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+#Hierarchical Translation and Rotation (.csv) file +[Head] +NumFrames,NumSegments,DataFrameRate,EulerRotationOrder,BoneAxis,TranslationUnits +18000,1,120,ZYX,Y,mm + +[SegmentNames&Hierarchy] +Segment,Parent +Segment1,Global + +[SegmentData] + Frame# ,,Segment1,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, +,Timestamp,XToGlobal1,YToGlobal1,ZToGlobal1,VxToGlobal1,VyToGlobal1,VzToGlobal1,VrToGlobal1,AxToGlobal1,AyToGlobal1,AzToGlobal1,ArToGlobal1,QxToGlobal1,QyToGlobal1,QzToGlobal1,QwToGlobal1,ExToGlobal1,EyToGlobal1,EzToGlobal1,EVxToGlobal1,EVyToGlobal1,EVzToGlobal1,EAxToGlobal1,EAyToGlobal1,EAzToGlobal1,Segmentlength1, +1,1793001904518,242.313293, 1510.090454, 1400.819824, , , , , , , , , 0.001479, 0.996810, -0.062989, -0.048995, -172.742859, -5.594727, 179.474869, , , , , , , 82.950081, +2,1793001904526,-113.121208, 1506.875610, 433.686798, , , , , , , , , 0.023688, 0.997636, -0.063434, -0.011734, -172.695099, -1.169322, 177.204941, , , , , , , 82.950081, +3,1793001904534,-113.549194, 1506.570801, 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@@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c2d0f3c5e9e57e1bea9405f19c15f5b70ce736c52a11a3cf6583c6c4549ab53 +size 55165288 diff --git a/actions/human_human_locomanipulation/HH15/session_001/meta.json b/actions/human_human_locomanipulation/HH15/session_001/meta.json index cc4f99e33d5edc418b1fb9acf0ada7baae95c1c2..ebee0edf93fca419b414a9302f8c0ac064f8adc0 100644 --- a/actions/human_human_locomanipulation/HH15/session_001/meta.json +++ b/actions/human_human_locomanipulation/HH15/session_001/meta.json @@ -408,19 +408,19 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 164.26, + "Q_deg": 180.0, "Q_rotvec": [ - -2.81198, - 0.04767, - 0.55602 + 2.98315, + -0.44501, + -0.87886 ], - "in_out_sign": -1, - "wrist_bend_deg_median": 135.6, - "opposite_sign_bend_deg": 56.9, - "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": 1, + "wrist_bend_deg_median": 174.5, + "opposite_sign_bend_deg": 50.7, + "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 1.63, "hand_vs_marker_frame_deg": { - "before": 163.9, + "before": 179.08, "after": 1.63 }, "markers_on_wrist": [ @@ -428,15 +428,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -130.45, + "twist_moved_deg": -173.43, "wrist_twist_deg_after": { - "median": -0.12, + "median": -1.82, "iqr": [ - -4.4, - 2.7 + -5.3, + 0.5 ] }, - "wrist_total_deg_median_after": 50.7, + "wrist_total_deg_median_after": 18.1, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -447,19 +447,19 @@ }, "right": { "status": "corrected", - "Q_deg": 64.53, + "Q_deg": 0.0, "Q_rotvec": [ - 0.94213, - 0.5897, - -0.18241 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 73.1, - "opposite_sign_bend_deg": 124.2, + "wrist_bend_deg_median": 30.8, + "opposite_sign_bend_deg": 172.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.22, "hand_vs_marker_frame_deg": { - "before": 64.83, + "before": 2.22, "after": 2.22 }, "markers_on_wrist": [ @@ -467,7 +467,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -66.82, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -485,7 +485,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-23T07:24:07.372816+00:00", + "generated_at_utc": "2026-10-28T06:43:52.403787+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -672,5 +672,31 @@ "family": "human_human_locomanipulation", "primitive": "HH15", "source_session": "20261020/HH15/20261020_074730_session17" - } + }, + "objects": [ + { + "name": "CcGreen", + "object_type": "CcGreen", + "source": "mocap", + "pose_frame": "mesh" + }, + { + "name": "CcYellow", + "object_type": "CcYellow", + "source": "mocap", + "pose_frame": "rigid_body" + }, + { + "name": "LittleBox4", + "object_type": "LittleBox", + "source": "mocap", + "pose_frame": "mesh" + }, + { + "name": "LittleBox6", + "object_type": "LittleBox", + "source": "mocap", + "pose_frame": "mesh" + } + ] } diff --git a/actions/human_human_locomanipulation/HH15/session_001/motions/object_markers.npz b/actions/human_human_locomanipulation/HH15/session_001/motions/object_markers.npz new file mode 100644 index 0000000000000000000000000000000000000000..4b2b06b3a8a93b435026e5eb5d6e361a3008d57f --- /dev/null +++ b/actions/human_human_locomanipulation/HH15/session_001/motions/object_markers.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e7ba8e984c320b2c2373d5c8e2ef1a233b375ad9a1e71bc805b9d14cdfea356 +size 1617136 diff --git a/actions/human_human_locomanipulation/HH15/session_001/motions/objects.json b/actions/human_human_locomanipulation/HH15/session_001/motions/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..c072293cc010e40ba082517f3f392d0421e94692 --- /dev/null +++ b/actions/human_human_locomanipulation/HH15/session_001/motions/objects.json @@ -0,0 +1,105 @@ +{ + "session": "20261020/HH15/20261020_074730_session17", + "generated_at_utc": "2026-10-28T10:26:35.311202+00:00", + "generated_by": "scripts/export_objects.py", + "frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)", + "grid": "body grid (smplx.npz t / frame_index)", + "held_by": "from mocap hands", + "instances": [ + { + "name": "CcGreen", + "object_type": "CcGreen", + "source": "mocap", + "pose_frame": "mesh", + "mesh": "objects/CcGreen/ccgreen.ply", + "calibration": { + "instance": "CcGreen", + "rms_mm": 0.57 + }, + "valid_pct": 99.99, + "verified_pct": 99.99, + "moving_pct": 0.0, + "vision_source": null + }, + { + "name": "CcYellow", + "object_type": "CcYellow", + "source": "mocap", + "pose_frame": "rigid_body", + "mesh": null, + "calibration": null, + "valid_pct": 99.99, + "verified_pct": 99.99, + "moving_pct": 0.0, + "vision_source": null 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