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0000000000000000000000000000000000000000..f9ea5b806d567581d6ec84e735c388a50c868347 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D32/session_013/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:96fd6a43423c50fc79150f5e8fc25054f4ef8a5de91ea01a345c387459d0ce6a +size 341510 diff --git a/actions/locomotion_posture_dynamics/D32/session_013/meta.json b/actions/locomotion_posture_dynamics/D32/session_013/meta.json index d79ee244c1c698e59e9a022ba202aa00a1b01943..ea336cbfd24742849fe2ba8459aa8232fac0601c 100644 --- a/actions/locomotion_posture_dynamics/D32/session_013/meta.json +++ b/actions/locomotion_posture_dynamics/D32/session_013/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": 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Alternate turn direction. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D32/session_013/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D32/session_013/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..81a140d3686297a0c56b8de4deef9355f5486846 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D32/session_013/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6871cbb6302a47372fb7bc717090df62e0c3d34489d1b92ae1e184d64cc07488 +size 1624534 diff --git a/actions/locomotion_posture_dynamics/D32/session_013/motions/smplx.npz b/actions/locomotion_posture_dynamics/D32/session_013/motions/smplx.npz index e23cc49e321ffac47d07a0fce80ba1cc7782cca1..0722e030402603d2ed15dd63bbd3201235bde16d 100644 --- a/actions/locomotion_posture_dynamics/D32/session_013/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D32/session_013/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c612391cb33d9abc0f2a50d3007bc1b06e441f3047598b81ac802a86c52e84ba -size 2722784 +oid sha256:1f5425ffcde9a6472a397e2e2adb5e51a37046630cdf4814bb66d761f71a2f9b +size 5047348 diff --git a/actions/locomotion_posture_dynamics/D32/session_014/annotations.json b/actions/locomotion_posture_dynamics/D32/session_014/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..103cc9d124dc5dcd93fc54febeffc8fd1a68a369 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D32/session_014/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D32", + "instruction": "Jump up, turn 180 degrees in the air, and land facing the other way. 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sha256:46abe34cd9f1bd38ebbf200af207d7fdd6b1c53dbf358cbb1dadc33aed5f2776 +size 313379 diff --git a/actions/locomotion_posture_dynamics/D33/session_008/meta.json b/actions/locomotion_posture_dynamics/D33/session_008/meta.json index 6cbb26532fda4f82eb37f83eec88f880f1521797..ce526cebaea405758abe70926f7d5977be27b66f 100644 --- a/actions/locomotion_posture_dynamics/D33/session_008/meta.json +++ b/actions/locomotion_posture_dynamics/D33/session_008/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 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0000000000000000000000000000000000000000..27b1709728885155e23895839fe60a0335d6c2c4 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D33/session_010/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dce3fe91017939583e548c2e807d5f88fbbded386775cf69f46ce00ed54278f3 +size 392833 diff --git a/actions/locomotion_posture_dynamics/D33/session_010/meta.json b/actions/locomotion_posture_dynamics/D33/session_010/meta.json index 4054b5b938e09834970b94589ed36dd7d1e57baf..e15a0ab76c296807dfde28a85e4fa02e5e184ddd 100644 --- a/actions/locomotion_posture_dynamics/D33/session_010/meta.json +++ b/actions/locomotion_posture_dynamics/D33/session_010/meta.json @@ -523,5 +523,9 @@ "family": "locomotion_posture_dynamics", "primitive": "D33", "source_session": "20260929/D33/20260929_021546_session34" + }, + "task": { + "primitive": "D33", + "instruction": "Do jumping jacks at a steady pace until the operator says stop." } } diff --git a/actions/locomotion_posture_dynamics/D33/session_010/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D33/session_010/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..9b6e43f93d4ea7bcbb9c125eb5201ea226cec00a --- /dev/null +++ b/actions/locomotion_posture_dynamics/D33/session_010/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37604225e6718223d18d1f8ee54cb0b4f4b957bddf0db7d7b01b52200c001744 +size 1611150 diff --git a/actions/locomotion_posture_dynamics/D33/session_011/annotations.json b/actions/locomotion_posture_dynamics/D33/session_011/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..2c7905910c4e1edff2e52a93dbb1ea62d2212510 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D33/session_011/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / 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steady pace until the operator says stop." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D33/session_011/cameras/slam.npz b/actions/locomotion_posture_dynamics/D33/session_011/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..e2b8a40ab56d570957a379e8896ab03e32e887b1 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D33/session_011/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:259662c8bedbf6fbe4dfa969ab04f78cb286f80422a17a0a10fd668791458d5a +size 399318 diff --git a/actions/locomotion_posture_dynamics/D33/session_011/meta.json b/actions/locomotion_posture_dynamics/D33/session_011/meta.json index 6faacb6fb50bfa16546063db19b9120c8510809c..e312e33ea746f9b438a5ebbf29d9082427402598 100644 --- a/actions/locomotion_posture_dynamics/D33/session_011/meta.json +++ b/actions/locomotion_posture_dynamics/D33/session_011/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; 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new file mode 100644 index 0000000000000000000000000000000000000000..94d145af84ddece672c40787431e1405773ecc3f --- /dev/null +++ b/actions/locomotion_posture_dynamics/D33/session_012/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d7afa0e4067ee32a8936d535cd86e5eea6c0001027d4f81ce06fc311c623b0f +size 398297 diff --git a/actions/locomotion_posture_dynamics/D33/session_012/meta.json b/actions/locomotion_posture_dynamics/D33/session_012/meta.json index 385d59e7694035e5eb2d19cbc3d795c82f4f146d..4bc42169adc7ae0cfb8afa378ded07a183377f82 100644 --- a/actions/locomotion_posture_dynamics/D33/session_012/meta.json +++ b/actions/locomotion_posture_dynamics/D33/session_012/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, 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mode 100644 index 0000000000000000000000000000000000000000..9eb22783e4c7510c9abd789b595f401398ffa4f1 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D34/session_001/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e75054fedb5949d87edbe14e9d1f61e62a0d1f7620d1c99582e9d8b55efc3479 +size 341554 diff --git a/actions/locomotion_posture_dynamics/D34/session_001/meta.json b/actions/locomotion_posture_dynamics/D34/session_001/meta.json index d137188bc03019a079be5f3b6a158d54998cf9fd..21b972814a7cd545aa0876c6d40198f08d50cb50 100644 --- a/actions/locomotion_posture_dynamics/D34/session_001/meta.json +++ b/actions/locomotion_posture_dynamics/D34/session_001/meta.json @@ -347,8 +347,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D34/session_001/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D34/session_001/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..7a318c6f2002efbebc82c3c741450e74945924d6 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D34/session_001/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e91e9396c22e9527bc808baded622c60c92ffe7b5fa42e85ff0b989e7d16ca66 +size 1643076 diff --git a/actions/locomotion_posture_dynamics/D34/session_001/motions/smplx.npz b/actions/locomotion_posture_dynamics/D34/session_001/motions/smplx.npz index 936a6617975b7b4d3b593c8a551a16faaedfde88..2dd4c8448c53b60ed024b9b54086a724e9d86bb0 100644 --- a/actions/locomotion_posture_dynamics/D34/session_001/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D34/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:0e649372f03975b5e7ae33f747a9be6454f55ffebcd36317348cbbda66f20a96 -size 2740498 +oid sha256:fbf6f2acd3994a83f90f135e322beba18db0d5143c708fba9fb40369b1e6763e +size 4708543 diff --git a/actions/locomotion_posture_dynamics/D34/session_002/annotations.json b/actions/locomotion_posture_dynamics/D34/session_002/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..377f6ec458d582fa1f71ad247111d44f346036bf --- /dev/null +++ b/actions/locomotion_posture_dynamics/D34/session_002/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D34", + "instruction": "From standing, drop to your hands, kick your feet back, return and jump up. 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Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D34/session_002/cameras/slam.npz b/actions/locomotion_posture_dynamics/D34/session_002/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..f779826a2ea7aebbaf848ecbf1aeefebbb098702 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D34/session_002/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2983261a559ea556fa27a5f7c4b2dcdc352f85a68ac236bd9f0bf2312332762b +size 314268 diff --git a/actions/locomotion_posture_dynamics/D34/session_002/meta.json b/actions/locomotion_posture_dynamics/D34/session_002/meta.json index b32c8ba374ae66da14b3a51ea21fb6d84af8e93e..76a830af52151cbe3fc8ad23f3743f3368daca24 100644 --- a/actions/locomotion_posture_dynamics/D34/session_002/meta.json +++ b/actions/locomotion_posture_dynamics/D34/session_002/meta.json @@ -329,8 +329,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (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": { @@ -584,10 +584,124 @@ }, "applied": 3 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 10.95, + "offset_rotvec": [ + 0.1177, + 0.1505, + 0.0055 + ], + "dev_deg": { + "median": 24.31, + "p90": 85.18 + }, + "samples": 1277, + "accepted": 772, + "wrist_pos_err_mm_median": 106.0, + "per_camera": { + "head": { + "samples": 1277, + "accepted": 772, + "gate_deg": 30.0, + "offset_deg": 10.95, + "tier": "primary", + "dev_deg_median": 24.31, + "wrist_pos_err_mm_median": 106.0 + } + }, + "frames_by_state": { + "ace_sample": 3092, + "interpolated": 628, + "mean_hand": 2764, + "no_body_fit": 0 + }, + "observed_fraction": 0.5737, + "observed_fraction_of_valid": 0.5737, + "palm_axis_vs_markers_deg": { + "gsi": 8.64, + "smplx": 2.18 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.4, + "p90": 13.0 + }, + "registered": { + "median": 8.5, + "p90": 14.0 + } + } + }, + "right": { + "offset_deg": 22.38, + "offset_rotvec": [ + -0.0587, + 0.1965, + 0.3325 + ], + "dev_deg": { + "median": 20.58, + "p90": 47.84 + }, + "samples": 1253, + "accepted": 1041, + "wrist_pos_err_mm_median": 79.0, + "per_camera": { + "head": { + "samples": 1253, + "accepted": 1041, + "gate_deg": 30.0, + "offset_deg": 22.38, + "tier": "primary", + "dev_deg_median": 20.58, + "wrist_pos_err_mm_median": 79.0 + } + }, + "frames_by_state": { + "ace_sample": 4192, + "interpolated": 908, + "mean_hand": 1384, + "no_body_fit": 0 + }, + "observed_fraction": 0.7866, + "observed_fraction_of_valid": 0.7866, + "palm_axis_vs_markers_deg": { + "gsi": 12.18, + "smplx": 4.16 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 5.0, + "p90": 7.3 + }, + "registered": { + "median": 5.3, + "p90": 7.8 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T15:23:38.320963+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D34/session_002", "family": "locomotion_posture_dynamics", "primitive": "D34", "source_session": "20260909/D34/20260909_045116_session79" + }, + "task": { + "primitive": "D34", + "instruction": "From standing, drop to your hands, kick your feet back, return and jump up. 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0000000000000000000000000000000000000000..9b29fc18ead8a6f22b42f6827f2ca28c0bc0c87e --- /dev/null +++ b/actions/locomotion_posture_dynamics/D34/session_003/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32111ea6fdb6232cd790c606e70e28e6ad6e345a4efd1385464879db4b933429 +size 313851 diff --git a/actions/locomotion_posture_dynamics/D34/session_003/meta.json b/actions/locomotion_posture_dynamics/D34/session_003/meta.json index 194ecb695c120b48bc3b3c20671af39d3c0e85ce..fa4f70e7998f06821cecf7f245c0961c0af707c8 100644 --- a/actions/locomotion_posture_dynamics/D34/session_003/meta.json +++ b/actions/locomotion_posture_dynamics/D34/session_003/meta.json @@ -329,8 +329,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D34/session_003/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D34/session_003/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..d3b68d03a763784c2c379b4f19c33a3917371675 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D34/session_003/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a5e1e574201f664194ff72ebd68918fa2e56ece67011a63897a8498b467bb97 +size 1774458 diff --git a/actions/locomotion_posture_dynamics/D34/session_003/motions/smplx.npz b/actions/locomotion_posture_dynamics/D34/session_003/motions/smplx.npz index 5e72b2b2172cf56cccef4c8e3decd35f71d106df..3cdeb4b81e8a166740f19d4f514978b9d03e17a1 100644 --- a/actions/locomotion_posture_dynamics/D34/session_003/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D34/session_003/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c3da9b0fd067da417eaa665bb560de9a084e7524c566b438db64744ae96fd943 -size 2500869 +oid sha256:4af8a22cc7259aa723f156812af6f9f7679b7eaee44aa3f8a51a0666c69a47cb +size 4456191 diff --git a/actions/locomotion_posture_dynamics/D34/session_004/annotations.json b/actions/locomotion_posture_dynamics/D34/session_004/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..7e7083559d98c19ec10d5529d7d77b9cf8c11a78 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D34/session_004/annotations.json @@ -0,0 +1,39 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start", + "primitive": "D34", + "instruction": "From standing, drop to your hands, kick your feet back, return and jump up. 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Repeat the movement at your own pace until the operator says stop; do not rush." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D34/session_004/cameras/slam.npz b/actions/locomotion_posture_dynamics/D34/session_004/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..6c81285701d02f161d10fa4b06afe497b1244b30 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D34/session_004/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b88f6fc96374737e46f7b94f5619556a951aa78078c2295b58f978e6504652d2 +size 370342 diff --git a/actions/locomotion_posture_dynamics/D34/session_004/meta.json b/actions/locomotion_posture_dynamics/D34/session_004/meta.json index 72020453f8477f0e986e9dd8e07b8ab634ef8b53..2d2e92a5d6eb16dc37c101f897d44aeb12e7ca27 100644 --- a/actions/locomotion_posture_dynamics/D34/session_004/meta.json +++ b/actions/locomotion_posture_dynamics/D34/session_004/meta.json @@ -326,8 +326,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -513,10 +513,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 0.8248606854216503 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 21.13, + "offset_rotvec": [ + 0.1173, + 0.1162, + -0.3298 + ], + "dev_deg": { + "median": 17.54, + "p90": 38.86 + }, + "samples": 1549, + "accepted": 1220, + "wrist_pos_err_mm_median": 52.9, + "per_camera": { + "head": { + "samples": 1549, + "accepted": 1220, + "gate_deg": 30.0, + "offset_deg": 21.13, + "tier": "primary", + "dev_deg_median": 17.54, + "wrist_pos_err_mm_median": 52.9 + } + }, + "frames_by_state": { + "ace_sample": 4922, + "interpolated": 1430, + "mean_hand": 1328, + "no_body_fit": 4 + }, + "observed_fraction": 0.8267, + "observed_fraction_of_valid": 0.8271, + "palm_axis_vs_markers_deg": { + "gsi": 19.62, + "smplx": 2.47 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.5, + "p90": 13.9 + }, + "registered": { + "median": 8.4, + "p90": 13.2 + } + } + }, + "right": { + "offset_deg": 28.08, + "offset_rotvec": [ + -0.0535, + -0.0907, + 0.4786 + ], + "dev_deg": { + "median": 22.48, + "p90": 50.24 + }, + "samples": 1546, + "accepted": 1038, + "wrist_pos_err_mm_median": 91.0, + "per_camera": { + "head": { + "samples": 1546, + "accepted": 1038, + "gate_deg": 30.0, + "offset_deg": 28.08, + "tier": "primary", + "dev_deg_median": 22.48, + "wrist_pos_err_mm_median": 91.0 + } + }, + "frames_by_state": { + "ace_sample": 4216, + "interpolated": 1668, + "mean_hand": 1796, + "no_body_fit": 4 + }, + "observed_fraction": 0.7657, + "observed_fraction_of_valid": 0.7661, + "palm_axis_vs_markers_deg": { + "gsi": 11.24, + "smplx": 1.99 + }, + "hand_marker_to_mesh_mm": { + "flat": { + "median": 8.7, + "p90": 11.4 + }, + "registered": { + "median": 8.6, + "p90": 11.2 + } + } + } + }, + "max_dev_deg": 30.0, + "max_gap_s": 1.0, + "cameras_used": [ + "head" + ], + "generated_at_utc": "2026-11-03T22:37:15.917221+00:00", + "generated_by": "scripts/register_hands_smplx.py", + "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks", + "wrist_flip_suspect": [] + }, "release": { "release_path": "actions/locomotion_posture_dynamics/D34/session_004", "family": "locomotion_posture_dynamics", "primitive": "D34", "source_session": "20260924/D34/20260924_012944_session15" + }, + "task": { + "primitive": "D34", + "instruction": "From standing, drop to your hands, kick your feet back, return and jump up. Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D34/session_004/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D34/session_004/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..cdd6b6bf05f3e1095f3c60e52bbef3150388dd61 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D34/session_004/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be0a6bee6e3874c602ad679adbd9d7c825991424a709bdbca6120e77cd12da5b +size 2134641 diff --git a/actions/locomotion_posture_dynamics/D34/session_004/motions/smplx.npz b/actions/locomotion_posture_dynamics/D34/session_004/motions/smplx.npz index 0769dbc3b4f45ed6f35062f4f56a002607a30c12..732a0d8b20196de7309d813155d660ad97bc934c 100644 --- a/actions/locomotion_posture_dynamics/D34/session_004/motions/smplx.npz +++ 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+++ b/actions/locomotion_posture_dynamics/D34/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": { @@ -493,10 +493,124 @@ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 17.63, + "offset_rotvec": [ + -0.2771, + -0.0781, + -0.1087 + ], + "dev_deg": { + "median": 27.22, + "p90": 162.17 + }, + "samples": 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Repeat the movement at your own pace until the operator says stop; do not rush." } } diff --git a/actions/locomotion_posture_dynamics/D34/session_007/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D34/session_007/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..6de3f0c6ad0e720d3ec4acc10373202ea4cb0a83 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D34/session_007/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2f594b2b553905501e9c24226c7a8b035157bce60d616387cb95e2740aa778ed +size 3167460 diff --git a/actions/locomotion_posture_dynamics/D34/session_007/motions/smplx.npz b/actions/locomotion_posture_dynamics/D34/session_007/motions/smplx.npz index 7a4a7930d29465069e43c556066926ada76a004e..e94f035fabc85e546d2836beec0230af50c9f539 100644 --- a/actions/locomotion_posture_dynamics/D34/session_007/motions/smplx.npz +++ 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a/actions/locomotion_posture_dynamics/D34/session_008/raw/mocap/Body0.csv b/actions/locomotion_posture_dynamics/D34/session_008/raw/mocap/Body0.csv new file mode 100644 index 0000000000000000000000000000000000000000..e57573c0bf321412333920a18d1169fedbf8e820 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D34/session_008/raw/mocap/Body0.csv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c0a7fa5affab0948a1e21b34e9f0be3de4a72bb4cee6b8057de07ee93049bd4 +size 126958312 diff --git a/actions/locomotion_posture_dynamics/D34/session_008/raw/mocap/Body0.trc b/actions/locomotion_posture_dynamics/D34/session_008/raw/mocap/Body0.trc new file mode 100644 index 0000000000000000000000000000000000000000..2889be0d811a4dcb77c550e1f534905d5008f77a --- /dev/null +++ b/actions/locomotion_posture_dynamics/D34/session_008/raw/mocap/Body0.trc @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ab96503341396f659c30faa5c507d581f5b5a01040094b1c894425a28231410 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b/actions/locomotion_posture_dynamics/D35/session_001/meta.json @@ -356,8 +356,8 @@ "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": { @@ -543,10 +543,124 @@ "file": "derived/rig_tracker_provider/rig_tracker.json", "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam" }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 3.56, + "offset_rotvec": [ + 0.0225, + 0.0574, + -0.0075 + ], + "dev_deg": { + "median": 23.35, + "p90": 174.76 + }, 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lifting your knees high, at a steady pace until the operator says stop." + } + ] +} diff --git a/actions/locomotion_posture_dynamics/D35/session_002/cameras/slam.npz b/actions/locomotion_posture_dynamics/D35/session_002/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..4aaccbe3ba36b411f82d1eeb0181f1f47470fcfe --- /dev/null +++ b/actions/locomotion_posture_dynamics/D35/session_002/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9cd72c06f87ead83971fa539ac7ed8f7e8eadc03575029a33a120ce176803cd2 +size 283693 diff --git a/actions/locomotion_posture_dynamics/D35/session_002/meta.json b/actions/locomotion_posture_dynamics/D35/session_002/meta.json index 364167dde6337048fd1c88d8283afb2b3adca829..c47d6e094a24980f1e6dff0efd6fa940482946ff 100644 --- a/actions/locomotion_posture_dynamics/D35/session_002/meta.json +++ b/actions/locomotion_posture_dynamics/D35/session_002/meta.json @@ -324,8 +324,8 @@ "frame": "canonical 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0000000000000000000000000000000000000000..6fcf582b65f55a5578b4b73a02ca95405204d6c4 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D35/session_006/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f814500ec24193103a4bf84be34281a9abcfc3318560891da50909abadcb3f67 +size 313258 diff --git a/actions/locomotion_posture_dynamics/D35/session_006/meta.json b/actions/locomotion_posture_dynamics/D35/session_006/meta.json index 850217db4797ad48b2b5e87aa17dbdfdf21f69ad..47c6071109c75c82a3d3aa18b7ebe45babe4b3ec 100644 --- a/actions/locomotion_posture_dynamics/D35/session_006/meta.json +++ b/actions/locomotion_posture_dynamics/D35/session_006/meta.json @@ -337,8 +337,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": 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a/actions/locomotion_posture_dynamics/D35/session_011/cameras/slam.npz b/actions/locomotion_posture_dynamics/D35/session_011/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..7ab38be94aca521b8079a7219271ad439b633197 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D35/session_011/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24a60d7f4552029fef56b414411765338c917ea2f5ea27a1c560b77da3f99413 +size 313247 diff --git a/actions/locomotion_posture_dynamics/D35/session_011/meta.json b/actions/locomotion_posture_dynamics/D35/session_011/meta.json index 87f49b93d59a9f11c626dc28ee9f05ebfd45893c..e0adcef34508957193331128d9473dc56e76235f 100644 --- a/actions/locomotion_posture_dynamics/D35/session_011/meta.json +++ b/actions/locomotion_posture_dynamics/D35/session_011/meta.json @@ -325,8 +325,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", 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0000000000000000000000000000000000000000..e82b1dee084012df8c6f0929f759e88910ff58e8 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D36/session_001/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:375e8d7a770389c440171eb1be3a3cd2874d13ec5d5241f37e3109b2dd73d480 +size 311661 diff --git a/actions/locomotion_posture_dynamics/D36/session_001/meta.json b/actions/locomotion_posture_dynamics/D36/session_001/meta.json index abda64cbafc164cf5cf09bc8abca55a68f3ad9ed..cc0905b3862dd0cccdb3a4a4336281bff0e903a0 100644 --- a/actions/locomotion_posture_dynamics/D36/session_001/meta.json +++ b/actions/locomotion_posture_dynamics/D36/session_001/meta.json @@ -364,8 +364,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": 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0000000000000000000000000000000000000000..ec3abbfe36690717736f52331bc4d8cda768bb49 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D36/session_010/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6c39e6765cf0e871ec554f718302e1fa59b75a5395d6bb28bfb5ca033d79722 +size 340716 diff --git a/actions/locomotion_posture_dynamics/D36/session_010/meta.json b/actions/locomotion_posture_dynamics/D36/session_010/meta.json index e3fd5b076dcbd6de0b5d1455488fa0063e3d772d..dca4577c1efadec84096e92cfc0b75ec7bd69271 100644 --- a/actions/locomotion_posture_dynamics/D36/session_010/meta.json +++ b/actions/locomotion_posture_dynamics/D36/session_010/meta.json @@ -327,8 +327,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": 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sha256:c6a5aafdf50a7957b73e168ff8adfcad94f063d19ffcde3345d4d7606e6a9efd +size 345955 diff --git a/actions/locomotion_posture_dynamics/D36/session_013/meta.json b/actions/locomotion_posture_dynamics/D36/session_013/meta.json index f69e0547f9986a5129bc75cddf9cb1979a5445d4..88e2262c09e9d327d907f2dfc7aaed6fd04a5614 100644 --- a/actions/locomotion_posture_dynamics/D36/session_013/meta.json +++ b/actions/locomotion_posture_dynamics/D36/session_013/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 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a/actions/locomotion_posture_dynamics/D36/session_014/meta.json +++ b/actions/locomotion_posture_dynamics/D36/session_014/meta.json @@ -379,8 +379,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -530,10 +530,124 @@ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 28.91, + "offset_rotvec": [ + 0.2432, + -0.427, + 0.1143 + ], + 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file mode 100644 index 0000000000000000000000000000000000000000..4bbbf5fadce5955a49690fd1c7c75010a328e325 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D37/session_001/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb01f6626c8c7fa2a5ed73bc14671e2857c86ed953a1c34f4b0c0abe57c84d22 +size 282164 diff --git a/actions/locomotion_posture_dynamics/D37/session_001/meta.json b/actions/locomotion_posture_dynamics/D37/session_001/meta.json index 9fe1ec35c985a03451259b527edeb874bda7d467..faed8ca32fcd5fe53d5ecc8636a616c2a9271dc7 100644 --- a/actions/locomotion_posture_dynamics/D37/session_001/meta.json +++ b/actions/locomotion_posture_dynamics/D37/session_001/meta.json @@ -341,8 +341,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, 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100644 index 0000000000000000000000000000000000000000..e31ad8edb5f18e642b3a71ddca5a13fddd79c83d --- /dev/null +++ b/actions/locomotion_posture_dynamics/D37/session_003/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c01e32fd34aa20071acef519bb851a5db02fd461808647c7cd92bb5cd9e6bca9 +size 398450 diff --git a/actions/locomotion_posture_dynamics/D37/session_003/meta.json b/actions/locomotion_posture_dynamics/D37/session_003/meta.json index 74a8b9e74aba76f457775ad305b8d718ca1b662b..d4d01156b88b2a369fe5cf13bbf02b379028b153 100644 --- a/actions/locomotion_posture_dynamics/D37/session_003/meta.json +++ b/actions/locomotion_posture_dynamics/D37/session_003/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)", 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\ No newline at end of file diff --git a/actions/locomotion_posture_dynamics/D37/session_004/cameras/slam.npz b/actions/locomotion_posture_dynamics/D37/session_004/cameras/slam.npz new file mode 100644 index 0000000000000000000000000000000000000000..49421381cc32a7bb099d4424fcaf063976687f8c --- /dev/null +++ b/actions/locomotion_posture_dynamics/D37/session_004/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f7a1ca126fe506bbd6fa284a64030ba1868213d185ed12ee12bcd3bf59d7c22 +size 283845 diff --git a/actions/locomotion_posture_dynamics/D37/session_004/meta.json b/actions/locomotion_posture_dynamics/D37/session_004/meta.json index f8bf3623ebad1e60dd5571c273a58d193da008b8..61c19b7ea21f33d3be86d14ba5ab8d9324edb3f3 100644 --- a/actions/locomotion_posture_dynamics/D37/session_004/meta.json +++ b/actions/locomotion_posture_dynamics/D37/session_004/meta.json @@ -324,8 +324,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": true, + "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False", "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below", "hand_marker_offsets_m": { "left": { @@ -505,10 +505,124 @@ "generated_by": "scripts/correct_processed_rig.py", "remaining_gyro_frame_deg": 1.4071913457222842 }, + "hands_registration": { + "cameras": {}, + "hands": { + "left": { + "offset_deg": 13.51, + "offset_rotvec": [ + 0.0064, + -0.1097, + 0.2086 + ], + "dev_deg": { + "median": 14.7, + "p90": 25.58 + }, + "samples": 1116, + "accepted": 1053, + "wrist_pos_err_mm_median": 48.2, + "per_camera": { + "head": { + "samples": 1116, + "accepted": 1053, + "gate_deg": 30.0, + "offset_deg": 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fast as you can on the spot with small quick steps, until the operator says stop." } } diff --git a/actions/locomotion_posture_dynamics/D37/session_004/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D37/session_004/motions/hands_mano.npz new file mode 100644 index 0000000000000000000000000000000000000000..6406331ccc120455cf4ccec9261f48c00f0cc6a8 --- /dev/null +++ b/actions/locomotion_posture_dynamics/D37/session_004/motions/hands_mano.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:530b1eba8b14479bbe5cf89f8b25a089569513ada0c8dde65b3b32b5b5f33250 +size 1686626 diff --git a/actions/locomotion_posture_dynamics/D37/session_004/motions/smplx.npz b/actions/locomotion_posture_dynamics/D37/session_004/motions/smplx.npz index 773392846c3bea209151263c10ec157943f855f4..97585fd7d78c84f4b986de930cee86a19167f067 100644 --- a/actions/locomotion_posture_dynamics/D37/session_004/motions/smplx.npz +++ b/actions/locomotion_posture_dynamics/D37/session_004/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:864f29c60e54daa459deb26c94ecb29d8bd5412230e37314bd9d6c21c8cde26a -size 2276321 +oid sha256:c8922917694fd79b97177f1ea938a22c8e415af200790f3ba72f29bc5b4944bb +size 4138053 diff --git a/actions/locomotion_posture_dynamics/D37/session_005/annotations.json b/actions/locomotion_posture_dynamics/D37/session_005/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..a515640efd78cfadadecbdc0d974ea451837063b --- /dev/null +++ b/actions/locomotion_posture_dynamics/D37/session_005/annotations.json @@ -0,0 +1,28 @@ +{ + "schema_version": 1, + "source": "vendor annotation.json (schema 2, revision 1)", + "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + 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0000000000000000000000000000000000000000..575c5bab5c82a93cf50f4215821a8b759ba9daab --- /dev/null +++ b/actions/locomotion_posture_dynamics/D37/session_007/cameras/slam.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da9ecc823d5e6cb78bce9b6a3089fea6fb94d43f161cbd7f86dc4a2b0d992b3f +size 341729 diff --git a/actions/locomotion_posture_dynamics/D37/session_007/meta.json b/actions/locomotion_posture_dynamics/D37/session_007/meta.json index cf5b583414af7b16e100fd5d805077c27fcd7e4e..ecdae489a8f0c6c6d47be3c5faa76ae47d7b2b5e 100644 --- a/actions/locomotion_posture_dynamics/D37/session_007/meta.json +++ b/actions/locomotion_posture_dynamics/D37/session_007/meta.json @@ -328,8 +328,8 @@ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept", "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)", "hands": { - "observed": false, - "hand_pose": "flat (zeros, flat_hand_mean=True)", + "observed": 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