fit": 22 + }, + "observed_fraction": 0.6177, + "observed_fraction_of_valid": 0.6185, + "palm_axis_vs_markers_deg": { + "gsi": 31.36, + "smplx": 1.06 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.8, + "p90": 5.7 + }, + "registered": { + "median": 3.4, + "p90": 4.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:49:36.041152+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/DR04/session_007", "family": "dynamic_recovery", diff --git a/actions/dynamic_recovery/DR04/session_007/motions/smplx.npz b/actions/dynamic_recovery/DR04/session_007/motions/smplx.npz index 8b166edb1fefbafaa5d62fc5b55f0b986e654540..60cf1ac811793b8dc28cfcaa616562914fd2739d 100644 --- a/actions/dynamic_recovery/DR04/session_007/motions/smplx.npz +++ b/actions/dynamic_recovery/DR04/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d0cfb3d16342dcda58ae53facfbedeaad86c27795dbfa331fb6a8348e1d067a8 -size 5942818 +oid sha256:54fc1dc4802749a935fedc6609a85c75b2ef6bd940746bf11505b7a4d897f14c +size 9641855 diff --git a/actions/dynamic_recovery/DR05/session_006/meta.json b/actions/dynamic_recovery/DR05/session_006/meta.json index f795877d508d8035df0038e16f4ec5924fb4be4a..095ce5588761e6fcaf4275642d4fc89c3e51fd78 100644 --- a/actions/dynamic_recovery/DR05/session_006/meta.json +++ b/actions/dynamic_recovery/DR05/session_006/meta.json @@ -394,12 +394,23 @@ "Q_rotvec": [ 2.99022, -0.44902, - -0.85238 + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 171.5, - "opposite_sign_bend_deg": 24.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.764, + "inlier_spread_deg": 8.05, + "marker_Q_to_gsi_deg": { + "1": 144.3, + "-1": 36.2 + } + }, + "wrist_bend_deg_median": 170.9, + "opposite_sign_bend_deg": 24.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.18, "hand_vs_marker_frame_deg": { "before": 177.08, @@ -410,15 +421,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 171.04, + "twist_moved_deg": -170.65, "wrist_twist_deg_after": { - "median": 4.35, + "median": -0.39, "iqr": [ - 0.3, - 18.0 + -4.5, + 17.4 ] }, - "wrist_total_deg_median_after": 24.8, + "wrist_total_deg_median_after": 24.4, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -431,11 +442,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ + 0.0, -0.0, - -0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.608, + "inlier_spread_deg": 17.12, + "marker_Q_to_gsi_deg": { + "1": 31.7, + "-1": 149.2 + } + }, "wrist_bend_deg_median": 24.0, "opposite_sign_bend_deg": 162.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -449,9 +471,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -82.5, 13.9 @@ -465,7 +487,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:18:17.385375+00:00", + "generated_at_utc": "2026-11-06T13:46:42.535868+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/dynamic_recovery/DR05/session_006/motions/smplx.npz b/actions/dynamic_recovery/DR05/session_006/motions/smplx.npz index d9c27358c9ee170150b5de83036f66c080d530ce..b6651c3d2ff3e9cfbb4941c229eb8413af92bab0 100644 --- a/actions/dynamic_recovery/DR05/session_006/motions/smplx.npz +++ b/actions/dynamic_recovery/DR05/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fe6fff6f3746995b68cb2b3bcfe87d44136f691c2d02328c85badeee121b648b -size 5894610 +oid sha256:d18bfbb0c5f45962b9079f1e2072a2acb3abb60820b503edeee0b21aa19636f0 +size 5890583 diff --git a/actions/dynamic_recovery/DR06/session_005/meta.json b/actions/dynamic_recovery/DR06/session_005/meta.json index db5ea85eb2040bc31f83d3326a340487a451f255..4a8ba930b2712410232e127cc24c44b1bc1fd560 100644 --- a/actions/dynamic_recovery/DR06/session_005/meta.json +++ b/actions/dynamic_recovery/DR06/session_005/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": { @@ -398,14 +398,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 177.7, - "opposite_sign_bend_deg": 30.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.973, + "inlier_spread_deg": 8.1, + "marker_Q_to_gsi_deg": { + "1": 173.6, + "-1": 10.0 + } + }, + "wrist_bend_deg_median": 174.7, + "opposite_sign_bend_deg": 12.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.03, "hand_vs_marker_frame_deg": { "before": 179.01, @@ -416,15 +427,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 174.34, + "twist_moved_deg": -173.31, "wrist_twist_deg_after": { - "median": 4.02, + "median": -1.03, "iqr": [ - 1.1, - 6.1 + -3.2, + 1.0 ] }, - "wrist_total_deg_median_after": 12.4, + "wrist_total_deg_median_after": 29.6, "markers_on_forearm": [ "LUArmHigh", "LElbow", @@ -438,11 +449,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2872, + "inlier_frac": 0.923, + "inlier_spread_deg": 9.97, + "marker_Q_to_gsi_deg": { + "1": 12.4, + "-1": 177.4 + } + }, "wrist_bend_deg_median": 22.3, "opposite_sign_bend_deg": 177.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -473,7 +495,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:24:51.302672+00:00", + "generated_at_utc": "2026-11-06T13:54:04.935687+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -517,6 +539,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0310092117093468 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 4.86, + "offset_rotvec": [ + -0.0201, + 0.0353, + 0.0745 + ], + "dev_deg": { + "median": 10.33, + "p90": 20.19 + }, + "samples": 3047, + "accepted": 2937, + "wrist_pos_err_mm_median": 167.7, + "per_camera": { + "head": { + "samples": 3047, + "accepted": 2937, + "gate_deg": 30.0, + "offset_deg": 4.86, + "tier": "primary", + "dev_deg_median": 10.33, + "wrist_pos_err_mm_median": 167.7 + } + }, + "frames_by_state": { + "ace_sample": 11855, + "interpolated": 1648, + "mean_hand": 2573, + "no_body_fit": 8 + }, + "observed_fraction": 0.8395, + "observed_fraction_of_valid": 0.8399, + "palm_axis_vs_markers_deg": { + "gsi": 8.76, + "smplx": 1.44 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.0, + "p90": 15.9 + }, + "registered": { + "median": 10.4, + "p90": 17.1 + } + } + }, + "right": { + "offset_deg": 10.07, + "offset_rotvec": [ + 0.0047, + -0.1494, + -0.0925 + ], + "dev_deg": { + "median": 12.53, + "p90": 30.87 + }, + "samples": 2872, + "accepted": 2572, + "wrist_pos_err_mm_median": 129.7, + "per_camera": { + "head": { + "samples": 2872, + "accepted": 2572, + "gate_deg": 30.0, + "offset_deg": 10.07, + "tier": "primary", + "dev_deg_median": 12.53, + "wrist_pos_err_mm_median": 129.7 + } + }, + "frames_by_state": { + "ace_sample": 10507, + "interpolated": 2552, + "mean_hand": 3017, + "no_body_fit": 8 + }, + "observed_fraction": 0.8119, + "observed_fraction_of_valid": 0.8123, + "palm_axis_vs_markers_deg": { + "gsi": 9.33, + "smplx": 1.64 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.3, + "p90": 10.8 + }, + "registered": { + "median": 8.0, + "p90": 10.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:04:47.045403+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/DR06/session_005", "family": "dynamic_recovery", diff --git a/actions/dynamic_recovery/DR06/session_005/motions/smplx.npz b/actions/dynamic_recovery/DR06/session_005/motions/smplx.npz index f3070a897fcfd9197f74f398e559c481877ebca0..ea22769cf216048dd0f6cd37be405b7398e1841b 100644 --- a/actions/dynamic_recovery/DR06/session_005/motions/smplx.npz +++ b/actions/dynamic_recovery/DR06/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2512ab53382a1fe42dbb7ac1116850d8bc1b29c80c6949afc3b237abcc65ee01 -size 6130675 +oid sha256:27999d3027025ca0166004c2403f7168443eb34db234942acaabc1c2d3b27cb8 +size 10908554 diff --git a/actions/dynamic_recovery/DR07/session_006/meta.json b/actions/dynamic_recovery/DR07/session_006/meta.json index 6827c2a4c6dc1e5b4ad6be8069215aa7a65642cc..157505c8b716c461e37faaff35e94443af7a96d0 100644 --- a/actions/dynamic_recovery/DR07/session_006/meta.json +++ b/actions/dynamic_recovery/DR07/session_006/meta.json @@ -330,8 +330,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -394,12 +394,23 @@ "Q_rotvec": [ 2.99022, -0.44902, - -0.85238 + -0.85237 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 173.0, - "opposite_sign_bend_deg": 29.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.822, + "inlier_spread_deg": 10.65, + "marker_Q_to_gsi_deg": { + "1": 144.1, + "-1": 36.1 + } + }, + "wrist_bend_deg_median": 173.1, + "opposite_sign_bend_deg": 25.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.56, "hand_vs_marker_frame_deg": { "before": 179.07, @@ -410,15 +421,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 172.94, + "twist_moved_deg": -172.91, "wrist_twist_deg_after": { - "median": 0.98, + "median": -0.03, "iqr": [ - -0.5, - 3.8 + -1.2, + 2.4 ] }, - "wrist_total_deg_median_after": 25.0, + "wrist_total_deg_median_after": 29.5, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -431,11 +442,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, + 0.0, -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.781, + "inlier_spread_deg": 14.08, + "marker_Q_to_gsi_deg": { + "1": 29.7, + "-1": 151.3 + } + }, "wrist_bend_deg_median": 22.1, "opposite_sign_bend_deg": 175.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -449,7 +471,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -465,7 +487,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:18:17.926328+00:00", + "generated_at_utc": "2026-11-06T13:46:46.862117+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -509,6 +531,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.245420632395668 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 18.25, + "offset_rotvec": [ + 0.301, + -0.0881, + 0.0558 + ], + "dev_deg": { + "median": 23.3, + "p90": 167.3 + }, + "samples": 3443, + "accepted": 2380, + "wrist_pos_err_mm_median": 298.4, + "per_camera": { + "head": { + "samples": 3443, + "accepted": 2380, + "gate_deg": 30.0, + "offset_deg": 18.25, + "tier": "primary", + "dev_deg_median": 23.3, + "wrist_pos_err_mm_median": 298.4 + } + }, + "frames_by_state": { + "ace_sample": 9666, + "interpolated": 2050, + "mean_hand": 3760, + "no_body_fit": 8 + }, + "observed_fraction": 0.7567, + "observed_fraction_of_valid": 0.757, + "palm_axis_vs_markers_deg": { + "gsi": 37.41, + "smplx": 0.99 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.6, + "p90": 9.1 + }, + "registered": { + "median": 8.1, + "p90": 10.1 + } + } + }, + "right": { + "offset_deg": 9.7, + "offset_rotvec": [ + 0.0247, + 0.0217, + 0.1661 + ], + "dev_deg": { + "median": 30.12, + "p90": 64.57 + }, + "samples": 3049, + "accepted": 1517, + "wrist_pos_err_mm_median": 328.6, + "per_camera": { + "head": { + "samples": 3049, + "accepted": 1517, + "gate_deg": 30.0, + "offset_deg": 9.7, + "tier": "primary", + "dev_deg_median": 30.12, + "wrist_pos_err_mm_median": 328.6 + } + }, + "frames_by_state": { + "ace_sample": 6134, + "interpolated": 2112, + "mean_hand": 7230, + "no_body_fit": 8 + }, + "observed_fraction": 0.5325, + "observed_fraction_of_valid": 0.5328, + "palm_axis_vs_markers_deg": { + "gsi": 33.58, + "smplx": 2.04 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.2, + "p90": 5.7 + }, + "registered": { + "median": 4.4, + "p90": 5.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:49:27.538117+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/DR07/session_006", "family": "dynamic_recovery", diff --git a/actions/dynamic_recovery/DR07/session_006/motions/smplx.npz b/actions/dynamic_recovery/DR07/session_006/motions/smplx.npz index ddbe6bffb3f74ae7237d9a249a3e5f383aca52d6..bca168f19c4f1f49430fae4614dc546d8f1770c0 100644 --- a/actions/dynamic_recovery/DR07/session_006/motions/smplx.npz +++ b/actions/dynamic_recovery/DR07/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f943f32929d1966c3fcd3297b060cd9666cc4d20df8c12a6cc507606f2a3d4c4 -size 5898873 +oid sha256:420e15f14e3bc408bc3b889aaeb601ed69a8c952d5bf80771ae6827ff8c812df +size 9473201 diff --git a/actions/dynamic_recovery/DR08/session_001/meta.json b/actions/dynamic_recovery/DR08/session_001/meta.json index 9411dafbdd81793c8684c0426b064c8534379b3d..b4d6d9841fe01934205015ad6888d85acb04f2da 100644 --- a/actions/dynamic_recovery/DR08/session_001/meta.json +++ b/actions/dynamic_recovery/DR08/session_001/meta.json @@ -340,8 +340,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -406,10 +406,21 @@ 0.26943, 0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 176.1, - "opposite_sign_bend_deg": 14.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.992, + "inlier_spread_deg": 7.36, + "marker_Q_to_gsi_deg": { + "1": 173.3, + "-1": 9.8 + } + }, + "wrist_bend_deg_median": 174.9, + "opposite_sign_bend_deg": 31.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.13, "hand_vs_marker_frame_deg": { "before": 179.61, @@ -420,15 +431,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 175.04, + "twist_moved_deg": -174.32, "wrist_twist_deg_after": { - "median": 1.18, + "median": -0.72, "iqr": [ - -1.1, - 3.6 + -2.9, + 1.6 ] }, - "wrist_total_deg_median_after": 31.6, + "wrist_total_deg_median_after": 14.3, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -441,11 +452,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, - -0.0, + 0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.996, + "inlier_spread_deg": 3.26, + "marker_Q_to_gsi_deg": { + "1": 6.8, + "-1": 179.3 + } + }, "wrist_bend_deg_median": 16.0, "opposite_sign_bend_deg": 176.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -459,7 +481,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -476,7 +498,7 @@ }, "frames_used": 1428 }, - "generated_at_utc": "2026-10-28T06:14:33.352368+00:00", + "generated_at_utc": "2026-11-06T13:34:48.347585+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -520,6 +542,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.9622988053410038 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.71, + "offset_rotvec": [ + -0.1215, + -0.113, + 0.0346 + ], + "dev_deg": { + "median": 7.35, + "p90": 15.78 + }, + "samples": 3402, + "accepted": 3379, + "wrist_pos_err_mm_median": 54.4, + "per_camera": { + "head": { + "samples": 3402, + "accepted": 3379, + "gate_deg": 30.0, + "offset_deg": 9.71, + "tier": "primary", + "dev_deg_median": 7.35, + "wrist_pos_err_mm_median": 54.4 + } + }, + "frames_by_state": { + "ace_sample": 13550, + "interpolated": 602, + "mean_hand": 124, + "no_body_fit": 8 + }, + "observed_fraction": 0.9908, + "observed_fraction_of_valid": 0.9913, + "palm_axis_vs_markers_deg": { + "gsi": 10.52, + "smplx": 0.72 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.3, + "p90": 11.3 + }, + "registered": { + "median": 10.1, + "p90": 10.9 + } + } + }, + "right": { + "offset_deg": 6.83, + "offset_rotvec": [ + -0.0314, + -0.0521, + 0.1024 + ], + "dev_deg": { + "median": 3.27, + "p90": 7.62 + }, + "samples": 3405, + "accepted": 3391, + "wrist_pos_err_mm_median": 37.5, + "per_camera": { + "head": { + "samples": 3405, + "accepted": 3391, + "gate_deg": 30.0, + "offset_deg": 6.83, + "tier": "primary", + "dev_deg_median": 3.27, + "wrist_pos_err_mm_median": 37.5 + } + }, + "frames_by_state": { + "ace_sample": 13580, + "interpolated": 376, + "mean_hand": 320, + "no_body_fit": 8 + }, + "observed_fraction": 0.977, + "observed_fraction_of_valid": 0.9776, + "palm_axis_vs_markers_deg": { + "gsi": 6.65, + "smplx": 0.65 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.8, + "p90": 11.5 + }, + "registered": { + "median": 8.6, + "p90": 10.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:23:30.742924+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/DR08/session_001", "family": "dynamic_recovery", diff --git a/actions/dynamic_recovery/DR08/session_001/motions/smplx.npz b/actions/dynamic_recovery/DR08/session_001/motions/smplx.npz index d445439dfba6cc87eec543dfb8e3972ea1e625f4..6178019d0fcf2b9770d43a7dfed0c0e0223f074a 100644 --- a/actions/dynamic_recovery/DR08/session_001/motions/smplx.npz +++ b/actions/dynamic_recovery/DR08/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ee0b4decb03f0dfbbb3606b763239b949fde8c40f0df906d329c1a87b84f376c -size 5496918 +oid sha256:3998f572384647e4cc119a6b2479e3a8c14126881bd01457d4fdfd2d44cfd7e1 +size 10243023 diff --git a/actions/dynamic_recovery/DR09/session_001/meta.json b/actions/dynamic_recovery/DR09/session_001/meta.json index ee91966a7061c43e508e01c0ac8c269c595b2ce4..dfb013e5c622396180bdef1e827cf42cc6007083 100644 --- a/actions/dynamic_recovery/DR09/session_001/meta.json +++ b/actions/dynamic_recovery/DR09/session_001/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -394,10 +394,21 @@ 0.26943, 0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 176.1, - "opposite_sign_bend_deg": 14.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.984, + "inlier_spread_deg": 8.58, + "marker_Q_to_gsi_deg": { + "1": 174.7, + "-1": 10.8 + } + }, + "wrist_bend_deg_median": 174.9, + "opposite_sign_bend_deg": 31.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.14, "hand_vs_marker_frame_deg": { "before": 179.5, @@ -408,15 +419,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 175.11, + "twist_moved_deg": -174.27, "wrist_twist_deg_after": { - "median": 0.99, + "median": -0.84, "iqr": [ - -1.6, - 3.2 + -3.2, + 1.2 ] }, - "wrist_total_deg_median_after": 31.2, + "wrist_total_deg_median_after": 14.3, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -430,10 +441,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.952, + "inlier_spread_deg": 6.24, + "marker_Q_to_gsi_deg": { + "1": 7.4, + "-1": 179.5 + } + }, "wrist_bend_deg_median": 16.2, "opposite_sign_bend_deg": 176.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -449,7 +471,7 @@ "forearm_twist": { "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -1.2, 1.3 @@ -464,7 +486,7 @@ }, "frames_used": 1428 }, - "generated_at_utc": "2026-10-28T06:14:33.702776+00:00", + "generated_at_utc": "2026-11-06T13:34:54.735447+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -508,6 +530,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.2803915253522073 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.67, + "offset_rotvec": [ + -0.0963, + -0.1537, + 0.0422 + ], + "dev_deg": { + "median": 8.68, + "p90": 18.12 + }, + "samples": 3140, + "accepted": 3091, + "wrist_pos_err_mm_median": 60.1, + "per_camera": { + "head": { + "samples": 3140, + "accepted": 3091, + "gate_deg": 30.0, + "offset_deg": 10.67, + "tier": "primary", + "dev_deg_median": 8.68, + "wrist_pos_err_mm_median": 60.1 + } + }, + "frames_by_state": { + "ace_sample": 12492, + "interpolated": 1660, + "mean_hand": 124, + "no_body_fit": 8 + }, + "observed_fraction": 0.9908, + "observed_fraction_of_valid": 0.9913, + "palm_axis_vs_markers_deg": { + "gsi": 10.94, + "smplx": 0.8 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.8, + "p90": 10.6 + }, + "registered": { + "median": 9.5, + "p90": 10.4 + } + } + }, + "right": { + "offset_deg": 7.11, + "offset_rotvec": [ + -0.032, + 0.0464, + 0.1107 + ], + "dev_deg": { + "median": 6.46, + "p90": 17.33 + }, + "samples": 3434, + "accepted": 3270, + "wrist_pos_err_mm_median": 55.1, + "per_camera": { + "head": { + "samples": 3434, + "accepted": 3270, + "gate_deg": 30.0, + "offset_deg": 7.11, + "tier": "primary", + "dev_deg_median": 6.46, + "wrist_pos_err_mm_median": 55.1 + } + }, + "frames_by_state": { + "ace_sample": 13134, + "interpolated": 614, + "mean_hand": 528, + "no_body_fit": 8 + }, + "observed_fraction": 0.9625, + "observed_fraction_of_valid": 0.963, + "palm_axis_vs_markers_deg": { + "gsi": 5.8, + "smplx": 0.75 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.5, + "p90": 11.0 + }, + "registered": { + "median": 7.3, + "p90": 10.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:23:14.643902+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/DR09/session_001", "family": "dynamic_recovery", diff --git a/actions/dynamic_recovery/DR09/session_001/motions/smplx.npz b/actions/dynamic_recovery/DR09/session_001/motions/smplx.npz index 8ea9b65bb2cd6a100110720049b95bee1b7337cc..5fb431cfd56c7bd50690e68586b067260307f74b 100644 --- a/actions/dynamic_recovery/DR09/session_001/motions/smplx.npz +++ b/actions/dynamic_recovery/DR09/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a331e54198bec90b15b08ced5add4ff259d9bc9be577ab8ea3a82984602acf19 -size 5506076 +oid sha256:4f7d6643a501f88fbcefeec42befe5e248e8655fc69ab80f7adde71da6127a9b +size 10225726 diff --git a/actions/dynamic_recovery/DR09/session_002/meta.json b/actions/dynamic_recovery/DR09/session_002/meta.json index a9b672042cb7bf7ca71c4c8c979d3ab44900e9a7..076f6156ab5de0345fdec8d2863b2b6c1ead376d 100644 --- a/actions/dynamic_recovery/DR09/session_002/meta.json +++ b/actions/dynamic_recovery/DR09/session_002/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": { @@ -390,10 +390,21 @@ 0.26943, 0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 174.9, - "opposite_sign_bend_deg": 15.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2452, + "inlier_frac": 0.91, + "inlier_spread_deg": 15.18, + "marker_Q_to_gsi_deg": { + "1": 176.6, + "-1": 19.3 + } + }, + "wrist_bend_deg_median": 173.3, + "opposite_sign_bend_deg": 36.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.8, "hand_vs_marker_frame_deg": { "before": 179.45, @@ -404,15 +415,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 173.46, + "twist_moved_deg": -172.95, "wrist_twist_deg_after": { - "median": 1.84, + "median": -0.52, "iqr": [ - -1.0, - 5.1 + -2.9, + 2.1 ] }, - "wrist_total_deg_median_after": 36.2, + "wrist_total_deg_median_after": 16.0, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -426,10 +437,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - -0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.933, + "inlier_spread_deg": 10.17, + "marker_Q_to_gsi_deg": { + "1": 10.2, + "-1": 178.4 + } + }, "wrist_bend_deg_median": 15.9, "opposite_sign_bend_deg": 176.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -461,7 +483,7 @@ }, "frames_used": 1428 }, - "generated_at_utc": "2026-10-28T06:14:34.097871+00:00", + "generated_at_utc": "2026-11-06T13:35:01.852282+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -505,6 +527,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1470888848706793 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 25.7, + "offset_rotvec": [ + 0.1899, + -0.3213, + 0.2489 + ], + "dev_deg": { + "median": 17.18, + "p90": 30.95 + }, + "samples": 2452, + "accepted": 2156, + "wrist_pos_err_mm_median": 184.0, + "per_camera": { + "head": { + "samples": 2452, + "accepted": 2156, + "gate_deg": 30.0, + "offset_deg": 25.7, + "tier": "primary", + "dev_deg_median": 17.18, + "wrist_pos_err_mm_median": 184.0 + } + }, + "frames_by_state": { + "ace_sample": 8956, + "interpolated": 4788, + "mean_hand": 532, + "no_body_fit": 8 + }, + "observed_fraction": 0.9622, + "observed_fraction_of_valid": 0.9627, + "palm_axis_vs_markers_deg": { + "gsi": 19.54, + "smplx": 0.97 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.6, + "p90": 15.7 + }, + "registered": { + "median": 10.2, + "p90": 16.0 + } + } + }, + "right": { + "offset_deg": 9.61, + "offset_rotvec": [ + -0.042, + 0.144, + 0.0753 + ], + "dev_deg": { + "median": 11.1, + "p90": 24.36 + }, + "samples": 3201, + "accepted": 3002, + "wrist_pos_err_mm_median": 106.7, + "per_camera": { + "head": { + "samples": 3201, + "accepted": 3002, + "gate_deg": 30.0, + "offset_deg": 9.61, + "tier": "primary", + "dev_deg_median": 11.1, + "wrist_pos_err_mm_median": 106.7 + } + }, + "frames_by_state": { + "ace_sample": 12199, + "interpolated": 1480, + "mean_hand": 597, + "no_body_fit": 8 + }, + "observed_fraction": 0.9576, + "observed_fraction_of_valid": 0.9582, + "palm_axis_vs_markers_deg": { + "gsi": 9.58, + "smplx": 0.66 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.9, + "p90": 9.2 + }, + "registered": { + "median": 6.9, + "p90": 8.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:23:30.239576+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/DR09/session_002", "family": "dynamic_recovery", diff --git a/actions/dynamic_recovery/DR09/session_002/motions/smplx.npz b/actions/dynamic_recovery/DR09/session_002/motions/smplx.npz index d3685eb9a5683f3682ca7517d7b1afa82b0121e1..22c63d8b50fe37b71d9469d2ff52b6138476043a 100644 --- a/actions/dynamic_recovery/DR09/session_002/motions/smplx.npz +++ b/actions/dynamic_recovery/DR09/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3263c905a40d2447f64c55a5374d1a94d18b8df0e98bfeb2331a1d06da476613 -size 5510354 +oid sha256:02c25460f0ecf72eeb10c7b37b68d2f30d3f7b9c9eb0744e4606027e4c1ce746 +size 10166288 diff --git a/actions/dynamic_recovery/DR09/session_010/meta.json b/actions/dynamic_recovery/DR09/session_010/meta.json index 3ff7effbf2820e700d71e5afe7b394c1dd0ca8ff..625950d3dc463f938567819a15407de00d7bbd20 100644 --- a/actions/dynamic_recovery/DR09/session_010/meta.json +++ b/actions/dynamic_recovery/DR09/session_010/meta.json @@ -316,8 +316,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -383,14 +383,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 2.98163, + 2.98164, -0.44128, - -0.88585 + -0.88584 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 175.6, - "opposite_sign_bend_deg": 10.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.649, + "inlier_spread_deg": 12.04, + "marker_Q_to_gsi_deg": { + "1": 152.1, + "-1": 35.5 + } + }, + "wrist_bend_deg_median": 166.3, + "opposite_sign_bend_deg": 36.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.98, "hand_vs_marker_frame_deg": { "before": 177.7, @@ -401,15 +412,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 166.5, + "twist_moved_deg": -166.03, "wrist_twist_deg_after": { - "median": 12.81, + "median": -0.47, "iqr": [ - 10.0, - 130.5 + -3.1, + 116.3 ] }, - "wrist_total_deg_median_after": 36.1, + "wrist_total_deg_median_after": 10.2, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -422,11 +433,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, -0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.956, + "inlier_spread_deg": 7.39, + "marker_Q_to_gsi_deg": { + "1": 22.1, + "-1": 158.6 + } + }, "wrist_bend_deg_median": 21.2, "opposite_sign_bend_deg": 176.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -441,9 +463,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -1.3, 1.4 @@ -458,10 +480,120 @@ }, "frames_used": 1498 }, - "generated_at_utc": "2026-10-28T06:40:09.242512+00:00", + "generated_at_utc": "2026-11-06T14:04:28.870832+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 36.29, + "offset_rotvec": [ + 0.5894, + -0.066, + 0.2224 + ], + "dev_deg": { + "median": 18.89, + "p90": 172.96 + }, + "samples": 3459, + "accepted": 2261, + "wrist_pos_err_mm_median": 33.9, + "per_camera": { + "head": { + "samples": 3459, + "accepted": 2261, + "gate_deg": 30.0, + "offset_deg": 36.29, + "tier": "primary", + "dev_deg_median": 18.89, + "wrist_pos_err_mm_median": 33.9 + } + }, + "frames_by_state": { + "ace_sample": 9128, + "interpolated": 1144, + "mean_hand": 4702, + "no_body_fit": 6 + }, + "observed_fraction": 0.6857, + "observed_fraction_of_valid": 0.686, + "palm_axis_vs_markers_deg": { + "gsi": 35.83, + "smplx": 2.33 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.4, + "p90": 22.1 + }, + "registered": { + "median": 12.2, + "p90": 20.9 + } + } + }, + "right": { + "offset_deg": 21.6, + "offset_rotvec": [ + 0.3493, + -0.0489, + 0.133 + ], + "dev_deg": { + "median": 7.5, + "p90": 20.24 + }, + "samples": 3213, + "accepted": 3070, + "wrist_pos_err_mm_median": 63.0, + "per_camera": { + "head": { + "samples": 3213, + "accepted": 3070, + "gate_deg": 30.0, + "offset_deg": 21.6, + "tier": "primary", + "dev_deg_median": 7.5, + "wrist_pos_err_mm_median": 63.0 + } + }, + "frames_by_state": { + "ace_sample": 12414, + "interpolated": 2202, + "mean_hand": 358, + "no_body_fit": 6 + }, + "observed_fraction": 0.9757, + "observed_fraction_of_valid": 0.9761, + "palm_axis_vs_markers_deg": { + "gsi": 22.26, + "smplx": 0.69 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.4, + "p90": 18.5 + }, + "registered": { + "median": 13.4, + "p90": 16.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:26:32.942712+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/DR09/session_010", "family": "dynamic_recovery", diff --git a/actions/dynamic_recovery/DR09/session_010/motions/smplx.npz b/actions/dynamic_recovery/DR09/session_010/motions/smplx.npz index f02f78baca9d02f7332902f7ca101623147307b3..6c12052869b2ad5e693cf267fb4e7d38c00e2949 100644 --- a/actions/dynamic_recovery/DR09/session_010/motions/smplx.npz +++ b/actions/dynamic_recovery/DR09/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0c646e8bbbef2c6fa1ed9d9d456126dc7460afcd0f06ee41e51d1e615bf5e1a1 -size 5779900 +oid sha256:5289e478366a66a429cf7cf66267eadea47c91f0b8556c6368677fe50379d5cc +size 10005333 diff --git a/actions/dynamic_recovery/DR09/session_012/meta.json b/actions/dynamic_recovery/DR09/session_012/meta.json index 7eecfaec721fcfdc2726bed23137e7331237ba5d..9524f997bc01bb6ee7a9514cecb503c2975653a4 100644 --- a/actions/dynamic_recovery/DR09/session_012/meta.json +++ b/actions/dynamic_recovery/DR09/session_012/meta.json @@ -425,19 +425,26 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - -2.98839, - 0.43124, - 0.86786 + -0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 100.5, - "opposite_sign_bend_deg": 84.8, + "q_source": "markers (GSI not reliable)", + "gsi": { + "reliable": false, + "frames": 1859, + "inlier_frac": 0.345, + "inlier_spread_deg": 12.49 + }, + "wrist_bend_deg_median": 78.6, + "opposite_sign_bend_deg": 144.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 21.83, "hand_vs_marker_frame_deg": { - "before": 172.47, + "before": 21.83, "after": 21.83 }, "markers_on_wrist": [ @@ -445,15 +452,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -89.61, + "twist_moved_deg": -10.65, "wrist_twist_deg_after": { - "median": -10.65, + "median": -31.82, "iqr": [ - -42.3, - 169.5 + -169.4, + -0.0 ] }, - "wrist_total_deg_median_after": 83.4, + "wrist_total_deg_median_after": 76.7, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -467,10 +474,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1833, + "inlier_frac": 0.932, + "inlier_spread_deg": 9.22, + "marker_Q_to_gsi_deg": { + "1": 25.8, + "-1": 154.3 + } + }, "wrist_bend_deg_median": 16.4, "opposite_sign_bend_deg": 176.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -501,7 +519,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:44:36.612655+00:00", + "generated_at_utc": "2026-11-06T14:09:44.654846+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/dynamic_recovery/DR09/session_012/motions/smplx.npz b/actions/dynamic_recovery/DR09/session_012/motions/smplx.npz index 593e1da2e4ec1b4eacd235268f46d6fb385a76fe..bca476ff51ecb650ec2ded9f2e20aa79f1df763e 100644 --- a/actions/dynamic_recovery/DR09/session_012/motions/smplx.npz +++ b/actions/dynamic_recovery/DR09/session_012/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0c1a01344830a7d1e0cdc41fe5ed5b305fb62bbcc3772180215d6497482c9089 -size 5932872 +oid sha256:c8dc8efb2e1f8509f17b6b383ae5133d0975dd099f49026696bb1d2ad76e4473 +size 5933816 diff --git a/actions/dynamic_recovery/DR13/session_003/meta.json b/actions/dynamic_recovery/DR13/session_003/meta.json index 9e704a4247a8701720b8e0a9a4169f0718f891f5..6c2fbfffca75518696569765c1c610b607b94320 100644 --- a/actions/dynamic_recovery/DR13/session_003/meta.json +++ b/actions/dynamic_recovery/DR13/session_003/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": { @@ -390,19 +390,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - -2.98601, - 0.43444, - 0.87442 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 167.0, - "opposite_sign_bend_deg": 16.8, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.999, + "inlier_spread_deg": 4.18, + "marker_Q_to_gsi_deg": { + "1": 16.9, + "-1": 170.6 + } + }, + "wrist_bend_deg_median": 31.9, + "opposite_sign_bend_deg": 176.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.07, "hand_vs_marker_frame_deg": { - "before": 179.67, + "before": 1.07, "after": 1.07 }, "markers_on_wrist": [ @@ -411,9 +422,9 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -166.05, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -3.0, 2.1 @@ -429,19 +440,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + -2.98749, + -0.42128, + -0.87581 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 38.0, - "opposite_sign_bend_deg": 175.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.992, + "inlier_spread_deg": 9.28, + "marker_Q_to_gsi_deg": { + "1": 173.4, + "-1": 11.1 + } + }, + "wrist_bend_deg_median": 175.7, + "opposite_sign_bend_deg": 38.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.11, "hand_vs_marker_frame_deg": { - "before": 1.11, + "before": 179.46, "after": 1.11 }, "markers_on_wrist": [ @@ -449,15 +471,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 174.49, "wrist_twist_deg_after": { - "median": 0.0, + "median": 0.67, "iqr": [ - -1.6, - 2.9 + -1.1, + 2.8 ] }, - "wrist_total_deg_median_after": 38.0, + "wrist_total_deg_median_after": 17.2, "markers_on_forearm": [ "RElbowIn", "RForearm", @@ -467,7 +489,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:23:39.640779+00:00", + "generated_at_utc": "2026-11-06T13:52:25.557496+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -511,6 +533,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.7195367334765298 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 16.93, + "offset_rotvec": [ + 0.1103, + 0.1129, + -0.2497 + ], + "dev_deg": { + "median": 4.23, + "p90": 9.37 + }, + "samples": 4269, + "accepted": 4264, + "wrist_pos_err_mm_median": 20.8, + "per_camera": { + "head": { + "samples": 4269, + "accepted": 4264, + "gate_deg": 30.0, + "offset_deg": 16.93, + "tier": "primary", + "dev_deg_median": 4.23, + "wrist_pos_err_mm_median": 20.8 + } + }, + "frames_by_state": { + "ace_sample": 17058, + "interpolated": 14, + "mean_hand": 212, + "no_body_fit": 0 + }, + "observed_fraction": 0.9877, + "observed_fraction_of_valid": 0.9877, + "palm_axis_vs_markers_deg": { + "gsi": 13.57, + "smplx": 1.09 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.4, + "p90": 9.8 + }, + "registered": { + "median": 8.0, + "p90": 8.8 + } + } + }, + "right": { + "offset_deg": 11.56, + "offset_rotvec": [ + -0.1469, + 0.1371, + -0.0182 + ], + "dev_deg": { + "median": 9.31, + "p90": 18.62 + }, + "samples": 4191, + "accepted": 4161, + "wrist_pos_err_mm_median": 44.9, + "per_camera": { + "head": { + "samples": 4191, + "accepted": 4161, + "gate_deg": 30.0, + "offset_deg": 11.56, + "tier": "primary", + "dev_deg_median": 9.31, + "wrist_pos_err_mm_median": 44.9 + } + }, + "frames_by_state": { + "ace_sample": 16680, + "interpolated": 456, + "mean_hand": 148, + "no_body_fit": 0 + }, + "observed_fraction": 0.9914, + "observed_fraction_of_valid": 0.9914, + "palm_axis_vs_markers_deg": { + "gsi": 12.62, + "smplx": 0.93 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.4, + "p90": 5.8 + }, + "registered": { + "median": 6.3, + "p90": 7.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:00:18.740509+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/DR13/session_003", "family": "dynamic_recovery", diff --git a/actions/dynamic_recovery/DR13/session_003/motions/smplx.npz b/actions/dynamic_recovery/DR13/session_003/motions/smplx.npz index c64224cccb48933b224e3001c41419ab884ab02b..23f2d65eff517a5cdabb8e44acc553623cbc3508 100644 --- a/actions/dynamic_recovery/DR13/session_003/motions/smplx.npz +++ b/actions/dynamic_recovery/DR13/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c360292c756476edb96a66e622a516dde7a6b1e6bc6f61d6aedacfe5cd45053b -size 6638791 +oid sha256:6c209a61d286a8f862aad3dc6cec2b79e221150ef03078836fd1ac5ab97b990d +size 12400073 diff --git a/actions/dynamic_recovery/DR13/session_004/meta.json b/actions/dynamic_recovery/DR13/session_004/meta.json index 267baad1537e23c881f0d7d596696715a6f4b538..99be86e1d3fef49771e7f834f8fd5fc0a494972c 100644 --- a/actions/dynamic_recovery/DR13/session_004/meta.json +++ b/actions/dynamic_recovery/DR13/session_004/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": { @@ -392,14 +392,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 178.0, - "opposite_sign_bend_deg": 38.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 1.0, + "inlier_spread_deg": 5.46, + "marker_Q_to_gsi_deg": { + "1": 165.1, + "-1": 19.2 + } + }, + "wrist_bend_deg_median": 174.1, + "opposite_sign_bend_deg": 9.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.13, "hand_vs_marker_frame_deg": { "before": 179.72, @@ -410,15 +421,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 174.02, + "twist_moved_deg": -173.89, "wrist_twist_deg_after": { - "median": 4.22, + "median": -0.12, "iqr": [ - 0.7, - 6.4 + -2.2, + 1.8 ] }, - "wrist_total_deg_median_after": 9.9, + "wrist_total_deg_median_after": 40.1, "markers_on_forearm": [ "LElbow", "LForearm", @@ -437,6 +448,17 @@ 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.997, + "inlier_spread_deg": 3.67, + "marker_Q_to_gsi_deg": { + "1": 18.0, + "-1": 164.4 + } + }, "wrist_bend_deg_median": 28.8, "opposite_sign_bend_deg": 176.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -451,7 +473,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -467,7 +489,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:24:51.475356+00:00", + "generated_at_utc": "2026-11-06T13:54:19.342394+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -511,6 +533,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0121201919055296 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 19.24, + "offset_rotvec": [ + -0.246, + 0.2266, + 0.0292 + ], + "dev_deg": { + "median": 5.49, + "p90": 10.75 + }, + "samples": 4611, + "accepted": 4609, + "wrist_pos_err_mm_median": 39.2, + "per_camera": { + "head": { + "samples": 4611, + "accepted": 4609, + "gate_deg": 30.0, + "offset_deg": 19.24, + "tier": "primary", + "dev_deg_median": 5.49, + "wrist_pos_err_mm_median": 39.2 + } + }, + "frames_by_state": { + "ace_sample": 18440, + "interpolated": 32, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9994, + "observed_fraction_of_valid": 0.9994, + "palm_axis_vs_markers_deg": { + "gsi": 20.26, + "smplx": 0.58 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.3, + "p90": 10.1 + }, + "registered": { + "median": 7.6, + "p90": 9.9 + } + } + }, + "right": { + "offset_deg": 18.12, + "offset_rotvec": [ + -0.2463, + -0.1772, + -0.0888 + ], + "dev_deg": { + "median": 3.67, + "p90": 8.9 + }, + "samples": 4572, + "accepted": 4560, + "wrist_pos_err_mm_median": 35.2, + "per_camera": { + "head": { + "samples": 4572, + "accepted": 4560, + "gate_deg": 30.0, + "offset_deg": 18.12, + "tier": "primary", + "dev_deg_median": 3.67, + "wrist_pos_err_mm_median": 35.2 + } + }, + "frames_by_state": { + "ace_sample": 18256, + "interpolated": 216, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9994, + "observed_fraction_of_valid": 0.9994, + "palm_axis_vs_markers_deg": { + "gsi": 18.89, + "smplx": 0.74 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.4, + "p90": 14.3 + }, + "registered": { + "median": 9.7, + "p90": 13.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:04:38.143940+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/DR13/session_004", "family": "dynamic_recovery", diff --git a/actions/dynamic_recovery/DR13/session_004/motions/smplx.npz b/actions/dynamic_recovery/DR13/session_004/motions/smplx.npz index ebfd6a24a94fbdcba6f42904463d79119ab3f174..c44eac4e47a3dc53aa88470491112dc3ecfabdda 100644 --- a/actions/dynamic_recovery/DR13/session_004/motions/smplx.npz +++ b/actions/dynamic_recovery/DR13/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:47dea3dabb8f8e40d3edff8610e504065a48e7b63341c42d5fb2a571bcc2f3a2 -size 7087899 +oid sha256:aca064b2bb332282efab7166fdbdca2aec283ceeda29b9aa9608b6977fc350d1 +size 13272524 diff --git a/actions/dynamic_recovery/DR13/session_008/meta.json b/actions/dynamic_recovery/DR13/session_008/meta.json index ff3451fb803eafa91fc5f469564e3fb772cc6336..1da2af5660c9ebb6f19fb14e0cff8c96f0db397f 100644 --- a/actions/dynamic_recovery/DR13/session_008/meta.json +++ b/actions/dynamic_recovery/DR13/session_008/meta.json @@ -383,8 +383,8 @@ "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": { @@ -449,10 +449,21 @@ -0.44501, -0.87886 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 173.9, - "opposite_sign_bend_deg": 15.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 493, + "inlier_frac": 0.677, + "inlier_spread_deg": 14.18, + "marker_Q_to_gsi_deg": { + "1": 176.1, + "-1": 35.8 + } + }, + "wrist_bend_deg_median": 172.1, + "opposite_sign_bend_deg": 41.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.21, "hand_vs_marker_frame_deg": { "before": 179.38, @@ -463,15 +474,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -172.01, + "twist_moved_deg": 171.66, "wrist_twist_deg_after": { - "median": -3.13, + "median": 0.35, "iqr": [ - -7.4, - 0.6 + -3.3, + 3.1 ] }, - "wrist_total_deg_median_after": 41.1, + "wrist_total_deg_median_after": 15.3, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -484,11 +495,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ + -0.0, 0.0, - 0.0, - -0.0 + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 953, + "inlier_frac": 0.874, + "inlier_spread_deg": 15.67, + "marker_Q_to_gsi_deg": { + "1": 31.6, + "-1": 177.1 + } + }, "wrist_bend_deg_median": 23.1, "opposite_sign_bend_deg": 177.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -504,7 +526,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -2.0, 3.0 @@ -519,10 +541,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:37:51.595438+00:00", + "generated_at_utc": "2026-11-06T14:03:15.082418+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 39.52, + "offset_rotvec": [ + 0.5378, + 0.2485, + 0.3531 + ], + "dev_deg": { + "median": 31.33, + "p90": 47.59 + }, + "samples": 493, + "accepted": 231, + "wrist_pos_err_mm_median": 229.0, + "per_camera": { + "head": { + "samples": 493, + "accepted": 231, + "gate_deg": 30.0, + "offset_deg": 39.52, + "tier": "primary", + "dev_deg_median": 31.33, + "wrist_pos_err_mm_median": 229.0 + } + }, + "frames_by_state": { + "ace_sample": 846, + "interpolated": 620, + "mean_hand": 13809, + "no_body_fit": 441 + }, + "observed_fraction": 0.0933, + "observed_fraction_of_valid": 0.096, + "palm_axis_vs_markers_deg": { + "gsi": 19.15, + "smplx": 1.86 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.5, + "p90": 8.9 + }, + "registered": { + "median": 6.0, + "p90": 7.5 + } + } + }, + "right": { + "offset_deg": 28.81, + "offset_rotvec": [ + 0.1906, + -0.445, + -0.1362 + ], + "dev_deg": { + "median": 16.68, + "p90": 34.66 + }, + "samples": 953, + "accepted": 822, + "wrist_pos_err_mm_median": 85.7, + "per_camera": { + "head": { + "samples": 953, + "accepted": 822, + "gate_deg": 30.0, + "offset_deg": 28.81, + "tier": "primary", + "dev_deg_median": 16.68, + "wrist_pos_err_mm_median": 85.7 + } + }, + "frames_by_state": { + "ace_sample": 3286, + "interpolated": 1362, + "mean_hand": 10627, + "no_body_fit": 441 + }, + "observed_fraction": 0.2957, + "observed_fraction_of_valid": 0.3043, + "palm_axis_vs_markers_deg": { + "gsi": 30.67, + "smplx": 1.04 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.3, + "p90": 13.8 + }, + "registered": { + "median": 12.2, + "p90": 13.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:23:41.443010+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/DR13/session_008", "family": "dynamic_recovery", diff --git a/actions/dynamic_recovery/DR13/session_008/motions/smplx.npz b/actions/dynamic_recovery/DR13/session_008/motions/smplx.npz index a19a1b85a8f09b3afc3d4852db2ee5b458a6ef86..31d54dcf65b6c6f2a774fa39e35a03b751b76bcb 100644 --- a/actions/dynamic_recovery/DR13/session_008/motions/smplx.npz +++ b/actions/dynamic_recovery/DR13/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b49c0bf21d500935f6bc17fbedb2aabde0e16774ca8b9b40cc8d66370a4420ae -size 5904019 +oid sha256:39aec55f44ce66d06d1965ad70b922bff18ea9a059f28c84b0994cbd47a57657 +size 7309358 diff --git a/actions/environment_coupled_wholebody/EC01/session_001/meta.json b/actions/environment_coupled_wholebody/EC01/session_001/meta.json index 2c4463bd133172d8a8088b743918d1a586ae1b6d..de435f4b4cd72b5f5a72af8cb04e6925a41890ef 100644 --- a/actions/environment_coupled_wholebody/EC01/session_001/meta.json +++ b/actions/environment_coupled_wholebody/EC01/session_001/meta.json @@ -325,8 +325,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -391,10 +391,21 @@ -0.26943, -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 172.1, - "opposite_sign_bend_deg": 27.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2728, + "inlier_frac": 0.806, + "inlier_spread_deg": 11.31, + "marker_Q_to_gsi_deg": { + "1": 179.4, + "-1": 2.9 + } + }, + "wrist_bend_deg_median": 160.2, + "opposite_sign_bend_deg": 38.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.31, "hand_vs_marker_frame_deg": { "before": 178.25, @@ -405,15 +416,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 162.54, + "twist_moved_deg": -157.84, "wrist_twist_deg_after": { - "median": 12.09, + "median": -2.82, "iqr": [ - 3.5, - 20.1 + -13.8, + 3.6 ] }, - "wrist_total_deg_median_after": 38.5, + "wrist_total_deg_median_after": 27.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -431,6 +442,17 @@ 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2737, + "inlier_frac": 0.965, + "inlier_spread_deg": 9.09, + "marker_Q_to_gsi_deg": { + "1": 12.2, + "-1": 179.6 + } + }, "wrist_bend_deg_median": 19.9, "opposite_sign_bend_deg": 175.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -446,7 +468,7 @@ "forearm_twist": { "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -6.0, 6.5 @@ -461,7 +483,7 @@ }, "frames_used": 1128 }, - "generated_at_utc": "2026-10-28T06:14:33.778857+00:00", + "generated_at_utc": "2026-11-06T13:34:51.246811+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -505,6 +527,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8537294387306141 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 7.88, + "offset_rotvec": [ + 0.0223, + 0.0589, + -0.1222 + ], + "dev_deg": { + "median": 16.79, + "p90": 47.97 + }, + "samples": 2728, + "accepted": 2195, + "wrist_pos_err_mm_median": 90.1, + "per_camera": { + "head": { + "samples": 2728, + "accepted": 2195, + "gate_deg": 30.0, + "offset_deg": 7.88, + "tier": "primary", + "dev_deg_median": 16.79, + "wrist_pos_err_mm_median": 90.1 + } + }, + "frames_by_state": { + "ace_sample": 8826, + "interpolated": 718, + "mean_hand": 1732, + "no_body_fit": 8 + }, + "observed_fraction": 0.8458, + "observed_fraction_of_valid": 0.8464, + "palm_axis_vs_markers_deg": { + "gsi": 8.17, + "smplx": 3.09 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.6, + "p90": 12.6 + }, + "registered": { + "median": 9.0, + "p90": 12.9 + } + } + }, + "right": { + "offset_deg": 13.1, + "offset_rotvec": [ + -0.0381, + -0.1227, + 0.1892 + ], + "dev_deg": { + "median": 9.34, + "p90": 18.65 + }, + "samples": 2737, + "accepted": 2640, + "wrist_pos_err_mm_median": 99.8, + "per_camera": { + "head": { + "samples": 2737, + "accepted": 2640, + "gate_deg": 30.0, + "offset_deg": 13.1, + "tier": "primary", + "dev_deg_median": 9.34, + "wrist_pos_err_mm_median": 99.8 + } + }, + "frames_by_state": { + "ace_sample": 10591, + "interpolated": 448, + "mean_hand": 237, + "no_body_fit": 8 + }, + "observed_fraction": 0.9783, + "observed_fraction_of_valid": 0.979, + "palm_axis_vs_markers_deg": { + "gsi": 11.26, + "smplx": 2.02 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.1, + "p90": 8.6 + }, + "registered": { + "median": 6.1, + "p90": 8.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:23:08.340363+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/environment_coupled_wholebody/EC01/session_001", "family": "environment_coupled_wholebody", diff --git a/actions/environment_coupled_wholebody/EC01/session_001/motions/smplx.npz b/actions/environment_coupled_wholebody/EC01/session_001/motions/smplx.npz index a8a4a4be0fe67493e862e8becf8f5c31d868f3c9..794a923310c46b7dfa20ce7f2f03693c8bc7fc16 100644 --- a/actions/environment_coupled_wholebody/EC01/session_001/motions/smplx.npz +++ b/actions/environment_coupled_wholebody/EC01/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4d87f4f6200da9fcd8808dc7d0351d7cb7bd970d18f3716c91c857ae543ad65b -size 4337013 +oid sha256:a31498490e39acbc868bde1ba6faf7b55d54312caea5d3e8c074cbfaa5c7e313 +size 7846434 diff --git a/actions/environment_coupled_wholebody/EC01/session_002/meta.json b/actions/environment_coupled_wholebody/EC01/session_002/meta.json index 67785fccdc7807c7686932141fa9aebb19e4e326..a727295f8fbd75a9aef4cf02286001569d00b02d 100644 --- a/actions/environment_coupled_wholebody/EC01/session_002/meta.json +++ b/actions/environment_coupled_wholebody/EC01/session_002/meta.json @@ -324,8 +324,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -384,19 +384,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - -0.0 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 37.2, - "opposite_sign_bend_deg": 167.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2726, + "inlier_frac": 0.87, + "inlier_spread_deg": 13.25, + "marker_Q_to_gsi_deg": { + "1": 178.7, + "-1": 5.8 + } + }, + "wrist_bend_deg_median": 167.2, + "opposite_sign_bend_deg": 37.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.26, "hand_vs_marker_frame_deg": { - "before": 5.26, + "before": 178.26, "after": 5.26 }, "markers_on_wrist": [ @@ -404,15 +415,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -155.88, "wrist_twist_deg_after": { - "median": 0.0, + "median": -16.24, "iqr": [ - -12.0, - 13.1 + -29.7, + -5.7 ] }, - "wrist_total_deg_median_after": 37.2, + "wrist_total_deg_median_after": 34.6, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -425,11 +436,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, + 0.0, -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2651, + "inlier_frac": 0.842, + "inlier_spread_deg": 9.67, + "marker_Q_to_gsi_deg": { + "1": 8.8, + "-1": 177.4 + } + }, "wrist_bend_deg_median": 27.1, "opposite_sign_bend_deg": 170.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -445,7 +467,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -8.9, 22.3 @@ -460,7 +482,7 @@ }, "frames_used": 1129 }, - "generated_at_utc": "2026-10-28T06:14:33.944158+00:00", + "generated_at_utc": "2026-11-06T13:35:14.741797+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -535,6 +557,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 2.72, + "offset_rotvec": [ + 0.0312, + 0.0117, + -0.0337 + ], + "dev_deg": { + "median": 16.02, + "p90": 33.28 + }, + "samples": 2726, + "accepted": 2339, + "wrist_pos_err_mm_median": 88.5, + "per_camera": { + "head": { + "samples": 2726, + "accepted": 2339, + "gate_deg": 30.0, + "offset_deg": 2.72, + "tier": "primary", + "dev_deg_median": 16.02, + "wrist_pos_err_mm_median": 88.5 + } + }, + "frames_by_state": { + "ace_sample": 9386, + "interpolated": 626, + "mean_hand": 1272, + "no_body_fit": 0 + }, + "observed_fraction": 0.8873, + "observed_fraction_of_valid": 0.8873, + "palm_axis_vs_markers_deg": { + "gsi": 8.73, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 8.2, + "offset_rotvec": [ + -0.0645, + -0.0846, + 0.0957 + ], + "dev_deg": { + "median": 11.11, + "p90": 37.05 + }, + "samples": 2651, + "accepted": 2231, + "wrist_pos_err_mm_median": 95.1, + "per_camera": { + "head": { + "samples": 2651, + "accepted": 2231, + "gate_deg": 30.0, + "offset_deg": 8.2, + "tier": "primary", + "dev_deg_median": 11.11, + "wrist_pos_err_mm_median": 95.1 + } + }, + "frames_by_state": { + "ace_sample": 8988, + "interpolated": 1080, + "mean_hand": 1216, + "no_body_fit": 0 + }, + "observed_fraction": 0.8922, + "observed_fraction_of_valid": 0.8922, + "palm_axis_vs_markers_deg": { + "gsi": 11.86, + "smplx": 2.31 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.3, + "p90": 12.4 + }, + "registered": { + "median": 8.7, + "p90": 10.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:25:41.844706+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/environment_coupled_wholebody/EC01/session_002", "family": "environment_coupled_wholebody", diff --git a/actions/environment_coupled_wholebody/EC01/session_002/motions/smplx.npz b/actions/environment_coupled_wholebody/EC01/session_002/motions/smplx.npz index 021c8a1177f07f9174cdf3b42c69a43eb891f7e1..24bb7495c4bbbe422dabd4d737b14b054fc935d8 100644 --- a/actions/environment_coupled_wholebody/EC01/session_002/motions/smplx.npz +++ b/actions/environment_coupled_wholebody/EC01/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fe6c68295a1537ad653932e157238c536f6d1fa233d47e2e3ff5a0cf59cb6f18 -size 4335998 +oid sha256:54d977b285506b9f6b1dac24010b47c51730d4fcd8e2f6f0a66c90453cf88278 +size 7814044 diff --git a/actions/environment_coupled_wholebody/EC01/session_003/meta.json b/actions/environment_coupled_wholebody/EC01/session_003/meta.json index 4d8ef96aa4e0515dd72bac0dc55b7a6034ff3555..a772c33a95261e497567e148ef2fe926579fd8bc 100644 --- a/actions/environment_coupled_wholebody/EC01/session_003/meta.json +++ b/actions/environment_coupled_wholebody/EC01/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": { @@ -386,19 +386,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -3.02575, + 0.26943, + 0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 39.5, - "opposite_sign_bend_deg": 169.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.87, + "inlier_spread_deg": 9.06, + "marker_Q_to_gsi_deg": { + "1": 179.5, + "-1": 5.4 + } + }, + "wrist_bend_deg_median": 169.9, + "opposite_sign_bend_deg": 39.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.44, "hand_vs_marker_frame_deg": { - "before": 4.44, + "before": 178.9, "after": 4.44 }, "markers_on_wrist": [ @@ -406,15 +417,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": -168.25, "wrist_twist_deg_after": { - "median": -0.0, + "median": -3.58, "iqr": [ - -7.6, - 5.2 + -9.7, + 0.4 ] }, - "wrist_total_deg_median_after": 39.8, + "wrist_total_deg_median_after": 29.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -427,11 +438,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, - -0.0, + 0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.962, + "inlier_spread_deg": 9.68, + "marker_Q_to_gsi_deg": { + "1": 13.9, + "-1": 177.4 + } + }, "wrist_bend_deg_median": 24.7, "opposite_sign_bend_deg": 174.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -445,7 +467,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -462,7 +484,7 @@ }, "frames_used": 1246 }, - "generated_at_utc": "2026-10-28T06:14:34.105896+00:00", + "generated_at_utc": "2026-11-06T13:35:25.536841+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -537,6 +559,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 3.66, + "offset_rotvec": [ + 0.0289, + 0.0108, + -0.0558 + ], + "dev_deg": { + "median": 13.99, + "p90": 34.48 + }, + "samples": 3097, + "accepted": 2727, + "wrist_pos_err_mm_median": 84.8, + "per_camera": { + "head": { + "samples": 3097, + "accepted": 2727, + "gate_deg": 30.0, + "offset_deg": 3.66, + "tier": "primary", + "dev_deg_median": 13.99, + "wrist_pos_err_mm_median": 84.8 + } + }, + "frames_by_state": { + "ace_sample": 10900, + "interpolated": 244, + "mean_hand": 1311, + "no_body_fit": 29 + }, + "observed_fraction": 0.8927, + "observed_fraction_of_valid": 0.8947, + "palm_axis_vs_markers_deg": { + "gsi": 6.54, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 15.3, + "offset_rotvec": [ + -0.0685, + -0.1543, + 0.2069 + ], + "dev_deg": { + "median": 9.77, + "p90": 24.62 + }, + "samples": 3063, + "accepted": 2935, + "wrist_pos_err_mm_median": 88.8, + "per_camera": { + "head": { + "samples": 3063, + "accepted": 2935, + "gate_deg": 30.0, + "offset_deg": 15.3, + "tier": "primary", + "dev_deg_median": 9.77, + "wrist_pos_err_mm_median": 88.8 + } + }, + "frames_by_state": { + "ace_sample": 11760, + "interpolated": 292, + "mean_hand": 403, + "no_body_fit": 29 + }, + "observed_fraction": 0.9654, + "observed_fraction_of_valid": 0.9676, + "palm_axis_vs_markers_deg": { + "gsi": 12.81, + "smplx": 1.67 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.6, + "p90": 9.6 + }, + "registered": { + "median": 6.8, + "p90": 8.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:25:29.440418+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/environment_coupled_wholebody/EC01/session_003", "family": "environment_coupled_wholebody", diff --git a/actions/environment_coupled_wholebody/EC01/session_003/motions/smplx.npz b/actions/environment_coupled_wholebody/EC01/session_003/motions/smplx.npz index 4d460cafe98bfbda46b249cf713a74dadb04c110..d8669c1155e421aadac057907901593895cc102e 100644 --- a/actions/environment_coupled_wholebody/EC01/session_003/motions/smplx.npz +++ b/actions/environment_coupled_wholebody/EC01/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7c65d0bc3b86d41440954cb1d08dacf5d9811387f4dbe28294b6c98b84cae341 -size 4767952 +oid sha256:4b3dedbb91c89588edcc91a978cb5d7d1602d27510fb47ea349d755b014158de +size 8736886 diff --git a/actions/environment_coupled_wholebody/EC02/session_001/meta.json b/actions/environment_coupled_wholebody/EC02/session_001/meta.json index bf0cd5c24298867406074cfaa7e8c5b23af1a625..88db899d76c678274a9075d269a2b7a073b0cdbd 100644 --- a/actions/environment_coupled_wholebody/EC02/session_001/meta.json +++ b/actions/environment_coupled_wholebody/EC02/session_001/meta.json @@ -315,8 +315,8 @@ "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": { @@ -381,10 +381,21 @@ -0.26943, -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 164.0, - "opposite_sign_bend_deg": 41.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1863, + "inlier_frac": 0.774, + "inlier_spread_deg": 14.13, + "marker_Q_to_gsi_deg": { + "1": 172.4, + "-1": 12.7 + } + }, + "wrist_bend_deg_median": 154.9, + "opposite_sign_bend_deg": 45.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 7.93, "hand_vs_marker_frame_deg": { "before": 178.39, @@ -395,15 +406,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 152.54, + "twist_moved_deg": -151.39, "wrist_twist_deg_after": { - "median": 15.99, + "median": -1.15, "iqr": [ - 4.3, - 34.3 + -12.8, + 10.7 ] }, - "wrist_total_deg_median_after": 45.9, + "wrist_total_deg_median_after": 41.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -417,12 +428,23 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 29.0, - "opposite_sign_bend_deg": 166.6, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1438, + "inlier_frac": 0.818, + "inlier_spread_deg": 11.78, + "marker_Q_to_gsi_deg": { + "1": 12.7, + "-1": 178.9 + } + }, + "wrist_bend_deg_median": 29.1, + "opposite_sign_bend_deg": 165.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 7.13, "hand_vs_marker_frame_deg": { @@ -434,7 +456,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -3.48, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -451,7 +473,7 @@ }, "frames_used": 1129 }, - "generated_at_utc": "2026-10-28T06:14:34.748992+00:00", + "generated_at_utc": "2026-11-06T13:35:26.837472+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -495,6 +517,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.0252880498503278 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 13.88, + "offset_rotvec": [ + 0.124, + -0.1728, + -0.1161 + ], + "dev_deg": { + "median": 16.8, + "p90": 56.65 + }, + "samples": 1863, + "accepted": 1443, + "wrist_pos_err_mm_median": 94.0, + "per_camera": { + "head": { + "samples": 1863, + "accepted": 1443, + "gate_deg": 30.0, + "offset_deg": 13.88, + "tier": "primary", + "dev_deg_median": 16.8, + "wrist_pos_err_mm_median": 94.0 + } + }, + "frames_by_state": { + "ace_sample": 5794, + "interpolated": 802, + "mean_hand": 4687, + "no_body_fit": 0 + }, + "observed_fraction": 0.5846, + "observed_fraction_of_valid": 0.5846, + "palm_axis_vs_markers_deg": { + "gsi": 17.25, + "smplx": 2.92 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.0, + "p90": 11.0 + }, + "registered": { + "median": 6.1, + "p90": 10.5 + } + } + }, + "right": { + "offset_deg": 13.95, + "offset_rotvec": [ + 0.0633, + 0.0496, + 0.2299 + ], + "dev_deg": { + "median": 15.78, + "p90": 38.9 + }, + "samples": 1438, + "accepted": 1184, + "wrist_pos_err_mm_median": 116.1, + "per_camera": { + "head": { + "samples": 1438, + "accepted": 1184, + "gate_deg": 30.0, + "offset_deg": 13.95, + "tier": "primary", + "dev_deg_median": 15.78, + "wrist_pos_err_mm_median": 116.1 + } + }, + "frames_by_state": { + "ace_sample": 4770, + "interpolated": 802, + "mean_hand": 5711, + "no_body_fit": 0 + }, + "observed_fraction": 0.4938, + "observed_fraction_of_valid": 0.4938, + "palm_axis_vs_markers_deg": { + "gsi": 10.63, + "smplx": 2.69 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.2, + "p90": 9.7 + }, + "registered": { + "median": 5.7, + "p90": 8.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:25:34.836644+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/environment_coupled_wholebody/EC02/session_001", "family": "environment_coupled_wholebody", diff --git a/actions/environment_coupled_wholebody/EC02/session_001/motions/smplx.npz b/actions/environment_coupled_wholebody/EC02/session_001/motions/smplx.npz index f61263cf5053cdf4759f6fdb281645868cdc022f..2701ea18a8f1e1e76d78c4b24af022663c031816 100644 --- a/actions/environment_coupled_wholebody/EC02/session_001/motions/smplx.npz +++ b/actions/environment_coupled_wholebody/EC02/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b92c7b672c0e65e656e53c0b95494e8fe75acfe62f28b2794469d827a06a7ba5 -size 4350208 +oid sha256:989aa518a63047e3b1ce7a66f8fb774b3137d849dd67bda2229688194f129965 +size 6571875 diff --git a/actions/environment_coupled_wholebody/EC02/session_002/meta.json b/actions/environment_coupled_wholebody/EC02/session_002/meta.json index 7fdff07017afc93e00b51cf63cfed37556a6506b..e729b55cfc089522afc5247db53c6c0aec8a505b 100644 --- a/actions/environment_coupled_wholebody/EC02/session_002/meta.json +++ b/actions/environment_coupled_wholebody/EC02/session_002/meta.json @@ -314,8 +314,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -376,14 +376,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02575, - 0.26943, - 0.80116 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 167.7, - "opposite_sign_bend_deg": 43.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2424, + "inlier_frac": 0.713, + "inlier_spread_deg": 13.44, + "marker_Q_to_gsi_deg": { + "1": 176.2, + "-1": 5.6 + } + }, + "wrist_bend_deg_median": 156.6, + "opposite_sign_bend_deg": 41.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.79, "hand_vs_marker_frame_deg": { "before": 178.02, @@ -394,15 +405,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 155.98, + "twist_moved_deg": -152.47, "wrist_twist_deg_after": { - "median": 15.85, + "median": -3.5, "iqr": [ - 2.3, - 27.5 + -15.6, + 8.7 ] }, - "wrist_total_deg_median_after": 41.4, + "wrist_total_deg_median_after": 43.5, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -416,10 +427,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - -0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2501, + "inlier_frac": 0.935, + "inlier_spread_deg": 9.23, + "marker_Q_to_gsi_deg": { + "1": 7.4, + "-1": 177.5 + } + }, "wrist_bend_deg_median": 15.3, "opposite_sign_bend_deg": 176.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -435,7 +457,7 @@ "forearm_twist": { "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -1.5, 2.2 @@ -450,7 +472,7 @@ }, "frames_used": 1249 }, - "generated_at_utc": "2026-10-28T06:14:36.500777+00:00", + "generated_at_utc": "2026-11-06T13:35:28.845289+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -494,6 +516,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.3717789189900313 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 6.1, + "offset_rotvec": [ + 0.0073, + -0.0356, + -0.1001 + ], + "dev_deg": { + "median": 19.26, + "p90": 62.72 + }, + "samples": 2424, + "accepted": 1768, + "wrist_pos_err_mm_median": 100.3, + "per_camera": { + "head": { + "samples": 2424, + "accepted": 1768, + "gate_deg": 30.0, + "offset_deg": 6.1, + "tier": "primary", + "dev_deg_median": 19.26, + "wrist_pos_err_mm_median": 100.3 + } + }, + "frames_by_state": { + "ace_sample": 7130, + "interpolated": 1606, + "mean_hand": 3748, + "no_body_fit": 0 + }, + "observed_fraction": 0.6998, + "observed_fraction_of_valid": 0.6998, + "palm_axis_vs_markers_deg": { + "gsi": 14.31, + "smplx": 3.41 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.1, + "p90": 11.8 + }, + "registered": { + "median": 6.9, + "p90": 11.4 + } + } + }, + "right": { + "offset_deg": 7.79, + "offset_rotvec": [ + -0.018, + 0.125, + 0.0505 + ], + "dev_deg": { + "median": 11.85, + "p90": 21.96 + }, + "samples": 2501, + "accepted": 2377, + "wrist_pos_err_mm_median": 123.6, + "per_camera": { + "head": { + "samples": 2501, + "accepted": 2377, + "gate_deg": 30.0, + "offset_deg": 7.79, + "tier": "primary", + "dev_deg_median": 11.85, + "wrist_pos_err_mm_median": 123.6 + } + }, + "frames_by_state": { + "ace_sample": 9596, + "interpolated": 1104, + "mean_hand": 1784, + "no_body_fit": 0 + }, + "observed_fraction": 0.8571, + "observed_fraction_of_valid": 0.8571, + "palm_axis_vs_markers_deg": { + "gsi": 8.36, + "smplx": 0.69 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.2, + "p90": 10.6 + }, + "registered": { + "median": 6.2, + "p90": 9.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:25:26.138311+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/environment_coupled_wholebody/EC02/session_002", "family": "environment_coupled_wholebody", diff --git a/actions/environment_coupled_wholebody/EC02/session_002/motions/smplx.npz b/actions/environment_coupled_wholebody/EC02/session_002/motions/smplx.npz index eea73f072280d8656e6a310a0175347acaad66ee..274bf8fb4c3ae7a5c7c865fccc72c5d6ec740052 100644 --- a/actions/environment_coupled_wholebody/EC02/session_002/motions/smplx.npz +++ b/actions/environment_coupled_wholebody/EC02/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:68b88b4532337bf4c72757146bfb4862f35b4005e13a6fd685a356e56746fe8c -size 4802897 +oid sha256:c69161cec06a2e7b02f64e5611148746180e89256eca5ed5248a4be2d329c00f +size 8201108 diff --git a/actions/environment_coupled_wholebody/EC03/session_001/meta.json b/actions/environment_coupled_wholebody/EC03/session_001/meta.json index 2993d47720da9a9b6bdbc7baf48ea6d1ec935d47..12c64bd1db7b6cadec210763f2ef3aff49455433 100644 --- a/actions/environment_coupled_wholebody/EC03/session_001/meta.json +++ b/actions/environment_coupled_wholebody/EC03/session_001/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": { @@ -386,14 +386,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02575, - 0.26943, - 0.80116 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 172.4, - "opposite_sign_bend_deg": 34.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.814, + "inlier_spread_deg": 13.74, + "marker_Q_to_gsi_deg": { + "1": 178.7, + "-1": 6.5 + } + }, + "wrist_bend_deg_median": 148.2, + "opposite_sign_bend_deg": 44.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.99, "hand_vs_marker_frame_deg": { "before": 178.35, @@ -404,15 +415,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 147.58, + "twist_moved_deg": -142.97, "wrist_twist_deg_after": { - "median": 26.51, + "median": -4.6, "iqr": [ - 6.0, - 34.0 + -18.8, + 2.8 ] }, - "wrist_total_deg_median_after": 44.5, + "wrist_total_deg_median_after": 34.4, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -425,11 +436,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, - -0.0, + 0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.912, + "inlier_spread_deg": 10.39, + "marker_Q_to_gsi_deg": { + "1": 6.6, + "-1": 179.3 + } + }, "wrist_bend_deg_median": 25.6, "opposite_sign_bend_deg": 169.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -443,7 +465,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -460,7 +482,7 @@ }, "frames_used": 1368 }, - "generated_at_utc": "2026-10-28T06:14:39.335644+00:00", + "generated_at_utc": "2026-11-06T13:35:34.542985+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -504,6 +526,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.2822991189013966 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 7.27, + "offset_rotvec": [ + 0.0409, + -0.12, + 0.0043 + ], + "dev_deg": { + "median": 15.58, + "p90": 52.9 + }, + "samples": 3099, + "accepted": 2542, + "wrist_pos_err_mm_median": 100.2, + "per_camera": { + "head": { + "samples": 3099, + "accepted": 2542, + "gate_deg": 30.0, + "offset_deg": 7.27, + "tier": "primary", + "dev_deg_median": 15.58, + "wrist_pos_err_mm_median": 100.2 + } + }, + "frames_by_state": { + "ace_sample": 10198, + "interpolated": 754, + "mean_hand": 2724, + "no_body_fit": 8 + }, + "observed_fraction": 0.8004, + "observed_fraction_of_valid": 0.8008, + "palm_axis_vs_markers_deg": { + "gsi": 11.76, + "smplx": 3.5 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.6, + "p90": 7.8 + }, + "registered": { + "median": 6.8, + "p90": 8.7 + } + } + }, + "right": { + "offset_deg": 8.34, + "offset_rotvec": [ + 0.0134, + -0.0622, + 0.1309 + ], + "dev_deg": { + "median": 11.64, + "p90": 29.67 + }, + "samples": 3146, + "accepted": 2847, + "wrist_pos_err_mm_median": 102.3, + "per_camera": { + "head": { + "samples": 3146, + "accepted": 2847, + "gate_deg": 30.0, + "offset_deg": 8.34, + "tier": "primary", + "dev_deg_median": 11.64, + "wrist_pos_err_mm_median": 102.3 + } + }, + "frames_by_state": { + "ace_sample": 11469, + "interpolated": 1418, + "mean_hand": 789, + "no_body_fit": 8 + }, + "observed_fraction": 0.9418, + "observed_fraction_of_valid": 0.9423, + "palm_axis_vs_markers_deg": { + "gsi": 9.97, + "smplx": 2.26 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.5, + "p90": 14.7 + }, + "registered": { + "median": 7.4, + "p90": 13.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:25:30.038487+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/environment_coupled_wholebody/EC03/session_001", "family": "environment_coupled_wholebody", diff --git a/actions/environment_coupled_wholebody/EC03/session_001/motions/smplx.npz b/actions/environment_coupled_wholebody/EC03/session_001/motions/smplx.npz index 998793dab47f0b4a277164d3c87dc20d73d8bda4..ae0e09b275ffb2becfd8024d597c5d52f281ba2c 100644 --- a/actions/environment_coupled_wholebody/EC03/session_001/motions/smplx.npz +++ b/actions/environment_coupled_wholebody/EC03/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2af580512ef63275cb37574404a41bafdbae2ed43eaaad2b2b68d39cc7520791 -size 5252179 +oid sha256:0007bd65cfd25c8dc57192d21a41584a2e831b9753fd998e9467b70a75585eeb +size 9333962 diff --git a/actions/environment_coupled_wholebody/EC04/session_001/meta.json b/actions/environment_coupled_wholebody/EC04/session_001/meta.json index 8d276d3e2dea3c78c341c1498b7f8e81e96052f5..095a543f8f4ad39e7d55eb0bfea9e98d263b7222 100644 --- a/actions/environment_coupled_wholebody/EC04/session_001/meta.json +++ b/actions/environment_coupled_wholebody/EC04/session_001/meta.json @@ -324,8 +324,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -384,19 +384,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -3.02575, + 0.26943, + 0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 41.0, - "opposite_sign_bend_deg": 171.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.86, + "inlier_spread_deg": 11.22, + "marker_Q_to_gsi_deg": { + "1": 179.3, + "-1": 6.6 + } + }, + "wrist_bend_deg_median": 169.8, + "opposite_sign_bend_deg": 41.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.34, "hand_vs_marker_frame_deg": { - "before": 4.34, + "before": 178.73, "after": 4.34 }, "markers_on_wrist": [ @@ -404,15 +415,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -1.94, + "twist_moved_deg": -162.97, "wrist_twist_deg_after": { - "median": 0.0, + "median": -10.35, "iqr": [ - -7.6, - 7.8 + -21.2, + -2.1 ] }, - "wrist_total_deg_median_after": 41.8, + "wrist_total_deg_median_after": 29.5, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -425,11 +436,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ + 0.0, -0.0, - -0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.946, + "inlier_spread_deg": 9.67, + "marker_Q_to_gsi_deg": { + "1": 8.2, + "-1": 178.6 + } + }, "wrist_bend_deg_median": 22.3, "opposite_sign_bend_deg": 174.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -443,7 +465,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -460,7 +482,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:14:39.465655+00:00", + "generated_at_utc": "2026-11-06T13:35:44.735621+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -546,6 +568,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 2.89, + "offset_rotvec": [ + 0.0165, + -0.0095, + 0.0468 + ], + "dev_deg": { + "median": 12.17, + "p90": 40.54 + }, + "samples": 4147, + "accepted": 3556, + "wrist_pos_err_mm_median": 111.0, + "per_camera": { + "head": { + "samples": 4147, + "accepted": 3556, + "gate_deg": 30.0, + "offset_deg": 2.89, + "tier": "primary", + "dev_deg_median": 12.17, + "wrist_pos_err_mm_median": 111.0 + } + }, + "frames_by_state": { + "ace_sample": 14256, + "interpolated": 896, + "mean_hand": 2732, + "no_body_fit": 0 + }, + "observed_fraction": 0.8472, + "observed_fraction_of_valid": 0.8472, + "palm_axis_vs_markers_deg": { + "gsi": 7.24, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 9.34, + "offset_rotvec": [ + -0.0478, + -0.0935, + 0.1248 + ], + "dev_deg": { + "median": 9.98, + "p90": 23.57 + }, + "samples": 4263, + "accepted": 4039, + "wrist_pos_err_mm_median": 101.8, + "per_camera": { + "head": { + "samples": 4263, + "accepted": 4039, + "gate_deg": 30.0, + "offset_deg": 9.34, + "tier": "primary", + "dev_deg_median": 9.98, + "wrist_pos_err_mm_median": 101.8 + } + }, + "frames_by_state": { + "ace_sample": 16234, + "interpolated": 950, + "mean_hand": 700, + "no_body_fit": 0 + }, + "observed_fraction": 0.9609, + "observed_fraction_of_valid": 0.9609, + "palm_axis_vs_markers_deg": { + "gsi": 9.68, + "smplx": 1.82 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.1, + "p90": 9.2 + }, + "registered": { + "median": 5.2, + "p90": 8.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:25:48.943809+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/environment_coupled_wholebody/EC04/session_001", "family": "environment_coupled_wholebody", diff --git a/actions/environment_coupled_wholebody/EC04/session_001/motions/smplx.npz b/actions/environment_coupled_wholebody/EC04/session_001/motions/smplx.npz index b45ed5f9c42b2d2ad923a8fa878d68e9f5147f12..4261141a0258ce7e7b409c959cec41ec3dddb51b 100644 --- a/actions/environment_coupled_wholebody/EC04/session_001/motions/smplx.npz +++ b/actions/environment_coupled_wholebody/EC04/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a07c9c5f831a6b18c688034c8567c96416b0259b648c7fb0d849e8b3972de025 -size 6871034 +oid sha256:6f02ebd5cd67f8977d2bd3807ebd6a80383d40c70552d32568590eb7b526863e +size 12427030 diff --git a/actions/environment_coupled_wholebody/EC07/session_001/meta.json b/actions/environment_coupled_wholebody/EC07/session_001/meta.json index 0f8ec7e2fcc7cce044544684f291db0711002b19..d71fdcbc75ccac49fb6243f89ce1b575c0d22ff9 100644 --- a/actions/environment_coupled_wholebody/EC07/session_001/meta.json +++ b/actions/environment_coupled_wholebody/EC07/session_001/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": { @@ -410,10 +410,21 @@ 0.26943, 0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 173.1, - "opposite_sign_bend_deg": 25.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.975, + "inlier_spread_deg": 7.2, + "marker_Q_to_gsi_deg": { + "1": 176.4, + "-1": 3.7 + } + }, + "wrist_bend_deg_median": 171.0, + "opposite_sign_bend_deg": 39.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.76, "hand_vs_marker_frame_deg": { "before": 179.53, @@ -424,15 +435,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 171.71, + "twist_moved_deg": -170.46, "wrist_twist_deg_after": { - "median": 1.01, + "median": -1.25, "iqr": [ - -3.5, - 4.2 + -5.3, + 1.0 ] }, - "wrist_total_deg_median_after": 39.1, + "wrist_total_deg_median_after": 25.0, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -447,9 +458,20 @@ "Q_rotvec": [ -0.0, -0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.994, + "inlier_spread_deg": 6.26, + "marker_Q_to_gsi_deg": { + "1": 13.3, + "-1": 177.8 + } + }, "wrist_bend_deg_median": 18.9, "opposite_sign_bend_deg": 175.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -480,7 +502,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:14:40.153586+00:00", + "generated_at_utc": "2026-11-06T13:35:51.645902+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -524,6 +546,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8853876925925545 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 5.21, + "offset_rotvec": [ + 0.0558, + 0.0124, + -0.0707 + ], + "dev_deg": { + "median": 8.42, + "p90": 19.76 + }, + "samples": 4468, + "accepted": 4359, + "wrist_pos_err_mm_median": 81.4, + "per_camera": { + "head": { + "samples": 4468, + "accepted": 4359, + "gate_deg": 30.0, + "offset_deg": 5.21, + "tier": "primary", + "dev_deg_median": 8.42, + "wrist_pos_err_mm_median": 81.4 + } + }, + "frames_by_state": { + "ace_sample": 17454, + "interpolated": 166, + "mean_hand": 256, + "no_body_fit": 8 + }, + "observed_fraction": 0.9852, + "observed_fraction_of_valid": 0.9857, + "palm_axis_vs_markers_deg": { + "gsi": 5.31, + "smplx": 0.72 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.3, + "p90": 14.2 + }, + "registered": { + "median": 12.9, + "p90": 13.8 + } + } + }, + "right": { + "offset_deg": 14.88, + "offset_rotvec": [ + -0.0781, + -0.1043, + 0.2246 + ], + "dev_deg": { + "median": 6.81, + "p90": 12.9 + }, + "samples": 4401, + "accepted": 4378, + "wrist_pos_err_mm_median": 92.2, + "per_camera": { + "head": { + "samples": 4401, + "accepted": 4378, + "gate_deg": 30.0, + "offset_deg": 14.88, + "tier": "primary", + "dev_deg_median": 6.81, + "wrist_pos_err_mm_median": 92.2 + } + }, + "frames_by_state": { + "ace_sample": 17531, + "interpolated": 156, + "mean_hand": 189, + "no_body_fit": 8 + }, + "observed_fraction": 0.989, + "observed_fraction_of_valid": 0.9894, + "palm_axis_vs_markers_deg": { + "gsi": 9.8, + "smplx": 1.88 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.3, + "p90": 7.9 + }, + "registered": { + "median": 5.2, + "p90": 8.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:25:39.935388+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/environment_coupled_wholebody/EC07/session_001", "family": "environment_coupled_wholebody", diff --git a/actions/environment_coupled_wholebody/EC07/session_001/motions/smplx.npz b/actions/environment_coupled_wholebody/EC07/session_001/motions/smplx.npz index 86554fdff4a9645bd4df9df85594c4edec11510a..cd63c6bba2301476df8e038537de86136c38ed7e 100644 --- a/actions/environment_coupled_wholebody/EC07/session_001/motions/smplx.npz +++ b/actions/environment_coupled_wholebody/EC07/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:fd40ec273ad6aded06e82a49b55c821058fedd53fba5e416caa2a6fd342b28b6 -size 6884523 +oid sha256:29157f23d2e9ad6637ca77b02d2c916ad36b2be72ca43c200ac7bfd4644126fc +size 12823329 diff --git a/actions/environment_coupled_wholebody/EC07/session_002/meta.json b/actions/environment_coupled_wholebody/EC07/session_002/meta.json index 941c9a56bf28b2affb66fcf3b1793aedaf20a901..4554f1a2b3d404820cd2c99828fbf242ffe3651f 100644 --- a/actions/environment_coupled_wholebody/EC07/session_002/meta.json +++ b/actions/environment_coupled_wholebody/EC07/session_002/meta.json @@ -324,8 +324,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -384,19 +384,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -3.02575, + 0.26943, + 0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 31.4, - "opposite_sign_bend_deg": 171.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.921, + "inlier_spread_deg": 10.1, + "marker_Q_to_gsi_deg": { + "1": 175.8, + "-1": 8.1 + } + }, + "wrist_bend_deg_median": 171.4, + "opposite_sign_bend_deg": 31.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.33, "hand_vs_marker_frame_deg": { - "before": 3.33, + "before": 178.74, "after": 3.33 }, "markers_on_wrist": [ @@ -404,15 +415,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": -167.94, "wrist_twist_deg_after": { - "median": 0.0, + "median": -4.86, "iqr": [ - -6.7, - 5.6 + -10.9, + 0.8 ] }, - "wrist_total_deg_median_after": 31.3, + "wrist_total_deg_median_after": 31.8, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -426,10 +437,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - -0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.961, + "inlier_spread_deg": 9.12, + "marker_Q_to_gsi_deg": { + "1": 16.3, + "-1": 179.7 + } + }, "wrist_bend_deg_median": 22.2, "opposite_sign_bend_deg": 175.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -460,7 +482,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:14:40.875042+00:00", + "generated_at_utc": "2026-11-06T13:35:57.749438+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -546,6 +568,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 11.1, + "offset_rotvec": [ + 0.057, + 0.0689, + -0.1719 + ], + "dev_deg": { + "median": 11.27, + "p90": 28.34 + }, + "samples": 4761, + "accepted": 4388, + "wrist_pos_err_mm_median": 74.9, + "per_camera": { + "head": { + "samples": 4761, + "accepted": 4388, + "gate_deg": 30.0, + "offset_deg": 11.1, + "tier": "primary", + "dev_deg_median": 11.27, + "wrist_pos_err_mm_median": 74.9 + } + }, + "frames_by_state": { + "ace_sample": 17584, + "interpolated": 612, + "mean_hand": 880, + "no_body_fit": 8 + }, + "observed_fraction": 0.9535, + "observed_fraction_of_valid": 0.9539, + "palm_axis_vs_markers_deg": { + "gsi": 9.13, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 18.51, + "offset_rotvec": [ + -0.0519, + -0.1546, + 0.279 + ], + "dev_deg": { + "median": 10.28, + "p90": 22.98 + }, + "samples": 4620, + "accepted": 4470, + "wrist_pos_err_mm_median": 81.3, + "per_camera": { + "head": { + "samples": 4620, + "accepted": 4470, + "gate_deg": 30.0, + "offset_deg": 18.51, + "tier": "primary", + "dev_deg_median": 10.28, + "wrist_pos_err_mm_median": 81.3 + } + }, + "frames_by_state": { + "ace_sample": 17893, + "interpolated": 450, + "mean_hand": 733, + "no_body_fit": 8 + }, + "observed_fraction": 0.9612, + "observed_fraction_of_valid": 0.9616, + "palm_axis_vs_markers_deg": { + "gsi": 13.02, + "smplx": 1.56 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.4, + "p90": 10.0 + }, + "registered": { + "median": 6.4, + "p90": 8.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:25:36.839090+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/environment_coupled_wholebody/EC07/session_002", "family": "environment_coupled_wholebody", diff --git a/actions/environment_coupled_wholebody/EC07/session_002/motions/smplx.npz b/actions/environment_coupled_wholebody/EC07/session_002/motions/smplx.npz index a737b28b11f6df452e4bfc039ebdc47ac0684f53..a13e5958f7b98cab2be3efeb26496f7793e38e8f 100644 --- a/actions/environment_coupled_wholebody/EC07/session_002/motions/smplx.npz +++ b/actions/environment_coupled_wholebody/EC07/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7acfd4090fa2b55fd97b157a71f13419b1dcbed5fc5c5a9f19bdc4b38ddd190e -size 7327368 +oid sha256:f2981fa9f19c5feb773c2b1194a504e5f9b5d788de6f9cf40be9546a16c272b4 +size 13525731 diff --git a/actions/environment_coupled_wholebody/EC08/session_012/meta.json b/actions/environment_coupled_wholebody/EC08/session_012/meta.json index 81bb56b6b2afdabd50cc7e9f30a483a85807975e..798d60da6cd6f22d0a3af2d99e7114e85cc63579 100644 --- a/actions/environment_coupled_wholebody/EC08/session_012/meta.json +++ b/actions/environment_coupled_wholebody/EC08/session_012/meta.json @@ -450,13 +450,20 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + -0.0, + -0.0, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 73.5, - "opposite_sign_bend_deg": 163.0, + "q_source": "markers (GSI not reliable)", + "gsi": { + "reliable": false, + "frames": 3000, + "inlier_frac": 0.394, + "inlier_spread_deg": 9.22 + }, + "wrist_bend_deg_median": 73.9, + "opposite_sign_bend_deg": 164.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.49, "hand_vs_marker_frame_deg": { @@ -469,12 +476,12 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -12.18, + "twist_moved_deg": -0.07, "wrist_twist_deg_after": { - "median": -0.07, + "median": -0.0, "iqr": [ - -34.8, - 13.3 + -34.7, + 13.4 ] }, "wrist_total_deg_median_after": 73.8, @@ -489,11 +496,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, -0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 1.0, + "inlier_spread_deg": 7.17, + "marker_Q_to_gsi_deg": { + "1": 33.4, + "-1": 163.8 + } + }, "wrist_bend_deg_median": 30.7, "opposite_sign_bend_deg": 176.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -508,7 +526,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -525,7 +543,7 @@ }, "frames_used": 1498 }, - "generated_at_utc": "2026-10-28T06:40:16.980488+00:00", + "generated_at_utc": "2026-11-06T14:04:34.835569+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/environment_coupled_wholebody/EC08/session_012/motions/smplx.npz b/actions/environment_coupled_wholebody/EC08/session_012/motions/smplx.npz index 36f4fc5724625549d83ede50d0bbbed76a16950f..d39af46db14f7de8ecb86ad428bef28a136a2f6a 100644 --- a/actions/environment_coupled_wholebody/EC08/session_012/motions/smplx.npz +++ b/actions/environment_coupled_wholebody/EC08/session_012/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e71fe3d6d729ad9d82d56b208a95b26f1d1040a8bf43d2227b52a43320e484e6 -size 5762676 +oid sha256:9a111d6e23784e76bf41a3aafb5d5a220551ac29e23dd2ae679d3e3bcbb704a4 +size 5762703 diff --git a/actions/environment_coupled_wholebody/EC09/session_002/meta.json b/actions/environment_coupled_wholebody/EC09/session_002/meta.json index fb6166355c03e88a9e5cdaf3c9a5158a7091b27b..a3c3e482ce47397d6fca27235cbc0af727596e90 100644 --- a/actions/environment_coupled_wholebody/EC09/session_002/meta.json +++ b/actions/environment_coupled_wholebody/EC09/session_002/meta.json @@ -325,8 +325,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -385,19 +385,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - -0.0 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 37.0, - "opposite_sign_bend_deg": 169.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2666, + "inlier_frac": 0.9, + "inlier_spread_deg": 9.61, + "marker_Q_to_gsi_deg": { + "1": 177.3, + "-1": 3.8 + } + }, + "wrist_bend_deg_median": 168.4, + "opposite_sign_bend_deg": 37.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.94, "hand_vs_marker_frame_deg": { - "before": 3.94, + "before": 178.89, "after": 3.94 }, "markers_on_wrist": [ @@ -405,15 +416,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -1.58, + "twist_moved_deg": -163.76, "wrist_twist_deg_after": { - "median": 0.0, + "median": -9.12, "iqr": [ - -11.3, - 8.1 + -23.4, + -2.5 ] }, - "wrist_total_deg_median_after": 37.3, + "wrist_total_deg_median_after": 29.0, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -431,6 +442,17 @@ 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2874, + "inlier_frac": 0.949, + "inlier_spread_deg": 10.51, + "marker_Q_to_gsi_deg": { + "1": 9.8, + "-1": 179.6 + } + }, "wrist_bend_deg_median": 22.3, "opposite_sign_bend_deg": 174.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -461,7 +483,7 @@ }, "frames_used": 1188 }, - "generated_at_utc": "2026-10-28T06:14:40.184532+00:00", + "generated_at_utc": "2026-11-06T13:35:47.142139+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -536,6 +558,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 1.33, + "offset_rotvec": [ + -0.0178, + -0.0087, + 0.0121 + ], + "dev_deg": { + "median": 10.85, + "p90": 30.58 + }, + "samples": 2666, + "accepted": 2395, + "wrist_pos_err_mm_median": 83.1, + "per_camera": { + "head": { + "samples": 2666, + "accepted": 2395, + "gate_deg": 30.0, + "offset_deg": 1.33, + "tier": "primary", + "dev_deg_median": 10.85, + "wrist_pos_err_mm_median": 83.1 + } + }, + "frames_by_state": { + "ace_sample": 9608, + "interpolated": 396, + "mean_hand": 1874, + "no_body_fit": 6 + }, + "observed_fraction": 0.8418, + "observed_fraction_of_valid": 0.8422, + "palm_axis_vs_markers_deg": { + "gsi": 6.71, + "smplx": 1.93 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.4, + "p90": 13.0 + }, + "registered": { + "median": 10.7, + "p90": 13.9 + } + } + }, + "right": { + "offset_deg": 11.17, + "offset_rotvec": [ + -0.0166, + -0.1101, + 0.16 + ], + "dev_deg": { + "median": 11.1, + "p90": 25.44 + }, + "samples": 2874, + "accepted": 2728, + "wrist_pos_err_mm_median": 90.6, + "per_camera": { + "head": { + "samples": 2874, + "accepted": 2728, + "gate_deg": 30.0, + "offset_deg": 11.17, + "tier": "primary", + "dev_deg_median": 11.1, + "wrist_pos_err_mm_median": 90.6 + } + }, + "frames_by_state": { + "ace_sample": 10948, + "interpolated": 568, + "mean_hand": 362, + "no_body_fit": 6 + }, + "observed_fraction": 0.969, + "observed_fraction_of_valid": 0.9695, + "palm_axis_vs_markers_deg": { + "gsi": 10.41, + "smplx": 1.98 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.4, + "p90": 12.1 + }, + "registered": { + "median": 7.1, + "p90": 10.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:25:28.140427+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/environment_coupled_wholebody/EC09/session_002", "family": "environment_coupled_wholebody", diff --git a/actions/environment_coupled_wholebody/EC09/session_002/motions/smplx.npz b/actions/environment_coupled_wholebody/EC09/session_002/motions/smplx.npz index 40030954d9d20078ff687b677b3219b280d52950..c8ef9b3192cd49532b8b5693eeadc9147e3abb27 100644 --- a/actions/environment_coupled_wholebody/EC09/session_002/motions/smplx.npz +++ b/actions/environment_coupled_wholebody/EC09/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f4dc6c7f482092970d87c3dca0ca0920092219bf0c984be2309b4067495c9667 -size 4552492 +oid sha256:d4dbacbc02ac31f60e8b7c5214b2685094511b49193a38e1cc30c94ef64d9b9b +size 8214055 diff --git a/actions/environment_coupled_wholebody/EC10/session_001/meta.json b/actions/environment_coupled_wholebody/EC10/session_001/meta.json index fd1b6e45dd217abf3bb9279ca9f175caa9fbd4c2..146f7e4d60f6349743609cb7e46a0688bea39bb4 100644 --- a/actions/environment_coupled_wholebody/EC10/session_001/meta.json +++ b/actions/environment_coupled_wholebody/EC10/session_001/meta.json @@ -324,8 +324,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -384,19 +384,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - 0.0 + -3.02575, + 0.26943, + 0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 34.5, - "opposite_sign_bend_deg": 173.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2803, + "inlier_frac": 0.884, + "inlier_spread_deg": 11.66, + "marker_Q_to_gsi_deg": { + "1": 175.9, + "-1": 8.3 + } + }, + "wrist_bend_deg_median": 171.8, + "opposite_sign_bend_deg": 34.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.41, "hand_vs_marker_frame_deg": { - "before": 3.41, + "before": 179.12, "after": 3.41 }, "markers_on_wrist": [ @@ -404,15 +415,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -1.39, + "twist_moved_deg": -169.96, "wrist_twist_deg_after": { - "median": -0.0, + "median": -2.36, "iqr": [ - -4.9, - 4.1 + -6.8, + 1.4 ] }, - "wrist_total_deg_median_after": 35.1, + "wrist_total_deg_median_after": 30.5, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -425,11 +436,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, + 0.0, -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2765, + "inlier_frac": 0.99, + "inlier_spread_deg": 6.8, + "marker_Q_to_gsi_deg": { + "1": 13.1, + "-1": 178.5 + } + }, "wrist_bend_deg_median": 19.9, "opposite_sign_bend_deg": 175.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -443,9 +465,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -2.9, 3.0 @@ -460,7 +482,7 @@ }, "frames_used": 1129 }, - "generated_at_utc": "2026-10-28T06:14:40.236805+00:00", + "generated_at_utc": "2026-11-06T13:35:48.635881+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -535,6 +557,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.39, + "offset_rotvec": [ + 0.0707, + 0.0786, + -0.1474 + ], + "dev_deg": { + "median": 13.16, + "p90": 67.72 + }, + "samples": 2803, + "accepted": 2496, + "wrist_pos_err_mm_median": 75.3, + "per_camera": { + "head": { + "samples": 2803, + "accepted": 2496, + "gate_deg": 30.0, + "offset_deg": 10.39, + "tier": "primary", + "dev_deg_median": 13.16, + "wrist_pos_err_mm_median": 75.3 + } + }, + "frames_by_state": { + "ace_sample": 9988, + "interpolated": 60, + "mean_hand": 1236, + "no_body_fit": 0 + }, + "observed_fraction": 0.8905, + "observed_fraction_of_valid": 0.8905, + "palm_axis_vs_markers_deg": { + "gsi": 9.63, + "smplx": 1.98 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.1, + "p90": 12.3 + }, + "registered": { + "median": 10.1, + "p90": 13.4 + } + } + }, + "right": { + "offset_deg": 14.45, + "offset_rotvec": [ + -0.0595, + -0.1349, + 0.2047 + ], + "dev_deg": { + "median": 7.24, + "p90": 16.37 + }, + "samples": 2765, + "accepted": 2737, + "wrist_pos_err_mm_median": 90.0, + "per_camera": { + "head": { + "samples": 2765, + "accepted": 2737, + "gate_deg": 30.0, + "offset_deg": 14.45, + "tier": "primary", + "dev_deg_median": 7.24, + "wrist_pos_err_mm_median": 90.0 + } + }, + "frames_by_state": { + "ace_sample": 10964, + "interpolated": 116, + "mean_hand": 204, + "no_body_fit": 0 + }, + "observed_fraction": 0.9819, + "observed_fraction_of_valid": 0.9819, + "palm_axis_vs_markers_deg": { + "gsi": 10.7, + "smplx": 1.8 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.3, + "p90": 9.4 + }, + "registered": { + "median": 7.3, + "p90": 8.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:25:26.638060+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/environment_coupled_wholebody/EC10/session_001", "family": "environment_coupled_wholebody", diff --git a/actions/environment_coupled_wholebody/EC10/session_001/motions/smplx.npz b/actions/environment_coupled_wholebody/EC10/session_001/motions/smplx.npz index 085c5ee73e55e78febbab04d01ee84218cc959ef..5ba3829622459b365db790b7e69ae405bf0f8525 100644 --- a/actions/environment_coupled_wholebody/EC10/session_001/motions/smplx.npz +++ b/actions/environment_coupled_wholebody/EC10/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:549d99b3f9ef2b07224c4b11c060a3caf3ab1e5d5d3f307bf43dbce9abf34e3d -size 4344632 +oid sha256:c1af8d962476cf283d5fb9d39de867558aee7bf887c449de987a4bfdc0570fff +size 7924473 diff --git a/actions/environment_coupled_wholebody/EC10/session_003/meta.json b/actions/environment_coupled_wholebody/EC10/session_003/meta.json index 8d70803d956a91bfad131b0c062b21003198b3f4..ff8c7f879d9c2d594fc9ef1ee8bd0f11ffc30507 100644 --- a/actions/environment_coupled_wholebody/EC10/session_003/meta.json +++ b/actions/environment_coupled_wholebody/EC10/session_003/meta.json @@ -325,8 +325,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -385,19 +385,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - -0.0, - -0.0 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 36.0, - "opposite_sign_bend_deg": 172.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2818, + "inlier_frac": 0.921, + "inlier_spread_deg": 9.25, + "marker_Q_to_gsi_deg": { + "1": 179.1, + "-1": 4.0 + } + }, + "wrist_bend_deg_median": 172.1, + "opposite_sign_bend_deg": 36.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.02, "hand_vs_marker_frame_deg": { - "before": 3.02, + "before": 179.15, "after": 3.02 }, "markers_on_wrist": [ @@ -405,15 +416,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.9, + "twist_moved_deg": -169.42, "wrist_twist_deg_after": { - "median": 0.0, + "median": -3.5, "iqr": [ - -5.2, - 5.1 + -8.2, + 1.0 ] }, - "wrist_total_deg_median_after": 36.4, + "wrist_total_deg_median_after": 28.3, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -431,6 +442,17 @@ 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2752, + "inlier_frac": 0.978, + "inlier_spread_deg": 7.3, + "marker_Q_to_gsi_deg": { + "1": 11.5, + "-1": 176.8 + } + }, "wrist_bend_deg_median": 22.3, "opposite_sign_bend_deg": 175.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -461,7 +483,7 @@ }, "frames_used": 1128 }, - "generated_at_utc": "2026-10-28T06:14:40.956848+00:00", + "generated_at_utc": "2026-11-06T13:35:51.543358+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -536,6 +558,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 3.33, + "offset_rotvec": [ + 0.0577, + 0.0015, + -0.0074 + ], + "dev_deg": { + "median": 11.07, + "p90": 24.07 + }, + "samples": 2818, + "accepted": 2602, + "wrist_pos_err_mm_median": 98.6, + "per_camera": { + "head": { + "samples": 2818, + "accepted": 2602, + "gate_deg": 30.0, + "offset_deg": 3.33, + "tier": "primary", + "dev_deg_median": 11.07, + "wrist_pos_err_mm_median": 98.6 + } + }, + "frames_by_state": { + "ace_sample": 10414, + "interpolated": 50, + "mean_hand": 812, + "no_body_fit": 8 + }, + "observed_fraction": 0.9273, + "observed_fraction_of_valid": 0.928, + "palm_axis_vs_markers_deg": { + "gsi": 6.16, + "smplx": 1.7 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.1, + "p90": 12.9 + }, + "registered": { + "median": 11.0, + "p90": 13.9 + } + } + }, + "right": { + "offset_deg": 14.05, + "offset_rotvec": [ + -0.0864, + -0.1334, + 0.1868 + ], + "dev_deg": { + "median": 7.74, + "p90": 19.52 + }, + "samples": 2752, + "accepted": 2695, + "wrist_pos_err_mm_median": 100.4, + "per_camera": { + "head": { + "samples": 2752, + "accepted": 2695, + "gate_deg": 30.0, + "offset_deg": 14.05, + "tier": "primary", + "dev_deg_median": 7.74, + "wrist_pos_err_mm_median": 100.4 + } + }, + "frames_by_state": { + "ace_sample": 10813, + "interpolated": 246, + "mean_hand": 217, + "no_body_fit": 8 + }, + "observed_fraction": 0.9801, + "observed_fraction_of_valid": 0.9808, + "palm_axis_vs_markers_deg": { + "gsi": 11.49, + "smplx": 2.32 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.9, + "p90": 10.9 + }, + "registered": { + "median": 8.1, + "p90": 9.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:25:39.837752+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/environment_coupled_wholebody/EC10/session_003", "family": "environment_coupled_wholebody", diff --git a/actions/environment_coupled_wholebody/EC10/session_003/motions/smplx.npz b/actions/environment_coupled_wholebody/EC10/session_003/motions/smplx.npz index 299ee56842ed551cdba32a608da2e4e7ad894dd7..111767f1e89d2094265b844ba6067988a72d357d 100644 --- a/actions/environment_coupled_wholebody/EC10/session_003/motions/smplx.npz +++ b/actions/environment_coupled_wholebody/EC10/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:dccc3860ef27c0f711cb5a6a27a71bb4f6bf088270b3b639867663a3edc5b37f -size 4349606 +oid sha256:86f543442c4fb0dbce7923f522dbba1137af7155ad96638d5566603d0d71879f +size 7984953 diff --git a/actions/environment_coupled_wholebody/EC11/session_001/meta.json b/actions/environment_coupled_wholebody/EC11/session_001/meta.json index d4c2124259eeed95d12e05963d37c59026594867..9309e5d29de236d8604be755032548727eef0e30 100644 --- a/actions/environment_coupled_wholebody/EC11/session_001/meta.json +++ b/actions/environment_coupled_wholebody/EC11/session_001/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": { @@ -390,10 +390,21 @@ 0.26943, 0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 171.6, - "opposite_sign_bend_deg": 29.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2410, + "inlier_frac": 0.899, + "inlier_spread_deg": 11.37, + "marker_Q_to_gsi_deg": { + "1": 179.0, + "-1": 2.9 + } + }, + "wrist_bend_deg_median": 162.2, + "opposite_sign_bend_deg": 34.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.82, "hand_vs_marker_frame_deg": { "before": 178.57, @@ -404,15 +415,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 163.16, + "twist_moved_deg": -159.66, "wrist_twist_deg_after": { - "median": 12.52, + "median": -2.45, "iqr": [ - 2.0, - 20.2 + -12.4, + 3.4 ] }, - "wrist_total_deg_median_after": 34.6, + "wrist_total_deg_median_after": 29.6, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -425,11 +436,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, + 0.0, -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2426, + "inlier_frac": 0.92, + "inlier_spread_deg": 11.14, + "marker_Q_to_gsi_deg": { + "1": 9.1, + "-1": 178.3 + } + }, "wrist_bend_deg_median": 22.0, "opposite_sign_bend_deg": 175.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -460,7 +482,7 @@ }, "frames_used": 1009 }, - "generated_at_utc": "2026-10-28T06:14:41.428537+00:00", + "generated_at_utc": "2026-11-06T13:35:53.947524+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -504,6 +526,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1866486363022433 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 4.86, + "offset_rotvec": [ + 0.0241, + 0.0539, + -0.0609 + ], + "dev_deg": { + "median": 12.81, + "p90": 29.55 + }, + "samples": 2410, + "accepted": 2177, + "wrist_pos_err_mm_median": 75.1, + "per_camera": { + "head": { + "samples": 2410, + "accepted": 2177, + "gate_deg": 30.0, + "offset_deg": 4.86, + "tier": "primary", + "dev_deg_median": 12.81, + "wrist_pos_err_mm_median": 75.1 + } + }, + "frames_by_state": { + "ace_sample": 8724, + "interpolated": 420, + "mean_hand": 940, + "no_body_fit": 0 + }, + "observed_fraction": 0.9068, + "observed_fraction_of_valid": 0.9068, + "palm_axis_vs_markers_deg": { + "gsi": 6.84, + "smplx": 2.65 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.0, + "p90": 9.2 + }, + "registered": { + "median": 8.1, + "p90": 10.3 + } + } + }, + "right": { + "offset_deg": 9.19, + "offset_rotvec": [ + -0.0163, + -0.0703, + 0.1432 + ], + "dev_deg": { + "median": 12.01, + "p90": 27.31 + }, + "samples": 2426, + "accepted": 2233, + "wrist_pos_err_mm_median": 88.7, + "per_camera": { + "head": { + "samples": 2426, + "accepted": 2233, + "gate_deg": 30.0, + "offset_deg": 9.19, + "tier": "primary", + "dev_deg_median": 12.01, + "wrist_pos_err_mm_median": 88.7 + } + }, + "frames_by_state": { + "ace_sample": 8972, + "interpolated": 740, + "mean_hand": 372, + "no_body_fit": 0 + }, + "observed_fraction": 0.9631, + "observed_fraction_of_valid": 0.9631, + "palm_axis_vs_markers_deg": { + "gsi": 9.3, + "smplx": 2.08 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.4, + "p90": 8.0 + }, + "registered": { + "median": 5.9, + "p90": 8.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:25:20.237836+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/environment_coupled_wholebody/EC11/session_001", "family": "environment_coupled_wholebody", diff --git a/actions/environment_coupled_wholebody/EC11/session_001/motions/smplx.npz b/actions/environment_coupled_wholebody/EC11/session_001/motions/smplx.npz index a01d851b82eb0f6ce6e3a3229c36d9b185dc625b..9bed7f258a74340cf3d19891abd248b234bd25e5 100644 --- a/actions/environment_coupled_wholebody/EC11/session_001/motions/smplx.npz +++ b/actions/environment_coupled_wholebody/EC11/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ffad91e96966cb8b033b9f2f4c1669221336c29faa1b935370572813b655af89 -size 3876702 +oid sha256:de2e0fb56a18fc094d97252401aaab61fff70abf9acecfb999428077ca591287 +size 7089644 diff --git a/actions/environment_coupled_wholebody/EC11/session_002/meta.json b/actions/environment_coupled_wholebody/EC11/session_002/meta.json index a6edebc0bf5e365bc3cb0b781b44cf2fc92d1639..4026abd55bdd2a9c92508d201eca53a7c03613a7 100644 --- a/actions/environment_coupled_wholebody/EC11/session_002/meta.json +++ b/actions/environment_coupled_wholebody/EC11/session_002/meta.json @@ -338,8 +338,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -400,14 +400,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02575, - -0.26943, - -0.80116 + -3.02575, + 0.26943, + 0.80116 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 173.1, - "opposite_sign_bend_deg": 25.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2531, + "inlier_frac": 0.878, + "inlier_spread_deg": 11.08, + "marker_Q_to_gsi_deg": { + "1": 175.5, + "-1": 5.2 + } + }, + "wrist_bend_deg_median": 164.3, + "opposite_sign_bend_deg": 37.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.61, "hand_vs_marker_frame_deg": { "before": 178.86, @@ -418,15 +429,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 164.6, + "twist_moved_deg": -160.2, "wrist_twist_deg_after": { - "median": 9.36, + "median": -4.4, "iqr": [ - -0.1, - 15.3 + -14.3, + 2.3 ] }, - "wrist_total_deg_median_after": 37.3, + "wrist_total_deg_median_after": 25.4, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -441,9 +452,20 @@ "Q_rotvec": [ -0.0, -0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2446, + "inlier_frac": 0.867, + "inlier_spread_deg": 10.62, + "marker_Q_to_gsi_deg": { + "1": 9.9, + "-1": 176.2 + } + }, "wrist_bend_deg_median": 22.5, "opposite_sign_bend_deg": 168.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -459,7 +481,7 @@ "forearm_twist": { "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -14.0, 9.2 @@ -474,7 +496,7 @@ }, "frames_used": 1069 }, - "generated_at_utc": "2026-10-28T06:14:46.116638+00:00", + "generated_at_utc": "2026-11-06T13:36:10.742022+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -518,6 +540,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.1215016719495732 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 5.41, + "offset_rotvec": [ + -0.0855, + 0.0239, + 0.0321 + ], + "dev_deg": { + "median": 13.5, + "p90": 31.65 + }, + "samples": 2531, + "accepted": 2252, + "wrist_pos_err_mm_median": 80.2, + "per_camera": { + "head": { + "samples": 2531, + "accepted": 2252, + "gate_deg": 30.0, + "offset_deg": 5.41, + "tier": "primary", + "dev_deg_median": 13.5, + "wrist_pos_err_mm_median": 80.2 + } + }, + "frames_by_state": { + "ace_sample": 9054, + "interpolated": 858, + "mean_hand": 772, + "no_body_fit": 0 + }, + "observed_fraction": 0.9277, + "observed_fraction_of_valid": 0.9277, + "palm_axis_vs_markers_deg": { + "gsi": 8.39, + "smplx": 1.98 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.4, + "p90": 8.0 + }, + "registered": { + "median": 7.4, + "p90": 9.1 + } + } + }, + "right": { + "offset_deg": 12.6, + "offset_rotvec": [ + -0.1437, + -0.126, + 0.1089 + ], + "dev_deg": { + "median": 13.38, + "p90": 32.8 + }, + "samples": 2446, + "accepted": 2130, + "wrist_pos_err_mm_median": 83.3, + "per_camera": { + "head": { + "samples": 2446, + "accepted": 2130, + "gate_deg": 30.0, + "offset_deg": 12.6, + "tier": "primary", + "dev_deg_median": 13.38, + "wrist_pos_err_mm_median": 83.3 + } + }, + "frames_by_state": { + "ace_sample": 8564, + "interpolated": 964, + "mean_hand": 1156, + "no_body_fit": 0 + }, + "observed_fraction": 0.8918, + "observed_fraction_of_valid": 0.8918, + "palm_axis_vs_markers_deg": { + "gsi": 12.37, + "smplx": 1.38 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.5, + "p90": 12.0 + }, + "registered": { + "median": 7.5, + "p90": 10.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:27:50.544466+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/environment_coupled_wholebody/EC11/session_002", "family": "environment_coupled_wholebody", diff --git a/actions/environment_coupled_wholebody/EC11/session_002/motions/smplx.npz b/actions/environment_coupled_wholebody/EC11/session_002/motions/smplx.npz index 91c01c575ebe19a6a697e8a229a3fe96762d517a..58d3447af06130ab389845db2e4aa1abc4e4f72f 100644 --- a/actions/environment_coupled_wholebody/EC11/session_002/motions/smplx.npz +++ b/actions/environment_coupled_wholebody/EC11/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b5475b047b40c727de84ea3ecaf204e1c2874ee31f7470285f2f34313cb27b96 -size 4115400 +oid sha256:355d748f4ed7114f0156f8c3ef89bba2968b518a2d4751d143f3799878888af3 +size 7462575 diff --git a/actions/human_human_locomanipulation/HH01/session_001/meta.json b/actions/human_human_locomanipulation/HH01/session_001/meta.json index 02156ccf1b94c1e73519fbf0f0abafbeeeddf0c3..dc898b7e790e905b3011d7d725e4864f73f0f595 100644 --- a/actions/human_human_locomanipulation/HH01/session_001/meta.json +++ b/actions/human_human_locomanipulation/HH01/session_001/meta.json @@ -336,8 +336,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -398,14 +398,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 174.8, - "opposite_sign_bend_deg": 16.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.912, + "inlier_spread_deg": 12.9, + "marker_Q_to_gsi_deg": { + "1": 159.5, + "-1": 21.6 + } + }, + "wrist_bend_deg_median": 169.2, + "opposite_sign_bend_deg": 30.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.83, "hand_vs_marker_frame_deg": { "before": 179.19, @@ -416,15 +427,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 168.61, + "twist_moved_deg": -168.09, "wrist_twist_deg_after": { - "median": 11.12, + "median": -0.52, "iqr": [ - 7.5, - 28.2 + -4.3, + 18.6 ] }, - "wrist_total_deg_median_after": 31.1, + "wrist_total_deg_median_after": 16.5, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -437,11 +448,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, + -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.907, + "inlier_spread_deg": 10.86, + "marker_Q_to_gsi_deg": { + "1": 15.3, + "-1": 165.7 + } + }, "wrist_bend_deg_median": 22.2, "opposite_sign_bend_deg": 173.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -472,7 +494,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:12:40.834494+00:00", + "generated_at_utc": "2026-11-06T13:33:43.348486+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -703,6 +725,116 @@ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 21.17, + "offset_rotvec": [ + -0.3112, + -0.0329, + 0.1964 + ], + "dev_deg": { + "median": 13.66, + "p90": 28.63 + }, + "samples": 3349, + "accepted": 3059, + "wrist_pos_err_mm_median": 59.3, + "per_camera": { + "head": { + "samples": 3349, + "accepted": 3059, + "gate_deg": 30.0, + "offset_deg": 21.17, + "tier": "primary", + "dev_deg_median": 13.66, + "wrist_pos_err_mm_median": 59.3 + } + }, + "frames_by_state": { + "ace_sample": 12328, + "interpolated": 2720, + "mean_hand": 2836, + "no_body_fit": 0 + }, + "observed_fraction": 0.8414, + "observed_fraction_of_valid": 0.8414, + "palm_axis_vs_markers_deg": { + "gsi": 21.25, + "smplx": 2.15 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 3.7, + "p90": 7.8 + }, + "registered": { + "median": 3.4, + "p90": 5.8 + } + } + }, + "right": { + "offset_deg": 14.53, + "offset_rotvec": [ + -0.2233, + -0.1155, + -0.0335 + ], + "dev_deg": { + "median": 11.57, + "p90": 27.18 + }, + "samples": 3362, + "accepted": 3059, + "wrist_pos_err_mm_median": 31.4, + "per_camera": { + "head": { + "samples": 3362, + "accepted": 3059, + "gate_deg": 30.0, + "offset_deg": 14.53, + "tier": "primary", + "dev_deg_median": 11.57, + "wrist_pos_err_mm_median": 31.4 + } + }, + "frames_by_state": { + "ace_sample": 12232, + "interpolated": 1528, + "mean_hand": 4124, + "no_body_fit": 0 + }, + "observed_fraction": 0.7694, + "observed_fraction_of_valid": 0.7694, + "palm_axis_vs_markers_deg": { + "gsi": 17.82, + "smplx": 1.19 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.3, + "p90": 10.9 + }, + "registered": { + "median": 5.9, + "p90": 9.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:21:14.740124+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/human_human_locomanipulation/HH01/session_001", "family": "human_human_locomanipulation", diff --git a/actions/human_human_locomanipulation/HH01/session_001/motions/smplx.npz b/actions/human_human_locomanipulation/HH01/session_001/motions/smplx.npz index 6e058fab47c66168449daf0605e0ed126216d2b1..59cce67069caf72be1f855041e4d3322304955de 100644 --- a/actions/human_human_locomanipulation/HH01/session_001/motions/smplx.npz +++ b/actions/human_human_locomanipulation/HH01/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b5861279861d39b6e1bee8fc9ef44bc709cae4a99e1084a9918159c11d22eeb7 -size 6735588 +oid sha256:9fdea06af746ebdf505c09103ee9b085b0991a6287786a11e8983470803e1c5b +size 11921813 diff --git a/actions/human_human_locomanipulation/HH01/session_006/meta.json b/actions/human_human_locomanipulation/HH01/session_006/meta.json index c0ce6d7e9b4413281757d258eb38dff8667566af..1b94b551d7421037684905d210281793fdb81f3f 100644 --- a/actions/human_human_locomanipulation/HH01/session_006/meta.json +++ b/actions/human_human_locomanipulation/HH01/session_006/meta.json @@ -360,8 +360,8 @@ "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": { @@ -432,6 +432,17 @@ -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.893, + "inlier_spread_deg": 12.92, + "marker_Q_to_gsi_deg": { + "1": 28.1, + "-1": 161.0 + } + }, "wrist_bend_deg_median": 11.7, "opposite_sign_bend_deg": 174.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -466,19 +477,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + 2.98981, + 0.43689, + 0.86009 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 43.4, - "opposite_sign_bend_deg": 177.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.809, + "inlier_spread_deg": 11.8, + "marker_Q_to_gsi_deg": { + "1": 168.3, + "-1": 14.3 + } + }, + "wrist_bend_deg_median": 177.1, + "opposite_sign_bend_deg": 43.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.39, "hand_vs_marker_frame_deg": { - "before": 2.39, + "before": 178.85, "after": 2.39 }, "markers_on_wrist": [ @@ -486,15 +508,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": 174.03, "wrist_twist_deg_after": { - "median": 0.0, + "median": 4.15, "iqr": [ - -2.8, - 3.6 + 1.5, + 7.4 ] }, - "wrist_total_deg_median_after": 43.2, + "wrist_total_deg_median_after": 14.5, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -503,7 +525,7 @@ }, "frames_used": 1205 }, - "generated_at_utc": "2026-10-28T06:48:23.594783+00:00", + "generated_at_utc": "2026-11-06T14:17:23.353377+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -642,6 +664,116 @@ }, "applied": 10 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 30.53, + "offset_rotvec": [ + 0.4179, + -0.2503, + 0.2158 + ], + "dev_deg": { + "median": 14.81, + "p90": 29.47 + }, + "samples": 3946, + "accepted": 3578, + "wrist_pos_err_mm_median": 34.9, + "per_camera": { + "head": { + "samples": 3946, + "accepted": 3578, + "gate_deg": 30.0, + "offset_deg": 30.53, + "tier": "primary", + "dev_deg_median": 14.81, + "wrist_pos_err_mm_median": 34.9 + } + }, + "frames_by_state": { + "ace_sample": 14482, + "interpolated": 2110, + "mean_hand": 7, + "no_body_fit": 77 + }, + "observed_fraction": 0.995, + "observed_fraction_of_valid": 0.9996, + "palm_axis_vs_markers_deg": { + "gsi": 25.95, + "smplx": 2.55 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.6, + "p90": 10.2 + }, + "registered": { + "median": 6.5, + "p90": 7.8 + } + } + }, + "right": { + "offset_deg": 16.58, + "offset_rotvec": [ + 0.2446, + 0.1511, + -0.0329 + ], + "dev_deg": { + "median": 14.66, + "p90": 54.11 + }, + "samples": 3894, + "accepted": 3221, + "wrist_pos_err_mm_median": 52.6, + "per_camera": { + "head": { + "samples": 3894, + "accepted": 3221, + "gate_deg": 30.0, + "offset_deg": 16.58, + "tier": "primary", + "dev_deg_median": 14.66, + "wrist_pos_err_mm_median": 52.6 + } + }, + "frames_by_state": { + "ace_sample": 12936, + "interpolated": 1252, + "mean_hand": 2411, + "no_body_fit": 77 + }, + "observed_fraction": 0.8508, + "observed_fraction_of_valid": 0.8548, + "palm_axis_vs_markers_deg": { + "gsi": 11.59, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:53:24.240413+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/human_human_locomanipulation/HH01/session_006", "family": "human_human_locomanipulation", diff --git a/actions/human_human_locomanipulation/HH01/session_006/motions/smplx.npz b/actions/human_human_locomanipulation/HH01/session_006/motions/smplx.npz index 004f5c833b768ae1c88bf42e96882d1ede9bb65f..bef41609985abb235938fb057bed17453affbc49 100644 --- a/actions/human_human_locomanipulation/HH01/session_006/motions/smplx.npz +++ b/actions/human_human_locomanipulation/HH01/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e18c05a3d5c767f9f33335cd72c956e24c0c671f334e847546d3596c36544176 -size 6274978 +oid sha256:a0cd670155823ff783a96d97f6599ea0391cdfc86ea102ff017a2214c1e479c5 +size 11547012 diff --git a/actions/human_human_locomanipulation/HH01/session_007/meta.json b/actions/human_human_locomanipulation/HH01/session_007/meta.json index 106969c0f80296f8562513a7f24623bf2418b12a..419b48978ee80314ab2e6b2f20e6ed8d9d6ab4d6 100644 --- a/actions/human_human_locomanipulation/HH01/session_007/meta.json +++ b/actions/human_human_locomanipulation/HH01/session_007/meta.json @@ -379,8 +379,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -449,19 +449,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 151.36, + "Q_deg": 180.0, "Q_rotvec": [ - 2.56133, - -0.60121, - -0.2378 + -2.98601, + 0.43444, + 0.87442 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 156.8, - "opposite_sign_bend_deg": 28.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.953, + "inlier_spread_deg": 8.64, + "marker_Q_to_gsi_deg": { + "1": 177.4, + "-1": 21.3 + } + }, + "wrist_bend_deg_median": 176.8, + "opposite_sign_bend_deg": 24.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.68, "hand_vs_marker_frame_deg": { - "before": 151.95, + "before": 178.46, "after": 2.68 }, "markers_on_wrist": [ @@ -471,15 +482,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 156.28, + "twist_moved_deg": -165.08, "wrist_twist_deg_after": { - "median": 0.21, + "median": -13.9, "iqr": [ - -1.9, - 2.7 + -16.2, + -8.0 ] }, - "wrist_total_deg_median_after": 24.6, + "wrist_total_deg_median_after": 22.6, "markers_on_forearm": [ "LForearm" ] @@ -488,19 +499,30 @@ }, "right": { "status": "corrected", - "Q_deg": 37.29, + "Q_deg": 0.0, "Q_rotvec": [ - 0.17181, - 0.38067, - -0.4991 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 22.8, - "opposite_sign_bend_deg": 172.2, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.993, + "inlier_spread_deg": 8.29, + "marker_Q_to_gsi_deg": { + "1": 21.4, + "-1": 171.1 + } + }, + "wrist_bend_deg_median": 23.6, + "opposite_sign_bend_deg": 176.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.87, "hand_vs_marker_frame_deg": { - "before": 37.3, + "before": 1.87, "after": 1.87 }, "markers_on_wrist": [ @@ -508,9 +530,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 5.63, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -9.3, 2.5 @@ -526,7 +548,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-29T04:41:47.482816+00:00", + "generated_at_utc": "2026-11-06T14:18:14.763604+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -566,6 +588,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 21.76, + "offset_rotvec": [ + -0.1039, + 0.252, + -0.2644 + ], + "dev_deg": { + "median": 8.66, + "p90": 17.89 + }, + "samples": 4345, + "accepted": 4145, + "wrist_pos_err_mm_median": 46.9, + "per_camera": { + "head": { + "samples": 4345, + "accepted": 4145, + "gate_deg": 30.0, + "offset_deg": 21.76, + "tier": "primary", + "dev_deg_median": 8.66, + "wrist_pos_err_mm_median": 46.9 + } + }, + "frames_by_state": { + "ace_sample": 16622, + "interpolated": 462, + "mean_hand": 936, + "no_body_fit": 0 + }, + "observed_fraction": 0.9481, + "observed_fraction_of_valid": 0.9481, + "palm_axis_vs_markers_deg": { + "gsi": 17.67, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 22.22, + "offset_rotvec": [ + -0.1572, + -0.3222, + 0.1478 + ], + "dev_deg": { + "median": 7.5, + "p90": 15.87 + }, + "samples": 4444, + "accepted": 4406, + "wrist_pos_err_mm_median": 41.8, + "per_camera": { + "head": { + "samples": 4444, + "accepted": 4406, + "gate_deg": 30.0, + "offset_deg": 22.22, + "tier": "primary", + "dev_deg_median": 7.5, + "wrist_pos_err_mm_median": 41.8 + } + }, + "frames_by_state": { + "ace_sample": 17670, + "interpolated": 338, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9993, + "observed_fraction_of_valid": 0.9993, + "palm_axis_vs_markers_deg": { + "gsi": 19.53, + "smplx": 1.07 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.4, + "p90": 16.5 + }, + "registered": { + "median": 10.4, + "p90": 16.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:55:23.938227+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/human_human_locomanipulation/HH01/session_007", "family": "human_human_locomanipulation", diff --git a/actions/human_human_locomanipulation/HH01/session_007/motions/smplx.npz b/actions/human_human_locomanipulation/HH01/session_007/motions/smplx.npz index d8255afce1cd1971b0a0118ab32fedc0379a9283..5cb39a05378a071dea36d334ddf36048cb7312e8 100644 --- a/actions/human_human_locomanipulation/HH01/session_007/motions/smplx.npz +++ b/actions/human_human_locomanipulation/HH01/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:81564c0e1ef51574157e2a6351d8e229ec388375b77651af36e35bf04f8b2d1d -size 6831830 +oid sha256:8caec7a20990ac2e9da42ff59fd372337629243fda31bc77d0db647176163f06 +size 12710644 diff --git a/actions/human_human_locomanipulation/HH02/session_004/meta.json b/actions/human_human_locomanipulation/HH02/session_004/meta.json index c1008c0895e9741c3020bfb0d555996a3b052b60..318614143ecd37cd1d91684a7acbf5f8996b2c66 100644 --- a/actions/human_human_locomanipulation/HH02/session_004/meta.json +++ b/actions/human_human_locomanipulation/HH02/session_004/meta.json @@ -379,8 +379,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -444,19 +444,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 177.2, + "Q_deg": 180.0, "Q_rotvec": [ - 3.08169, - -0.11217, - -0.23474 + -2.98601, + 0.43444, + 0.87442 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 160.5, - "opposite_sign_bend_deg": 41.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2996, + "inlier_frac": 0.838, + "inlier_spread_deg": 12.28, + "marker_Q_to_gsi_deg": { + "1": 178.0, + "-1": 18.8 + } + }, + "wrist_bend_deg_median": 174.7, + "opposite_sign_bend_deg": 14.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.19, "hand_vs_marker_frame_deg": { - "before": 177.03, + "before": 179.64, "after": 2.19 }, "markers_on_wrist": [ @@ -464,15 +475,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -160.35, + "twist_moved_deg": -171.5, "wrist_twist_deg_after": { - "median": -0.0, + "median": -4.56, "iqr": [ - -5.2, - 4.4 + -8.8, + -0.3 ] }, - "wrist_total_deg_median_after": 14.8, + "wrist_total_deg_median_after": 33.3, "markers_on_forearm": [ "LElbow", "LForearm", @@ -484,19 +495,30 @@ }, "right": { "status": "corrected", - "Q_deg": 85.73, + "Q_deg": 0.0, "Q_rotvec": [ - 1.43148, - 0.4076, - 0.15386 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 57.9, - "opposite_sign_bend_deg": 129.2, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2960, + "inlier_frac": 0.906, + "inlier_spread_deg": 8.75, + "marker_Q_to_gsi_deg": { + "1": 27.6, + "-1": 164.9 + } + }, + "wrist_bend_deg_median": 21.4, + "opposite_sign_bend_deg": 177.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.26, "hand_vs_marker_frame_deg": { - "before": 85.97, + "before": 1.26, "after": 1.26 }, "markers_on_wrist": [ @@ -505,7 +527,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -53.95, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -522,10 +544,120 @@ }, "frames_used": 1381 }, - "generated_at_utc": "2026-10-29T04:42:58.941861+00:00", + "generated_at_utc": "2026-11-06T14:18:21.537897+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 18.93, + "offset_rotvec": [ + -0.0572, + 0.2694, + -0.1825 + ], + "dev_deg": { + "median": 13.74, + "p90": 37.89 + }, + "samples": 2996, + "accepted": 2511, + "wrist_pos_err_mm_median": 58.4, + "per_camera": { + "head": { + "samples": 2996, + "accepted": 2511, + "gate_deg": 30.0, + "offset_deg": 18.93, + "tier": "primary", + "dev_deg_median": 13.74, + "wrist_pos_err_mm_median": 58.4 + } + }, + "frames_by_state": { + "ace_sample": 10218, + "interpolated": 3434, + "mean_hand": 152, + "no_body_fit": 0 + }, + "observed_fraction": 0.989, + "observed_fraction_of_valid": 0.989, + "palm_axis_vs_markers_deg": { + "gsi": 21.15, + "smplx": 0.92 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.3, + "p90": 19.0 + }, + "registered": { + "median": 12.2, + "p90": 18.2 + } + } + }, + "right": { + "offset_deg": 29.29, + "offset_rotvec": [ + -0.3277, + -0.3233, + 0.2224 + ], + "dev_deg": { + "median": 8.9, + "p90": 30.47 + }, + "samples": 2960, + "accepted": 2656, + "wrist_pos_err_mm_median": 62.8, + "per_camera": { + "head": { + "samples": 2960, + "accepted": 2656, + "gate_deg": 30.0, + "offset_deg": 29.29, + "tier": "primary", + "dev_deg_median": 8.9, + "wrist_pos_err_mm_median": 62.8 + } + }, + "frames_by_state": { + "ace_sample": 10804, + "interpolated": 2792, + "mean_hand": 208, + "no_body_fit": 0 + }, + "observed_fraction": 0.9849, + "observed_fraction_of_valid": 0.9849, + "palm_axis_vs_markers_deg": { + "gsi": 24.18, + "smplx": 1.02 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.4, + "p90": 17.2 + }, + "registered": { + "median": 11.3, + "p90": 16.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:55:30.543202+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/human_human_locomanipulation/HH02/session_004", "family": "human_human_locomanipulation", diff --git a/actions/human_human_locomanipulation/HH02/session_004/motions/smplx.npz b/actions/human_human_locomanipulation/HH02/session_004/motions/smplx.npz index 599a592782c3dfbe8326bb6d6047c1abe19edbb8..3db13da5de806f53238c20507e68e467abd74749 100644 --- a/actions/human_human_locomanipulation/HH02/session_004/motions/smplx.npz +++ b/actions/human_human_locomanipulation/HH02/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:35f6670bb445fa5e92068fe4a8011351f42b36b1d65740b5bb70a24948290284 -size 5322291 +oid sha256:1a9ed4effd1df064e73cd3115c371f5b7dfe377b3a80d16949e467076100fa45 +size 9902584 diff --git a/actions/human_human_locomanipulation/HH03/session_001/meta.json b/actions/human_human_locomanipulation/HH03/session_001/meta.json index e54d43f3df0f047e3408b24c117f3f200908cb00..6c36bef8595d696f7883aa36120c5df412ac6258 100644 --- a/actions/human_human_locomanipulation/HH03/session_001/meta.json +++ b/actions/human_human_locomanipulation/HH03/session_001/meta.json @@ -333,8 +333,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -404,10 +404,21 @@ 0.2415, 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 172.2, - "opposite_sign_bend_deg": 16.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2339, + "inlier_frac": 0.95, + "inlier_spread_deg": 11.05, + "marker_Q_to_gsi_deg": { + "1": 168.0, + "-1": 14.5 + } + }, + "wrist_bend_deg_median": 154.5, + "opposite_sign_bend_deg": 42.3, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.26, "hand_vs_marker_frame_deg": { "before": 177.97, @@ -418,15 +429,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 154.7, + "twist_moved_deg": -152.87, "wrist_twist_deg_after": { - "median": 22.16, + "median": -1.83, "iqr": [ - 12.6, - 30.4 + -11.5, + 6.3 ] }, - "wrist_total_deg_median_after": 42.3, + "wrist_total_deg_median_after": 15.9, "markers_on_forearm": [ "LElbow", "LForearm", @@ -440,11 +451,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, -0.0, + 0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2125, + "inlier_frac": 0.944, + "inlier_spread_deg": 7.82, + "marker_Q_to_gsi_deg": { + "1": 8.1, + "-1": 172.9 + } + }, "wrist_bend_deg_median": 19.7, "opposite_sign_bend_deg": 174.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -459,9 +481,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -4.9, 12.9 @@ -475,7 +497,7 @@ }, "frames_used": 1008 }, - "generated_at_utc": "2026-10-28T06:12:40.451103+00:00", + "generated_at_utc": "2026-11-06T13:33:30.640591+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -697,6 +719,116 @@ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 16.45, + "offset_rotvec": [ + -0.2652, + -0.0206, + 0.108 + ], + "dev_deg": { + "median": 11.6, + "p90": 27.95 + }, + "samples": 2339, + "accepted": 2155, + "wrist_pos_err_mm_median": 87.5, + "per_camera": { + "head": { + "samples": 2339, + "accepted": 2155, + "gate_deg": 30.0, + "offset_deg": 16.45, + "tier": "primary", + "dev_deg_median": 11.6, + "wrist_pos_err_mm_median": 87.5 + } + }, + "frames_by_state": { + "ace_sample": 8734, + "interpolated": 1322, + "mean_hand": 23, + "no_body_fit": 5 + }, + "observed_fraction": 0.9972, + "observed_fraction_of_valid": 0.9977, + "palm_axis_vs_markers_deg": { + "gsi": 16.76, + "smplx": 2.88 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.3, + "p90": 17.7 + }, + "registered": { + "median": 13.5, + "p90": 16.8 + } + } + }, + "right": { + "offset_deg": 7.8, + "offset_rotvec": [ + -0.1214, + -0.0611, + 0.0071 + ], + "dev_deg": { + "median": 8.4, + "p90": 23.81 + }, + "samples": 2125, + "accepted": 2009, + "wrist_pos_err_mm_median": 83.8, + "per_camera": { + "head": { + "samples": 2125, + "accepted": 2009, + "gate_deg": 30.0, + "offset_deg": 7.8, + "tier": "primary", + "dev_deg_median": 8.4, + "wrist_pos_err_mm_median": 83.8 + } + }, + "frames_by_state": { + "ace_sample": 8132, + "interpolated": 1460, + "mean_hand": 487, + "no_body_fit": 5 + }, + "observed_fraction": 0.9512, + "observed_fraction_of_valid": 0.9517, + "palm_axis_vs_markers_deg": { + "gsi": 11.41, + "smplx": 1.73 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.1, + "p90": 11.5 + }, + "registered": { + "median": 8.0, + "p90": 10.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:20:54.237768+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/human_human_locomanipulation/HH03/session_001", "family": "human_human_locomanipulation", diff --git a/actions/human_human_locomanipulation/HH03/session_001/motions/smplx.npz b/actions/human_human_locomanipulation/HH03/session_001/motions/smplx.npz index a5afc70979bf5c859afc4a38372211648a020554..69afef22c8daf68726077060ef6a5572a7f8840b 100644 --- a/actions/human_human_locomanipulation/HH03/session_001/motions/smplx.npz +++ b/actions/human_human_locomanipulation/HH03/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:41d31f8b73b91bd64580b27d800bdd81e756eaf0e89f3d1878084ebc8300cab9 -size 3882432 +oid sha256:a28f448e17f2f9177fbd59c37c2577984d4a9381dcd2ffaea1f885f04fa4cee0 +size 7210419 diff --git a/actions/human_human_locomanipulation/HH03/session_002/meta.json b/actions/human_human_locomanipulation/HH03/session_002/meta.json index 471befd2dec77c2e7c81313e34737d5b9e9ce4bd..e4caadf0ddf550dc1525e70829a4fe0c5f5f90b5 100644 --- a/actions/human_human_locomanipulation/HH03/session_002/meta.json +++ b/actions/human_human_locomanipulation/HH03/session_002/meta.json @@ -335,8 +335,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -406,10 +406,21 @@ 0.2415, 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 171.0, - "opposite_sign_bend_deg": 19.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2166, + "inlier_frac": 0.952, + "inlier_spread_deg": 12.72, + "marker_Q_to_gsi_deg": { + "1": 163.9, + "-1": 18.0 + } + }, + "wrist_bend_deg_median": 160.6, + "opposite_sign_bend_deg": 38.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.73, "hand_vs_marker_frame_deg": { "before": 177.72, @@ -420,15 +431,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 160.13, + "twist_moved_deg": -158.49, "wrist_twist_deg_after": { - "median": 14.52, + "median": -1.64, "iqr": [ - 6.5, - 26.9 + -11.0, + 10.1 ] }, - "wrist_total_deg_median_after": 38.8, + "wrist_total_deg_median_after": 18.9, "markers_on_forearm": [ "LElbow", "LForearm", @@ -444,9 +455,20 @@ "Q_rotvec": [ 0.0, -0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2028, + "inlier_frac": 0.974, + "inlier_spread_deg": 9.64, + "marker_Q_to_gsi_deg": { + "1": 13.5, + "-1": 167.1 + } + }, "wrist_bend_deg_median": 18.8, "opposite_sign_bend_deg": 173.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -463,7 +485,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -9.3, 6.3 @@ -477,7 +499,7 @@ }, "frames_used": 923 }, - "generated_at_utc": "2026-10-28T06:12:40.466226+00:00", + "generated_at_utc": "2026-11-06T13:33:30.444363+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -699,6 +721,116 @@ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 21.21, + "offset_rotvec": [ + -0.3377, + -0.021, + 0.1501 + ], + "dev_deg": { + "median": 12.86, + "p90": 28.04 + }, + "samples": 2166, + "accepted": 1983, + "wrist_pos_err_mm_median": 75.3, + "per_camera": { + "head": { + "samples": 2166, + "accepted": 1983, + "gate_deg": 30.0, + "offset_deg": 21.21, + "tier": "primary", + "dev_deg_median": 12.86, + "wrist_pos_err_mm_median": 75.3 + } + }, + "frames_by_state": { + "ace_sample": 7999, + "interpolated": 1088, + "mean_hand": 137, + "no_body_fit": 260 + }, + "observed_fraction": 0.9581, + "observed_fraction_of_valid": 0.9851, + "palm_axis_vs_markers_deg": { + "gsi": 21.15, + "smplx": 2.73 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.9, + "p90": 15.0 + }, + "registered": { + "median": 9.4, + "p90": 15.0 + } + } + }, + "right": { + "offset_deg": 14.07, + "offset_rotvec": [ + -0.2194, + -0.0889, + -0.0654 + ], + "dev_deg": { + "median": 9.96, + "p90": 18.41 + }, + "samples": 2028, + "accepted": 1976, + "wrist_pos_err_mm_median": 85.3, + "per_camera": { + "head": { + "samples": 2028, + "accepted": 1976, + "gate_deg": 30.0, + "offset_deg": 14.07, + "tier": "primary", + "dev_deg_median": 9.96, + "wrist_pos_err_mm_median": 85.3 + } + }, + "frames_by_state": { + "ace_sample": 7977, + "interpolated": 1242, + "mean_hand": 5, + "no_body_fit": 260 + }, + "observed_fraction": 0.9721, + "observed_fraction_of_valid": 0.9995, + "palm_axis_vs_markers_deg": { + "gsi": 14.96, + "smplx": 1.64 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.6, + "p90": 12.9 + }, + "registered": { + "median": 9.8, + "p90": 11.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:20:56.035885+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/human_human_locomanipulation/HH03/session_002", "family": "human_human_locomanipulation", diff --git a/actions/human_human_locomanipulation/HH03/session_002/motions/smplx.npz b/actions/human_human_locomanipulation/HH03/session_002/motions/smplx.npz index c1f5efaeaf3913933f7fcbc51cd3ab7c5600e1d6..0be46d1b82d2c30fc8b28b4bb696caa7f4aad12e 100644 --- a/actions/human_human_locomanipulation/HH03/session_002/motions/smplx.npz +++ b/actions/human_human_locomanipulation/HH03/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b75e06fcd3dcf887802dc774c26241860eb7f31e1b587ae5c4e7b8a39f8b15e3 -size 3558446 +oid sha256:d5241e1cd098a40b50b8b5bf292fa641eb35e8559a38b6cdf821b647a99b2956 +size 6636955 diff --git a/actions/human_human_locomanipulation/HH03/session_007/meta.json b/actions/human_human_locomanipulation/HH03/session_007/meta.json index cf79e00f1b9881bef57661ad80433519aad184a4..c9d1b91c82952807cb1b52296eb1b898c51590af 100644 --- a/actions/human_human_locomanipulation/HH03/session_007/meta.json +++ b/actions/human_human_locomanipulation/HH03/session_007/meta.json @@ -360,8 +360,8 @@ "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": { @@ -420,19 +420,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + -2.98164, + 0.44128, + 0.88584 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 24.9, - "opposite_sign_bend_deg": 173.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 1580, + "inlier_frac": 0.727, + "inlier_spread_deg": 6.24, + "marker_Q_to_gsi_deg": { + "1": 168.8, + "-1": 15.5 + } + }, + "wrist_bend_deg_median": 173.4, + "opposite_sign_bend_deg": 25.0, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.08, "hand_vs_marker_frame_deg": { - "before": 3.08, + "before": 179.36, "after": 3.08 }, "markers_on_wrist": [ @@ -440,15 +451,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.83, + "twist_moved_deg": -166.94, "wrist_twist_deg_after": { - "median": -0.0, + "median": -9.6, "iqr": [ - -5.1, - 4.1 + -18.2, + -5.4 ] }, - "wrist_total_deg_median_after": 25.7, + "wrist_total_deg_median_after": 26.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -461,11 +472,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, -0.0, - 0.0 + -0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1670, + "inlier_frac": 0.55, + "inlier_spread_deg": 16.89, + "marker_Q_to_gsi_deg": { + "1": 10.0, + "-1": 175.9 + } + }, "wrist_bend_deg_median": 26.5, "opposite_sign_bend_deg": 164.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -479,9 +501,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -18.4, 15.1 @@ -496,7 +518,7 @@ }, "frames_used": 687 }, - "generated_at_utc": "2026-10-28T06:43:41.588968+00:00", + "generated_at_utc": "2026-11-06T14:08:37.336581+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -731,6 +753,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 16.82, + "offset_rotvec": [ + 0.2802, + 0.0816, + -0.032 + ], + "dev_deg": { + "median": 10.62, + "p90": 95.3 + }, + "samples": 1580, + "accepted": 1151, + "wrist_pos_err_mm_median": 29.5, + "per_camera": { + "head": { + "samples": 1580, + "accepted": 1151, + "gate_deg": 30.0, + "offset_deg": 16.82, + "tier": "primary", + "dev_deg_median": 10.62, + "wrist_pos_err_mm_median": 29.5 + } + }, + "frames_by_state": { + "ace_sample": 4590, + "interpolated": 154, + "mean_hand": 2121, + "no_body_fit": 0 + }, + "observed_fraction": 0.691, + "observed_fraction_of_valid": 0.691, + "palm_axis_vs_markers_deg": { + "gsi": 17.21, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 17.99, + "offset_rotvec": [ + 0.1347, + 0.235, + -0.159 + ], + "dev_deg": { + "median": 26.87, + "p90": 76.85 + }, + "samples": 1670, + "accepted": 987, + "wrist_pos_err_mm_median": 45.2, + "per_camera": { + "head": { + "samples": 1670, + "accepted": 987, + "gate_deg": 30.0, + "offset_deg": 17.99, + "tier": "primary", + "dev_deg_median": 26.87, + "wrist_pos_err_mm_median": 45.2 + } + }, + "frames_by_state": { + "ace_sample": 3988, + "interpolated": 1024, + "mean_hand": 1853, + "no_body_fit": 0 + }, + "observed_fraction": 0.7301, + "observed_fraction_of_valid": 0.7301, + "palm_axis_vs_markers_deg": { + "gsi": 28.04, + "smplx": 5.88 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 4.1, + "p90": 6.3 + }, + "registered": { + "median": 5.2, + "p90": 8.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:35:54.535257+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/human_human_locomanipulation/HH03/session_007", "family": "human_human_locomanipulation", diff --git a/actions/human_human_locomanipulation/HH03/session_007/motions/smplx.npz b/actions/human_human_locomanipulation/HH03/session_007/motions/smplx.npz index 6f6c4cca1b06f8d0bdba1b9d916db57952e493c1..a49242a1c48e5648cdf5debccf07f2ff3d092c00 100644 --- a/actions/human_human_locomanipulation/HH03/session_007/motions/smplx.npz +++ b/actions/human_human_locomanipulation/HH03/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:11b4d25bd693a814287bc06856821225e64980a87974936d03a227ada469fd31 -size 2656424 +oid sha256:2587c81b36245f3b8e29aaf9f19e1496ab4804fce7d04db5bf530127f56c8f7c +size 4407159 diff --git a/actions/human_human_locomanipulation/HH03/session_008/meta.json b/actions/human_human_locomanipulation/HH03/session_008/meta.json index bdd346322b086b94002cf73d26ee61332ccf8602..712a71662fa8c35eb82edd7946fbd99116ad51a8 100644 --- a/actions/human_human_locomanipulation/HH03/session_008/meta.json +++ b/actions/human_human_locomanipulation/HH03/session_008/meta.json @@ -372,8 +372,8 @@ "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": { @@ -432,19 +432,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + 2.98164, + -0.44128, + -0.88584 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 36.2, - "opposite_sign_bend_deg": 172.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2413, + "inlier_frac": 0.471, + "inlier_spread_deg": 11.22, + "marker_Q_to_gsi_deg": { + "1": 163.7, + "-1": 16.5 + } + }, + "wrist_bend_deg_median": 169.8, + "opposite_sign_bend_deg": 36.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 6.21, "hand_vs_marker_frame_deg": { - "before": 6.21, + "before": 179.36, "after": 6.21 }, "markers_on_wrist": [ @@ -452,15 +463,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -5.76, + "twist_moved_deg": -162.05, "wrist_twist_deg_after": { - "median": -0.03, + "median": -10.67, "iqr": [ - -10.5, - 7.6 + -22.3, + -3.9 ] }, - "wrist_total_deg_median_after": 40.7, + "wrist_total_deg_median_after": 32.3, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -474,10 +485,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - 0.0, + -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2609, + "inlier_frac": 0.585, + "inlier_spread_deg": 18.65, + "marker_Q_to_gsi_deg": { + "1": 20.8, + "-1": 166.8 + } + }, "wrist_bend_deg_median": 35.6, "opposite_sign_bend_deg": 158.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -491,9 +513,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -24.0, 24.1 @@ -508,7 +530,7 @@ }, "frames_used": 1078 }, - "generated_at_utc": "2026-10-28T06:43:42.047676+00:00", + "generated_at_utc": "2026-11-06T14:09:06.935994+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -787,6 +809,116 @@ }, "applied": 6 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 29.43, + "offset_rotvec": [ + 0.4646, + -0.2112, + -0.0577 + ], + "dev_deg": { + "median": 31.88, + "p90": 115.61 + }, + "samples": 2413, + "accepted": 1158, + "wrist_pos_err_mm_median": 26.2, + "per_camera": { + "head": { + "samples": 2413, + "accepted": 1158, + "gate_deg": 30.0, + "offset_deg": 29.43, + "tier": "primary", + "dev_deg_median": 31.88, + "wrist_pos_err_mm_median": 26.2 + } + }, + "frames_by_state": { + "ace_sample": 4628, + "interpolated": 656, + "mean_hand": 5492, + "no_body_fit": 0 + }, + "observed_fraction": 0.4903, + "observed_fraction_of_valid": 0.4903, + "palm_axis_vs_markers_deg": { + "gsi": 32.24, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 22.7, + "offset_rotvec": [ + 0.2066, + 0.2966, + -0.1623 + ], + "dev_deg": { + "median": 25.57, + "p90": 66.73 + }, + "samples": 2609, + "accepted": 1554, + "wrist_pos_err_mm_median": 38.4, + "per_camera": { + "head": { + "samples": 2609, + "accepted": 1554, + "gate_deg": 30.0, + "offset_deg": 22.7, + "tier": "primary", + "dev_deg_median": 25.57, + "wrist_pos_err_mm_median": 38.4 + } + }, + "frames_by_state": { + "ace_sample": 6230, + "interpolated": 934, + "mean_hand": 3612, + "no_body_fit": 0 + }, + "observed_fraction": 0.6648, + "observed_fraction_of_valid": 0.6648, + "palm_axis_vs_markers_deg": { + "gsi": 32.07, + "smplx": 5.47 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.6, + "p90": 7.5 + }, + "registered": { + "median": 6.1, + "p90": 7.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:35:59.742445+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/human_human_locomanipulation/HH03/session_008", "family": "human_human_locomanipulation", diff --git a/actions/human_human_locomanipulation/HH03/session_008/motions/smplx.npz b/actions/human_human_locomanipulation/HH03/session_008/motions/smplx.npz index cdeb98ec7dffe617ce05e695d2fc22abe2f58cfc..617abfc65254d30c7ed2d9c85f890e90667faf0b 100644 --- a/actions/human_human_locomanipulation/HH03/session_008/motions/smplx.npz +++ b/actions/human_human_locomanipulation/HH03/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6b48abe00ed3f4bf225f5a8b0b2e8e8dadfbb8cba38e9cde77a800bc8e251e2a -size 4157712 +oid sha256:ccb856b398f8c24260112a3a4d8252ac22770b4bae296903fb0030e22498a17f +size 6526600 diff --git a/actions/human_human_locomanipulation/HH03/session_010/meta.json b/actions/human_human_locomanipulation/HH03/session_010/meta.json index 1508d1033f4d7aa9c016c669bb511054c2c0cac1..6aebee4ceb80bd32c24ade70685e1468708be85b 100644 --- a/actions/human_human_locomanipulation/HH03/session_010/meta.json +++ b/actions/human_human_locomanipulation/HH03/session_010/meta.json @@ -372,8 +372,8 @@ "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": { @@ -432,19 +432,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + 2.98662, + -0.4392, + -0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 42.0, - "opposite_sign_bend_deg": 175.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2328, + "inlier_frac": 0.797, + "inlier_spread_deg": 9.33, + "marker_Q_to_gsi_deg": { + "1": 179.8, + "-1": 8.0 + } + }, + "wrist_bend_deg_median": 174.4, + "opposite_sign_bend_deg": 42.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.96, "hand_vs_marker_frame_deg": { - "before": 2.96, + "before": 179.2, "after": 2.96 }, "markers_on_wrist": [ @@ -452,15 +463,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -1.17, + "twist_moved_deg": -169.14, "wrist_twist_deg_after": { - "median": -0.0, + "median": -8.92, "iqr": [ - -6.6, - 5.0 + -15.1, + -4.3 ] }, - "wrist_total_deg_median_after": 42.3, + "wrist_total_deg_median_after": 16.3, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -478,6 +489,17 @@ -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1961, + "inlier_frac": 0.91, + "inlier_spread_deg": 13.09, + "marker_Q_to_gsi_deg": { + "1": 3.7, + "-1": 177.2 + } + }, "wrist_bend_deg_median": 16.9, "opposite_sign_bend_deg": 171.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -508,7 +530,7 @@ }, "frames_used": 1039 }, - "generated_at_utc": "2026-10-28T06:46:22.947679+00:00", + "generated_at_utc": "2026-11-06T14:10:28.435536+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -559,6 +581,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 6.1, + "offset_rotvec": [ + -0.0556, + -0.0908, + 0.0006 + ], + "dev_deg": { + "median": 11.53, + "p90": 67.78 + }, + "samples": 2328, + "accepted": 1855, + "wrist_pos_err_mm_median": 35.8, + "per_camera": { + "head": { + "samples": 2328, + "accepted": 1855, + "gate_deg": 30.0, + "offset_deg": 6.1, + "tier": "primary", + "dev_deg_median": 11.53, + "wrist_pos_err_mm_median": 35.8 + } + }, + "frames_by_state": { + "ace_sample": 7552, + "interpolated": 860, + "mean_hand": 1973, + "no_body_fit": 7 + }, + "observed_fraction": 0.8095, + "observed_fraction_of_valid": 0.81, + "palm_axis_vs_markers_deg": { + "gsi": 11.89, + "smplx": 1.71 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.8, + "p90": 13.2 + }, + "registered": { + "median": 7.8, + "p90": 11.1 + } + } + }, + "right": { + "offset_deg": 3.45, + "offset_rotvec": [ + -0.0168, + -0.0255, + -0.0518 + ], + "dev_deg": { + "median": 14.26, + "p90": 28.32 + }, + "samples": 1961, + "accepted": 1792, + "wrist_pos_err_mm_median": 26.9, + "per_camera": { + "head": { + "samples": 1961, + "accepted": 1792, + "gate_deg": 30.0, + "offset_deg": 3.45, + "tier": "primary", + "dev_deg_median": 14.26, + "wrist_pos_err_mm_median": 26.9 + } + }, + "frames_by_state": { + "ace_sample": 7304, + "interpolated": 1036, + "mean_hand": 2045, + "no_body_fit": 7 + }, + "observed_fraction": 0.8025, + "observed_fraction_of_valid": 0.8031, + "palm_axis_vs_markers_deg": { + "gsi": 9.71, + "smplx": 1.96 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.1, + "p90": 9.7 + }, + "registered": { + "median": 8.0, + "p90": 8.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:39:09.137799+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/human_human_locomanipulation/HH03/session_010", "family": "human_human_locomanipulation", diff --git a/actions/human_human_locomanipulation/HH03/session_010/motions/smplx.npz b/actions/human_human_locomanipulation/HH03/session_010/motions/smplx.npz index 315e1af2108d832c130445132011441f6449cff4..ab9ab13ad1dcec82078d106161d328d4d7fbde76 100644 --- a/actions/human_human_locomanipulation/HH03/session_010/motions/smplx.npz +++ b/actions/human_human_locomanipulation/HH03/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:35cb0740b1bf7a87bd019e6a1ebea6b215200771eb9797c4f222bd4ef85e699a -size 4007622 +oid sha256:1d31eb32e9b03b66657610e326ce6dc5b5e814e35cf054a248fbd5dd5651ced8 +size 6949962 diff --git a/actions/human_human_locomanipulation/HH03/session_011/meta.json b/actions/human_human_locomanipulation/HH03/session_011/meta.json index 43a047fb12dc10c83a32ccc760fe3d44344bb4e5..554a0215b14357681efaf24331bda1effde3c707 100644 --- a/actions/human_human_locomanipulation/HH03/session_011/meta.json +++ b/actions/human_human_locomanipulation/HH03/session_011/meta.json @@ -372,8 +372,8 @@ "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": { @@ -432,19 +432,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + -2.98662, + 0.4392, + 0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 46.5, - "opposite_sign_bend_deg": 175.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2463, + "inlier_frac": 0.756, + "inlier_spread_deg": 9.66, + "marker_Q_to_gsi_deg": { + "1": 179.8, + "-1": 9.7 + } + }, + "wrist_bend_deg_median": 175.5, + "opposite_sign_bend_deg": 46.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.94, "hand_vs_marker_frame_deg": { - "before": 4.94, + "before": 178.69, "after": 4.94 }, "markers_on_wrist": [ @@ -452,15 +463,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -1.74, + "twist_moved_deg": -142.92, "wrist_twist_deg_after": { - "median": -0.0, + "median": -36.01, "iqr": [ - -6.1, - 5.4 + -41.6, + -31.9 ] }, - "wrist_total_deg_median_after": 46.8, + "wrist_total_deg_median_after": 39.4, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -474,10 +485,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - 0.0, - -0.0 + -0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2247, + "inlier_frac": 0.914, + "inlier_spread_deg": 14.54, + "marker_Q_to_gsi_deg": { + "1": 3.8, + "-1": 178.6 + } + }, "wrist_bend_deg_median": 16.3, "opposite_sign_bend_deg": 173.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -493,7 +515,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -7.9, 8.8 @@ -508,7 +530,7 @@ }, "frames_used": 1052 }, - "generated_at_utc": "2026-10-28T06:46:23.313965+00:00", + "generated_at_utc": "2026-11-06T14:10:34.240065+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -570,6 +592,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 6.38, + "offset_rotvec": [ + -0.0185, + -0.1023, + -0.0399 + ], + "dev_deg": { + "median": 12.99, + "p90": 58.32 + }, + "samples": 2463, + "accepted": 1854, + "wrist_pos_err_mm_median": 46.4, + "per_camera": { + "head": { + "samples": 2463, + "accepted": 1854, + "gate_deg": 30.0, + "offset_deg": 6.38, + "tier": "primary", + "dev_deg_median": 12.99, + "wrist_pos_err_mm_median": 46.4 + } + }, + "frames_by_state": { + "ace_sample": 7562, + "interpolated": 1722, + "mean_hand": 1228, + "no_body_fit": 0 + }, + "observed_fraction": 0.8832, + "observed_fraction_of_valid": 0.8832, + "palm_axis_vs_markers_deg": { + "gsi": 13.79, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 3.44, + "offset_rotvec": [ + -0.003, + -0.0472, + -0.0371 + ], + "dev_deg": { + "median": 15.57, + "p90": 28.84 + }, + "samples": 2247, + "accepted": 2053, + "wrist_pos_err_mm_median": 27.6, + "per_camera": { + "head": { + "samples": 2247, + "accepted": 2053, + "gate_deg": 30.0, + "offset_deg": 3.44, + "tier": "primary", + "dev_deg_median": 15.57, + "wrist_pos_err_mm_median": 27.6 + } + }, + "frames_by_state": { + "ace_sample": 8316, + "interpolated": 768, + "mean_hand": 1428, + "no_body_fit": 0 + }, + "observed_fraction": 0.8642, + "observed_fraction_of_valid": 0.8642, + "palm_axis_vs_markers_deg": { + "gsi": 11.62, + "smplx": 1.84 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.0, + "p90": 10.6 + }, + "registered": { + "median": 7.5, + "p90": 9.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:39:14.838315+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/human_human_locomanipulation/HH03/session_011", "family": "human_human_locomanipulation", diff --git a/actions/human_human_locomanipulation/HH03/session_011/motions/smplx.npz b/actions/human_human_locomanipulation/HH03/session_011/motions/smplx.npz index 38ff185bf49b67c88b444e99ff9023138d53ca99..e74f4a96f21334d891485661480564b58c72b9fa 100644 --- a/actions/human_human_locomanipulation/HH03/session_011/motions/smplx.npz +++ b/actions/human_human_locomanipulation/HH03/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a2eec8b294eecce5ce8f135aff6f8143fdd5a2f2a9e7b2789711a29ee8772b0d -size 4055283 +oid sha256:bce6f0c8e216acc30d168d49aa8f4dedd70e6cea40be27e0842350865609e888 +size 7272947 diff --git a/actions/human_human_locomanipulation/HH03/session_016/meta.json b/actions/human_human_locomanipulation/HH03/session_016/meta.json index 02916bed36fb6ed432fd15813262755feabd6737..f27a318cfe9fef7ca6a7165acefbd239c06f98e1 100644 --- a/actions/human_human_locomanipulation/HH03/session_016/meta.json +++ b/actions/human_human_locomanipulation/HH03/session_016/meta.json @@ -367,8 +367,8 @@ "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": { @@ -427,19 +427,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 139.59, + "Q_deg": 180.0, "Q_rotvec": [ - -2.41706, - 0.26618, - 0.15034 + -2.98601, + 0.43444, + 0.87442 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 146.1, - "opposite_sign_bend_deg": 40.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.746, + "inlier_spread_deg": 9.9, + "marker_Q_to_gsi_deg": { + "1": 166.0, + "-1": 24.4 + } + }, + "wrist_bend_deg_median": 176.1, + "opposite_sign_bend_deg": 20.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.7, "hand_vs_marker_frame_deg": { - "before": 140.16, + "before": 179.24, "after": 2.7 }, "markers_on_wrist": [ @@ -447,15 +458,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -144.55, + "twist_moved_deg": 153.89, "wrist_twist_deg_after": { - "median": -0.27, + "median": 25.59, "iqr": [ - -4.3, - 6.2 + 20.9, + 31.3 ] }, - "wrist_total_deg_median_after": 22.0, + "wrist_total_deg_median_after": 34.6, "markers_on_forearm": [ "LElbow", "LForearm", @@ -467,19 +478,30 @@ }, "right": { "status": "corrected", - "Q_deg": 45.1, + "Q_deg": 0.0, "Q_rotvec": [ - 0.45363, - 0.59586, - -0.24235 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 44.7, - "opposite_sign_bend_deg": 144.9, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.902, + "inlier_spread_deg": 8.64, + "marker_Q_to_gsi_deg": { + "1": 19.9, + "-1": 168.1 + } + }, + "wrist_bend_deg_median": 24.0, + "opposite_sign_bend_deg": 175.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.6, "hand_vs_marker_frame_deg": { - "before": 45.09, + "before": 3.6, "after": 3.6 }, "markers_on_wrist": [ @@ -487,7 +509,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -38.71, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -504,7 +526,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-29T04:43:39.980373+00:00", + "generated_at_utc": "2026-11-06T14:18:26.440391+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -632,6 +654,116 @@ }, "applied": 9 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 25.7, + "offset_rotvec": [ + -0.3795, + 0.2387, + -0.0144 + ], + "dev_deg": { + "median": 16.62, + "p90": 95.33 + }, + "samples": 3737, + "accepted": 2690, + "wrist_pos_err_mm_median": 56.6, + "per_camera": { + "head": { + "samples": 3737, + "accepted": 2690, + "gate_deg": 30.0, + "offset_deg": 25.7, + "tier": "primary", + "dev_deg_median": 16.62, + "wrist_pos_err_mm_median": 56.6 + } + }, + "frames_by_state": { + "ace_sample": 10740, + "interpolated": 660, + "mean_hand": 4069, + "no_body_fit": 7 + }, + "observed_fraction": 0.7366, + "observed_fraction_of_valid": 0.737, + "palm_axis_vs_markers_deg": { + "gsi": 25.58, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 18.64, + "offset_rotvec": [ + -0.2154, + -0.2143, + 0.1161 + ], + "dev_deg": { + "median": 9.35, + "p90": 31.34 + }, + "samples": 3785, + "accepted": 3390, + "wrist_pos_err_mm_median": 42.3, + "per_camera": { + "head": { + "samples": 3785, + "accepted": 3390, + "gate_deg": 30.0, + "offset_deg": 18.64, + "tier": "primary", + "dev_deg_median": 9.35, + "wrist_pos_err_mm_median": 42.3 + } + }, + "frames_by_state": { + "ace_sample": 13594, + "interpolated": 930, + "mean_hand": 945, + "no_body_fit": 7 + }, + "observed_fraction": 0.9385, + "observed_fraction_of_valid": 0.9389, + "palm_axis_vs_markers_deg": { + "gsi": 17.41, + "smplx": 1.39 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.4, + "p90": 20.3 + }, + "registered": { + "median": 11.4, + "p90": 19.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:55:31.839762+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/human_human_locomanipulation/HH03/session_016", "family": "human_human_locomanipulation", diff --git a/actions/human_human_locomanipulation/HH03/session_016/motions/smplx.npz b/actions/human_human_locomanipulation/HH03/session_016/motions/smplx.npz index 1d521ced036ea8c0b29922c68260ae9de9a2f083..4789887725ffa1fd8babbf7cc87d2b5a6800f09b 100644 --- a/actions/human_human_locomanipulation/HH03/session_016/motions/smplx.npz +++ b/actions/human_human_locomanipulation/HH03/session_016/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5f36fdc361e2a3eea5ce3faae3559ea2f59bdaeb755f084b10607fe6195c3c91 -size 5959982 +oid sha256:90780ad350b544f9c129d10f801f226ef628fb3000b4f76128cd3cd7dc016a84 +size 10512134 diff --git a/actions/human_human_locomanipulation/HH03/session_017/meta.json b/actions/human_human_locomanipulation/HH03/session_017/meta.json index f94ba43b75f85f48f810f3916b58d111cf404e82..68512d34c9d5c41fb5173060cfc27c4528ad523c 100644 --- a/actions/human_human_locomanipulation/HH03/session_017/meta.json +++ b/actions/human_human_locomanipulation/HH03/session_017/meta.json @@ -379,8 +379,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -439,19 +439,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 170.6, + "Q_deg": 180.0, "Q_rotvec": [ - 2.97737, - 0.02322, - -0.02622 + -2.98601, + 0.43444, + 0.87442 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 151.0, - "opposite_sign_bend_deg": 37.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.826, + "inlier_spread_deg": 9.43, + "marker_Q_to_gsi_deg": { + "1": 165.1, + "-1": 24.8 + } + }, + "wrist_bend_deg_median": 176.2, + "opposite_sign_bend_deg": 19.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.52, "hand_vs_marker_frame_deg": { - "before": 170.47, + "before": 179.37, "after": 2.52 }, "markers_on_wrist": [ @@ -459,15 +470,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -149.57, + "twist_moved_deg": -122.01, "wrist_twist_deg_after": { - "median": -0.21, + "median": -57.05, "iqr": [ - -5.1, - 4.2 + -61.7, + -52.8 ] }, - "wrist_total_deg_median_after": 19.6, + "wrist_total_deg_median_after": 61.3, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -478,19 +489,30 @@ }, "right": { "status": "corrected", - "Q_deg": 39.71, + "Q_deg": 0.0, "Q_rotvec": [ - 0.42406, - 0.53668, - -0.11224 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 41.0, - "opposite_sign_bend_deg": 149.5, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.965, + "inlier_spread_deg": 7.77, + "marker_Q_to_gsi_deg": { + "1": 22.5, + "-1": 166.0 + } + }, + "wrist_bend_deg_median": 24.0, + "opposite_sign_bend_deg": 175.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.45, "hand_vs_marker_frame_deg": { - "before": 39.72, + "before": 2.45, "after": 2.45 }, "markers_on_wrist": [ @@ -498,7 +520,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -33.81, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -515,7 +537,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-29T04:43:42.844747+00:00", + "generated_at_utc": "2026-11-06T14:18:29.965710+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -610,6 +632,116 @@ }, "applied": 5 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 26.94, + "offset_rotvec": [ + -0.3816, + 0.2148, + -0.1715 + ], + "dev_deg": { + "median": 12.29, + "p90": 72.71 + }, + "samples": 3746, + "accepted": 3065, + "wrist_pos_err_mm_median": 51.6, + "per_camera": { + "head": { + "samples": 3746, + "accepted": 3065, + "gate_deg": 30.0, + "offset_deg": 26.94, + "tier": "primary", + "dev_deg_median": 12.29, + "wrist_pos_err_mm_median": 51.6 + } + }, + "frames_by_state": { + "ace_sample": 12264, + "interpolated": 588, + "mean_hand": 2380, + "no_body_fit": 0 + }, + "observed_fraction": 0.8438, + "observed_fraction_of_valid": 0.8438, + "palm_axis_vs_markers_deg": { + "gsi": 23.61, + "smplx": 2.31 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.8, + "p90": 20.7 + }, + "registered": { + "median": 11.9, + "p90": 19.8 + } + } + }, + "right": { + "offset_deg": 22.21, + "offset_rotvec": [ + -0.267, + -0.24, + 0.1462 + ], + "dev_deg": { + "median": 7.87, + "p90": 17.0 + }, + "samples": 3760, + "accepted": 3639, + "wrist_pos_err_mm_median": 39.7, + "per_camera": { + "head": { + "samples": 3760, + "accepted": 3639, + "gate_deg": 30.0, + "offset_deg": 22.21, + "tier": "primary", + "dev_deg_median": 7.87, + "wrist_pos_err_mm_median": 39.7 + } + }, + "frames_by_state": { + "ace_sample": 14574, + "interpolated": 280, + "mean_hand": 378, + "no_body_fit": 0 + }, + "observed_fraction": 0.9752, + "observed_fraction_of_valid": 0.9752, + "palm_axis_vs_markers_deg": { + "gsi": 20.59, + "smplx": 0.99 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.0, + "p90": 19.6 + }, + "registered": { + "median": 10.6, + "p90": 19.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:55:29.936564+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/human_human_locomanipulation/HH03/session_017", "family": "human_human_locomanipulation", diff --git a/actions/human_human_locomanipulation/HH03/session_017/motions/smplx.npz b/actions/human_human_locomanipulation/HH03/session_017/motions/smplx.npz index a87b581774e2a1dd681766646045d8b87c6699c2..6c47fbe5f7668d873a850450cdf129b10814d7e5 100644 --- a/actions/human_human_locomanipulation/HH03/session_017/motions/smplx.npz +++ b/actions/human_human_locomanipulation/HH03/session_017/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:731da6407b7700682e9ff300abc9a250aa07d6ec5b45df3ecfbc0ba2c88065c9 -size 5864380 +oid sha256:ab3d45d36debdc7fe68b9904e2fed6d5d0b9e1e0a40b7a771cca62ccaae54aea +size 10639818 diff --git a/actions/human_human_locomanipulation/HH04/session_001/meta.json b/actions/human_human_locomanipulation/HH04/session_001/meta.json index df1e336ddd03328774536f50ce07fce5490302cf..512fc1330d4e75bf5dc7c62a45d2d0b77690f7ee 100644 --- a/actions/human_human_locomanipulation/HH04/session_001/meta.json +++ b/actions/human_human_locomanipulation/HH04/session_001/meta.json @@ -335,8 +335,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -402,14 +402,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 176.8, - "opposite_sign_bend_deg": 13.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.795, + "inlier_spread_deg": 10.03, + "marker_Q_to_gsi_deg": { + "1": 161.1, + "-1": 21.0 + } + }, + "wrist_bend_deg_median": 151.0, + "opposite_sign_bend_deg": 38.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.26, "hand_vs_marker_frame_deg": { "before": 179.42, @@ -420,15 +431,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -151.07, + "twist_moved_deg": 150.59, "wrist_twist_deg_after": { - "median": -28.72, + "median": 0.47, "iqr": [ - -30.8, - -17.8 + -2.1, + 13.7 ] }, - "wrist_total_deg_median_after": 38.4, + "wrist_total_deg_median_after": 13.2, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -441,11 +452,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, - 0.0 + -0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.819, + "inlier_spread_deg": 8.73, + "marker_Q_to_gsi_deg": { + "1": 17.4, + "-1": 164.5 + } + }, "wrist_bend_deg_median": 21.6, "opposite_sign_bend_deg": 175.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -476,7 +498,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:12:45.965764+00:00", + "generated_at_utc": "2026-11-06T13:33:45.936362+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -712,6 +734,116 @@ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 24.73, + "offset_rotvec": [ + -0.3505, + -0.0611, + 0.2444 + ], + "dev_deg": { + "median": 14.3, + "p90": 76.45 + }, + "samples": 3065, + "accepted": 2410, + "wrist_pos_err_mm_median": 95.1, + "per_camera": { + "head": { + "samples": 3065, + "accepted": 2410, + "gate_deg": 30.0, + "offset_deg": 24.73, + "tier": "primary", + "dev_deg_median": 14.3, + "wrist_pos_err_mm_median": 95.1 + } + }, + "frames_by_state": { + "ace_sample": 9626, + "interpolated": 718, + "mean_hand": 6765, + "no_body_fit": 175 + }, + "observed_fraction": 0.5985, + "observed_fraction_of_valid": 0.6046, + "palm_axis_vs_markers_deg": { + "gsi": 19.44, + "smplx": 1.95 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 2.7, + "p90": 5.0 + }, + "registered": { + "median": 2.7, + "p90": 4.5 + } + } + }, + "right": { + "offset_deg": 15.98, + "offset_rotvec": [ + -0.1992, + -0.1843, + -0.064 + ], + "dev_deg": { + "median": 10.19, + "p90": 58.91 + }, + "samples": 3267, + "accepted": 2688, + "wrist_pos_err_mm_median": 81.3, + "per_camera": { + "head": { + "samples": 3267, + "accepted": 2688, + "gate_deg": 30.0, + "offset_deg": 15.98, + "tier": "primary", + "dev_deg_median": 10.19, + "wrist_pos_err_mm_median": 81.3 + } + }, + "frames_by_state": { + "ace_sample": 10736, + "interpolated": 1120, + "mean_hand": 5253, + "no_body_fit": 175 + }, + "observed_fraction": 0.686, + "observed_fraction_of_valid": 0.693, + "palm_axis_vs_markers_deg": { + "gsi": 19.08, + "smplx": 1.43 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.5, + "p90": 13.3 + }, + "registered": { + "median": 9.2, + "p90": 12.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:21:14.844010+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/human_human_locomanipulation/HH04/session_001", "family": "human_human_locomanipulation", diff --git a/actions/human_human_locomanipulation/HH04/session_001/motions/smplx.npz b/actions/human_human_locomanipulation/HH04/session_001/motions/smplx.npz index 7c32b3e3eb7ae74833360fd737c038866730d258..88bcd0d90f305b0d9d6cc5f3d07f2c70307dfe68 100644 --- a/actions/human_human_locomanipulation/HH04/session_001/motions/smplx.npz +++ b/actions/human_human_locomanipulation/HH04/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:171ea52c3f4cc2dfc4eda947d023296fb327afd9c571356cafb0bea1677f9299 -size 6465793 +oid sha256:a0453026b0790b202f7040b1af28f1c6e43a06b15ce7fac8c1ccffbe048620b8 +size 10530860 diff --git a/actions/human_human_locomanipulation/HH04/session_005/meta.json b/actions/human_human_locomanipulation/HH04/session_005/meta.json index daad062d18b50e1835bb39f47009dfa322365906..6d29d537e29437797505886e7df5541887befb3f 100644 --- a/actions/human_human_locomanipulation/HH04/session_005/meta.json +++ b/actions/human_human_locomanipulation/HH04/session_005/meta.json @@ -372,8 +372,8 @@ "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": { @@ -432,35 +432,46 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 138.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + 1.82463, + -1.512, + 0.43076 ], "in_out_sign": 1, - "wrist_bend_deg_median": 69.0, + "q_source": "gsi (no marker candidate within 45 deg)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.613, + "inlier_spread_deg": 15.02, + "marker_Q_to_gsi_deg": { + "1": 138.0, + "-1": 89.3 + } + }, + "wrist_bend_deg_median": 117.8, "opposite_sign_bend_deg": 158.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 12.2, "hand_vs_marker_frame_deg": { "before": 12.2, - "after": 12.2 + "after": 135.86 }, "markers_on_wrist": [ "LHandIn", "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 109.16, "wrist_twist_deg_after": { - "median": -0.0, + "median": 7.2, "iqr": [ - -5.4, - 2.6 + -3.1, + 9.2 ] }, - "wrist_total_deg_median_after": 68.1, + "wrist_total_deg_median_after": 25.2, "markers_on_forearm": [ "LElbowIn", "LForearm", @@ -475,10 +486,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - -0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.969, + "inlier_spread_deg": 7.55, + "marker_Q_to_gsi_deg": { + "1": 22.7, + "-1": 169.6 + } + }, "wrist_bend_deg_median": 40.8, "opposite_sign_bend_deg": 173.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -509,7 +531,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:46:26.020108+00:00", + "generated_at_utc": "2026-11-06T14:10:42.335810+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -582,6 +604,116 @@ }, "applied": 4 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.62, + "offset_rotvec": [ + -0.049, + 0.0503, + -0.1525 + ], + "dev_deg": { + "median": 23.52, + "p90": 113.05 + }, + "samples": 4183, + "accepted": 2669, + "wrist_pos_err_mm_median": 72.2, + "per_camera": { + "head": { + "samples": 4183, + "accepted": 2669, + "gate_deg": 30.0, + "offset_deg": 9.62, + "tier": "primary", + "dev_deg_median": 23.52, + "wrist_pos_err_mm_median": 72.2 + } + }, + "frames_by_state": { + "ace_sample": 10746, + "interpolated": 394, + "mean_hand": 6395, + "no_body_fit": 365 + }, + "observed_fraction": 0.6223, + "observed_fraction_of_valid": 0.6353, + "palm_axis_vs_markers_deg": { + "gsi": 59.42, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 22.62, + "offset_rotvec": [ + 0.0968, + -0.0967, + 0.3703 + ], + "dev_deg": { + "median": 7.74, + "p90": 17.61 + }, + "samples": 4194, + "accepted": 4065, + "wrist_pos_err_mm_median": 48.8, + "per_camera": { + "head": { + "samples": 4194, + "accepted": 4065, + "gate_deg": 30.0, + "offset_deg": 22.62, + "tier": "primary", + "dev_deg_median": 7.74, + "wrist_pos_err_mm_median": 48.8 + } + }, + "frames_by_state": { + "ace_sample": 16348, + "interpolated": 554, + "mean_hand": 633, + "no_body_fit": 365 + }, + "observed_fraction": 0.9442, + "observed_fraction_of_valid": 0.9639, + "palm_axis_vs_markers_deg": { + "gsi": 14.78, + "smplx": 2.69 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 24.3, + "p90": 32.8 + }, + "registered": { + "median": 24.1, + "p90": 32.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:39:35.437516+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/human_human_locomanipulation/HH04/session_005", "family": "human_human_locomanipulation", diff --git a/actions/human_human_locomanipulation/HH04/session_005/motions/smplx.npz b/actions/human_human_locomanipulation/HH04/session_005/motions/smplx.npz index 887d8fbb529b53c6fb7b00f50af68537f4bc55e3..9fe3d0e003ddbeaca3000a792e43176db886f8e5 100644 --- a/actions/human_human_locomanipulation/HH04/session_005/motions/smplx.npz +++ b/actions/human_human_locomanipulation/HH04/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:75b36a039a57cef14444c3311b5cf52144bfe528892514a90ed2c9a422197f86 -size 6673215 +oid sha256:612d19bf538de1dad274338e82285d62135e5fe64dbb1bbff1c80595408a1334 +size 11449160 diff --git a/actions/human_human_locomanipulation/HH04/session_007/meta.json b/actions/human_human_locomanipulation/HH04/session_007/meta.json index 87e7a250a7dcc3e34c18c47d1b977538908b5cc5..011759258a3373611c72ac178e43d6d87371c318 100644 --- a/actions/human_human_locomanipulation/HH04/session_007/meta.json +++ b/actions/human_human_locomanipulation/HH04/session_007/meta.json @@ -372,8 +372,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -442,19 +442,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - 2.98827, - -0.45012, - -0.85862 + 0.0, + 0.0, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 175.5, - "opposite_sign_bend_deg": 49.5, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.845, + "inlier_spread_deg": 13.1, + "marker_Q_to_gsi_deg": { + "1": 31.6, + "-1": 156.0 + } + }, + "wrist_bend_deg_median": 16.7, + "opposite_sign_bend_deg": 172.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.83, "hand_vs_marker_frame_deg": { - "before": 176.9, + "before": 3.83, "after": 3.83 }, "markers_on_wrist": [ @@ -463,15 +474,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -172.37, + "twist_moved_deg": -3.71, "wrist_twist_deg_after": { - "median": -3.71, + "median": 0.0, "iqr": [ - -6.4, - 3.1 + -2.7, + 6.8 ] }, - "wrist_total_deg_median_after": 16.7, + "wrist_total_deg_median_after": 16.2, "markers_on_forearm": [ "LElbow", "LForearm", @@ -482,19 +493,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + 2.98981, + 0.43689, + 0.86009 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 36.9, - "opposite_sign_bend_deg": 176.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.934, + "inlier_spread_deg": 11.14, + "marker_Q_to_gsi_deg": { + "1": 161.2, + "-1": 19.7 + } + }, + "wrist_bend_deg_median": 176.4, + "opposite_sign_bend_deg": 36.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.88, "hand_vs_marker_frame_deg": { - "before": 1.88, + "before": 178.96, "after": 1.88 }, "markers_on_wrist": [ @@ -503,15 +525,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": 175.64, "wrist_twist_deg_after": { - "median": 0.0, + "median": 1.42, "iqr": [ - -0.9, - 2.6 + 0.4, + 6.1 ] }, - "wrist_total_deg_median_after": 36.9, + "wrist_total_deg_median_after": 10.7, "markers_on_forearm": [ "RForearm", "RWristOut" @@ -519,10 +541,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:48:28.387918+00:00", + "generated_at_utc": "2026-11-06T14:17:27.535724+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 35.54, + "offset_rotvec": [ + 0.5424, + -0.2154, + 0.2103 + ], + "dev_deg": { + "median": 16.41, + "p90": 31.99 + }, + "samples": 3760, + "accepted": 3273, + "wrist_pos_err_mm_median": 35.2, + "per_camera": { + "head": { + "samples": 3760, + "accepted": 3273, + "gate_deg": 30.0, + "offset_deg": 35.54, + "tier": "primary", + "dev_deg_median": 16.41, + "wrist_pos_err_mm_median": 35.2 + } + }, + "frames_by_state": { + "ace_sample": 13240, + "interpolated": 2496, + "mean_hand": 309, + "no_body_fit": 7 + }, + "observed_fraction": 0.9803, + "observed_fraction_of_valid": 0.9807, + "palm_axis_vs_markers_deg": { + "gsi": 28.52, + "smplx": 4.0 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.1, + "p90": 8.7 + }, + "registered": { + "median": 6.2, + "p90": 7.0 + } + } + }, + "right": { + "offset_deg": 21.01, + "offset_rotvec": [ + 0.3368, + 0.1386, + 0.0427 + ], + "dev_deg": { + "median": 11.88, + "p90": 22.8 + }, + "samples": 3780, + "accepted": 3556, + "wrist_pos_err_mm_median": 48.3, + "per_camera": { + "head": { + "samples": 3780, + "accepted": 3556, + "gate_deg": 30.0, + "offset_deg": 21.01, + "tier": "primary", + "dev_deg_median": 11.88, + "wrist_pos_err_mm_median": 48.3 + } + }, + "frames_by_state": { + "ace_sample": 14282, + "interpolated": 858, + "mean_hand": 905, + "no_body_fit": 7 + }, + "observed_fraction": 0.9432, + "observed_fraction_of_valid": 0.9436, + "palm_axis_vs_markers_deg": { + "gsi": 20.28, + "smplx": 1.54 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.0, + "p90": 12.6 + }, + "registered": { + "median": 7.5, + "p90": 12.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:53:25.235972+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/human_human_locomanipulation/HH04/session_007", "family": "human_human_locomanipulation", diff --git a/actions/human_human_locomanipulation/HH04/session_007/motions/smplx.npz b/actions/human_human_locomanipulation/HH04/session_007/motions/smplx.npz index d68fb99bff91b45dfa6fca2e57a86b99a7de6d65..57bdea62b309fe3c03725b34814513cecb08d357 100644 --- a/actions/human_human_locomanipulation/HH04/session_007/motions/smplx.npz +++ b/actions/human_human_locomanipulation/HH04/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2d135ed53992adfa92ae138e58574cc009f731b9eb4e527c765f00f29b8a31e4 -size 6083976 +oid sha256:f9844055baaf507385b57189dba8c98199f48ac2d19153fa60ecdadf688efcdd +size 11317714 diff --git a/actions/human_human_locomanipulation/HH04/session_008/meta.json b/actions/human_human_locomanipulation/HH04/session_008/meta.json index e04ea69e4f9e0c654b802c8035a12a330a267ed6..599841bef97915f0f76fee793a9f0a8e055479bf 100644 --- a/actions/human_human_locomanipulation/HH04/session_008/meta.json +++ b/actions/human_human_locomanipulation/HH04/session_008/meta.json @@ -379,8 +379,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -439,19 +439,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 163.48, + "Q_deg": 180.0, "Q_rotvec": [ - 2.84614, - 0.1898, - -0.06879 + -2.98601, + 0.43444, + 0.87442 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 168.9, - "opposite_sign_bend_deg": 32.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.893, + "inlier_spread_deg": 7.77, + "marker_Q_to_gsi_deg": { + "1": 171.2, + "-1": 18.7 + } + }, + "wrist_bend_deg_median": 172.1, + "opposite_sign_bend_deg": 19.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.23, "hand_vs_marker_frame_deg": { - "before": 163.62, + "before": 179.24, "after": 2.23 }, "markers_on_wrist": [ @@ -459,15 +470,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 167.08, + "twist_moved_deg": -167.18, "wrist_twist_deg_after": { - "median": 1.92, + "median": -7.1, "iqr": [ - -5.1, - 7.4 + -14.6, + -0.8 ] }, - "wrist_total_deg_median_after": 19.4, + "wrist_total_deg_median_after": 33.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -478,19 +489,30 @@ }, "right": { "status": "corrected", - "Q_deg": 32.97, + "Q_deg": 0.0, "Q_rotvec": [ - 0.02431, - 0.47722, - -0.32057 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 37.2, - "opposite_sign_bend_deg": 162.0, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 1.0, + "inlier_spread_deg": 7.28, + "marker_Q_to_gsi_deg": { + "1": 22.5, + "-1": 168.4 + } + }, + "wrist_bend_deg_median": 34.3, + "opposite_sign_bend_deg": 174.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.33, "hand_vs_marker_frame_deg": { - "before": 32.66, + "before": 5.33, "after": 5.33 }, "markers_on_wrist": [ @@ -498,9 +520,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 13.5, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -7.0, 3.8 @@ -515,7 +537,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-29T04:47:10.601303+00:00", + "generated_at_utc": "2026-11-06T14:18:39.876789+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -566,6 +588,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 19.67, + "offset_rotvec": [ + -0.1556, + 0.2957, + -0.0785 + ], + "dev_deg": { + "median": 8.02, + "p90": 31.28 + }, + "samples": 3758, + "accepted": 3364, + "wrist_pos_err_mm_median": 61.2, + "per_camera": { + "head": { + "samples": 3758, + "accepted": 3364, + "gate_deg": 30.0, + "offset_deg": 19.67, + "tier": "primary", + "dev_deg_median": 8.02, + "wrist_pos_err_mm_median": 61.2 + } + }, + "frames_by_state": { + "ace_sample": 13466, + "interpolated": 70, + "mean_hand": 1917, + "no_body_fit": 7 + }, + "observed_fraction": 0.8755, + "observed_fraction_of_valid": 0.8759, + "palm_axis_vs_markers_deg": { + "gsi": 21.02, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 22.95, + "offset_rotvec": [ + -0.1899, + -0.3422, + 0.0852 + ], + "dev_deg": { + "median": 7.41, + "p90": 14.12 + }, + "samples": 3839, + "accepted": 3838, + "wrist_pos_err_mm_median": 36.4, + "per_camera": { + "head": { + "samples": 3839, + "accepted": 3838, + "gate_deg": 30.0, + "offset_deg": 22.95, + "tier": "primary", + "dev_deg_median": 7.41, + "wrist_pos_err_mm_median": 36.4 + } + }, + "frames_by_state": { + "ace_sample": 15376, + "interpolated": 72, + "mean_hand": 5, + "no_body_fit": 7 + }, + "observed_fraction": 0.9992, + "observed_fraction_of_valid": 0.9997, + "palm_axis_vs_markers_deg": { + "gsi": 22.01, + "smplx": 1.44 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.8, + "p90": 24.5 + }, + "registered": { + "median": 13.8, + "p90": 24.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:55:32.444397+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/human_human_locomanipulation/HH04/session_008", "family": "human_human_locomanipulation", diff --git a/actions/human_human_locomanipulation/HH04/session_008/motions/smplx.npz b/actions/human_human_locomanipulation/HH04/session_008/motions/smplx.npz index f07b9214127446d63e56d6e7fb6fce3e3a0ca93a..efb13a250761a927c80722ee5cd1cbc2a07b7262 100644 --- a/actions/human_human_locomanipulation/HH04/session_008/motions/smplx.npz +++ b/actions/human_human_locomanipulation/HH04/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2456912f76c449bbff39ff1114d2734bc0a7490e44de31803cd7680f1a2e70dc -size 5894306 +oid sha256:c430323d243f0dec4c44396a06dad63c06f424cd2332abec95e03367034245df +size 10755392 diff --git a/actions/human_human_locomanipulation/HH05/session_001/meta.json b/actions/human_human_locomanipulation/HH05/session_001/meta.json index 1e4ceda6336f1823e5f56c3183c245e00dcf9be3..bd1ad087608be508ad3a35f6b717240d7e925147 100644 --- a/actions/human_human_locomanipulation/HH05/session_001/meta.json +++ b/actions/human_human_locomanipulation/HH05/session_001/meta.json @@ -334,8 +334,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -401,14 +401,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 177.8, - "opposite_sign_bend_deg": 8.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 1.0, + "inlier_spread_deg": 2.16, + "marker_Q_to_gsi_deg": { + "1": 179.1, + "-1": 15.2 + } + }, + "wrist_bend_deg_median": 177.7, + "opposite_sign_bend_deg": 31.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.23, "hand_vs_marker_frame_deg": { "before": 179.85, @@ -420,15 +431,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 177.69, + "twist_moved_deg": -177.67, "wrist_twist_deg_after": { - "median": 0.01, + "median": -0.02, "iqr": [ - -0.2, - 0.3 + -0.3, + 0.2 ] }, - "wrist_total_deg_median_after": 31.4, + "wrist_total_deg_median_after": 8.7, "markers_on_forearm": [ "LElbow", "LElbowIn", @@ -442,11 +453,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, - -0.0 + 0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.963, + "inlier_spread_deg": 8.65, + "marker_Q_to_gsi_deg": { + "1": 11.4, + "-1": 172.9 + } + }, "wrist_bend_deg_median": 31.5, "opposite_sign_bend_deg": 175.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -477,7 +499,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:12:46.393216+00:00", + "generated_at_utc": "2026-11-06T13:33:49.840263+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -704,6 +726,116 @@ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 15.16, + "offset_rotvec": [ + 0.0478, + -0.1943, + 0.1732 + ], + "dev_deg": { + "median": 2.18, + "p90": 4.49 + }, + "samples": 4413, + "accepted": 4412, + "wrist_pos_err_mm_median": 159.3, + "per_camera": { + "head": { + "samples": 4413, + "accepted": 4412, + "gate_deg": 30.0, + "offset_deg": 15.16, + "tier": "primary", + "dev_deg_median": 2.18, + "wrist_pos_err_mm_median": 159.3 + } + }, + "frames_by_state": { + "ace_sample": 17650, + "interpolated": 54, + "mean_hand": 180, + "no_body_fit": 0 + }, + "observed_fraction": 0.9899, + "observed_fraction_of_valid": 0.9899, + "palm_axis_vs_markers_deg": { + "gsi": 10.58, + "smplx": 0.18 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.1, + "p90": 6.7 + }, + "registered": { + "median": 5.5, + "p90": 7.4 + } + } + }, + "right": { + "offset_deg": 11.39, + "offset_rotvec": [ + 0.1172, + -0.1492, + 0.0596 + ], + "dev_deg": { + "median": 8.73, + "p90": 16.89 + }, + "samples": 4214, + "accepted": 4050, + "wrist_pos_err_mm_median": 70.4, + "per_camera": { + "head": { + "samples": 4214, + "accepted": 4050, + "gate_deg": 30.0, + "offset_deg": 11.39, + "tier": "primary", + "dev_deg_median": 8.73, + "wrist_pos_err_mm_median": 70.4 + } + }, + "frames_by_state": { + "ace_sample": 16290, + "interpolated": 1186, + "mean_hand": 408, + "no_body_fit": 0 + }, + "observed_fraction": 0.9772, + "observed_fraction_of_valid": 0.9772, + "palm_axis_vs_markers_deg": { + "gsi": 15.57, + "smplx": 0.96 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.1, + "p90": 16.8 + }, + "registered": { + "median": 10.1, + "p90": 15.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:21:08.443737+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/human_human_locomanipulation/HH05/session_001", "family": "human_human_locomanipulation", diff --git a/actions/human_human_locomanipulation/HH05/session_001/motions/smplx.npz b/actions/human_human_locomanipulation/HH05/session_001/motions/smplx.npz index ea5c811fdb0f33dd14f9cf1e88d69a058835ab05..84a8f81a8171501e82f8c9209198109f11a28dfd 100644 --- a/actions/human_human_locomanipulation/HH05/session_001/motions/smplx.npz +++ b/actions/human_human_locomanipulation/HH05/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:bad0910ef975e6978d156ccb6d9db7648b76001d2ad0c96c552a3574ae9a5ace -size 6727468 +oid sha256:1e84d8a7e49b17f986685da7e39170e4d0cda30c10a30506260babccf4688cb2 +size 12660496 diff --git a/actions/human_human_locomanipulation/HH06/session_007/meta.json b/actions/human_human_locomanipulation/HH06/session_007/meta.json index 552e9603d9a38d8287bc08aeb48f6bda3d531da5..aeca7fc7231c7ecd88c9dcaba72a90d32295d27b 100644 --- a/actions/human_human_locomanipulation/HH06/session_007/meta.json +++ b/actions/human_human_locomanipulation/HH06/session_007/meta.json @@ -372,8 +372,8 @@ "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": { @@ -432,19 +432,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 167.56, + "Q_deg": 180.0, "Q_rotvec": [ - 2.89899, - 0.3292, - -0.19923 + -2.98601, + 0.43444, + 0.87442 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 151.8, - "opposite_sign_bend_deg": 40.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.842, + "inlier_spread_deg": 7.48, + "marker_Q_to_gsi_deg": { + "1": 174.8, + "-1": 22.1 + } + }, + "wrist_bend_deg_median": 175.5, + "opposite_sign_bend_deg": 18.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.47, "hand_vs_marker_frame_deg": { - "before": 167.63, + "before": 179.3, "after": 1.47 }, "markers_on_wrist": [ @@ -452,15 +463,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -151.35, + "twist_moved_deg": -160.82, "wrist_twist_deg_after": { - "median": -0.0, + "median": -17.21, "iqr": [ - -2.7, - 13.3 + -20.4, + -2.9 ] }, - "wrist_total_deg_median_after": 19.3, + "wrist_total_deg_median_after": 30.0, "markers_on_forearm": [ "LElbow", "LForearm", @@ -472,19 +483,30 @@ }, "right": { "status": "corrected", - "Q_deg": 37.84, + "Q_deg": 0.0, "Q_rotvec": [ - 0.07, - 0.48877, - -0.43857 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 30.7, - "opposite_sign_bend_deg": 159.8, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.978, + "inlier_spread_deg": 7.25, + "marker_Q_to_gsi_deg": { + "1": 23.5, + "-1": 171.0 + } + }, + "wrist_bend_deg_median": 21.8, + "opposite_sign_bend_deg": 171.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.49, "hand_vs_marker_frame_deg": { - "before": 37.81, + "before": 1.49, "after": 1.49 }, "markers_on_wrist": [ @@ -492,7 +514,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -22.32, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -510,7 +532,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-29T04:49:03.962478+00:00", + "generated_at_utc": "2026-11-06T14:18:36.664053+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -550,6 +572,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 21.68, + "offset_rotvec": [ + -0.092, + 0.3283, + -0.1639 + ], + "dev_deg": { + "median": 8.58, + "p90": 40.44 + }, + "samples": 3808, + "accepted": 3210, + "wrist_pos_err_mm_median": 39.7, + "per_camera": { + "head": { + "samples": 3808, + "accepted": 3210, + "gate_deg": 30.0, + "offset_deg": 21.68, + "tier": "primary", + "dev_deg_median": 8.58, + "wrist_pos_err_mm_median": 39.7 + } + }, + "frames_by_state": { + "ace_sample": 12918, + "interpolated": 1330, + "mean_hand": 1956, + "no_body_fit": 0 + }, + "observed_fraction": 0.8793, + "observed_fraction_of_valid": 0.8793, + "palm_axis_vs_markers_deg": { + "gsi": 23.21, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 24.4, + "offset_rotvec": [ + -0.164, + -0.3565, + 0.1656 + ], + "dev_deg": { + "median": 6.91, + "p90": 17.38 + }, + "samples": 3869, + "accepted": 3770, + "wrist_pos_err_mm_median": 43.3, + "per_camera": { + "head": { + "samples": 3869, + "accepted": 3770, + "gate_deg": 30.0, + "offset_deg": 24.4, + "tier": "primary", + "dev_deg_median": 6.91, + "wrist_pos_err_mm_median": 43.3 + } + }, + "frames_by_state": { + "ace_sample": 15218, + "interpolated": 974, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9993, + "observed_fraction_of_valid": 0.9993, + "palm_axis_vs_markers_deg": { + "gsi": 22.68, + "smplx": 0.8 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.7, + "p90": 20.4 + }, + "registered": { + "median": 14.5, + "p90": 20.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:55:34.738326+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/human_human_locomanipulation/HH06/session_007", "family": "human_human_locomanipulation", diff --git a/actions/human_human_locomanipulation/HH06/session_007/motions/smplx.npz b/actions/human_human_locomanipulation/HH06/session_007/motions/smplx.npz index 07926f04896ea4d9f5d7c137e0ec7f0ee009c3b2..1416109c14d60043595eb4f3204c73eb20c3bcd5 100644 --- a/actions/human_human_locomanipulation/HH06/session_007/motions/smplx.npz +++ b/actions/human_human_locomanipulation/HH06/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9bd5fd6b17b171a5cce4c5306ab2b47596bab827f04c1d41465a4fe87f38a023 -size 6196804 +oid sha256:e9d535dcc614b9e5d46923d57fb54d0bb27f00e7a329ac0bd781f9f7ab0be18c +size 11353410 diff --git a/actions/human_human_locomanipulation/HH07/session_003/meta.json b/actions/human_human_locomanipulation/HH07/session_003/meta.json index c239b881996ff3cbbf64815a5ac593c8e213b62d..95fee2f322f20783edc1a53a8a3eccc331b69fa3 100644 --- a/actions/human_human_locomanipulation/HH07/session_003/meta.json +++ b/actions/human_human_locomanipulation/HH07/session_003/meta.json @@ -372,8 +372,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -437,19 +437,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -2.98164, + 0.44128, + 0.88584 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 33.1, - "opposite_sign_bend_deg": 170.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.912, + "inlier_spread_deg": 8.96, + "marker_Q_to_gsi_deg": { + "1": 169.8, + "-1": 11.1 + } + }, + "wrist_bend_deg_median": 171.4, + "opposite_sign_bend_deg": 32.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.97, "hand_vs_marker_frame_deg": { - "before": 3.97, + "before": 179.58, "after": 3.97 }, "markers_on_wrist": [ @@ -457,15 +468,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 2.07, + "twist_moved_deg": -165.18, "wrist_twist_deg_after": { - "median": 0.0, + "median": -6.74, "iqr": [ - -7.0, - 11.0 + -14.2, + 0.2 ] }, - "wrist_total_deg_median_after": 33.3, + "wrist_total_deg_median_after": 30.6, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -478,11 +489,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, -0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.918, + "inlier_spread_deg": 8.07, + "marker_Q_to_gsi_deg": { + "1": 16.3, + "-1": 164.6 + } + }, "wrist_bend_deg_median": 22.6, "opposite_sign_bend_deg": 170.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -497,9 +519,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -12.1, 6.7 @@ -514,7 +536,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:43:46.694255+00:00", + "generated_at_utc": "2026-11-06T14:09:28.435444+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -739,6 +761,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.14, + "offset_rotvec": [ + 0.1167, + -0.0749, + -0.11 + ], + "dev_deg": { + "median": 9.4, + "p90": 25.01 + }, + "samples": 4316, + "accepted": 3926, + "wrist_pos_err_mm_median": 25.9, + "per_camera": { + "head": { + "samples": 4316, + "accepted": 3926, + "gate_deg": 30.0, + "offset_deg": 10.14, + "tier": "primary", + "dev_deg_median": 9.4, + "wrist_pos_err_mm_median": 25.9 + } + }, + "frames_by_state": { + "ace_sample": 15730, + "interpolated": 438, + "mean_hand": 1723, + "no_body_fit": 0 + }, + "observed_fraction": 0.9037, + "observed_fraction_of_valid": 0.9037, + "palm_axis_vs_markers_deg": { + "gsi": 12.4, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 18.48, + "offset_rotvec": [ + 0.3005, + 0.1156, + 0.0179 + ], + "dev_deg": { + "median": 8.98, + "p90": 21.73 + }, + "samples": 4212, + "accepted": 3899, + "wrist_pos_err_mm_median": 49.8, + "per_camera": { + "head": { + "samples": 4212, + "accepted": 3899, + "gate_deg": 30.0, + "offset_deg": 18.48, + "tier": "primary", + "dev_deg_median": 8.98, + "wrist_pos_err_mm_median": 49.8 + } + }, + "frames_by_state": { + "ace_sample": 15618, + "interpolated": 770, + "mean_hand": 1503, + "no_body_fit": 0 + }, + "observed_fraction": 0.916, + "observed_fraction_of_valid": 0.916, + "palm_axis_vs_markers_deg": { + "gsi": 16.88, + "smplx": 3.25 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.5, + "p90": 10.5 + }, + "registered": { + "median": 6.4, + "p90": 7.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:36:18.137535+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/human_human_locomanipulation/HH07/session_003", "family": "human_human_locomanipulation", diff --git a/actions/human_human_locomanipulation/HH07/session_003/motions/smplx.npz b/actions/human_human_locomanipulation/HH07/session_003/motions/smplx.npz index 6043aeddbd1e38df3670f02745a0d85a26fff326..e8082d7e03e2c874033cd1694c918cdc3d70bba6 100644 --- a/actions/human_human_locomanipulation/HH07/session_003/motions/smplx.npz +++ b/actions/human_human_locomanipulation/HH07/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:39567689e4190367659d3b8618c55601ffdcfa42ce0027f882550bcd656ab5ea -size 6846311 +oid sha256:47640821be3d26d28d9ba729b9008b6ca4f9cfae4ff0f1ff4af6099dfb9d93cf +size 12426314 diff --git a/actions/human_human_locomanipulation/HH08/session_001/meta.json b/actions/human_human_locomanipulation/HH08/session_001/meta.json index c5ce8902d83c96a9ed7c930f9f0674a38768e541..0f8ebbdcf7834b3288f0caf285ecd0efe8fd9541 100644 --- a/actions/human_human_locomanipulation/HH08/session_001/meta.json +++ b/actions/human_human_locomanipulation/HH08/session_001/meta.json @@ -444,19 +444,26 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + -0.0, + -0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 100.5, - "opposite_sign_bend_deg": 81.6, + "q_source": "markers (GSI not reliable)", + "gsi": { + "reliable": false, + "frames": 295, + "inlier_frac": 0.386, + "inlier_spread_deg": 11.87 + }, + "wrist_bend_deg_median": 40.0, + "opposite_sign_bend_deg": 171.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.46, "hand_vs_marker_frame_deg": { - "before": 178.03, + "before": 4.46, "after": 4.46 }, "markers_on_wrist": [ @@ -465,15 +472,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -92.84, + "twist_moved_deg": -1.67, "wrist_twist_deg_after": { - "median": -1.67, + "median": -0.0, "iqr": [ - -11.0, - 1.5 + -9.3, + 3.1 ] }, - "wrist_total_deg_median_after": 40.0, + "wrist_total_deg_median_after": 40.1, "markers_on_forearm": [ "LForearm", "LWristIn" @@ -486,10 +493,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - -0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 1723, + "inlier_frac": 0.824, + "inlier_spread_deg": 6.22, + "marker_Q_to_gsi_deg": { + "1": 9.7, + "-1": 174.5 + } + }, "wrist_bend_deg_median": 28.3, "opposite_sign_bend_deg": 174.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -520,7 +538,7 @@ }, "frames_used": 823 }, - "generated_at_utc": "2026-10-28T06:12:46.363443+00:00", + "generated_at_utc": "2026-11-06T13:33:31.736683+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/human_human_locomanipulation/HH08/session_001/motions/smplx.npz b/actions/human_human_locomanipulation/HH08/session_001/motions/smplx.npz index e9026756dcd5758f4020f1acfa7ac82f32ef8b68..f369090f465c2528284ae5dbc1a5e3eaf8e67079 100644 --- a/actions/human_human_locomanipulation/HH08/session_001/motions/smplx.npz +++ b/actions/human_human_locomanipulation/HH08/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:33047cd5ce1d8554f2543302dba79596c1d86b1bf63dbb597cced5e0bd1093d2 -size 3147751 +oid sha256:6e40fc2abd66b3a056ef804011c655d4ab31ede1a7132bfdebbd16bf49fe3509 +size 3147685 diff --git a/actions/human_human_locomanipulation/HH09/session_001/meta.json b/actions/human_human_locomanipulation/HH09/session_001/meta.json index f3365a58a065f963402e816111463e369b2de168..59ce500f2423f04e370e57453b156ac896a32435 100644 --- a/actions/human_human_locomanipulation/HH09/session_001/meta.json +++ b/actions/human_human_locomanipulation/HH09/session_001/meta.json @@ -406,19 +406,26 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 180.0, + "Q_deg": 0.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + -0.0, + 0.0, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 168.1, - "opposite_sign_bend_deg": 27.2, + "q_source": "markers (GSI not reliable)", + "gsi": { + "reliable": false, + "frames": 1645, + "inlier_frac": 0.398, + "inlier_spread_deg": 11.61 + }, + "wrist_bend_deg_median": 35.6, + "opposite_sign_bend_deg": 163.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.93, "hand_vs_marker_frame_deg": { - "before": 175.23, + "before": 5.93, "after": 5.93 }, "markers_on_wrist": [ @@ -427,15 +434,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 163.65, + "twist_moved_deg": 13.48, "wrist_twist_deg_after": { - "median": 13.48, + "median": 0.0, "iqr": [ - 6.2, - 40.6 + -7.3, + 27.1 ] }, - "wrist_total_deg_median_after": 35.6, + "wrist_total_deg_median_after": 36.0, "markers_on_forearm": [ "LElbow", "LForearm", @@ -449,10 +456,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - -0.0, - 0.0 + 0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2123, + "inlier_frac": 0.925, + "inlier_spread_deg": 8.65, + "marker_Q_to_gsi_deg": { + "1": 10.9, + "-1": 175.1 + } + }, "wrist_bend_deg_median": 22.1, "opposite_sign_bend_deg": 175.6, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -467,9 +485,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -1.0, 1.6 @@ -483,7 +501,7 @@ }, "frames_used": 874 }, - "generated_at_utc": "2026-10-28T06:12:48.361866+00:00", + "generated_at_utc": "2026-11-06T13:33:33.136524+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/human_human_locomanipulation/HH09/session_001/motions/smplx.npz b/actions/human_human_locomanipulation/HH09/session_001/motions/smplx.npz index 82f735cdbc0fa754c85e47020f43ea94493d69cb..e3911fa103269c9ea1519c4fe4c8e1bce31d1278 100644 --- a/actions/human_human_locomanipulation/HH09/session_001/motions/smplx.npz +++ b/actions/human_human_locomanipulation/HH09/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:616ad30769047bf1d02bb0d6e102dde13c2d8523378b9b7927f01c775a7cdaf0 -size 3352407 +oid sha256:497a8f4a26f9d722b54ad99f4c92f8253cb62489f457d8cb6c427f37c420dc77 +size 3351659 diff --git a/actions/human_human_locomanipulation/HH10/session_002/meta.json b/actions/human_human_locomanipulation/HH10/session_002/meta.json index 1188742947d67b7b26f90e20efdf54e294c199a6..5e17c6f3276843d69cd3d8f9b0b3599dcead5302 100644 --- a/actions/human_human_locomanipulation/HH10/session_002/meta.json +++ b/actions/human_human_locomanipulation/HH10/session_002/meta.json @@ -335,8 +335,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -407,14 +407,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 177.7, - "opposite_sign_bend_deg": 7.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2543, + "inlier_frac": 0.916, + "inlier_spread_deg": 5.91, + "marker_Q_to_gsi_deg": { + "1": 174.1, + "-1": 20.2 + } + }, + "wrist_bend_deg_median": 169.4, + "opposite_sign_bend_deg": 31.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.85, "hand_vs_marker_frame_deg": { "before": 179.49, @@ -425,15 +436,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 170.44, + "twist_moved_deg": -169.35, "wrist_twist_deg_after": { - "median": 8.35, + "median": -1.08, "iqr": [ - 5.7, - 10.6 + -3.5, + 1.0 ] }, - "wrist_total_deg_median_after": 31.8, + "wrist_total_deg_median_after": 7.4, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -446,11 +457,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, - -0.0, + 0.0, + 0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2706, + "inlier_frac": 0.987, + "inlier_spread_deg": 4.29, + "marker_Q_to_gsi_deg": { + "1": 7.4, + "-1": 176.8 + } + }, "wrist_bend_deg_median": 22.8, "opposite_sign_bend_deg": 176.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -466,9 +488,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -0.6, 0.7 @@ -481,7 +503,7 @@ }, "frames_used": 1129 }, - "generated_at_utc": "2026-10-28T06:12:51.959056+00:00", + "generated_at_utc": "2026-11-06T13:33:35.549625+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -704,6 +726,116 @@ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 22.02, + "offset_rotvec": [ + 0.2965, + -0.1666, + 0.1788 + ], + "dev_deg": { + "median": 11.1, + "p90": 27.49 + }, + "samples": 2543, + "accepted": 2310, + "wrist_pos_err_mm_median": 167.1, + "per_camera": { + "head": { + "samples": 2543, + "accepted": 2310, + "gate_deg": 30.0, + "offset_deg": 22.02, + "tier": "primary", + "dev_deg_median": 11.1, + "wrist_pos_err_mm_median": 167.1 + } + }, + "frames_by_state": { + "ace_sample": 9356, + "interpolated": 1142, + "mean_hand": 786, + "no_body_fit": 0 + }, + "observed_fraction": 0.9303, + "observed_fraction_of_valid": 0.9303, + "palm_axis_vs_markers_deg": { + "gsi": 13.42, + "smplx": 1.78 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 13.9, + "p90": 15.3 + }, + "registered": { + "median": 15.0, + "p90": 15.6 + } + } + }, + "right": { + "offset_deg": 8.23, + "offset_rotvec": [ + -0.0653, + -0.1087, + 0.0675 + ], + "dev_deg": { + "median": 4.26, + "p90": 11.67 + }, + "samples": 2706, + "accepted": 2669, + "wrist_pos_err_mm_median": 89.0, + "per_camera": { + "head": { + "samples": 2706, + "accepted": 2669, + "gate_deg": 30.0, + "offset_deg": 8.23, + "tier": "primary", + "dev_deg_median": 4.26, + "wrist_pos_err_mm_median": 89.0 + } + }, + "frames_by_state": { + "ace_sample": 10722, + "interpolated": 550, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9989, + "observed_fraction_of_valid": 0.9989, + "palm_axis_vs_markers_deg": { + "gsi": 9.4, + "smplx": 0.44 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.7, + "p90": 14.1 + }, + "registered": { + "median": 9.6, + "p90": 12.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:21:10.544918+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/human_human_locomanipulation/HH10/session_002", "family": "human_human_locomanipulation", diff --git a/actions/human_human_locomanipulation/HH10/session_002/motions/smplx.npz b/actions/human_human_locomanipulation/HH10/session_002/motions/smplx.npz index 8ab9ccb2e04afe20de5b927886b8ec42546c65ec..92e3db731ff2fda6902f0f2ee7c0c86c8f707f9a 100644 --- a/actions/human_human_locomanipulation/HH10/session_002/motions/smplx.npz +++ b/actions/human_human_locomanipulation/HH10/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4e1ccec80ccf47063afd4d0d9deab63d87ea33902ea7e3967a4cbaf80ae41596 -size 4335173 +oid sha256:d6804fcf7b280ed2890fe95e9a0acbdaf56056c4fe8b039f9a070a732937fc4e +size 7992271 diff --git a/actions/human_human_locomanipulation/HH13/session_003/meta.json b/actions/human_human_locomanipulation/HH13/session_003/meta.json index aac0c9aa89178a371a72e23a25473252840eef78..a2dc2eaca817aedce8b5b792cb4fe0bfbdd68550 100644 --- a/actions/human_human_locomanipulation/HH13/session_003/meta.json +++ b/actions/human_human_locomanipulation/HH13/session_003/meta.json @@ -360,8 +360,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -436,10 +436,21 @@ 0.4392, 0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 172.3, - "opposite_sign_bend_deg": 27.0, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 2523, + "inlier_frac": 0.891, + "inlier_spread_deg": 8.93, + "marker_Q_to_gsi_deg": { + "1": 172.2, + "-1": 11.7 + } + }, + "wrist_bend_deg_median": 169.1, + "opposite_sign_bend_deg": 40.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.63, "hand_vs_marker_frame_deg": { "before": 178.67, @@ -451,15 +462,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 169.85, + "twist_moved_deg": -167.37, "wrist_twist_deg_after": { - "median": 2.01, + "median": -2.48, "iqr": [ - -4.0, - 6.0 + -7.9, + 2.4 ] }, - "wrist_total_deg_median_after": 40.1, + "wrist_total_deg_median_after": 27.6, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -471,11 +482,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, + -0.0, + -0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 2546, + "inlier_frac": 0.914, + "inlier_spread_deg": 11.38, + "marker_Q_to_gsi_deg": { + "1": 6.0, + "-1": 178.1 + } + }, "wrist_bend_deg_median": 16.0, "opposite_sign_bend_deg": 176.8, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -490,7 +512,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -507,10 +529,120 @@ }, "frames_used": 1112 }, - "generated_at_utc": "2026-10-28T06:46:25.574375+00:00", + "generated_at_utc": "2026-11-06T14:10:33.766190+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 11.68, + "offset_rotvec": [ + 0.0957, + -0.1738, + -0.0471 + ], + "dev_deg": { + "median": 9.46, + "p90": 34.39 + }, + "samples": 2523, + "accepted": 2245, + "wrist_pos_err_mm_median": 54.6, + "per_camera": { + "head": { + "samples": 2523, + "accepted": 2245, + "gate_deg": 30.0, + "offset_deg": 11.68, + "tier": "primary", + "dev_deg_median": 9.46, + "wrist_pos_err_mm_median": 54.6 + } + }, + "frames_by_state": { + "ace_sample": 9052, + "interpolated": 1156, + "mean_hand": 903, + "no_body_fit": 0 + }, + "observed_fraction": 0.9187, + "observed_fraction_of_valid": 0.9187, + "palm_axis_vs_markers_deg": { + "gsi": 14.55, + "smplx": 2.79 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.7, + "p90": 20.1 + }, + "registered": { + "median": 10.6, + "p90": 19.5 + } + } + }, + "right": { + "offset_deg": 6.13, + "offset_rotvec": [ + 0.0334, + -0.0328, + 0.0961 + ], + "dev_deg": { + "median": 12.37, + "p90": 26.8 + }, + "samples": 2546, + "accepted": 2349, + "wrist_pos_err_mm_median": 30.9, + "per_camera": { + "head": { + "samples": 2546, + "accepted": 2349, + "gate_deg": 30.0, + "offset_deg": 6.13, + "tier": "primary", + "dev_deg_median": 12.37, + "wrist_pos_err_mm_median": 30.9 + } + }, + "frames_by_state": { + "ace_sample": 9514, + "interpolated": 1442, + "mean_hand": 155, + "no_body_fit": 0 + }, + "observed_fraction": 0.986, + "observed_fraction_of_valid": 0.986, + "palm_axis_vs_markers_deg": { + "gsi": 11.24, + "smplx": 2.17 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.2, + "p90": 12.4 + }, + "registered": { + "median": 7.8, + "p90": 10.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:39:35.436445+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/human_human_locomanipulation/HH13/session_003", "family": "human_human_locomanipulation", diff --git a/actions/human_human_locomanipulation/HH13/session_003/motions/smplx.npz b/actions/human_human_locomanipulation/HH13/session_003/motions/smplx.npz index 35ad404ed4f2c2d39b78b3c33a69a3dcb0d52f57..e2396b1f940b5121d80c9b7831e7234f79390cf5 100644 --- a/actions/human_human_locomanipulation/HH13/session_003/motions/smplx.npz +++ b/actions/human_human_locomanipulation/HH13/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2b2d34d4bb3b49318e02038d59df876e8bb774896194e4c4b2a4d3eaa74d304a -size 4276822 +oid sha256:b428416765dccc10ba709f1874865e2c3e363f19c29a5288f2e563f66f521d95 +size 7849207 diff --git a/actions/human_human_locomanipulation/HH13/session_009/meta.json b/actions/human_human_locomanipulation/HH13/session_009/meta.json index 7eef4fd105496579d516eb1a33742f69b7e7b4de..fabadcd0ec7736c45bdc630b8313b97d74d3be05 100644 --- a/actions/human_human_locomanipulation/HH13/session_009/meta.json +++ b/actions/human_human_locomanipulation/HH13/session_009/meta.json @@ -379,8 +379,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -444,19 +444,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 122.31, + "Q_deg": 180.0, "Q_rotvec": [ - -2.12625, - 0.13518, - 0.13412 + -2.98601, + 0.43444, + 0.87442 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 133.7, - "opposite_sign_bend_deg": 56.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.65, + "inlier_spread_deg": 10.0, + "marker_Q_to_gsi_deg": { + "1": 178.4, + "-1": 15.4 + } + }, + "wrist_bend_deg_median": 166.8, + "opposite_sign_bend_deg": 26.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 7.66, "hand_vs_marker_frame_deg": { - "before": 124.52, + "before": 175.79, "after": 7.66 }, "markers_on_wrist": [ @@ -464,15 +475,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -126.8, + "twist_moved_deg": -156.96, "wrist_twist_deg_after": { - "median": -0.2, + "median": -19.66, "iqr": [ - -15.9, - 9.7 + -39.8, + -10.1 ] }, - "wrist_total_deg_median_after": 26.8, + "wrist_total_deg_median_after": 35.3, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -483,19 +494,30 @@ }, "right": { "status": "corrected", - "Q_deg": 87.73, + "Q_deg": 0.0, "Q_rotvec": [ - 1.43563, - 0.52374, - 0.09468 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 64.2, - "opposite_sign_bend_deg": 122.5, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.961, + "inlier_spread_deg": 8.76, + "marker_Q_to_gsi_deg": { + "1": 26.6, + "-1": 163.6 + } + }, + "wrist_bend_deg_median": 21.2, + "opposite_sign_bend_deg": 177.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.07, "hand_vs_marker_frame_deg": { - "before": 87.52, + "before": 2.07, "after": 2.07 }, "markers_on_wrist": [ @@ -504,7 +526,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -60.92, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -521,7 +543,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-29T04:55:17.849377+00:00", + "generated_at_utc": "2026-11-06T14:18:43.936479+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -572,6 +594,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.51, + "offset_rotvec": [ + -0.178, + 0.2029, + -0.1433 + ], + "dev_deg": { + "median": 16.77, + "p90": 165.24 + }, + "samples": 3984, + "accepted": 2541, + "wrist_pos_err_mm_median": 74.8, + "per_camera": { + "head": { + "samples": 3984, + "accepted": 2541, + "gate_deg": 30.0, + "offset_deg": 17.51, + "tier": "primary", + "dev_deg_median": 16.77, + "wrist_pos_err_mm_median": 74.8 + } + }, + "frames_by_state": { + "ace_sample": 10286, + "interpolated": 1658, + "mean_hand": 6195, + "no_body_fit": 0 + }, + "observed_fraction": 0.6585, + "observed_fraction_of_valid": 0.6585, + "palm_axis_vs_markers_deg": { + "gsi": 24.21, + "smplx": 6.79 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.7, + "p90": 12.9 + }, + "registered": { + "median": 11.2, + "p90": 12.2 + } + } + }, + "right": { + "offset_deg": 27.38, + "offset_rotvec": [ + -0.3329, + -0.2992, + 0.1674 + ], + "dev_deg": { + "median": 8.75, + "p90": 19.26 + }, + "samples": 3839, + "accepted": 3672, + "wrist_pos_err_mm_median": 80.5, + "per_camera": { + "head": { + "samples": 3839, + "accepted": 3672, + "gate_deg": 30.0, + "offset_deg": 27.38, + "tier": "primary", + "dev_deg_median": 8.75, + "wrist_pos_err_mm_median": 80.5 + } + }, + "frames_by_state": { + "ace_sample": 14948, + "interpolated": 3180, + "mean_hand": 11, + "no_body_fit": 0 + }, + "observed_fraction": 0.9994, + "observed_fraction_of_valid": 0.9994, + "palm_axis_vs_markers_deg": { + "gsi": 24.11, + "smplx": 1.45 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.3, + "p90": 17.8 + }, + "registered": { + "median": 14.2, + "p90": 17.4 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:55:28.542461+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/human_human_locomanipulation/HH13/session_009", "family": "human_human_locomanipulation", diff --git a/actions/human_human_locomanipulation/HH13/session_009/motions/smplx.npz b/actions/human_human_locomanipulation/HH13/session_009/motions/smplx.npz index 57555d526cad6b7e0bd500e2e3ef18de4e52ceed..e930c0306abb91b06dcfbdd557ba099f242048dc 100644 --- a/actions/human_human_locomanipulation/HH13/session_009/motions/smplx.npz +++ b/actions/human_human_locomanipulation/HH13/session_009/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:77a028179662070133b4b2d40746da8cf609ca08e4001e042402d006817f39de -size 6977713 +oid sha256:6829686364dba30b596d8d665b4f90bbd09ae76f913c7ae9f72225ca92e9b43b +size 12090059 diff --git a/actions/human_human_locomanipulation/HH14/session_003/meta.json b/actions/human_human_locomanipulation/HH14/session_003/meta.json index 7b0ee52f69482047bf6340650ccacc4abe0686bb..39ada3c0058ad02626323ad428a4079b7d9eec0a 100644 --- a/actions/human_human_locomanipulation/HH14/session_003/meta.json +++ b/actions/human_human_locomanipulation/HH14/session_003/meta.json @@ -372,8 +372,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -444,14 +444,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -2.98662, - 0.4392, - 0.86995 + 2.98662, + -0.4392, + -0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 172.2, - "opposite_sign_bend_deg": 22.5, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.935, + "inlier_spread_deg": 9.24, + "marker_Q_to_gsi_deg": { + "1": 166.4, + "-1": 19.1 + } + }, + "wrist_bend_deg_median": 171.8, + "opposite_sign_bend_deg": 35.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.6, "hand_vs_marker_frame_deg": { "before": 178.98, @@ -463,15 +474,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 171.8, + "twist_moved_deg": -170.67, "wrist_twist_deg_after": { - "median": 0.87, + "median": -1.14, "iqr": [ - -3.9, - 3.2 + -3.7, + 1.5 ] }, - "wrist_total_deg_median_after": 36.0, + "wrist_total_deg_median_after": 22.5, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -483,11 +494,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + -0.0, + -0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.883, + "inlier_spread_deg": 14.29, + "marker_Q_to_gsi_deg": { + "1": 8.1, + "-1": 173.0 + } + }, "wrist_bend_deg_median": 17.7, "opposite_sign_bend_deg": 174.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -502,7 +524,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -519,10 +541,120 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:46:28.049188+00:00", + "generated_at_utc": "2026-11-06T14:10:49.536397+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 19.3, + "offset_rotvec": [ + 0.1993, + -0.2693, + -0.0346 + ], + "dev_deg": { + "median": 9.84, + "p90": 21.7 + }, + "samples": 4158, + "accepted": 3898, + "wrist_pos_err_mm_median": 40.0, + "per_camera": { + "head": { + "samples": 4158, + "accepted": 3898, + "gate_deg": 30.0, + "offset_deg": 19.3, + "tier": "primary", + "dev_deg_median": 9.84, + "wrist_pos_err_mm_median": 40.0 + } + }, + "frames_by_state": { + "ace_sample": 15734, + "interpolated": 1550, + "mean_hand": 609, + "no_body_fit": 7 + }, + "observed_fraction": 0.9656, + "observed_fraction_of_valid": 0.966, + "palm_axis_vs_markers_deg": { + "gsi": 20.26, + "smplx": 1.51 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.3, + "p90": 13.4 + }, + "registered": { + "median": 6.4, + "p90": 13.5 + } + } + }, + "right": { + "offset_deg": 7.24, + "offset_rotvec": [ + 0.0872, + -0.0381, + 0.0832 + ], + "dev_deg": { + "median": 15.29, + "p90": 33.14 + }, + "samples": 4052, + "accepted": 3540, + "wrist_pos_err_mm_median": 55.1, + "per_camera": { + "head": { + "samples": 4052, + "accepted": 3540, + "gate_deg": 30.0, + "offset_deg": 7.24, + "tier": "primary", + "dev_deg_median": 15.29, + "wrist_pos_err_mm_median": 55.1 + } + }, + "frames_by_state": { + "ace_sample": 14348, + "interpolated": 2584, + "mean_hand": 961, + "no_body_fit": 7 + }, + "observed_fraction": 0.9459, + "observed_fraction_of_valid": 0.9463, + "palm_axis_vs_markers_deg": { + "gsi": 15.0, + "smplx": 2.4 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.5, + "p90": 8.9 + }, + "registered": { + "median": 7.8, + "p90": 9.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:40:05.438566+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/human_human_locomanipulation/HH14/session_003", "family": "human_human_locomanipulation", diff --git a/actions/human_human_locomanipulation/HH14/session_003/motions/smplx.npz b/actions/human_human_locomanipulation/HH14/session_003/motions/smplx.npz index 4d01cda2b2160d7e50d7035b19ac76d2c764021f..2c696131134a8b5098539552802b3e51edf9449c 100644 --- a/actions/human_human_locomanipulation/HH14/session_003/motions/smplx.npz +++ b/actions/human_human_locomanipulation/HH14/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:beb30552e02afbcf5b3313dcb9b94cc3a5f0d744d6374bae7fc36cd9d6a0a4a9 -size 6888613 +oid sha256:d59d51be5e9a1f33007b25df2b8b0ebee8ccdbfca31066fe54b540c69d01ff69 +size 12700133 diff --git a/actions/human_human_locomanipulation/HH14/session_005/meta.json b/actions/human_human_locomanipulation/HH14/session_005/meta.json index f1f78b4d41f70ad8bf402f104e4009e1d0832984..4989f36f1d60230c73428ed3b765d8bb82a4bc6d 100644 --- a/actions/human_human_locomanipulation/HH14/session_005/meta.json +++ b/actions/human_human_locomanipulation/HH14/session_005/meta.json @@ -360,8 +360,8 @@ "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": { @@ -422,11 +422,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, - -0.0 + -0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.5, + "inlier_spread_deg": 14.13, + "marker_Q_to_gsi_deg": { + "1": 28.0, + "-1": 164.1 + } + }, "wrist_bend_deg_median": 20.4, "opposite_sign_bend_deg": 172.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -440,7 +451,7 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.1, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -459,19 +470,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + -2.98981, + -0.43689, + -0.86009 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 29.2, - "opposite_sign_bend_deg": 174.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.683, + "inlier_spread_deg": 12.87, + "marker_Q_to_gsi_deg": { + "1": 169.6, + "-1": 13.5 + } + }, + "wrist_bend_deg_median": 174.7, + "opposite_sign_bend_deg": 29.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.79, "hand_vs_marker_frame_deg": { - "before": 2.79, + "before": 178.43, "after": 2.79 }, "markers_on_wrist": [ @@ -479,15 +501,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": 171.87, "wrist_twist_deg_after": { - "median": 0.0, + "median": 4.48, "iqr": [ - -3.4, - 8.5 + 1.3, + 11.9 ] }, - "wrist_total_deg_median_after": 29.9, + "wrist_total_deg_median_after": 21.4, "markers_on_forearm": [ "RForearm", "RWristIn", @@ -496,7 +518,7 @@ }, "frames_used": 1250 }, - "generated_at_utc": "2026-10-28T06:48:35.875889+00:00", + "generated_at_utc": "2026-11-06T14:17:28.460950+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -636,6 +658,116 @@ }, "applied": 9 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 44.63, + "offset_rotvec": [ + 0.6492, + -0.2984, + 0.3102 + ], + "dev_deg": { + "median": 30.18, + "p90": 86.44 + }, + "samples": 3484, + "accepted": 1729, + "wrist_pos_err_mm_median": 39.7, + "per_camera": { + "head": { + "samples": 3484, + "accepted": 1729, + "gate_deg": 30.0, + "offset_deg": 44.63, + "tier": "primary", + "dev_deg_median": 30.18, + "wrist_pos_err_mm_median": 39.7 + } + }, + "frames_by_state": { + "ace_sample": 7039, + "interpolated": 3216, + "mean_hand": 5453, + "no_body_fit": 8 + }, + "observed_fraction": 0.6525, + "observed_fraction_of_valid": 0.6529, + "palm_axis_vs_markers_deg": { + "gsi": 40.35, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 16.92, + "offset_rotvec": [ + 0.2427, + 0.1656, + -0.0287 + ], + "dev_deg": { + "median": 17.64, + "p90": 168.53 + }, + "samples": 3564, + "accepted": 2500, + "wrist_pos_err_mm_median": 38.0, + "per_camera": { + "head": { + "samples": 3564, + "accepted": 2500, + "gate_deg": 30.0, + "offset_deg": 16.92, + "tier": "primary", + "dev_deg_median": 17.64, + "wrist_pos_err_mm_median": 38.0 + } + }, + "frames_by_state": { + "ace_sample": 10128, + "interpolated": 2344, + "mean_hand": 3236, + "no_body_fit": 8 + }, + "observed_fraction": 0.7936, + "observed_fraction_of_valid": 0.794, + "palm_axis_vs_markers_deg": { + "gsi": 18.12, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:53:22.337626+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/human_human_locomanipulation/HH14/session_005", "family": "human_human_locomanipulation", diff --git a/actions/human_human_locomanipulation/HH14/session_005/motions/smplx.npz b/actions/human_human_locomanipulation/HH14/session_005/motions/smplx.npz index 733a19a77d8a4f5a39f614d7336ff4313dc98b9e..13a5363a01cb7ba23a677c16be714b5b53a124a0 100644 --- a/actions/human_human_locomanipulation/HH14/session_005/motions/smplx.npz +++ b/actions/human_human_locomanipulation/HH14/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0cd60a4e0c7e952eda767e1b8f4397404834263b38cc071e2656a5942fc8828d -size 6030365 +oid sha256:b8293d7b343dabc8dc61179937ed8feb5b29ba830f0eb5cf3e6828d2018caef9 +size 10122642 diff --git a/actions/human_human_locomanipulation/HH15/session_003/meta.json b/actions/human_human_locomanipulation/HH15/session_003/meta.json index dbfd21f357333fe972e39ec8e9228cc6ebf94249..647f0e06726ab6625cf088ada1ee04301a9ead4d 100644 --- a/actions/human_human_locomanipulation/HH15/session_003/meta.json +++ b/actions/human_human_locomanipulation/HH15/session_003/meta.json @@ -360,8 +360,8 @@ "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": { @@ -422,14 +422,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -2.98662, - 0.4392, - 0.86995 + 2.98662, + -0.4392, + -0.86995 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 174.8, - "opposite_sign_bend_deg": 11.6, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.912, + "inlier_spread_deg": 7.88, + "marker_Q_to_gsi_deg": { + "1": 179.0, + "-1": 8.3 + } + }, + "wrist_bend_deg_median": 160.0, + "opposite_sign_bend_deg": 47.7, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.66, "hand_vs_marker_frame_deg": { "before": 179.51, @@ -440,15 +451,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 159.95, + "twist_moved_deg": -158.61, "wrist_twist_deg_after": { - "median": 18.59, + "median": -1.33, "iqr": [ - 10.8, - 23.6 + -8.3, + 2.9 ] }, - "wrist_total_deg_median_after": 47.7, + "wrist_total_deg_median_after": 11.3, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -462,10 +473,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - 0.0, - -0.0 + -0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.843, + "inlier_spread_deg": 11.41, + "marker_Q_to_gsi_deg": { + "1": 7.0, + "-1": 174.3 + } + }, "wrist_bend_deg_median": 17.5, "opposite_sign_bend_deg": 174.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -479,7 +501,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -497,10 +519,120 @@ }, "frames_used": 1438 }, - "generated_at_utc": "2026-10-28T06:46:28.185944+00:00", + "generated_at_utc": "2026-11-06T14:10:44.965170+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 4.72, + "offset_rotvec": [ + 0.0007, + -0.0804, + -0.0184 + ], + "dev_deg": { + "median": 9.02, + "p90": 24.4 + }, + "samples": 3552, + "accepted": 3234, + "wrist_pos_err_mm_median": 32.4, + "per_camera": { + "head": { + "samples": 3552, + "accepted": 3234, + "gate_deg": 30.0, + "offset_deg": 4.72, + "tier": "primary", + "dev_deg_median": 9.02, + "wrist_pos_err_mm_median": 32.4 + } + }, + "frames_by_state": { + "ace_sample": 13002, + "interpolated": 974, + "mean_hand": 397, + "no_body_fit": 7 + }, + "observed_fraction": 0.9719, + "observed_fraction_of_valid": 0.9724, + "palm_axis_vs_markers_deg": { + "gsi": 10.29, + "smplx": 1.14 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.8, + "p90": 13.4 + }, + "registered": { + "median": 10.2, + "p90": 11.6 + } + } + }, + "right": { + "offset_deg": 6.47, + "offset_rotvec": [ + -0.0309, + -0.0669, + -0.0855 + ], + "dev_deg": { + "median": 13.53, + "p90": 40.44 + }, + "samples": 3158, + "accepted": 2694, + "wrist_pos_err_mm_median": 33.0, + "per_camera": { + "head": { + "samples": 3158, + "accepted": 2694, + "gate_deg": 30.0, + "offset_deg": 6.47, + "tier": "primary", + "dev_deg_median": 13.53, + "wrist_pos_err_mm_median": 33.0 + } + }, + "frames_by_state": { + "ace_sample": 10870, + "interpolated": 1610, + "mean_hand": 1893, + "no_body_fit": 7 + }, + "observed_fraction": 0.8679, + "observed_fraction_of_valid": 0.8683, + "palm_axis_vs_markers_deg": { + "gsi": 11.66, + "smplx": 1.52 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.8, + "p90": 12.7 + }, + "registered": { + "median": 9.7, + "p90": 13.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:39:57.443750+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/human_human_locomanipulation/HH15/session_003", "family": "human_human_locomanipulation", diff --git a/actions/human_human_locomanipulation/HH15/session_003/motions/smplx.npz b/actions/human_human_locomanipulation/HH15/session_003/motions/smplx.npz index 4c9bca71ca29397fcd67f652ebd028516aa21554..93948fd0e9dcfce40e541a50af3af4b0ef4e3e2e 100644 --- a/actions/human_human_locomanipulation/HH15/session_003/motions/smplx.npz +++ b/actions/human_human_locomanipulation/HH15/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:151e57eae8f1df9c5f349a80777a8e1e8f7250afca46f930c3c70de3093062ab -size 5538909 +oid sha256:13e476dba09fd6e191a0da2f9154f2ec31b9c53763c7807a08e6b96d64ffdf01 +size 10048214 diff --git a/actions/locomanipulation/LM01/session_001/meta.json b/actions/locomanipulation/LM01/session_001/meta.json index 229bbcf704b8c3a742bd1a3463f8284af62ef4ec..44d7c9d5014c34941dc80b138204ccc373b91e65 100644 --- a/actions/locomanipulation/LM01/session_001/meta.json +++ b/actions/locomanipulation/LM01/session_001/meta.json @@ -327,8 +327,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -394,14 +394,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 170.4, - "opposite_sign_bend_deg": 20.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.992, + "inlier_spread_deg": 10.41, + "marker_Q_to_gsi_deg": { + "1": 169.4, + "-1": 13.7 + } + }, + "wrist_bend_deg_median": 156.3, + "opposite_sign_bend_deg": 38.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.7, "hand_vs_marker_frame_deg": { "before": 179.38, @@ -412,15 +423,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 152.37, + "twist_moved_deg": -150.79, "wrist_twist_deg_after": { - "median": 22.99, + "median": -1.58, "iqr": [ - 9.7, - 32.0 + -15.9, + 6.3 ] }, - "wrist_total_deg_median_after": 40.5, + "wrist_total_deg_median_after": 18.2, "markers_on_forearm": [ "LElbow", "LForearm", @@ -434,11 +445,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, + -0.0, + -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.984, + "inlier_spread_deg": 7.52, + "marker_Q_to_gsi_deg": { + "1": 8.2, + "-1": 173.4 + } + }, "wrist_bend_deg_median": 19.6, "opposite_sign_bend_deg": 175.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -453,7 +475,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -469,7 +491,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:15:38.560653+00:00", + "generated_at_utc": "2026-11-06T13:39:46.841824+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -513,6 +535,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.2296419104495386 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.5, + "offset_rotvec": [ + -0.2907, + -0.092, + 0.0189 + ], + "dev_deg": { + "median": 14.07, + "p90": 20.52 + }, + "samples": 3890, + "accepted": 3837, + "wrist_pos_err_mm_median": 93.4, + "per_camera": { + "head": { + "samples": 3890, + "accepted": 3837, + "gate_deg": 30.0, + "offset_deg": 17.5, + "tier": "primary", + "dev_deg_median": 14.07, + "wrist_pos_err_mm_median": 93.4 + } + }, + "frames_by_state": { + "ace_sample": 15395, + "interpolated": 520, + "mean_hand": 161, + "no_body_fit": 8 + }, + "observed_fraction": 0.9895, + "observed_fraction_of_valid": 0.99, + "palm_axis_vs_markers_deg": { + "gsi": 12.39, + "smplx": 1.0 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.8, + "p90": 15.0 + }, + "registered": { + "median": 11.9, + "p90": 14.1 + } + } + }, + "right": { + "offset_deg": 10.45, + "offset_rotvec": [ + -0.1723, + -0.0119, + 0.0586 + ], + "dev_deg": { + "median": 8.39, + "p90": 18.85 + }, + "samples": 3831, + "accepted": 3767, + "wrist_pos_err_mm_median": 81.9, + "per_camera": { + "head": { + "samples": 3831, + "accepted": 3767, + "gate_deg": 30.0, + "offset_deg": 10.45, + "tier": "primary", + "dev_deg_median": 8.39, + "wrist_pos_err_mm_median": 81.9 + } + }, + "frames_by_state": { + "ace_sample": 15135, + "interpolated": 928, + "mean_hand": 13, + "no_body_fit": 8 + }, + "observed_fraction": 0.9987, + "observed_fraction_of_valid": 0.9992, + "palm_axis_vs_markers_deg": { + "gsi": 8.78, + "smplx": 1.94 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.1, + "p90": 10.6 + }, + "registered": { + "median": 7.5, + "p90": 10.9 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:34:39.134978+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM01/session_001", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM01/session_001/motions/smplx.npz b/actions/locomanipulation/LM01/session_001/motions/smplx.npz index e029be340cc85c6a30f76ac4199bac5440d7f19c..fc573dd74c74687df1116731ff570f45dd45589c 100644 --- a/actions/locomanipulation/LM01/session_001/motions/smplx.npz +++ b/actions/locomanipulation/LM01/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c2d6460cdf060bdb0a799a66e51e6f95185e00424a7dcba2a6467a9ef8f0ae7b -size 6174925 +oid sha256:94b1d1d5c90c1873dc15c2789040c5ed9c7154256088a088a5e5856069b60008 +size 11547244 diff --git a/actions/locomanipulation/LM01/session_002/meta.json b/actions/locomanipulation/LM01/session_002/meta.json index 66361ac6b6a4ec53333c91e82f6e92d5d0274cd8..098137f07499b0e635f53a19e8d6454dc59549fb 100644 --- a/actions/locomanipulation/LM01/session_002/meta.json +++ b/actions/locomanipulation/LM01/session_002/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -393,14 +393,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - 3.02706, - -0.2415, - -0.80509 + -3.02706, + 0.2415, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 169.5, - "opposite_sign_bend_deg": 20.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.99, + "inlier_spread_deg": 11.7, + "marker_Q_to_gsi_deg": { + "1": 168.2, + "-1": 15.0 + } + }, + "wrist_bend_deg_median": 163.1, + "opposite_sign_bend_deg": 31.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.3, "hand_vs_marker_frame_deg": { "before": 179.05, @@ -411,15 +422,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 161.2, + "twist_moved_deg": -158.81, "wrist_twist_deg_after": { - "median": 13.78, + "median": -2.39, "iqr": [ - 6.9, - 28.0 + -11.4, + 10.2 ] }, - "wrist_total_deg_median_after": 33.2, + "wrist_total_deg_median_after": 19.5, "markers_on_forearm": [ "LElbow", "LForearm", @@ -433,11 +444,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, + 0.0, 0.0, -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.996, + "inlier_spread_deg": 8.26, + "marker_Q_to_gsi_deg": { + "1": 10.3, + "-1": 171.0 + } + }, "wrist_bend_deg_median": 19.5, "opposite_sign_bend_deg": 175.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -454,7 +476,7 @@ "forearm_twist": { "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -3.9, 5.1 @@ -468,7 +490,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:15:41.973050+00:00", + "generated_at_utc": "2026-11-06T13:39:57.835581+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -512,6 +534,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.2087895721276458 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.69, + "offset_rotvec": [ + -0.2889, + -0.0849, + 0.0685 + ], + "dev_deg": { + "median": 13.05, + "p90": 20.17 + }, + "samples": 3821, + "accepted": 3755, + "wrist_pos_err_mm_median": 70.5, + "per_camera": { + "head": { + "samples": 3821, + "accepted": 3755, + "gate_deg": 30.0, + "offset_deg": 17.69, + "tier": "primary", + "dev_deg_median": 13.05, + "wrist_pos_err_mm_median": 70.5 + } + }, + "frames_by_state": { + "ace_sample": 15044, + "interpolated": 292, + "mean_hand": 148, + "no_body_fit": 0 + }, + "observed_fraction": 0.9904, + "observed_fraction_of_valid": 0.9904, + "palm_axis_vs_markers_deg": { + "gsi": 14.15, + "smplx": 1.64 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 11.3, + "p90": 16.5 + }, + "registered": { + "median": 13.3, + "p90": 16.9 + } + } + }, + "right": { + "offset_deg": 13.78, + "offset_rotvec": [ + -0.2355, + -0.0243, + 0.0422 + ], + "dev_deg": { + "median": 9.5, + "p90": 15.81 + }, + "samples": 3735, + "accepted": 3718, + "wrist_pos_err_mm_median": 78.2, + "per_camera": { + "head": { + "samples": 3735, + "accepted": 3718, + "gate_deg": 30.0, + "offset_deg": 13.78, + "tier": "primary", + "dev_deg_median": 9.5, + "wrist_pos_err_mm_median": 78.2 + } + }, + "frames_by_state": { + "ace_sample": 14910, + "interpolated": 550, + "mean_hand": 24, + "no_body_fit": 0 + }, + "observed_fraction": 0.9985, + "observed_fraction_of_valid": 0.9985, + "palm_axis_vs_markers_deg": { + "gsi": 9.13, + "smplx": 2.0 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.5, + "p90": 7.9 + }, + "registered": { + "median": 6.1, + "p90": 7.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:34:20.136073+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM01/session_002", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM01/session_002/motions/smplx.npz b/actions/locomanipulation/LM01/session_002/motions/smplx.npz index 5ce2fefcfe415953948b4ea4c7dc8701253f680e..b8d2e9be80c13d8c566c309a427f23e2666b83e7 100644 --- a/actions/locomanipulation/LM01/session_002/motions/smplx.npz +++ b/actions/locomanipulation/LM01/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8afd603ae68bfea3deab47305df44e4939844bd8aaade8c81139fc34b7a57e52 -size 5932225 +oid sha256:0d7b469931f3e2a684651e0619f0b073ddfc04093c286245f2a3d41513a84180 +size 11108587 diff --git a/actions/locomanipulation/LM01/session_006/meta.json b/actions/locomanipulation/LM01/session_006/meta.json index 97e2ac1de748407b0e8ebddffc58fa2acf0c7297..b4c369f97928d4ba62b529b59ca9d2f236ddc78e 100644 --- a/actions/locomanipulation/LM01/session_006/meta.json +++ b/actions/locomanipulation/LM01/session_006/meta.json @@ -379,8 +379,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -444,19 +444,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + -2.98794, + 0.42773, + 0.87113 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 41.2, - "opposite_sign_bend_deg": 159.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.749, + "inlier_spread_deg": 10.3, + "marker_Q_to_gsi_deg": { + "1": 179.1, + "-1": 1.4 + } + }, + "wrist_bend_deg_median": 170.7, + "opposite_sign_bend_deg": 40.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.6, "hand_vs_marker_frame_deg": { - "before": 3.6, + "before": 178.32, "after": 3.6 }, "markers_on_wrist": [ @@ -464,15 +475,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 11.98, + "twist_moved_deg": -167.32, "wrist_twist_deg_after": { - "median": 0.0, + "median": -3.45, "iqr": [ - -6.1, - 6.9 + -8.2, + 3.1 ] }, - "wrist_total_deg_median_after": 41.8, + "wrist_total_deg_median_after": 36.0, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -485,11 +496,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, - -0.0 + 0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.881, + "inlier_spread_deg": 10.04, + "marker_Q_to_gsi_deg": { + "1": 15.6, + "-1": 174.4 + } + }, "wrist_bend_deg_median": 18.0, "opposite_sign_bend_deg": 176.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -521,7 +543,7 @@ }, "frames_used": 1453 }, - "generated_at_utc": "2026-10-28T06:40:25.559429+00:00", + "generated_at_utc": "2026-11-06T14:05:19.268880+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -572,6 +594,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 4.2, + "offset_rotvec": [ + -0.0465, + -0.0489, + 0.0287 + ], + "dev_deg": { + "median": 12.79, + "p90": 166.3 + }, + "samples": 3010, + "accepted": 2234, + "wrist_pos_err_mm_median": 46.4, + "per_camera": { + "head": { + "samples": 3010, + "accepted": 2234, + "gate_deg": 30.0, + "offset_deg": 4.2, + "tier": "primary", + "dev_deg_median": 12.79, + "wrist_pos_err_mm_median": 46.4 + } + }, + "frames_by_state": { + "ace_sample": 8982, + "interpolated": 1602, + "mean_hand": 3940, + "no_body_fit": 0 + }, + "observed_fraction": 0.7287, + "observed_fraction_of_valid": 0.7287, + "palm_axis_vs_markers_deg": { + "gsi": 11.13, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 15.44, + "offset_rotvec": [ + 0.1558, + -0.2062, + -0.076 + ], + "dev_deg": { + "median": 10.77, + "p90": 33.05 + }, + "samples": 3169, + "accepted": 2800, + "wrist_pos_err_mm_median": 39.2, + "per_camera": { + "head": { + "samples": 3169, + "accepted": 2800, + "gate_deg": 30.0, + "offset_deg": 15.44, + "tier": "primary", + "dev_deg_median": 10.77, + "wrist_pos_err_mm_median": 39.2 + } + }, + "frames_by_state": { + "ace_sample": 11286, + "interpolated": 1926, + "mean_hand": 1312, + "no_body_fit": 0 + }, + "observed_fraction": 0.9097, + "observed_fraction_of_valid": 0.9097, + "palm_axis_vs_markers_deg": { + "gsi": 16.62, + "smplx": 1.62 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.7, + "p90": 20.3 + }, + "registered": { + "median": 14.2, + "p90": 18.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:27:57.046525+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM01/session_006", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM01/session_006/motions/smplx.npz b/actions/locomanipulation/LM01/session_006/motions/smplx.npz index cd01cffe8cd719dd84f5deaa280793d34fc85af8..2b6d9c4c69970346cb2cc057033e451b5f2dbaf0 100644 --- a/actions/locomanipulation/LM01/session_006/motions/smplx.npz +++ b/actions/locomanipulation/LM01/session_006/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d0aa8a7927a9eed71a337527ac8d216afe5b270b723c909405506141aff3b9d7 -size 5598133 +oid sha256:b57b576ad62df505b6287bb80909ca498c5bf3274bb71d0ad2ec60559d7e9c80 +size 9724359 diff --git a/actions/locomanipulation/LM01/session_007/meta.json b/actions/locomanipulation/LM01/session_007/meta.json index 8d714f5fc91ff204dc9142bb2ad6d1d2eae82712..a1c9f1d59066338d95d419cb016582f840437d11 100644 --- a/actions/locomanipulation/LM01/session_007/meta.json +++ b/actions/locomanipulation/LM01/session_007/meta.json @@ -380,8 +380,8 @@ "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": { @@ -445,19 +445,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + -2.98794, + 0.42773, + 0.87113 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 36.0, - "opposite_sign_bend_deg": 166.8, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.688, + "inlier_spread_deg": 9.57, + "marker_Q_to_gsi_deg": { + "1": 177.7, + "-1": 2.8 + } + }, + "wrist_bend_deg_median": 171.0, + "opposite_sign_bend_deg": 35.6, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.65, "hand_vs_marker_frame_deg": { - "before": 3.65, + "before": 178.2, "after": 3.65 }, "markers_on_wrist": [ @@ -465,15 +476,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 6.13, + "twist_moved_deg": -166.43, "wrist_twist_deg_after": { - "median": 0.0, + "median": -5.3, "iqr": [ - -7.6, - 7.1 + -12.6, + 0.6 ] }, - "wrist_total_deg_median_after": 35.7, + "wrist_total_deg_median_after": 35.3, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -486,11 +497,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + -0.0, + -0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.894, + "inlier_spread_deg": 9.81, + "marker_Q_to_gsi_deg": { + "1": 15.6, + "-1": 174.0 + } + }, "wrist_bend_deg_median": 19.1, "opposite_sign_bend_deg": 175.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -522,7 +544,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:40:26.992459+00:00", + "generated_at_utc": "2026-11-06T14:05:22.744213+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -573,6 +595,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 3.8, + "offset_rotvec": [ + -0.041, + -0.041, + 0.0323 + ], + "dev_deg": { + "median": 12.99, + "p90": 165.34 + }, + "samples": 3406, + "accepted": 2359, + "wrist_pos_err_mm_median": 45.6, + "per_camera": { + "head": { + "samples": 3406, + "accepted": 2359, + "gate_deg": 30.0, + "offset_deg": 3.8, + "tier": "primary", + "dev_deg_median": 12.99, + "wrist_pos_err_mm_median": 45.6 + } + }, + "frames_by_state": { + "ace_sample": 9510, + "interpolated": 1898, + "mean_hand": 5532, + "no_body_fit": 0 + }, + "observed_fraction": 0.6734, + "observed_fraction_of_valid": 0.6734, + "palm_axis_vs_markers_deg": { + "gsi": 13.09, + "smplx": 2.95 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.7, + "p90": 10.0 + }, + "registered": { + "median": 7.9, + "p90": 10.0 + } + } + }, + "right": { + "offset_deg": 15.54, + "offset_rotvec": [ + 0.164, + -0.1991, + -0.0838 + ], + "dev_deg": { + "median": 10.7, + "p90": 32.41 + }, + "samples": 3567, + "accepted": 3181, + "wrist_pos_err_mm_median": 35.3, + "per_camera": { + "head": { + "samples": 3567, + "accepted": 3181, + "gate_deg": 30.0, + "offset_deg": 15.54, + "tier": "primary", + "dev_deg_median": 10.7, + "wrist_pos_err_mm_median": 35.3 + } + }, + "frames_by_state": { + "ace_sample": 12836, + "interpolated": 2084, + "mean_hand": 2020, + "no_body_fit": 0 + }, + "observed_fraction": 0.8808, + "observed_fraction_of_valid": 0.8808, + "palm_axis_vs_markers_deg": { + "gsi": 16.0, + "smplx": 1.35 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 12.6, + "p90": 21.5 + }, + "registered": { + "median": 12.6, + "p90": 20.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:28:03.146603+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM01/session_007", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM01/session_007/motions/smplx.npz b/actions/locomanipulation/LM01/session_007/motions/smplx.npz index 17e80ac0118afd669ce43beeeea96b7166c9136e..b7eb68fbf620e3df299229a3b7f905c54d812d5c 100644 --- a/actions/locomanipulation/LM01/session_007/motions/smplx.npz +++ b/actions/locomanipulation/LM01/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a4f95fe91abc9ae5471fbda2b9dfae4f83c6be7ce77bfa7baee0f559ba9cc2f0 -size 6528120 +oid sha256:3699233007603a2d7c6420800d897494744d7a8b12f17f9c8e875e049bd51a99 +size 11192414 diff --git a/actions/locomanipulation/LM02/session_001/meta.json b/actions/locomanipulation/LM02/session_001/meta.json index 8b26b3c5a319ae0cf0d9fe74c59ba5bbdbc0600f..5598e0b859c4f2d7d83afc5e32c02c3d5857cb33 100644 --- a/actions/locomanipulation/LM02/session_001/meta.json +++ b/actions/locomanipulation/LM02/session_001/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -393,14 +393,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 170.2, - "opposite_sign_bend_deg": 19.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.994, + "inlier_spread_deg": 10.65, + "marker_Q_to_gsi_deg": { + "1": 167.8, + "-1": 14.9 + } + }, + "wrist_bend_deg_median": 160.8, + "opposite_sign_bend_deg": 32.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.9, "hand_vs_marker_frame_deg": { "before": 179.18, @@ -411,15 +422,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 160.38, + "twist_moved_deg": -156.98, "wrist_twist_deg_after": { - "median": 16.2, + "median": -3.4, "iqr": [ - 8.5, - 28.9 + -11.6, + 9.3 ] }, - "wrist_total_deg_median_after": 32.5, + "wrist_total_deg_median_after": 19.8, "markers_on_forearm": [ "LElbow", "LForearm", @@ -433,11 +444,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, + -0.0, + -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.999, + "inlier_spread_deg": 8.74, + "marker_Q_to_gsi_deg": { + "1": 10.4, + "-1": 170.8 + } + }, "wrist_bend_deg_median": 21.5, "opposite_sign_bend_deg": 176.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -452,9 +474,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -1.4, 4.1 @@ -468,7 +490,7 @@ }, "frames_used": 1489 }, - "generated_at_utc": "2026-10-28T06:15:44.082633+00:00", + "generated_at_utc": "2026-11-06T13:40:08.442893+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -512,6 +534,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.2896338512436418 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.75, + "offset_rotvec": [ + -0.2909, + -0.0954, + 0.0475 + ], + "dev_deg": { + "median": 13.86, + "p90": 18.88 + }, + "samples": 3718, + "accepted": 3668, + "wrist_pos_err_mm_median": 72.1, + "per_camera": { + "head": { + "samples": 3718, + "accepted": 3668, + "gate_deg": 30.0, + "offset_deg": 17.75, + "tier": "primary", + "dev_deg_median": 13.86, + "wrist_pos_err_mm_median": 72.1 + } + }, + "frames_by_state": { + "ace_sample": 14692, + "interpolated": 180, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9992, + "observed_fraction_of_valid": 0.9992, + "palm_axis_vs_markers_deg": { + "gsi": 12.45, + "smplx": 1.25 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.6, + "p90": 13.6 + }, + "registered": { + "median": 12.0, + "p90": 13.3 + } + } + }, + "right": { + "offset_deg": 12.77, + "offset_rotvec": [ + -0.2144, + -0.0454, + 0.0401 + ], + "dev_deg": { + "median": 8.34, + "p90": 14.61 + }, + "samples": 3645, + "accepted": 3638, + "wrist_pos_err_mm_median": 77.5, + "per_camera": { + "head": { + "samples": 3645, + "accepted": 3638, + "gate_deg": 30.0, + "offset_deg": 12.77, + "tier": "primary", + "dev_deg_median": 8.34, + "wrist_pos_err_mm_median": 77.5 + } + }, + "frames_by_state": { + "ace_sample": 14578, + "interpolated": 294, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9992, + "observed_fraction_of_valid": 0.9992, + "palm_axis_vs_markers_deg": { + "gsi": 10.32, + "smplx": 1.97 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.0, + "p90": 11.6 + }, + "registered": { + "median": 5.4, + "p90": 10.5 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:34:19.736100+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM02/session_001", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM02/session_001/motions/smplx.npz b/actions/locomanipulation/LM02/session_001/motions/smplx.npz index 900c65ff99971b4a85b8e25267a391b8c86ba187..80ef378b15062337e290570b3a01c8e042eb22f1 100644 --- a/actions/locomanipulation/LM02/session_001/motions/smplx.npz +++ b/actions/locomanipulation/LM02/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:54cabf09611ea2c6f3387e385805835547606a2100c10c4fcba37996e2717492 -size 5699103 +oid sha256:4dbb0d68925d2510d05d9901fe8153aa675832a48c2e67f0cc0d6edab0cdeb6b +size 10683180 diff --git a/actions/locomanipulation/LM02/session_002/meta.json b/actions/locomanipulation/LM02/session_002/meta.json index bec6a780ee33f6ac35c978d382d2cfe1c75293fa..864e555feb783e410418c0628a49209caa17dc21 100644 --- a/actions/locomanipulation/LM02/session_002/meta.json +++ b/actions/locomanipulation/LM02/session_002/meta.json @@ -327,8 +327,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -399,14 +399,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 166.5, - "opposite_sign_bend_deg": 24.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.996, + "inlier_spread_deg": 11.54, + "marker_Q_to_gsi_deg": { + "1": 167.8, + "-1": 14.8 + } + }, + "wrist_bend_deg_median": 151.9, + "opposite_sign_bend_deg": 33.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.01, "hand_vs_marker_frame_deg": { "before": 179.07, @@ -418,15 +429,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 149.63, + "twist_moved_deg": -148.63, "wrist_twist_deg_after": { - "median": 27.31, + "median": -1.0, "iqr": [ - 18.7, - 45.4 + -10.6, + 18.0 ] }, - "wrist_total_deg_median_after": 36.2, + "wrist_total_deg_median_after": 23.9, "markers_on_forearm": [ "LElbow", "LForearm", @@ -440,10 +451,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - 0.0, + -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.998, + "inlier_spread_deg": 7.3, + "marker_Q_to_gsi_deg": { + "1": 9.9, + "-1": 171.7 + } + }, "wrist_bend_deg_median": 20.8, "opposite_sign_bend_deg": 175.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -458,9 +480,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -4.8, 4.2 @@ -474,7 +496,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:15:44.706917+00:00", + "generated_at_utc": "2026-11-06T13:40:11.836024+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -518,6 +540,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.3510191863199301 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 19.62, + "offset_rotvec": [ + -0.3196, + -0.101, + 0.07 + ], + "dev_deg": { + "median": 12.4, + "p90": 19.77 + }, + "samples": 4861, + "accepted": 4831, + "wrist_pos_err_mm_median": 71.8, + "per_camera": { + "head": { + "samples": 4861, + "accepted": 4831, + "gate_deg": 30.0, + "offset_deg": 19.62, + "tier": "primary", + "dev_deg_median": 12.4, + "wrist_pos_err_mm_median": 71.8 + } + }, + "frames_by_state": { + "ace_sample": 19328, + "interpolated": 184, + "mean_hand": 172, + "no_body_fit": 0 + }, + "observed_fraction": 0.9913, + "observed_fraction_of_valid": 0.9913, + "palm_axis_vs_markers_deg": { + "gsi": 13.69, + "smplx": 1.83 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.6, + "p90": 13.1 + }, + "registered": { + "median": 10.4, + "p90": 12.6 + } + } + }, + "right": { + "offset_deg": 12.58, + "offset_rotvec": [ + -0.2105, + -0.0393, + 0.0484 + ], + "dev_deg": { + "median": 7.69, + "p90": 14.0 + }, + "samples": 4905, + "accepted": 4877, + "wrist_pos_err_mm_median": 80.4, + "per_camera": { + "head": { + "samples": 4905, + "accepted": 4877, + "gate_deg": 30.0, + "offset_deg": 12.58, + "tier": "primary", + "dev_deg_median": 7.69, + "wrist_pos_err_mm_median": 80.4 + } + }, + "frames_by_state": { + "ace_sample": 19520, + "interpolated": 152, + "mean_hand": 12, + "no_body_fit": 0 + }, + "observed_fraction": 0.9994, + "observed_fraction_of_valid": 0.9994, + "palm_axis_vs_markers_deg": { + "gsi": 9.52, + "smplx": 1.77 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.1, + "p90": 10.1 + }, + "registered": { + "median": 8.6, + "p90": 10.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:34:38.446956+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM02/session_002", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM02/session_002/motions/smplx.npz b/actions/locomanipulation/LM02/session_002/motions/smplx.npz index f30ac8fd323aa50c2253eb2defd73caafddd555d..1b01eb0c8071a3d73843cd3f39e157ffb1abde80 100644 --- a/actions/locomanipulation/LM02/session_002/motions/smplx.npz +++ b/actions/locomanipulation/LM02/session_002/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0e440d668da91a8d54d1d565c5bfc5c1ba8e635ced5f3b419e3b69f40923aaf5 -size 7537555 +oid sha256:2412412018e262df4e2332f28ba3a29361f3e1ec088f89a78654e2a8ba6fc3dc +size 14116099 diff --git a/actions/locomanipulation/LM02/session_003/meta.json b/actions/locomanipulation/LM02/session_003/meta.json index 56bdc58fc5d8f484b9733e57ec723e9f16a01cbb..c50c5e18adf6e8dc86b38e4d50d783c7047ff0d9 100644 --- a/actions/locomanipulation/LM02/session_003/meta.json +++ b/actions/locomanipulation/LM02/session_003/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -393,14 +393,25 @@ "status": "corrected", "Q_deg": 180.0, "Q_rotvec": [ - -3.02706, - 0.2415, - 0.80509 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 167.8, - "opposite_sign_bend_deg": 21.1, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.951, + "inlier_spread_deg": 10.72, + "marker_Q_to_gsi_deg": { + "1": 169.0, + "-1": 14.9 + } + }, + "wrist_bend_deg_median": 157.4, + "opposite_sign_bend_deg": 39.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.04, "hand_vs_marker_frame_deg": { "before": 178.17, @@ -411,15 +422,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 155.29, + "twist_moved_deg": -155.29, "wrist_twist_deg_after": { - "median": 19.26, + "median": -0.0, "iqr": [ - 9.4, - 35.4 + -10.9, + 14.3 ] }, - "wrist_total_deg_median_after": 40.5, + "wrist_total_deg_median_after": 21.0, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -434,9 +445,20 @@ "Q_rotvec": [ -0.0, 0.0, - 0.0 + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.971, + "inlier_spread_deg": 8.72, + "marker_Q_to_gsi_deg": { + "1": 9.2, + "-1": 171.7 + } + }, "wrist_bend_deg_median": 19.4, "opposite_sign_bend_deg": 175.4, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -451,9 +473,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -5.4, 6.5 @@ -467,7 +489,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:15:44.378685+00:00", + "generated_at_utc": "2026-11-06T13:40:17.835718+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -511,6 +533,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.2494396105050196 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 18.56, + "offset_rotvec": [ + -0.2897, + -0.1412, + 0.0329 + ], + "dev_deg": { + "median": 13.45, + "p90": 24.45 + }, + "samples": 3813, + "accepted": 3594, + "wrist_pos_err_mm_median": 84.6, + "per_camera": { + "head": { + "samples": 3813, + "accepted": 3594, + "gate_deg": 30.0, + "offset_deg": 18.56, + "tier": "primary", + "dev_deg_median": 13.45, + "wrist_pos_err_mm_median": 84.6 + } + }, + "frames_by_state": { + "ace_sample": 14456, + "interpolated": 836, + "mean_hand": 192, + "no_body_fit": 0 + }, + "observed_fraction": 0.9876, + "observed_fraction_of_valid": 0.9876, + "palm_axis_vs_markers_deg": { + "gsi": 14.17, + "smplx": 2.56 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.4, + "p90": 11.5 + }, + "registered": { + "median": 8.7, + "p90": 10.9 + } + } + }, + "right": { + "offset_deg": 12.03, + "offset_rotvec": [ + -0.2048, + -0.0442, + 0.0139 + ], + "dev_deg": { + "median": 8.98, + "p90": 17.14 + }, + "samples": 3686, + "accepted": 3573, + "wrist_pos_err_mm_median": 87.0, + "per_camera": { + "head": { + "samples": 3686, + "accepted": 3573, + "gate_deg": 30.0, + "offset_deg": 12.03, + "tier": "primary", + "dev_deg_median": 8.98, + "wrist_pos_err_mm_median": 87.0 + } + }, + "frames_by_state": { + "ace_sample": 14346, + "interpolated": 762, + "mean_hand": 376, + "no_body_fit": 0 + }, + "observed_fraction": 0.9757, + "observed_fraction_of_valid": 0.9757, + "palm_axis_vs_markers_deg": { + "gsi": 9.07, + "smplx": 1.6 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.7, + "p90": 11.9 + }, + "registered": { + "median": 9.2, + "p90": 11.1 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:34:40.338769+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM02/session_003", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM02/session_003/motions/smplx.npz b/actions/locomanipulation/LM02/session_003/motions/smplx.npz index e483ca3569cf670b2f3a91c9373a58572832bae1..f319e9eebf395248b801bcf8146cf316c3a30cf6 100644 --- a/actions/locomanipulation/LM02/session_003/motions/smplx.npz +++ b/actions/locomanipulation/LM02/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4e4cbf3d4f7f2ee22a93318e33da44351c3c1af0804c5c8afa79be617d92ce6d -size 5947031 +oid sha256:37086177fcfbacf0a8b964a81af05a6f0b4347407df5c6e29f2b4fe63217185c +size 11076611 diff --git a/actions/locomanipulation/LM02/session_007/meta.json b/actions/locomanipulation/LM02/session_007/meta.json index e1d7995fe0f63ff03a1e12e700438a1de6b46e0b..6a3a2933ef34e43796da197fa5400ee690dfb4c5 100644 --- a/actions/locomanipulation/LM02/session_007/meta.json +++ b/actions/locomanipulation/LM02/session_007/meta.json @@ -380,8 +380,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -440,19 +440,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - 0.0, - -0.0, - 0.0 + -2.98794, + 0.42773, + 0.87113 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 37.3, - "opposite_sign_bend_deg": 170.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.782, + "inlier_spread_deg": 10.56, + "marker_Q_to_gsi_deg": { + "1": 171.5, + "-1": 8.7 + } + }, + "wrist_bend_deg_median": 169.7, + "opposite_sign_bend_deg": 37.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.82, "hand_vs_marker_frame_deg": { - "before": 2.82, + "before": 178.86, "after": 2.82 }, "markers_on_wrist": [ @@ -460,15 +471,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.7, + "twist_moved_deg": -167.35, "wrist_twist_deg_after": { - "median": 0.0, + "median": -2.4, "iqr": [ - -7.2, - 5.6 + -8.3, + 1.4 ] }, - "wrist_total_deg_median_after": 37.7, + "wrist_total_deg_median_after": 34.8, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -481,11 +492,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, - -0.0 + -0.0, + -0.0, + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.898, + "inlier_spread_deg": 10.26, + "marker_Q_to_gsi_deg": { + "1": 11.9, + "-1": 177.9 + } + }, "wrist_bend_deg_median": 22.3, "opposite_sign_bend_deg": 173.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -499,7 +521,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -517,7 +539,7 @@ }, "frames_used": 1465 }, - "generated_at_utc": "2026-10-28T06:40:28.671431+00:00", + "generated_at_utc": "2026-11-06T14:05:21.747071+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -568,6 +590,116 @@ }, "applied": 2 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.57, + "offset_rotvec": [ + -0.1374, + -0.0089, + 0.0947 + ], + "dev_deg": { + "median": 12.5, + "p90": 93.03 + }, + "samples": 3020, + "accepted": 2364, + "wrist_pos_err_mm_median": 58.0, + "per_camera": { + "head": { + "samples": 3020, + "accepted": 2364, + "gate_deg": 30.0, + "offset_deg": 9.57, + "tier": "primary", + "dev_deg_median": 12.5, + "wrist_pos_err_mm_median": 58.0 + } + }, + "frames_by_state": { + "ace_sample": 9484, + "interpolated": 1360, + "mean_hand": 3800, + "no_body_fit": 0 + }, + "observed_fraction": 0.7405, + "observed_fraction_of_valid": 0.7405, + "palm_axis_vs_markers_deg": { + "gsi": 14.26, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 11.59, + "offset_rotvec": [ + 0.0974, + -0.1126, + -0.1369 + ], + "dev_deg": { + "median": 11.09, + "p90": 30.11 + }, + "samples": 3110, + "accepted": 2798, + "wrist_pos_err_mm_median": 38.6, + "per_camera": { + "head": { + "samples": 3110, + "accepted": 2798, + "gate_deg": 30.0, + "offset_deg": 11.59, + "tier": "primary", + "dev_deg_median": 11.09, + "wrist_pos_err_mm_median": 38.6 + } + }, + "frames_by_state": { + "ace_sample": 11276, + "interpolated": 1918, + "mean_hand": 1450, + "no_body_fit": 0 + }, + "observed_fraction": 0.901, + "observed_fraction_of_valid": 0.901, + "palm_axis_vs_markers_deg": { + "gsi": 11.91, + "smplx": 1.02 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 14.3, + "p90": 22.1 + }, + "registered": { + "median": 13.5, + "p90": 21.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:28:11.942161+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM02/session_007", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM02/session_007/motions/smplx.npz b/actions/locomanipulation/LM02/session_007/motions/smplx.npz index fcf3c494d15918d1716de917aea6936ee73042ac..68bcc7db50df94c2fa6d4677f39cac0ff709749e 100644 --- a/actions/locomanipulation/LM02/session_007/motions/smplx.npz +++ b/actions/locomanipulation/LM02/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c0be365ee47e854340822476ae8073a425e3ab05f08845ddb0721420292895a9 -size 5645806 +oid sha256:fca5085da23b3c4cbcbc76cb3c493607148c2b26b5579c3d72d5417d696cb114 +size 9871910 diff --git a/actions/locomanipulation/LM03/session_001/meta.json b/actions/locomanipulation/LM03/session_001/meta.json index f1419b94a6ed5aa71e492cf6f71afc343875dda5..b39a1fd73384125d3a443832b92af906f26cf5f7 100644 --- a/actions/locomanipulation/LM03/session_001/meta.json +++ b/actions/locomanipulation/LM03/session_001/meta.json @@ -330,8 +330,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -404,9 +404,20 @@ "Q_rotvec": [ 0.0, 0.0, - -0.0 + 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.913, + "inlier_spread_deg": 8.88, + "marker_Q_to_gsi_deg": { + "1": 9.7, + "-1": 176.3 + } + }, "wrist_bend_deg_median": 43.1, "opposite_sign_bend_deg": 168.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -421,9 +432,9 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -8.9, 9.0 @@ -441,19 +452,30 @@ }, "right": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -2.98604, + -0.43137, + -0.87584 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 36.3, - "opposite_sign_bend_deg": 166.4, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.696, + "inlier_spread_deg": 10.26, + "marker_Q_to_gsi_deg": { + "1": 178.1, + "-1": 7.7 + } + }, + "wrist_bend_deg_median": 169.9, + "opposite_sign_bend_deg": 36.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 5.95, "hand_vs_marker_frame_deg": { - "before": 5.95, + "before": 178.02, "after": 5.95 }, "markers_on_wrist": [ @@ -462,15 +484,15 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -4.21, + "twist_moved_deg": 165.04, "wrist_twist_deg_after": { - "median": -0.0, + "median": 5.55, "iqr": [ - -9.5, - 7.4 + -0.3, + 14.5 ] }, - "wrist_total_deg_median_after": 37.9, + "wrist_total_deg_median_after": 39.0, "markers_on_forearm": [ "RForearm", "RWristOut" @@ -478,7 +500,7 @@ }, "frames_used": 1291 }, - "generated_at_utc": "2026-10-28T06:16:58.221127+00:00", + "generated_at_utc": "2026-11-06T13:44:28.145081+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -635,6 +657,116 @@ }, "applied": 6 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 8.23, + "offset_rotvec": [ + -0.0281, + 0.131, + -0.052 + ], + "dev_deg": { + "median": 10.23, + "p90": 24.9 + }, + "samples": 3569, + "accepted": 3274, + "wrist_pos_err_mm_median": 39.3, + "per_camera": { + "head": { + "samples": 3569, + "accepted": 3274, + "gate_deg": 30.0, + "offset_deg": 8.23, + "tier": "primary", + "dev_deg_median": 10.23, + "wrist_pos_err_mm_median": 39.3 + } + }, + "frames_by_state": { + "ace_sample": 13148, + "interpolated": 1092, + "mean_hand": 1009, + "no_body_fit": 235 + }, + "observed_fraction": 0.9197, + "observed_fraction_of_valid": 0.9338, + "palm_axis_vs_markers_deg": { + "gsi": 13.9, + "smplx": 4.06 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 7.1, + "p90": 9.5 + }, + "registered": { + "median": 7.3, + "p90": 9.8 + } + } + }, + "right": { + "offset_deg": 12.0, + "offset_rotvec": [ + -0.1328, + 0.0308, + 0.159 + ], + "dev_deg": { + "median": 15.04, + "p90": 170.31 + }, + "samples": 3521, + "accepted": 2423, + "wrist_pos_err_mm_median": 40.2, + "per_camera": { + "head": { + "samples": 3521, + "accepted": 2423, + "gate_deg": 30.0, + "offset_deg": 12.0, + "tier": "primary", + "dev_deg_median": 15.04, + "wrist_pos_err_mm_median": 40.2 + } + }, + "frames_by_state": { + "ace_sample": 9674, + "interpolated": 546, + "mean_hand": 5029, + "no_body_fit": 235 + }, + "observed_fraction": 0.66, + "observed_fraction_of_valid": 0.6702, + "palm_axis_vs_markers_deg": { + "gsi": 10.97, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:43:33.139384+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM03/session_001", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM03/session_001/motions/smplx.npz b/actions/locomanipulation/LM03/session_001/motions/smplx.npz index 2ccc093cbe32d83154f6330581bda15e1b2eea55..3714eabb9fd164c3d80b05838a6a558b84e6ffdf 100644 --- a/actions/locomanipulation/LM03/session_001/motions/smplx.npz +++ b/actions/locomanipulation/LM03/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7ffdf9e3f475608fb85e9294500b36f70bcf2433be4abc5ddaf1ef6fae7d466b -size 5902641 +oid sha256:788181becf17be487952e91cff4915d26f66facafccb1a9b86eea7dfcc1f8a96 +size 10176390 diff --git a/actions/locomanipulation/LM03/session_010/meta.json b/actions/locomanipulation/LM03/session_010/meta.json index 5b3e635710e9bfbec558182d23a63a0ad6ee796c..3038f7e428393f2b1e2a32222565690d45864ca6 100644 --- a/actions/locomanipulation/LM03/session_010/meta.json +++ b/actions/locomanipulation/LM03/session_010/meta.json @@ -353,8 +353,8 @@ "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": { @@ -418,19 +418,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -3.02706, + 0.2415, + 0.80507 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 28.5, - "opposite_sign_bend_deg": 173.7, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.53, + "inlier_spread_deg": 9.43, + "marker_Q_to_gsi_deg": { + "1": 175.9, + "-1": 7.6 + } + }, + "wrist_bend_deg_median": 173.7, + "opposite_sign_bend_deg": 28.5, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 9.54, "hand_vs_marker_frame_deg": { - "before": 9.54, + "before": 178.85, "after": 9.54 }, "markers_on_wrist": [ @@ -438,15 +449,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 0.0, + "twist_moved_deg": -164.13, "wrist_twist_deg_after": { - "median": 0.0, + "median": -14.93, "iqr": [ - -7.2, - 5.0 + -22.5, + -8.7 ] }, - "wrist_total_deg_median_after": 29.2, + "wrist_total_deg_median_after": 37.2, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -460,10 +471,21 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - 0.0, - 0.0 + -1e-05, + -2e-05 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.957, + "inlier_spread_deg": 12.26, + "marker_Q_to_gsi_deg": { + "1": 8.9, + "-1": 179.9 + } + }, "wrist_bend_deg_median": 20.2, "opposite_sign_bend_deg": 174.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -478,9 +500,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.01, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -3.3, 5.9 @@ -494,7 +516,7 @@ }, "frames_used": 1488 }, - "generated_at_utc": "2026-10-28T06:47:25.877364+00:00", + "generated_at_utc": "2026-11-06T14:14:56.360815+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -567,6 +589,116 @@ }, "applied": 4 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 21.94, + "offset_rotvec": [ + -0.3087, + -0.0775, + 0.2129 + ], + "dev_deg": { + "median": 32.22, + "p90": 160.41 + }, + "samples": 3693, + "accepted": 1753, + "wrist_pos_err_mm_median": 33.7, + "per_camera": { + "head": { + "samples": 3693, + "accepted": 1753, + "gate_deg": 30.0, + "offset_deg": 21.94, + "tier": "primary", + "dev_deg_median": 32.22, + "wrist_pos_err_mm_median": 33.7 + } + }, + "frames_by_state": { + "ace_sample": 7030, + "interpolated": 654, + "mean_hand": 7188, + "no_body_fit": 0 + }, + "observed_fraction": 0.5167, + "observed_fraction_of_valid": 0.5167, + "palm_axis_vs_markers_deg": { + "gsi": 18.83, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 9.5, + "offset_rotvec": [ + 0.0227, + -0.1173, + -0.1149 + ], + "dev_deg": { + "median": 12.37, + "p90": 23.6 + }, + "samples": 3585, + "accepted": 3419, + "wrist_pos_err_mm_median": 33.4, + "per_camera": { + "head": { + "samples": 3585, + "accepted": 3419, + "gate_deg": 30.0, + "offset_deg": 9.5, + "tier": "primary", + "dev_deg_median": 12.37, + "wrist_pos_err_mm_median": 33.4 + } + }, + "frames_by_state": { + "ace_sample": 13746, + "interpolated": 758, + "mean_hand": 368, + "no_body_fit": 0 + }, + "observed_fraction": 0.9753, + "observed_fraction_of_valid": 0.9753, + "palm_axis_vs_markers_deg": { + "gsi": 12.39, + "smplx": 2.64 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.6, + "p90": 8.1 + }, + "registered": { + "median": 6.6, + "p90": 8.3 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:47:13.643271+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM03/session_010", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM03/session_010/motions/smplx.npz b/actions/locomanipulation/LM03/session_010/motions/smplx.npz index b22e6902a4cfaf6c736c836b092291d33c9895db..5c1f77785d957dbf5fb4a1c5e610716caab02296 100644 --- a/actions/locomanipulation/LM03/session_010/motions/smplx.npz +++ b/actions/locomanipulation/LM03/session_010/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d6baa6acc0ba6fad7b613235b07c7561f2521809348c3691887402aed0f90532 -size 5724413 +oid sha256:7a938bb2bd707e53ac0814eb9740504b8d54669ac22ba7d1001e1d6318476dd1 +size 9545264 diff --git a/actions/locomanipulation/LM03/session_011/meta.json b/actions/locomanipulation/LM03/session_011/meta.json index 2e8199db42b75859243eba4a64742573dca6c6cc..ec3c985d4b3a96b1c11251e4ca5137959cc85e6d 100644 --- a/actions/locomanipulation/LM03/session_011/meta.json +++ b/actions/locomanipulation/LM03/session_011/meta.json @@ -353,8 +353,8 @@ "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": { @@ -418,19 +418,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -3.02706, + 0.2415, + 0.80507 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 45.9, - "opposite_sign_bend_deg": 142.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.593, + "inlier_spread_deg": 13.02, + "marker_Q_to_gsi_deg": { + "1": 178.5, + "-1": 11.4 + } + }, + "wrist_bend_deg_median": 141.9, + "opposite_sign_bend_deg": 45.9, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 11.58, "hand_vs_marker_frame_deg": { - "before": 11.58, + "before": 174.89, "after": 11.58 }, "markers_on_wrist": [ @@ -439,15 +450,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 1.13, + "twist_moved_deg": -109.8, "wrist_twist_deg_after": { - "median": 0.0, + "median": -61.52, "iqr": [ - -37.4, - 33.0 + -106.5, + -30.3 ] }, - "wrist_total_deg_median_after": 45.6, + "wrist_total_deg_median_after": 69.5, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -459,11 +470,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, - 0.0 + -0.0, + -2e-05, + -2e-05 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.906, + "inlier_spread_deg": 11.19, + "marker_Q_to_gsi_deg": { + "1": 8.9, + "-1": 178.7 + } + }, "wrist_bend_deg_median": 23.8, "opposite_sign_bend_deg": 170.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -477,7 +499,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.04, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -494,7 +516,7 @@ }, "frames_used": 1464 }, - "generated_at_utc": "2026-10-28T06:47:26.316444+00:00", + "generated_at_utc": "2026-11-06T14:14:59.062769+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -601,6 +623,116 @@ }, "applied": 6 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 21.57, + "offset_rotvec": [ + 0.3264, + -0.1674, + 0.0848 + ], + "dev_deg": { + "median": 29.3, + "p90": 160.94 + }, + "samples": 4184, + "accepted": 2145, + "wrist_pos_err_mm_median": 57.9, + "per_camera": { + "head": { + "samples": 4184, + "accepted": 2145, + "gate_deg": 30.0, + "offset_deg": 21.57, + "tier": "primary", + "dev_deg_median": 29.3, + "wrist_pos_err_mm_median": 57.9 + } + }, + "frames_by_state": { + "ace_sample": 8614, + "interpolated": 978, + "mean_hand": 7564, + "no_body_fit": 0 + }, + "observed_fraction": 0.5591, + "observed_fraction_of_valid": 0.5591, + "palm_axis_vs_markers_deg": { + "gsi": 17.41, + "smplx": 7.76 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 17.5, + "p90": 27.1 + }, + "registered": { + "median": 17.7, + "p90": 25.6 + } + } + }, + "right": { + "offset_deg": 9.36, + "offset_rotvec": [ + -0.0055, + -0.1371, + -0.0888 + ], + "dev_deg": { + "median": 12.49, + "p90": 28.34 + }, + "samples": 4150, + "accepted": 3755, + "wrist_pos_err_mm_median": 29.4, + "per_camera": { + "head": { + "samples": 4150, + "accepted": 3755, + "gate_deg": 30.0, + "offset_deg": 9.36, + "tier": "primary", + "dev_deg_median": 12.49, + "wrist_pos_err_mm_median": 29.4 + } + }, + "frames_by_state": { + "ace_sample": 15058, + "interpolated": 414, + "mean_hand": 1684, + "no_body_fit": 0 + }, + "observed_fraction": 0.9018, + "observed_fraction_of_valid": 0.9018, + "palm_axis_vs_markers_deg": { + "gsi": 12.99, + "smplx": 2.04 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 10.0, + "p90": 12.0 + }, + "registered": { + "median": 9.8, + "p90": 11.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:47:28.645521+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM03/session_011", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM03/session_011/motions/smplx.npz b/actions/locomanipulation/LM03/session_011/motions/smplx.npz index 8679a948861a44d4f9d66e560e1d4b7308d07593..86cf4ccc0b1e5e09f9df7ea40c78f3ac99c8c882 100644 --- a/actions/locomanipulation/LM03/session_011/motions/smplx.npz +++ b/actions/locomanipulation/LM03/session_011/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a4ae2b56ee7f29880f67ec3b17d3e3ea0ab54aee483c38992d91d50a5f498416 -size 6614646 +oid sha256:5e3259d78c5c7a888ea740a9bf477be4bb31f9d29b6a6f5211355decff69492e +size 10969419 diff --git a/actions/locomanipulation/LM03/session_012/meta.json b/actions/locomanipulation/LM03/session_012/meta.json index 2922142322aec31b7c5208d1afadc798efeebc1f..3dc2bf5e22901399ae7f5c119e0cf968e7c9784b 100644 --- a/actions/locomanipulation/LM03/session_012/meta.json +++ b/actions/locomanipulation/LM03/session_012/meta.json @@ -365,8 +365,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -435,19 +435,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -3.02706, + 0.2415, + 0.80508 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 70.7, - "opposite_sign_bend_deg": 113.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.707, + "inlier_spread_deg": 11.26, + "marker_Q_to_gsi_deg": { + "1": 178.0, + "-1": 9.3 + } + }, + "wrist_bend_deg_median": 154.8, + "opposite_sign_bend_deg": 45.4, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 9.95, "hand_vs_marker_frame_deg": { - "before": 9.95, + "before": 175.85, "after": 9.95 }, "markers_on_wrist": [ @@ -456,15 +467,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 60.64, + "twist_moved_deg": -137.54, "wrist_twist_deg_after": { - "median": 0.17, + "median": -34.31, "iqr": [ - -62.0, - 18.6 + -105.7, + -12.3 ] }, - "wrist_total_deg_median_after": 47.1, + "wrist_total_deg_median_after": 51.0, "markers_on_forearm": [ "LForearm", "LWristOut" @@ -477,16 +488,27 @@ "Q_deg": 0.0, "Q_rotvec": [ -0.0, - 0.0, - 0.0 + -2e-05, + -2e-05 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.964, + "inlier_spread_deg": 10.63, + "marker_Q_to_gsi_deg": { + "1": 9.9, + "-1": 179.1 + } + }, "wrist_bend_deg_median": 17.9, "opposite_sign_bend_deg": 173.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.95, "hand_vs_marker_frame_deg": { - "before": 3.96, + "before": 3.95, "after": 3.95 }, "markers_on_wrist": [ @@ -495,9 +517,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -5.9, 9.8 @@ -511,7 +533,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-28T06:47:26.696216+00:00", + "generated_at_utc": "2026-11-06T14:14:57.363613+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -573,6 +595,116 @@ }, "applied": 3 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 9.15, + "offset_rotvec": [ + 0.0297, + -0.1129, + 0.1091 + ], + "dev_deg": { + "median": 16.46, + "p90": 174.12 + }, + "samples": 3802, + "accepted": 2673, + "wrist_pos_err_mm_median": 48.6, + "per_camera": { + "head": { + "samples": 3802, + "accepted": 2673, + "gate_deg": 30.0, + "offset_deg": 9.15, + "tier": "primary", + "dev_deg_median": 16.46, + "wrist_pos_err_mm_median": 48.6 + } + }, + "frames_by_state": { + "ace_sample": 10694, + "interpolated": 230, + "mean_hand": 4536, + "no_body_fit": 0 + }, + "observed_fraction": 0.7066, + "observed_fraction_of_valid": 0.7066, + "palm_axis_vs_markers_deg": { + "gsi": 16.0, + "smplx": 8.29 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 15.0, + "p90": 18.7 + }, + "registered": { + "median": 15.3, + "p90": 17.4 + } + } + }, + "right": { + "offset_deg": 9.75, + "offset_rotvec": [ + 0.0215, + -0.1217, + -0.1169 + ], + "dev_deg": { + "median": 10.92, + "p90": 23.73 + }, + "samples": 3772, + "accepted": 3630, + "wrist_pos_err_mm_median": 33.7, + "per_camera": { + "head": { + "samples": 3772, + "accepted": 3630, + "gate_deg": 30.0, + "offset_deg": 9.75, + "tier": "primary", + "dev_deg_median": 10.92, + "wrist_pos_err_mm_median": 33.7 + } + }, + "frames_by_state": { + "ace_sample": 14578, + "interpolated": 590, + "mean_hand": 292, + "no_body_fit": 0 + }, + "observed_fraction": 0.9811, + "observed_fraction_of_valid": 0.9811, + "palm_axis_vs_markers_deg": { + "gsi": 11.08, + "smplx": 2.3 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.2, + "p90": 10.2 + }, + "registered": { + "median": 6.1, + "p90": 9.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:47:28.638634+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM03/session_012", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM03/session_012/motions/smplx.npz b/actions/locomanipulation/LM03/session_012/motions/smplx.npz index e14fdd1c1892fb5d0386581d463a8929bc1518ea..a54a781dd36960b8f012fb1c82d53f10ff91e107 100644 --- a/actions/locomanipulation/LM03/session_012/motions/smplx.npz +++ b/actions/locomanipulation/LM03/session_012/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9313709c60fb5d53c13f5952dc396006176107fe3e8235475ea1a6526f3f19cc -size 5942028 +oid sha256:03e89988f4263e04dd2d6df8ae8603bc7f2b15626b5c9da7a44908311c743a98 +size 10419515 diff --git a/actions/locomanipulation/LM04/session_007/meta.json b/actions/locomanipulation/LM04/session_007/meta.json index 60884ce415ef28295eb923c88d2a6bbb11953a5a..d234ed17495ba8eee9e335a81dbe583de85fdc4a 100644 --- a/actions/locomanipulation/LM04/session_007/meta.json +++ b/actions/locomanipulation/LM04/session_007/meta.json @@ -353,8 +353,8 @@ "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": { @@ -418,19 +418,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -3.02705, + 0.24148, + 0.80511 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 39.6, - "opposite_sign_bend_deg": 163.3, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.843, + "inlier_spread_deg": 9.97, + "marker_Q_to_gsi_deg": { + "1": 177.7, + "-1": 13.5 + } + }, + "wrist_bend_deg_median": 167.1, + "opposite_sign_bend_deg": 38.2, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.69, "hand_vs_marker_frame_deg": { - "before": 3.69, + "before": 178.94, "after": 3.69 }, "markers_on_wrist": [ @@ -438,15 +449,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 7.03, + "twist_moved_deg": -152.08, "wrist_twist_deg_after": { - "median": 0.0, + "median": -19.26, "iqr": [ - -8.5, - 17.4 + -31.6, + -3.1 ] }, - "wrist_total_deg_median_after": 37.3, + "wrist_total_deg_median_after": 41.6, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -459,11 +470,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - -0.0, 0.0, - 0.0 + -1e-05, + -2e-05 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.892, + "inlier_spread_deg": 12.61, + "marker_Q_to_gsi_deg": { + "1": 9.5, + "-1": 176.7 + } + }, "wrist_bend_deg_median": 20.2, "opposite_sign_bend_deg": 171.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -478,9 +500,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": -0.0, + "median": 0.0, "iqr": [ -5.8, 11.0 @@ -494,7 +516,7 @@ }, "frames_used": 1440 }, - "generated_at_utc": "2026-10-28T06:47:26.854441+00:00", + "generated_at_utc": "2026-11-06T14:14:59.360976+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -568,6 +590,116 @@ }, "applied": 4 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 11.66, + "offset_rotvec": [ + -0.0014, + -0.1784, + 0.0979 + ], + "dev_deg": { + "median": 11.56, + "p90": 57.83 + }, + "samples": 3653, + "accepted": 3104, + "wrist_pos_err_mm_median": 36.4, + "per_camera": { + "head": { + "samples": 3653, + "accepted": 3104, + "gate_deg": 30.0, + "offset_deg": 11.66, + "tier": "primary", + "dev_deg_median": 11.56, + "wrist_pos_err_mm_median": 36.4 + } + }, + "frames_by_state": { + "ace_sample": 12436, + "interpolated": 456, + "mean_hand": 1872, + "no_body_fit": 0 + }, + "observed_fraction": 0.8732, + "observed_fraction_of_valid": 0.8732, + "palm_axis_vs_markers_deg": { + "gsi": 15.23, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 9.5, + "offset_rotvec": [ + -0.0465, + -0.0982, + -0.1253 + ], + "dev_deg": { + "median": 13.15, + "p90": 36.1 + }, + "samples": 3607, + "accepted": 3180, + "wrist_pos_err_mm_median": 39.6, + "per_camera": { + "head": { + "samples": 3607, + "accepted": 3180, + "gate_deg": 30.0, + "offset_deg": 9.5, + "tier": "primary", + "dev_deg_median": 13.15, + "wrist_pos_err_mm_median": 39.6 + } + }, + "frames_by_state": { + "ace_sample": 12780, + "interpolated": 756, + "mean_hand": 1228, + "no_body_fit": 0 + }, + "observed_fraction": 0.9168, + "observed_fraction_of_valid": 0.9168, + "palm_axis_vs_markers_deg": { + "gsi": 13.34, + "smplx": 2.47 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 6.5, + "p90": 8.4 + }, + "registered": { + "median": 6.5, + "p90": 8.6 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:48:51.139749+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM04/session_007", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM04/session_007/motions/smplx.npz b/actions/locomanipulation/LM04/session_007/motions/smplx.npz index da61a9ccbf40767963924bb8e9a133b71395d099..98ed71856b944e407cbfc5a565eb1d4d02d41ad3 100644 --- a/actions/locomanipulation/LM04/session_007/motions/smplx.npz +++ b/actions/locomanipulation/LM04/session_007/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:33b734836c6f919d0552408524fe4aa00b8032e33f7f798e20f5632b697ab442 -size 5690818 +oid sha256:33e522008bacdd880a55d8ebf7248e2793353748c3c8d2e550c59a5c062d20c8 +size 10216374 diff --git a/actions/locomanipulation/LM04/session_008/meta.json b/actions/locomanipulation/LM04/session_008/meta.json index 8a47f3a51a7b77943e0a8cf85d5df552a89e26f6..dbee627c87d5e3798740bdc859ada15ab6d8558a 100644 --- a/actions/locomanipulation/LM04/session_008/meta.json +++ b/actions/locomanipulation/LM04/session_008/meta.json @@ -353,8 +353,8 @@ "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": { @@ -418,19 +418,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + -3.02705, + 0.24149, + 0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 38.6, - "opposite_sign_bend_deg": 162.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.789, + "inlier_spread_deg": 10.14, + "marker_Q_to_gsi_deg": { + "1": 173.7, + "-1": 13.3 + } + }, + "wrist_bend_deg_median": 166.2, + "opposite_sign_bend_deg": 38.1, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.86, "hand_vs_marker_frame_deg": { - "before": 3.86, + "before": 178.94, "after": 3.86 }, "markers_on_wrist": [ @@ -438,15 +449,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 5.01, + "twist_moved_deg": -153.76, "wrist_twist_deg_after": { - "median": 0.0, + "median": -17.15, "iqr": [ - -10.4, - 11.8 + -31.9, + -5.8 ] }, - "wrist_total_deg_median_after": 39.4, + "wrist_total_deg_median_after": 38.5, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -459,11 +470,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, - 0.0 + -0.0, + -1e-05, + -2e-05 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.928, + "inlier_spread_deg": 9.99, + "marker_Q_to_gsi_deg": { + "1": 10.9, + "-1": 174.6 + } + }, "wrist_bend_deg_median": 20.6, "opposite_sign_bend_deg": 170.7, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -478,9 +500,9 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ -8.8, 10.5 @@ -494,7 +516,7 @@ }, "frames_used": 1464 }, - "generated_at_utc": "2026-10-28T06:47:27.961519+00:00", + "generated_at_utc": "2026-11-06T14:15:07.782781+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -579,6 +601,116 @@ }, "applied": 5 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 12.25, + "offset_rotvec": [ + -0.0143, + -0.1611, + 0.14 + ], + "dev_deg": { + "median": 13.02, + "p90": 161.57 + }, + "samples": 3619, + "accepted": 2875, + "wrist_pos_err_mm_median": 36.7, + "per_camera": { + "head": { + "samples": 3619, + "accepted": 2875, + "gate_deg": 30.0, + "offset_deg": 12.25, + "tier": "primary", + "dev_deg_median": 13.02, + "wrist_pos_err_mm_median": 36.7 + } + }, + "frames_by_state": { + "ace_sample": 11522, + "interpolated": 486, + "mean_hand": 3332, + "no_body_fit": 0 + }, + "observed_fraction": 0.7828, + "observed_fraction_of_valid": 0.7828, + "palm_axis_vs_markers_deg": { + "gsi": 16.72, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 11.04, + "offset_rotvec": [ + -0.07, + -0.1196, + -0.1339 + ], + "dev_deg": { + "median": 10.32, + "p90": 25.89 + }, + "samples": 3508, + "accepted": 3243, + "wrist_pos_err_mm_median": 39.1, + "per_camera": { + "head": { + "samples": 3508, + "accepted": 3243, + "gate_deg": 30.0, + "offset_deg": 11.04, + "tier": "primary", + "dev_deg_median": 10.32, + "wrist_pos_err_mm_median": 39.1 + } + }, + "frames_by_state": { + "ace_sample": 13050, + "interpolated": 1026, + "mean_hand": 1264, + "no_body_fit": 0 + }, + "observed_fraction": 0.9176, + "observed_fraction_of_valid": 0.9176, + "palm_axis_vs_markers_deg": { + "gsi": 12.7, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T15:48:53.239340+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM04/session_008", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM04/session_008/motions/smplx.npz b/actions/locomanipulation/LM04/session_008/motions/smplx.npz index 5dc31449c71b5c761972f789960fbf7909dc730e..22c081b428ba19e5be0972a9b2614c17cb9f87a9 100644 --- a/actions/locomanipulation/LM04/session_008/motions/smplx.npz +++ b/actions/locomanipulation/LM04/session_008/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:113b9e61371e93f5b90946fd9b3f0f1c2cc6bc1235001d83849271a4a0100094 -size 5912946 +oid sha256:08962c75b6f22f7859f522166f0853c99c2b32ddbf24ca6565c7bd05e331fe4e +size 10407816 diff --git a/actions/locomanipulation/LM05/session_001/meta.json b/actions/locomanipulation/LM05/session_001/meta.json index 35b9917588efce876d776b0a6253e1f27b6647c1..35f91a42782b2074afca9b6825e5f90bb77407e2 100644 --- a/actions/locomanipulation/LM05/session_001/meta.json +++ b/actions/locomanipulation/LM05/session_001/meta.json @@ -327,8 +327,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -393,10 +393,21 @@ -0.2415, -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 166.6, - "opposite_sign_bend_deg": 20.9, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.933, + "inlier_spread_deg": 11.46, + "marker_Q_to_gsi_deg": { + "1": 163.4, + "-1": 17.7 + } + }, + "wrist_bend_deg_median": 140.0, + "opposite_sign_bend_deg": 49.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.37, "hand_vs_marker_frame_deg": { "before": 178.53, @@ -407,15 +418,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 139.51, + "twist_moved_deg": -137.34, "wrist_twist_deg_after": { - "median": 37.89, + "median": -2.17, "iqr": [ - 29.9, - 55.5 + -9.5, + 15.9 ] }, - "wrist_total_deg_median_after": 49.8, + "wrist_total_deg_median_after": 19.8, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -429,10 +440,21 @@ "Q_deg": 0.0, "Q_rotvec": [ 0.0, - 0.0, + -0.0, 0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.923, + "inlier_spread_deg": 7.72, + "marker_Q_to_gsi_deg": { + "1": 13.1, + "-1": 167.4 + } + }, "wrist_bend_deg_median": 17.5, "opposite_sign_bend_deg": 174.9, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -463,7 +485,7 @@ }, "frames_used": 1489 }, - "generated_at_utc": "2026-10-28T06:15:44.253016+00:00", + "generated_at_utc": "2026-11-06T13:40:20.845024+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -507,6 +529,116 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.6090364396708108 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 24.0, + "offset_rotvec": [ + -0.4038, + -0.0353, + 0.1053 + ], + "dev_deg": { + "median": 14.79, + "p90": 25.05 + }, + "samples": 3403, + "accepted": 3133, + "wrist_pos_err_mm_median": 90.3, + "per_camera": { + "head": { + "samples": 3403, + "accepted": 3133, + "gate_deg": 30.0, + "offset_deg": 24.0, + "tier": "primary", + "dev_deg_median": 14.79, + "wrist_pos_err_mm_median": 90.3 + } + }, + "frames_by_state": { + "ace_sample": 12556, + "interpolated": 588, + "mean_hand": 1740, + "no_body_fit": 0 + }, + "observed_fraction": 0.8831, + "observed_fraction_of_valid": 0.8831, + "palm_axis_vs_markers_deg": { + "gsi": 17.13, + "smplx": 2.12 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.6, + "p90": 11.6 + }, + "registered": { + "median": 10.3, + "p90": 11.0 + } + } + }, + "right": { + "offset_deg": 16.2, + "offset_rotvec": [ + -0.2752, + -0.0581, + -0.0292 + ], + "dev_deg": { + "median": 9.95, + "p90": 26.47 + }, + "samples": 3385, + "accepted": 3129, + "wrist_pos_err_mm_median": 85.0, + "per_camera": { + "head": { + "samples": 3385, + "accepted": 3129, + "gate_deg": 30.0, + "offset_deg": 16.2, + "tier": "primary", + "dev_deg_median": 9.95, + "wrist_pos_err_mm_median": 85.0 + } + }, + "frames_by_state": { + "ace_sample": 12598, + "interpolated": 1182, + "mean_hand": 1104, + "no_body_fit": 0 + }, + "observed_fraction": 0.9258, + "observed_fraction_of_valid": 0.9258, + "palm_axis_vs_markers_deg": { + "gsi": 13.77, + "smplx": 1.2 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.8, + "p90": 10.9 + }, + "registered": { + "median": 8.9, + "p90": 9.7 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:36:50.135261+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM05/session_001", "family": "locomanipulation", diff --git a/actions/locomanipulation/LM05/session_001/motions/smplx.npz b/actions/locomanipulation/LM05/session_001/motions/smplx.npz index 0bb8abea333cd4fc3d0a7e8d50bb38c183b7d9c9..eb2f4a679f1de6fc2001f32b152650041e9661b8 100644 --- a/actions/locomanipulation/LM05/session_001/motions/smplx.npz +++ b/actions/locomanipulation/LM05/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:bba8701d2fea4399280d338b001fa87b3ab5e99bb26a403931604579633aa3dc -size 5703367 +oid sha256:5c721fc67ab55f209ee10b45329f2e749a3c55d8a0920c18953a2b9140ae6b03 +size 10267066 diff --git a/actions/locomanipulation/LM05/session_002/meta.json b/actions/locomanipulation/LM05/session_002/meta.json index 5ebab57b1ce189665fae831719487e1b82778528..4e205422b6291ede2b365b5450884a3daa775cd9 100644 --- a/actions/locomanipulation/LM05/session_002/meta.json +++ b/actions/locomanipulation/LM05/session_002/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": { @@ -386,19 +386,30 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 0.0, + "Q_deg": 180.0, "Q_rotvec": [ - -0.0, - 0.0, - -0.0 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": 1, - "wrist_bend_deg_median": 35.1, - "opposite_sign_bend_deg": 169.2, - "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": -1, + "q_source": "markers (sign flipped by GSI)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.96, + "inlier_spread_deg": 14.32, + "marker_Q_to_gsi_deg": { + "1": 163.8, + "-1": 17.9 + } + }, + "wrist_bend_deg_median": 165.6, + "opposite_sign_bend_deg": 36.8, + "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 4.51, "hand_vs_marker_frame_deg": { - "before": 4.51, + "before": 178.25, "after": 4.51 }, "markers_on_wrist": [ @@ -406,15 +417,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -12.48, + "twist_moved_deg": -158.14, "wrist_twist_deg_after": { - "median": -0.0, + "median": -20.01, "iqr": [ - -9.2, - 15.0 + -27.8, + -3.9 ] }, - "wrist_total_deg_median_after": 36.9, + "wrist_total_deg_median_after": 23.7, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -427,11 +438,22 @@ "status": "corrected", "Q_deg": 0.0, "Q_rotvec": [ - 0.0, - 0.0, - 0.0 + -0.0, + -0.0, + -0.0 ], "in_out_sign": 1, + "q_source": "markers (GSI confirms)", + "gsi": { + "reliable": true, + "frames": 3000, + "inlier_frac": 0.972, + "inlier_spread_deg": 9.71, + "marker_Q_to_gsi_deg": { + "1": 12.8, + "-1": 167.9 + } + }, "wrist_bend_deg_median": 19.8, "opposite_sign_bend_deg": 174.5, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", @@ -445,7 +467,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -0.0, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": 0.0, "iqr": [ @@ -462,7 +484,7 @@ }, "frames_used": 1489 }, - "generated_at_utc": "2026-10-28T06:15:44.719098+00:00", + "generated_at_utc": "2026-11-06T13:40:20.335679+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -537,6 +559,116 @@ }, "applied": 1 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 22.39, + "offset_rotvec": [ + -0.3824, + -0.0193, + 0.0782 + ], + "dev_deg": { + "median": 16.51, + "p90": 28.0 + }, + "samples": 3490, + "accepted": 3211, + "wrist_pos_err_mm_median": 104.6, + "per_camera": { + "head": { + "samples": 3490, + "accepted": 3211, + "gate_deg": 30.0, + "offset_deg": 22.39, + "tier": "primary", + "dev_deg_median": 16.51, + "wrist_pos_err_mm_median": 104.6 + } + }, + "frames_by_state": { + "ace_sample": 12898, + "interpolated": 702, + "mean_hand": 1284, + "no_body_fit": 0 + }, + "observed_fraction": 0.9137, + "observed_fraction_of_valid": 0.9137, + "palm_axis_vs_markers_deg": { + "gsi": 16.84, + "smplx": NaN + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": NaN, + "p90": NaN + }, + "registered": { + "median": NaN, + "p90": NaN + } + } + }, + "right": { + "offset_deg": 16.18, + "offset_rotvec": [ + -0.2606, + -0.1084, + -0.0079 + ], + "dev_deg": { + "median": 10.29, + "p90": 20.39 + }, + "samples": 3442, + "accepted": 3334, + "wrist_pos_err_mm_median": 88.9, + "per_camera": { + "head": { + "samples": 3442, + "accepted": 3334, + "gate_deg": 30.0, + "offset_deg": 16.18, + "tier": "primary", + "dev_deg_median": 10.29, + "wrist_pos_err_mm_median": 88.9 + } + }, + "frames_by_state": { + "ace_sample": 13402, + "interpolated": 802, + "mean_hand": 680, + "no_body_fit": 0 + }, + "observed_fraction": 0.9543, + "observed_fraction_of_valid": 0.9543, + "palm_axis_vs_markers_deg": { + "gsi": 13.83, + "smplx": 1.16 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 9.5, + "p90": 11.5 + }, + "registered": { + "median": 9.1, + "p90": 10.0 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-06T14:36:42.047183+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomanipulation/LM05/session_002", "family": "locomanipulation",